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排序方式: 共有1706条查询结果,搜索用时 46 毫秒
21.
This paper proposes a nonlinear robust adaptive control strategy to force a six degrees of freedom underactuated underwater vehicle with only four actuators to follow a predefined path at a desired speed despite of the presence of environmental disturbances and vehicle’s unknown physical parameters. The proposed controller is designed using Lyapunov’s direct method, the popular backstepping and parameter projection techniques. The closed loop path following errors can be made arbitrarily small. Interestingly, it is shown that our developed control strategy is easily extendible to situations of practical importance such as parking and point-to-point navigation. Numerical simulations are provided to illustrate the effectiveness of the proposed methodology. 相似文献
22.
This paper reports a study of the field measurements and monitoring of wastewater discharge in sea water at Bari East (Italy). A wastewater sea outfall system is an integral and fundamental part of each wastewater treatment with ultimate sink in the sea water. The design of a water treatment plant and wastewater outfall must take into account the use of the environmental water, the values of physicochemical parameters to be respected in order to safeguard the use itself and the quality of the environmental water where wastewater is issued. In the present study measurements of sea current velocity components were carried out with a VM-ADP (Vessel-Mounted Acoustic Doppler Profiler). Salinity, wind directions and velocities were assessed with, for one survey, the total faecal coliforms and other biochemical parameters. It was emphasized that the measurements necessary for monitoring cannot be concentrated in the wastewater outfall pipe zone only, but should be extended to a neighbouring area of the outfall pipe, with an extension depending on the wastewater discharge, the polluting charge and the magnitude of the sea currents and the winds typical of the zone of interest. The analyses presented in this paper confirm that the sea zones close to the wastewater outfall pipe are particularly sensitive and vulnerable. Such results must be considered in the planning of a wastewater outfall pipe. 相似文献
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杨文达 《海洋地质与第四纪地质》1996,16(3):25-36
本文根据长江水下三角洲地区的五个钻水及3000km浅地震剖面资料,运用生物地层学和地震地层学方法分析研究,获得了水下三角洲分期和三角洲朵体的分布及发育等地质信息,首次提出,长江水下三角洲沉积体由六期朵体参错迭置而成,详细阐述了水下三角洲复合体的结构特征;并结合古海岩线,孢粉气候地层,测年资料等,探讨了其发育过程及形成时代,为预测长江下水三角洲的发民菜,提供了新的基础地质依据。 相似文献
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程恩 《海洋通报(英文版)》2001,3(2)
A new method of coding and decoding in the system of underwater image transmission is introduced, including the rapid digital frequency synthesizer in multiple frequency shift keying,image data generator, image grayscale decoder with intelligent fuzzy algorithm, image restoration and display on microcomputer. 相似文献
28.
Zhang Jinshan Yu Guohua
Research Engineer River Harbour Department Nanjing Hydraulic Research Institute Nanjing Research Senior Engineer River Harbour Department Nanjing Hydraulic Research Institute Nanjing 《中国海洋工程》1995,(3)
- Based on field investigations, this paper analyzes three types of harbour basinns and navigation channel excavated on seabed in Jiaozhou Bay, get a general rule of deposition for excavated trough, it found that pollution is one of crucial factors resulting in the deposition of the excavated trough in the east shore of Jiaozhou Bay. With these results, it predicted the annual deposition thickness for the excavated trough and disclosed the fact that it can't be deposited deadly during one storm. At the same time, with two-dimensional numerical model, it studied the effects of the excavated trough and the reclamation near shore on tidal cureent and said that the excavated trough can decrease the current velocity passing through the trough about 10- 15%, but only limited inside and near the trough and there are no effect on other regions; reclamation can cut off the pollution sources and no obvious effect on the currents of the Jiaozhou Bay. Connecting the deep trough and Cangkou tidal channel with a new 相似文献
29.
The underwater acoustic image transmission system based on the high-speed DSP device TMS320C549 has been studied.We use Goertzel algorithm for source decoding and MFSK for modulation.Turbo code is used for channel coding and decoding.The purpose is to implement underwater video image data transmission. 相似文献
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