Adaptive Observer Based Backstepping Controller Design for Dynamic Ship Positioning

Modified adaptive observer based backstepping control system for dynamic positioning of ship is proposed. As an improvement, the adaptive observer takes the first-order wave frequency model and the bias term which represent the slowly varying environmental disturbances and the unmodeled dynamics. Thus, the wave-frequency motions are filtered out, and only the reconstructed low-frequency motions are sent as inputs of the controller. Furthermore, as the ship dynamics parameters are unknown, the adaptive estimation law is designed for both the unknown ship dynamics and the unmeasured state variables. Based on the estimated states and parameters, backstepping controller considering the integral action is designed. Global exponential stability (GES) for the total system is proved using Lyapunov direct method. Simulation results show a good performance of the observer and control system.     

多模式自适应水下无线通信网络框架研究

对当前典型的水下无线通信网进行分析,针对水声、光、射频3种通信模式在水下无线通信中的优缺点,提出基于软件无线电技术的多模式自适应水下无线通信网络的概念及其框架结构,并对其中的自适应调制解调方式展开研究.结合MAC层协议,提出一种跨层的自适应调制解调解决方案,即通过收发双方的握手信息携带当前信道状态,由发射方根据握手信息,判断双方通信距离,预计信道未来状态,结合需要传输的数据量,自适应选择合适的通信模式和调制方式,并利用握手信号通知接收方,从而实现在通信网络范围内数据或指令的快速可靠传输.     

北极冰下水声通信中改进的最小均方/四次方直接自适应均衡器

本文提出了一种适用于北极冰下水声通信的最小均方/四次方直接自适应均衡器（LMS/F-DAE）。它能处理基带复信号,与LMS相比,具有更好的均衡效果。考虑到均衡器的稀疏特性,在其代价函数中加入自适应范数（AN）作为约束。它能根据均衡器系数的大小自适应变化：对于小系数,此约束项存在以加快收敛速度;对于大系数,此约束项不存在以减小均衡误差。利用第九次中国北极科学考察得到的实验数据验证AN-LMS/F-DAE的性能。结果表明,与传统的LMS/F-DAE相比,AN-LMS/F-DAE能提升均衡器的稀疏性且均衡性能更优。     

带乘性噪声系统状态滤波的自适应算法

带乘性噪声系统由于其广泛的适用性,一直成为研究的热点。针对带乘性噪声系统状态最优估计的自适应算法进行研究,探讨在噪声服从平稳正态分布情况下,对未知动态噪声方差阵与观测噪声方差阵的辨识问题。在证明带乘性噪声系统新息在稳态时和线性系统新息有着相似稳定特性的前提下,通过对线性系统辨识方法的改进,完成对带乘性噪声系统噪声方差阵的辨识,并利用新息特性对该方法进行进一步改进,以提高辨识精度;最后通过仿真验证该方法的有效性。     

Growth and Production in Posidonia Oceanica (L.) Delile*

Abstract. In situ investigations of growth and production in a stand of Posidonia oceanica (L.) DELILE at a depth of 4 m at Ischia (Gulf of Naples) were carried out over two growing seasons. Posidonia starts to grow in August and an average bundle produces ten leaves in increasing time intervals until May. Growth curves for the leaves are given. Maximum leaf standing crop is in May with 1300 g dry weight per m^-2, leaf area index at this time reaches 22 m² m^-2. Leaf net productivity is highest in March with 12 g dry weight per m² per day. Annual leaf production is estimated as 3110 g dry weight per m², “underground” production as 115 g dry weight per m². About half the leaf production is exported from the system. Adaptive strategies of the growth and production pattern are discussed.     

风浪背景下舰船水压场信号的自适应AR模型预测滤波

为了有效地从风浪背景中检测舰船水压信号,首先根据舰船水压信号和波浪噪声的特点以时间序列的AR模型理论为依据,导出一种便于实现的自适应滤波器结构,并用NFTF自适应算法实现对舰船水压信号的预测滤波,取得了明显的效果.计算机仿真实验结果表明,给出的方法对抗波浪干扰具有良好的性能.     

Robust adaptive control of underactuated ships on a linear course with comfort

This paper addresses an important problem in ship control application—the robust stabilization of underactuated ships on a linear course with comfort. Specifically, we develop a multivariable controller to stabilize ocean surface ships without a sway actuator on a linear course and to reduce roll and pitch simultaneously. The controller adapts to unknown parameters of the ship and constant environmental disturbances induced by wave, ocean current and wind. It is also robust to time-varying environmental disturbances, time-varying change in ship parameters and other motions of the ship such as surge and heave. The roll and pitch can be made arbitrarily small while the heading angle and sway are kept to be in reasonably small bounds. The controller development is based on Lyapunov’s direct method and backstepping technique. A Lipschitz continuous projection algorithm is used to update the estimate of the unknown parameters to avoid the parameters’ drift due to time-varying environmental disturbances. Simulations on a full-scale catamaran illustrate the effectiveness of our proposed controller.     

面向目标自适应三维大地电磁正演模拟

本文将面向目标的自适应算法应用于三维大地电磁数值模拟.使用基于非结构网格的矢量有限单元法对起伏地表大地电磁正演模拟问题进行求解.使用利用垂向电流密度在物性界面上的连续性对后验误差进行估算的算法指导网格优化.由于全局自适应算法针对观测点优化网格的能力较差,本文通过求解正演问题的对偶问题计算后验误差的加权系数,并对相关加权系数进行改进,从而实现了面向目标的自适应算法.与传统基于结构化网格的电磁正演算法相比,采用非结构网格能够更好地拟合起伏地表和地下不规则异常体.由于使用了面向目标的自适应算法,本文能够使用更少的网格达到较高的计算精度.通过对比本文模拟结果与半空间响应和全局自适应算法计算结果,并通过对比使用改进前和改进后加权系数得到的网格剖分结果验证了本文算法的有效性.

     

湖北郧西黄龙洞古人类石器技术与生存行为探讨

湖北郧西黄龙洞古人类遗址自2004年发现以来已进行过3次系统发掘,出土了距今约10万年的晚期智人牙齿化石、哺乳动物化石和38件石制品。文章从类型、原料、剥片技术、加工技术等方法对石制品进行综合分析。结果表明,黄龙洞古人类选择围岩内部的石英质岩脉和洞外河流形成的河卵石进行剥片和加工石器,类型包括石锤、石核、石片、石器、断块和碎屑等,个体以中小型居多;锤击法为剥片基本方法,砸击法被少量使用;石器多为片状毛坯制作而成,刮削器是石器的主要类型,此外还有手镐、砍砸器、石锥和雕刻器等,石器为锤击法单向简单加工而成。另外,结合洞穴自然环境、动物化石埋藏及考古分析等证据,探讨了古人类于更新世晚期对黄龙洞的利用方式和生存行为。     

气候变化下新疆及咸海流域河川径流演变及适应性对策分析

 中亚咸海流域地处全球气候变化的敏感中心,生态环境脆弱、水资源紧缺,过去百年来中亚咸海流域气候、人类活动、生态环境均经历了较为显著的变化,分析中亚咸海流域气候-水-生态-人类活动的关系,对自然与人文相近的新疆可持续发展具有重要的借鉴意义。以最新收集的资料为基础,对比研究近50 a来新疆及近80 a来中亚咸海流域的气温、降水和主要河流的径流变化情况,结合二者水资源开发利用的演变历程,分析气候变化与人类活动对研究区生态环境与持续发展的影响,最后借鉴中亚咸海流域气候变化、人类活动、生态环境的综合关系,讨论气候变化下新疆水资源开发利用的适应性对策。结果表明：近80 a来,新疆与中亚咸海流域气候呈现较为一致的变暖趋势,尤其是20世纪80年代以来,二者绝大部分地区气候呈现“暖干”向“暖湿”转型迹象,河川径流也有不同程度的增加,但由于人类活动规模与强度的迅速、持续增强,研究区生态环境呈现尚未得到有效遏制的恶化趋势。立足于有利的气候时期,强化水资源开发利用管理,提高水资源利用效率和效益,加快关键水源工程建设,完善水资源配置网络体系的建设,是未来一段时期内应对气候变化下新疆水资源开发利用的主要适应性对策。