Path following control system for a tanker ship model

A two-dimensional path following control system for autonomous marine surface vessels is presented. The guidance system is obtained through a way-point guidance scheme based on line-of-sight projection algorithm and the speed controller is achieved through state feedback linearization. A new approach concerning the calculation of a dynamic line-of-sight vector norm is presented which main idea is to improve the speed of the convergence of the vehicle to the desired path. The results obtained are compared with the traditional line-of-sight scheme. It is intended that the complete system will be tested and implemented in a model of the “Esso Osaka” tanker. The results of simulations are presented here showing the effectiveness of the system aiming in to be robust enough to perform tests either in tanks or lakes.     

一种提高粘土矿物去除赤潮生物能力的新方法

在研究粘土颗粒与赤潮生物絮凝作用的基础上，建立了粘土表面改性对其絮凝作用影响的理论模型，认为改变粘土颗粒的表面性质提高其去除赤潮生物能力的主要途径，提出在粘土中引入ＰＡＣＳ（聚羟基氯化铝）的改性方法。结果表明，对于微型原甲藻（Ｐｒｏｒｏ－ｃｅｎｔｒｕｍ ｍｉｎｉｍｕｎ）体系，粘土中引入微量ＰＡＣＳ后，其去除率达９０％以上的高岭土用量由原来的２ｇ／Ｌ降至０．１ｇ／Ｌ，去除效率提高近２０倍。考察了ＰＡ     

Identification of ore extraction and metal working in ancient times: a case study of Sagalassos (SW Turkey)

The extensive territory of the ancient (Hellenistic to Byzantine) city of Sagalassos (SW Turkey) offered a rich variety in natural mineral resources. The frequent occurrence of iron slag in the excavations at the site proved the local working of metal. A geochemical prospection campaign was done in the territory of the ancient city in order to identify or discard the city and its territory as a self-sustaining metallurgical centre. Secondly, the geochemical impact of ancient metallurgy was investigated. Geochemical anomalies identified in stream sediments are explained by the presence of mineralised deposits and ancient metal working. Mg, Cr, Co and Ni anomalies point to chromite and chrysotile-magnetite deposits related to the basic rocks of the Lycian nappes in the area. Fe, V and Ti anomalies indicate the presence of iron mineralisations, which have been worked for iron production in ancient times. Finally, the association of P, Cu, Pb, Mn, As and Ag anomalies are an indicator of human activity at archaeological sites. Within the framework of this geochemical prospection, a metal working site apart from the city of Sagalassos was identified. Here, ore was both extracted and processed to workable iron.     

佳木斯市GPS控制网的建立——索佳GSS1A型GPS接收机的应用

介绍利用日本索佳公司ＧＳＳ１Ａ型ＧＰＳ接收机在建立佳木斯市ＧＰＳ控制网中的应用。阐述了ＧＰＳ控制网的布设方案，外地施测方法和数据处理与精度分析，并扼要的总结了建网的经验与体会。     

电吸附找矿方法寻找隐伏金矿床的研究

电吸附找矿方法是指对采集的样品在室内特别装置中通电，并用吸附体吸附试样中电运移元素，通过这些元素所形成的异常来发现矿体的一种方法，该方法是依据野外地电提取方法的理论发展起来的，具有设备简单，成本低，工效效率高，工作条件及质量容易控制等优点。     

地下水中氟形成的控制因素及其分布规律

本文研究了地下水中氟元素形成的主要控制因素及其分布规律。结果表明，地下水氟的形成与断裂构造，地下水温度、气候条件、含水介质及其上覆土层中的氟含量，地下水的酸碱度与径流条件有密切的关系。深成断裂脉状地下水和萤石矿区的地下水氟含量高，不有作为生活饮用水源； 而浅层的地下水氟含量较低，大多数仍作为生活饮用水源。     

Use of fallout 137Cs for documenting the chronology of overbank sediments from the river Sava, Croatia, and interpreting their geochemical patterns

This paper attempts to determine the impact of former Pb-Zn-Ba mining activities in Slovenian drainage basin on overbank sediments of the Sava river (West Croatia). Among the four studied sequences (S7, S8, S9, S10), the most upstream profile S7 showed the most pronounced impact of ore mining. Mercury was enriched more than 100-fold; Pb and Zn had a strong positive correlation (r > 0.99). Two factor models clearly revealed the Pb-Ba-Hg association in the lower-lying carbonate (CA) population of all four profiles, but only in the overlying silicate (SI) population of profile S7. Factor analysis confirmed this association in the total sediment (90 samples) as well as separately in the CA (33 samples) and SI (57 samples) populations. Based on a comparison with an undisturbed soil profile, the vertical distribution of ¹³⁷Cs in profile S7 was interpreted to be the combination of caesium deposition caused by a flood in 1964 and by post-depositional redistribution.     

云南保山从干树金矿控矿条件及矿床成因讨论

从干树金矿赋存于怒江构造带高黎贡山岩群变质岩系中,有两个明显的次级矿化带,具多期次成矿作用特点:前期可能为沉积变质赋矿,后期为剪切(构造热液)成矿。晚期在浅部风化淋滤富集。剪切作用形成的金矿是主体。     

车贝雪夫多项式的约简算法

解释了文献「１」中关于化整后的车贝雪夫多项式约简处理的技术原理,给出了一种可快速实现多项式约简处理的求算方法。     

The use of digital technologies for landslide disaster risk research and disaster risk management: progress and prospects

Landslide is a serious natural disaster next only to earthquake and flood, which will cause a great threat to people’s lives and property safety. The traditional research of landslide disaster based on experience-driven or statistical model and its assessment results are subjective , difficult to quantify, and no pertinence. As a new research method for landslide susceptibility assessment, machine learning can greatly improve the landslide susceptibility model’s accuracy by constructing statistical models. Taking Western Henan for example, the study selected 16 landslide influencing factors such as topography, geological environment, hydrological conditions, and human activities, and 11 landslide factors with the most significant influence on the landslide were selected by the recursive feature elimination (RFE) method. Five machine learning methods [Support Vector Machines (SVM), Logistic Regression (LR), Random Forest (RF), Extreme Gradient Boosting (XGBoost), and Linear Discriminant Analysis (LDA)] were used to construct the spatial distribution model of landslide susceptibility. The models were evaluated by the receiver operating characteristic curve and statistical index. After analysis and comparison, the XGBoost model (AUC 0.8759) performed the best and was suitable for dealing with regression problems. The model had a high adaptability to landslide data. According to the landslide susceptibility map of the five models, the overall distribution can be observed. The extremely high and high susceptibility areas are distributed in the Funiu Mountain range in the southwest, the Xiaoshan Mountain range in the west, and the Yellow River Basin in the north. These areas have large terrain fluctuations, complicated geological structural environments and frequent human engineering activities. The extremely high and highly prone areas were 12043.3 km² and 3087.45 km², accounting for 47.61% and 12.20% of the total area of the study area, respectively. Our study reflects the distribution of landslide susceptibility in western Henan Province, which provides a scientific basis for regional disaster warning, prediction, and resource protection. The study has important practical significance for subsequent landslide disaster management.