基于分布式控制力矩陀螺的水下航行器轨迹跟踪控制   总被引：2，自引：0，他引：2  

黄道敏  徐瑞昆  唐国元  冯雷  刘智  徐国华 《海洋工程》2018,36(6):69-76

基于控制力矩陀螺群(CMGs)的水下航行器具有低速或零速机动的能力。采用基于分布式CMGs的水下航行器方案,并研究其水平面的轨迹跟踪控制问题。通过全局微分同胚变换将非完全对称的动力学模型解耦成标准欠驱动控制模型,并根据简化的模型构建其轨迹跟踪的误差动力学模型,将轨迹跟踪控制问题转化为误差模型镇定问题。基于一种分流神经元模型和反步法设计了系统的轨迹跟踪控制律,该控制器不需要对任何虚拟控制输入进行求导计算,且能确保跟踪误差的最终一致有界性。仿真结果表明该控制器能够实现在不依赖动力学参数先验知识的情况下对光滑轨迹的有效跟踪。  相似文献   

国产高分辨率遥感影像农村公路核查方法及其应用     

蔡红玥  袁胜古  阳柯  王芳  盛光晓 《测绘通报》2020,(3):91-95

传统的农村公路核查需要人工实地抽查或通过GNSS设备进行信息采集验核，存在成本高、效率低等问题。遥感影像具有成像范围广、时效性高、成本低、能客观反映现实情况等优点。相比于传统方法，将遥感影像引入农村公路核查，能客观、准确、高效地对农村公路相关信息进行核查。本文基于国产高分辨率遥感影像，结合农村公路遥感核查业务，采用遥感影像道路提取算法，设计并实现了一种农村公路核查方法。将本方法应用于某中部省份农村公路遥感核查业务，实际应用表明该方法能有效提高现有农村公路遥感核查的工作效率。  相似文献   

High-pressure eclogites in northern Jiangsu – southern Shandong province, eastern China     

MASAKI ENAMI  QUIJA ZANG  YUJUN YIN 《Journal of Metamorphic Geology》1993,11(4):589-603

Abstract Eclogites are distributed for more than 500 km along a major tectonic boundary between the Sino-Korean and Yangtze cratons in central and eastern China. These eclogites usually have high-P assemblages including omphacite + kyanite and/or coesite (or its pseudomorph), and form a high-P eclogite terrane. They occur as isolated lenses or blocks 10 cm to 300 m long in gneisses (Type I), serpentinized garnet peridotites (Type II) and marbles (Type III). Type I eclogites were formed by prograde metamorphism, and their primary metamorphic mineral assemblage consists mainly of garnet [pyrope (Prp) = 15–40 mol%], omphacite [jadeite (Jd) = 34–64 mol%], pargasitic amphibole, kyanite, phengitic muscovite, zoisite, an SiO₂ phase, apatite, rutile and zircon. Type II eclogites characteristically contain no SiO₂ phase, and are divided into prograde eclogites and mantle-derived eclogites. The prograde eclogites of Type II are petrographically similar to Type I eclogites. The mantle-derived eclogites have high MgO/(FeO + Fe₂O₃) and Cr₂O₃ compositions in bulk rock and minerals, and consist mainly of pyrope-rich garnet (Prp = 48–60 mol%), sodic augite (Jd = 10–27 mol%) and rutile. Type III eclogites have an unusual mineral assemblage of grossular-rich (Grs = 57 mol%) garnet + omphacite (Jd = 30–34 mol%) + pargasite + rutile. Pargasitic and taramitic amphiboles, calcic plagioclase (An₆₈), epidote, zoisite, K-feldspar and paragonite occur as inclusions in garnet and omphacite in the prograde eclogites. This suggests that the prograde eclogites were formed by recrystallization of epidote amphibolite and/or amphibolite facies rocks with near-isothermal compression reflecting crustal thickening during continent–continent collision of late Proterozoic age. Equilibrium conditions of the prograde eclogites range from P > 26 kbar and T= 500–750°C in the western part to P > 28 kbar and T= 810–880°C in the eastern part of the high-P eclogite terrane. The prograde eclogites in the eastern part are considered to have been derived from a deeper position than those in the western part. Subsequent reactions, manifested by (1) narrow rims of sodic plagioclase or paragonite on kyanite and (2) symplectites between omphacite and quartz are interpreted as an effect of near-isothermal decompression during the retrograde stage. The conditions at which symplectites re-equilibrated tend to increase from west (P < 10 kbar and T < 580°C) to east (P > 9 kbar and T > 680°C). Equilibrium temperatures of Type II mantle-derived eclogites and Type III eclogite are 730–750°C and 680°C, respectively.  相似文献   

渤海湾环流的一次观测和分析   总被引：3，自引：2，他引：3  

江文胜  汪景庸  赵建中  王辉 《中国海洋大学学报(自然科学版)》1997,(1)

为了对渤海湾的环流形态有一个准确的认识，对渤海湾进行了一次较为全面的海流调查。这次调查以Ｌａｇｒａｎｇｅ观点为指导，采用３种方法：海流计在固定站位连续测流；漂流板轨迹观测和“人工水母”测底层流。本文分别介绍这三种方法及观测过程，并分析得出了渤海湾Ｌａｇｒａｎｇｅ余环流型大致是顺时针的结论  相似文献   

EN photographic Perseids     

Pavel Spurný 《Earth, Moon, and Planets》1995,68(1-3):529-537

Many Perseid meteors were photographed in the Czech part of the European Fireball Network during the activity of the new strong and sharp maximum on August 12, 1993. Basic data on many of them were evaluated and radiants, atmospheric trajectories and some orbital elements are presented here and compared with atmospheric and orbital data of regular Perseids, which were photographed outside the new activity in 1993 and preceding years. No substantial difference between these two groups of Perseid meteors was found.  相似文献   

Geomorphological and sequence stratigraphic variability in wave‐dominated,shoreface‐shelf parasequences     

Gary J. Hampson  Joep E. A. Storms 《Sedimentology》2003,50(4):667-701

Abstract Physical stratigraphy within shoreface‐shelf parasequences contains a detailed, but virtually unstudied, record of shallow‐marine processes over a range of historical and geological timescales. Using high‐quality outcrop data sets, it is possible to reconstruct ancient shoreface‐shelf morphology from clinoform surfaces, and to track the evolving morphology of the ancient shoreface‐shelf. Our results suggest that shoreface‐shelf morphology varied considerably in response to processes that operate over a range of timescales. (1) Individual clinoform surfaces form as a result of enhanced wave scour and/or sediment starvation, which may be driven by minor fluctuations in relative sea level, sediment supply and/or wave climate over short timescales (10¹?10³ years). These external controls cannot be distinguished in vertical facies successions, but may potentially be differentiated by the resulting clinoform geometries. (2) Clinoform geometry and distribution changes systematically within a single parasequence, reflecting the cycle in sea level and/or sediment supply that produced the parasequence (10²?10⁵ years). These changes record steepening of the shoreface‐shelf profile during early progradation and maintenance of a relatively uniform profile during late progradation. Modern shorefaces are not representative of this stratigraphic variability. (3) Clinoform geometries vary greatly between different parasequences as a result of variations in parasequence stacking pattern and relict shelf morphology during shoreface progradation (10⁵?10⁸ years). These controls determine the external dimensions of the parasequence.  相似文献   

Turbulence Statistics Inside and Over Forest: Influence on Footprint Prediction   总被引：2，自引：0，他引：2  

Ü. Rannik  T. Markkanen  J. Raittila  P. Hari  T. Vesala 《Boundary-Layer Meteorology》2003,109(2):163-189

Observations of wind statistics within and above a Scots pine forest are comparedwith those predicted from an analytical second-order closure model. The roughnesssublayer (RSL) effects, and the influence of stability on similarity functions, arestudied using observations. The commonly accepted forms of similarity functionsdescribe the influence of diabatic effects above the RSL well. According to earlierstudies they are expected also to apply within the RSL. As an exception, the averagewind speed normalised with friction velocity was found to be invariant with stabilityclose to the canopy top under unstable conditions. Lagrangian stochastic trajectorysimulations were used to evaluate the influence of canopy turbulence profiles onfootprint prediction. The main uncertainty was found to arise from parameterisationof the random forcing term in the Lagrangian velocity equation. The influence ofdiabatic conditions was studied, and it was found that thermal stability affectssignificantly the footprint function above the forest canopy, but significantuncertainty exists because of uncertainties in the formulation of stability functions.  相似文献   

磁场重联中离子轨道的混合模拟研究   总被引：5，自引：3，他引：5       下载免费PDF全文

贾英东  李毅  王水  葛亚松 《地球物理学报》2003,46(2):145-151

在使用2.5维混合模拟方法研究了Petschek模型稳态驱动磁场 重联演化的基础上， 本文考察了计算域内各典型区域中粒子分布函数的变化，描绘了重联区不同位置几种类型的 非Maxwell分布函数. 结果表明，磁场重联会将重联区少部分粒子加速到很高的能量，不同 加速程度的粒子将形成球壳状的速度分布. 粒子的轨道特征表明，在重联区中出流的粒子， 有一部分被磁镜捕获，其回旋半径大于重联区宽度，并构成整个流体速度的低速部分. 另外 ，在X中性点附近进入重联区的粒子沿磁力线向出流区以三种形式漂移，分别为：沿磁力线 逃逸、捕获在磁镜中随流体运动、横越磁力线漂移，其比例分别约为70%，20%和10%。  相似文献   

Methodical approach to distribution of epilithic and drifting algae communities in a French subalpine river: Inferences on water quality assessment   总被引：2，自引：0，他引：2  

Thierry Rolland  Stéphanie Fayolle  Arlette Cazaubon  Stéphane Pagnetti 《Aquatic Sciences - Research Across Boundaries》1997,59(1):57-73

In a sub-alpine river, the Asse, with an unpredictable discharge regime, chlorophyll, density and taxonomic diversity of both drifting and periphytic communities were studied from a methodical approach. The investigations based on stamping two close cross-sections to know their spatial distributions in a heterogeneous bed substrate showed a heterogeneous pattern of colonization mainly influenced by hydrological variables as the current velocity, the size of the substrata (gravel-pebble-boulder). For the drifting algae, mainly composed with benthic species temporarily unhooked to the substrata, the heterogeneity of the distribution was reduced in fast flow which induced a mixing of the whole mass of water. For the periphyton, some results indicated that the greatest diversity and the highest chlorophyll concentration were found on pebble substratum where the current velocity was moderate. These results have also shown that the classical methods used to day for investigations were inadequate for most Mediterranean rivers. It was really difficult to estimate the water quality from classical index created for use in regular large plain rivers.  相似文献   

Metamorphic evolution of garnet-bearing ultramafic rocks from the Gongen area, Sanbagawa belt, Japan   总被引：2，自引：0，他引：2  

M. Enami  T. Mizukami  K. Yokoyama 《Journal of Metamorphic Geology》2004,22(1):1-15

Garnet‐bearing ultramafic rocks including clinopyroxenite, wehrlite and websterite locally crop out in the Higashi‐akaishi peridotite of the Besshi region in the Cretaceous Sanbagawa metamorphic belt. These rock types occur within dunite as lenses, boudins or layers with a thickness ranging from a few centimetres to 1 metre. The wide and systematic variation of bulk‐rock composition and the overall layered structure imply that the ultramafic complex originated as a cumulate sequence. Garnet and other major silicates contain rare inclusions of edenitic amphibole, chlorite and magnetite, implying equilibrium at relatively low P–T conditions during prograde metamorphism. Orthopyroxene coexisting with garnet shows bell‐shaped Al zoning with a continuous decrease of Al from the core towards the rim, consistent with rims recording peak metamorphic conditions. Estimated P–T conditions using core and rim compositions of orthopyroxene are 1.5–2.4 GPa/700–800 °C and 2.9–3.8 GPa/700–810 °C, respectively, implying a high P/T gradient (> 3.1 GPa/100 °C) during prograde metamorphism. The presence of relatively low P–T conditions at an early stage of metamorphism and the steep P/T gradient together trace a concave upwards P–T path that shows increasing P/T with higher T, similar to P–T paths reported from other UHP metamorphic terranes. These results suggest either (1) down dragging of hydrated mantle cumulate parallel to the slab–wedge interface in the subduction zone by mechanical coupling with the subducting slab or (2) ocean floor metamorphism and/or serpentinization at early stage of subduction of oceanic lithosphere and ensuing HP–UHP prograde metamorphism.  相似文献