Adaptive output feedback control based on DRFNN for AUV     

Li-Jun Zhang  Xue Qi  Yong-Jie Pang 《Ocean Engineering》2009,36(9-10):716-722

The tracking control problem of AUV in six degrees-of-freedom (DOF) is addressed in this paper. In general, the velocities of the vehicles are very difficult to be accurately measured, which causes full state feedback scheme to be not feasible. Hence, an adaptive output feedback controller based on dynamic recurrent fuzzy neural network (DRFNN) is proposed, in which the location information is only needed for controller design. The DRFNN is used to online estimate the dynamic uncertain nonlinear mapping. Compared to the conventional neural network, DRFNN can clearly improve the tracking performance of AUV due to its less inputs and stronger memory features. The restricting condition for the estimation of the external disturbances and network's approximation errors, which is often given in the existing literatures, is broken in this paper. The stability analysis is given by Lyapunov theorem. Simulations illustrate the effectiveness of the proposed control scheme.  相似文献   

临沂市第一批建设用地增减挂钩试点调研     

庞西祥 《山东国土资源》2007,23(11):47-49

1项目区基本情况临沂市试点工作涉及2个县,9个乡镇,19个行政村,挂钩周转指标总规模175.61 hm2。其中,沂南县界湖、大庄、苏村、葛沟、湖头、青驼6个乡镇15个行政村,总规模144.98 hm2;河东区汤头、刘店子、凤凰岭3个乡镇4个行政村,总规模97.3 hm2。沂南县需安置692户,主要使用新  相似文献   

平阴县土壤中重金属元素异常成因研究   总被引：1，自引：0，他引：1  

代杰瑞  庞绪贵  王红晋  曾宪东  胡雪平  李肖鹏 《山东国土资源》2009,25(7):37-41

通过对平阴县周边及其西部农田区采样调查，平阴县周边元素异常具有异常衬度较高，富集系数大等特征，西部农田区异常具有各元素套合关系好，多数异常衬度不高，富集系数小的特点。结果表明，西部农田区异常是以As，Cd为主要成分的异常，元素含量与SiO2，Al2O3，Fe2O3等常量组分间具有显著的相关性，随SiO2含量的增加而降低，随Al2O3，Fe2O3含量的增加而增加，说明土壤常量组分及其所决定的土壤质地是导致异常形成的主要因素；而平阴城区异常是以S，Hg，As，Zn，Mn等元素为主的异常，是典型的人为综合因素（化工烟尘、工厂污水、生活垃圾）产生的异常。  相似文献   

Isolation and identification of bacteria associated with the surfaces of several algal species     

王子峰  肖天  逄少军  刘敏  岳海东 《中国海洋湖沼学报》2009,27(3):487-492

We conducted this study to assess the diversity of bacteria associated with the surfaces of algae based on 16S rDNA sequence analyses.Twelve strains of bacteria were obtained from the surfaces of the following four species of algae:Gracilaria textorii,Ulva pertusa,Laminaria japonica,and Polysiphonia urceolata.The isolated strains of bacteria can be divided into two groups:Halomonas and Vibrio,in physiology,biochemical characteristics and 16S rDNA sequence analyses.The phylogenetic tree constructed based on ...  相似文献   

Critical conditions for natural gas charging and delineation of effective gas source rocks for tight sandstone reservoirs     

Fujie Jiang  Xiongqi Pang  Fengtao Guo  Jigang Guo 《Geological Journal》2016,51(1):113-124

Although it has been shown that the potential of tight‐sand gas resources is large, the research into the mechanisms of hydrocarbon charging of tight sandstone reservoirs has been relatively sparse. Researchers have found that there is a force balance during hydrocarbon charging, but discriminant models still have not been established. Based on the force balance conditions observed during gas migration from source rocks to tight sandstone reservoirs, a calculation formula was established. A formula for identifying effective source rocks was developed with the gas expulsion intensity as the discrimination parameter. The critical gas expulsion intensity under conditions of various burial depths, temperatures, and pressures can be obtained using the calculation formula. This method was applied in the Jurassic tight sandstone reservoirs of the eastern Kuqa Depression, Tarim Basin, and it was calculated that the critical expulsion intensity range from 6.05 × 10⁸ m³/km² to 10.07 × 10⁸ m³/km². The critical gas charging force first increases with depth and later decreases with greater depths. The distribution range of effective gas source rocks and total expelled gas volume can be determined based on this threshold. This method provides new insight into and method for predicting favourable tight‐sand gas‐bearing regions and estimating their resource potentials. Copyright © 2014 John Wiley & Sons, Ltd.  相似文献   

Hydrocarbon generation and expulsion characteristics of Lower Permian P1f source rocks in the Fengcheng area,northwest margin,Junggar Basin,NW China: implications for tight oil accumulation potential assessment     

Tao Hu  Xiongqi Pang  Sa Yu  Xulong Wang  Hong Pang  Jigang Guo  Fujie Jiang  Weibing Shen  Qifeng Wang  Jing Xu 《Geological Journal》2016,51(6):880-900

Combined with the actual geological settings, tight oil is the oil that occurs in shale or tight reservoirs, which has permeability less than 1 mD and is interbedded with or close to shale, including tight dolomitic oil and shale oil. The Fengcheng area (FA), at the northwest margin of the Junggar Basin, northwest China, has made significant progress in the tight oil exploration of the Fengcheng (P₁f) Formation recently, which indicates that the tight oil resources have good exploration prospects. Whereas the lack of recognition of hydrocarbon generation and expulsion characteristics of Permian P₁f source rocks results in the misunderstanding of tight oil resource potential. Based on the comprehensive analysis of geological and geochemical characteristics of wells, seismic inversion, sedimentary facies, tectonic burial depth, etc., the characteristics of P₁f source rocks were investigated, and the horizontal distributions of the following aspects were predicted: the thickness of source rocks, abundance and type of organic matter. And on this basis, an improved hydrocarbon generation potential methodology together with basin simulation techniques was applied to unravel the petroleum generation and expulsion characteristics of P₁f source rocks in FA. Results show that the P₁f source rocks distribute widely (up to 2039 km²), are thick (up to 260 m), have high total organic content (TOC, ranging from 0.15 to 4 wt%), are dominated by type II kerogen and have entered into low mature–mature stage. The modeling results indicate that the source rocks reached hydrocarbon generation threshold and hydrocarbon expulsion threshold at 0.5% Ro and 0.85% Ro and the comprehensive hydrocarbon expulsion efficiency was about 46%. The amount of generation and expulsion from the P₁f source rocks was 31.85 × 10⁸ and 15.31 × 10⁸ t, respectively, with a residual amount of 16.54 × 10⁸ t within the source rocks. Volumetrically, the geological resource of shale oil is up to 15.65 × 10⁸ t. Small differences between the amounts calculated by the volumetric method compared with that by hydrocarbon generation potential methodology may be due to other oil accumulations present within interbedded sands associated with the oil shales. Copyright © 2015 John Wiley & Sons, Ltd.  相似文献   

浅谈长庆油田裸眼井测井仪器遇卡及处理方法     

文虎成  王秀明  庞日轩 《陕西地质》2010,28(2)

本文对长庆油田测井仪器遇卡的种类、遇卡的具体原因、预防遇卡事故的措施、解卡的处理方法及解卡的理论分析等方面进行了阐述,主要目的是提高测井效率,降低安全风险,确保裸眼井筒作业优质高效.  相似文献   

浙江八面山萤石矿床流体包裹体地球化学研究   总被引：2，自引：1，他引：1  

闫飞  夏学惠  徐少康  吴颖慧  逄思宇 《化工矿产地质》2010,32(4):215-220

八面山萤石矿床流体包裹体可分为三大类型:Ⅰ气液包裹体,Ⅱ气体包裹体,Ⅲ含子矿物的多相包裹体;矿床成矿温度变化不大,主要集中在120～240°C之间。细粒条带状萤石矿石包裹体温度变化在115～250℃之间;巨晶块状萤石矿石和石英脉型萤石矿石包裹体温度集中在135～170℃之间。萤石矿床流体包裹体以低盐度成矿流体为主。成矿过程中起作用的成矿流体为KCl-H2O体系和CO2-CaF2-H2O体系,成矿溶液的离子类型属K+-Ca2+-HCO--F-型,KCl-H2O体系反映岩浆期后热液作用的结果,而CO2-CaF2-H2O体系可能反映了寒武纪矿源层成矿体系。通过包裹体研究,认为八面山萤石矿床是受地层-岩体-层间断裂共同控制"三位一体"的热液成因矿床。  相似文献   

高密度电法在监测地下高喷注浆工程的应用     

胡鹏  朱国荣  王启瑞  郝志东  王荣海 《高校地质学报》2010,16(3)

了解高喷注浆过程及其效果对于实际工程具有重要意义,而高密度电法是对其实施动态监测的一项有效手段。基于Archie法则,对高密度电法所测得之数据进行转换、预处理和反演,可得到注浆过程各时段的电阻率以及不同时段的电阻率剖面图。结果表明,注浆区测点的基体电阻率曲线与水泥浆电阻率变化曲线具有相似的特征,而非注浆区的测点则没有。因而高密度电法可广泛应用于监测注浆过程,并对其效果进行检测,从而为探寻地下工程的可视化施工方式提供技术参考。  相似文献   

汉江上游3200-2800aBP特大古洪水重建研究(英文)     

查小春  黄春长  庞奖励  周亚利 《地理学报(英文版)》2014,24(3):446-456

Palaeoflood hydrology study is a leading subject in global change study. Through field investigation in the upper reaches of Hanjiang River, palaeoflood slackwater deposits(SWD) were found in the bedrock gorges of the Yunxi reach. The results of field observation, laboratory analysis including particle-size distribution and magnetic susceptibility, and comparison with modern flood deposits, the SWD were identified as the most typical Holocene palaeoflood deposits of the Hanjiang River. By using stratigraphic correlation and OSL dating method, the palaeoflood event was dated to be 3200–2800 a BP at the turn from the middle to late Holocene. According to the palaeoflood peak stage and hydraulic parameters, the peak discharges of the palaeoflood were reconstructed as 48,830–51,710 m3/s by using the slope-area method. At same time, the flood peak discharges of 1983, 2005 and 2010 severe floods were reconstructed with the same method and hydraulic parameters in the same cross section. The error between the reconstructed and gauged discharges was 1.99%–4.21%. This showed that the reconstructed palaeoflood peak discharges were reliable. The flood peak discharge-frequency relationship at 10,000-year time scale was established by a combination of the gauged flood, historical flood and palaeoflood hydrological data. These results are very important for hydraulic engineering and flood mitigation on the Hanjiang River.  相似文献