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81.
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  
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   
82.
近年来,山东省地面沉降监测与防治工作取得了重要进展,初步建立了以二等水准路线、全球定位系统(GPS)、基岩标分层标和地下水监测为基础的"四网合一"地面沉降监测体系,INSAR监测实现了山东全省覆盖。监测成果显示,山东省地面沉降主要位于东营市广饶县、滨州市博兴县、聊城市茌平县,沉降速率呈加快趋势,造成建筑物地基下沉、房屋开裂、地下管道破损等一系列地质环境问题。  相似文献   
83.
In this paper, a comprehensive study on simulating the shearing behavior of frictional materials is performed. A set of two explicit equations, describing the relationship among the shear stress ratio and the distortional strain and the volumetric strain, are formulated independently. The equations contain three stress parameters and three strain parameters and another parameter representing the nonuniformity of stress and strain during softening. All the parameters have clear physical significance and can be determined experimentally. It is demonstrated that the proposed equations have the capacity of simulating the complicated shearing behavior of many types of frictional materials including geomaterials. The proposed equations are used to simulate the stress–strain behavior for 27 frictional materials with 98 tests. These materials include soft and stiff clays in both reconstituted and structured states, silicon sands and calcareous sands, silts, compacted fill materials, volcanic soils, decomposed granite soils, cemented soils (both artificially and naturally cemented), partially saturated soils, ballast, rocks, reinforced soils, tire chips, sugar, wheat, and rapeseed. It has been demonstrated that the proposed explicit constitutive equations have the capacity to capture accurately the shearing behavior of frictional materials both qualitatively and quantitatively. A study on model parameters has been performed.  相似文献   
84.
85.
Considering the current disadvantages of present offshore wind turbine foundations, a novel anchor foundation with skirt and branches is proposed, called offshore umbrella suction anchor foundation (USAF). A series of experiments and numerical simulations were performed to explore the bearing capacity of the USAF under various kinds of loading modes. The bearing characteristics and the anchor–soil interactions are described in detail for horizontal static loading, horizontal cyclic loading, and an antidrawing (pullout) test in silty soil. In the static loading test, the load–deflection of the anchor under step loading was analyzed and the normalized curve of the load–deflection was obtained to determine the ultimate horizontal bearing capacity of the anchor under normal working conditions. Under horizontal cyclic loading, the relationship between the plastic cumulative deformation and cyclic number was determined. In addition, the responses of USAF were investigated for a low wave frequency and storm surges. In the drawing test, it was found that a “segmentation phenomenon” occurred during the test. Moreover, a method to identify the maximum antidrawing load of USAF was provided based on dynamic mechanics. The numerical results show that the use of anchor branches and skirt can enhance the bearing performance of USAF to a certain degree. However, the anchor branch has a slight positive influence on the bearing performance improvement. The USAF is not only similar to a stiff short pile, but a rotation occurs. The failure envelope under composite loading (V-M) was obtained and the changes associated with changes in the aspect ratio of the internal compartment were clarified.  相似文献   
86.
随着海岛遥感影像数据的不断积累,传统数据存储管理方法越来越难以满足需求。针对上述问题,利用云存储技术对海岛影像数据进行分块组织,建立分布式海岛影像数据集,并在优化数据存储的同时,设计了一套海岛信息多形式展示平台。实现了信息检索、数据传输与审核、分析评价、成果展示和共享等功能。  相似文献   
87.
地下采煤会引起地表沉降、变形,甚至引发山体、河堤滑坡等地质灾害。采动坡体的稳定性研究一直是采矿工程中实际关心的问题。该文首先介绍分析了概率积分法移动变形稳态、动态预测模型以及基于极限平衡理论的单滑面采动坡体稳定性预测模型,提出了使用概率积分法结合Knothe时间函数对采动坡体稳定性进行预测分析的方法,并使用C#及XML Schema语言编制了相关的计算程序。最后,结合一个工程实例对采动坡体稳定性和动态变化过程进行了预测与分析,通过实测数据验证了提出方法的可行性,得出了采动引起的坡体下沉是影响坡体稳定性的主要因素,并提出了在坡体拉伸阶段进行注浆加固的方法。  相似文献   
88.
解决好新疆环塔里木盆地绿洲城市发展与水环境质量之间的关系,对"一带一路"倡议顺利实施及新疆社会稳定具有十分重要的作用。基于2004-2017年环塔里木盆地绿洲城市发展与水环境变化状况,构建城市发展与水环境质量的综合评价模型及二者的协调度模型,以探讨环塔里木盆地绿洲城市发展、水环境质量变化及二者的协调关系。结果表明:2004-2017年,(1)环塔里木盆地绿洲城市发展综合指数呈现出逐年稳定上升的趋势,经济发展和城镇空间规模扩大是环塔里木盆地绿洲城市发展的主要形式;(2)环塔里木盆地绿洲城市的水环境质量综合指数呈现出逐年降低的趋势,水环境质量形势严峻;(3)环塔里木盆地绿洲城市发展-水环境质量系统的协调度呈现倒U型的稳定发展趋势,但总体上两者的协调度较低,城市发展和水环境质量之间的矛盾日益突出。  相似文献   
89.
Wang  Yanfeng  Chi  Liang  Liu  Qinghua  Xiao  Yongshuang  Ma  Daoyuan  Xiao  Zhizhong  Xu  Shihong  Li  Jun 《中国海洋湖沼学报》2019,37(1):350-360

Atlantic salmon reared in recirculating aquaculture system (RAS) may lead to inappropriately high stocking density, because fish live in a limited space. Finding the suitable stocking density of Atlantic salmon reared in RAS is very important for RAS industry. In this paper, the influence of stocking density on growth and some stress related physiological factors were investigated to evaluate the effects of stocking density. The fish were reared for 220 days at five densities (A: 24 kg/m3; B: 21 kg/m3; C: 15 kg/m3; D: 9 kg/ m3 and E: 6 kg/m3 ). The results show that 30 kg/m3 might be the maximum density which RAS can afford in China. The stocking densities under 30 kg/m3 have no effect on mortality of Atlantic salmon reared in RAS. However, the specific growth rate (SGR), final weight and weight gain in the high density group were significantly lower than the lower density groups and middle density groups. Moreover, feed conversion rate (FCR) had a negative correlation with density. Plasma hormone T3 and GH showed significant decrease with the increase of the stocking density of the experiment. Furthermore, thyroid hormone (T3), GH (growth hormone) activities were decreased with stocking density increase. However, plasma cortisol, GOT (glutamic oxalacetic transaminase) and GPT (glutamic pyruvic transaminase) activities were increase with stocking density increase. And the stocking density has no effects on plasma lysozyme of Atlantic salmon reared in RAS. These investigations would also help devise efficient ways to rear adult Atlantic salmon in China and may, in a way, help spread salmon mariculture in China.

  相似文献   
90.
在日照市开展多目标区域地球化学调查,获取了表层土壤和深层土壤地球化学数据,通过对获得的地球化学参数进行统计分析,确定了日照市土壤地球化学基准值和背景值,认为日照市除部分元素或指标外,大部分元素或指标土壤地球化学基准值和背景值与全省土壤地球化学基准值和背景值接近。研究发现,日照市As,Cd,Cr,Cu,Hg,Ni,Pb,Zn等8种重金属元素背景值含量低于国家土壤环境质量标准的土壤一级标准限值,日照市土壤质量基本保持自然背景水平;而受工业化生产和城市化建设等后期人为活动影响,日照市表层土壤中Cd,C,Hg,N,P,S,Se,Corg等元素或指标出现明显富集,应引起重视。  相似文献   
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