Approximate optimal tracking control for near-surface AUVs with wave disturbances     

Qing Yang  Hao Su  Gongyou Tang 《中国海洋大学学报(英文版)》2016,15(5):789-798

This paper considers the optimal trajectory tracking control problem for near-surface autonomous underwater vehicles (AUVs) in the presence of wave disturbances. An approximate optimal tracking control (AOTC) approach is proposed. Firstly, a six-degrees-of-freedom (six-DOF) AUV model with its body-fixed coordinate system is decoupled and simplified and then a nonlinear control model of AUVs in the vertical plane is given. Also, an exosystem model of wave disturbances is constructed based on Hirom approximation formula. Secondly, the time-parameterized desired trajectory which is tracked by the AUV’s system is represented by the exosystem. Then, the coupled two-point boundary value (TPBV) problem of optimal tracking control for AUVs is derived from the theory of quadratic optimal control. By using a recently developed successive approximation approach to construct sequences, the coupled TPBV problem is transformed into a problem of solving two decoupled linear differential sequences of state vectors and adjoint vectors. By iteratively solving the two equation sequences, the AOTC law is obtained, which consists of a nonlinear optimal feedback item, an expected output tracking item, a feedforward disturbances rejection item, and a nonlinear compensatory term. Furthermore, a wave disturbances observer model is designed in order to solve the physically realizable problem. Simulation is carried out by using the Remote Environmental Unit (REMUS) AUV model to demonstrate the effectiveness of the proposed algorithm.  相似文献   

Antialgal and antilarval activities of bioactive compounds extracted from the marine dinoflagellate <Emphasis Type="Italic">Amphidinium carterae</Emphasis>     

Xianyu Kong  Xiurong Han  Min Gao  Rongguo Su  Ke Wang  Xuzhao Li  Wei Lu 《中国海洋大学学报(英文版)》2016,15(6):1014-1020

With the global ban on the application of organotin-based marine coatings by the International Maritime Organization, the development of environmentally friendly, low-toxic and nontoxic antifouling compounds for marine industries has become an urgent need. Marine microorganisms have been considered as a potential source of natural antifoulants. In this study, the antifouling potential of marine dinoflagellate Amphidinium carterae, the toxic and red-tide microalgae, was investigated. We performed a series of operations to extract the bioactive substances from Amphidinium carterae and tested their antialgal and antilarval activities. The crude extract of Amphidinium carterae showed significant antialgal activity and the EC₅₀ value against Skeletonema costatum was 55.4 μg mL^?1. After purification, the isolated bioactive substances (the organic extract C) exhibited much higher antialgal and antilarval activities with EC₅₀ of 12.9 μg mL^?1 against Skeletonema costatum and LC₅₀ of 15.1 μg mL^?1 against Amphibalanus amphitrite larvae. Subsequently, IR, Q-TOFMS, and GC-MS were utilized for the structural elucidation of the bioactive compounds, and a series of unsaturated and saturated 16- to 22-carbon fatty acids were detected. The data suggested the bioactive compounds isolated from Amphidinium carterae exhibited a significant inhibiting effect against the diatom Skeletonema costatum and Amphibalanus amphitrite larvae, and could be substitutes for persistent, toxic antifouling compounds.  相似文献   

Sources and controls for elevated arsenic concentrations in groundwater of Datong Basin,Northern China     

Chunli Su  Yapeng Zhu  Zainab Abbas  Md. Enamul Huq 《Environmental Earth Sciences》2016,75(7):570

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Investigation about rainfall-induced shallow landslides in CYL and TWR watersheds,Taiwan     

Chyan-Deng Jan  Ssu-Yao Yang  Yu-Wen Su  Wen-Shun Haung 《Environmental Earth Sciences》2016,75(10):898

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Hydrochemical and sedimentological dynamics in a subtropical plain river: assessment by multivariate statistical analysis     

Paola A. Suárez  Marisol Vega  Rafael Pardo  Oscar Orfeo  José Luis García Cuesta  Alicia Ronco 《Environmental Earth Sciences》2016,75(12):1004

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Microbial community structure in hypolentic zones of a brine lake in a desert plateau,China     

Wenzhen Yuan  Xiaosi Su  Geng Cui  Huang Wang 《Environmental Earth Sciences》2016,75(15):1132

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An improved method of sediment grain size trend analysis in the Xiaoqinghe Estuary,southwestern Laizhou Bay,China     

Qiao Su  Changsheng Peng  Liang Yi  Haijun Huang  Yanxia Liu  Xingyong Xu  Guangquan Chen  Hongjun Yu 《Environmental Earth Sciences》2016,75(16):1185

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Safety Assessment of Buried Pipeline during Pile Driving Vibration in Offshore Engineering     

Jingbo Su  Jianfeng Li  Ruihu Zhu  Wanggen Qin  Qiu Zhai 《Marine Georesources & Geotechnology》2016,34(7):689-702

To assess the impact of pile driving on adjacent submarine pipelines during the reconstruction of a pier berth, the local damage model of submarine pipelines is established to explore the safety thresholds of the particle peak velocity and horizontal displacement. The results are analyzed and adjusted by the existing standards and the corresponding literatures. Then, a three-dimensional numerical model is presented to assess the feasibility of the construction of piles by the obtained safety limits, in which the nonlinear behavior of the soil and stress–seepage coupling analysis are considered. After the construction, the safety of submarine pipelines is rechecked by the measured value of the particle peak velocity and horizontal displacement. Meanwhile, the propagation law of vibration, the horizontal displacement of underground soil, and the pore pressure during pile driving are explored. The results indicate that the construction of piles of 2# mooring pier did not cause damage to adjacent submarine pipelines. However, the construction of piles of 1# mooring pier which is nearer may cause damage to submarine pipelines.  相似文献   

大兴安岭十八站—韩家园地区晚中生代火山岩年龄、地球化学特征及其构造意义     

柴明春  王泉  赵国英  高溯  曹昆 《地质通报》2018,37(10):1866-1881

大兴安岭十八站—韩家园地区发育晚中生代基性-中酸性火山岩。选取粗面安山岩、粗面岩、流纹岩进行年代学和岩石地球化学研究。粗面安山岩LA-ICP-MS锆石U-Pb年龄为125.2±0.9 Ma,为早白垩世火山作用的产物。岩石地球化学特征表明,中酸性火山岩属于高钾钙碱性-钾玄岩系列。岩石稀土元素总量∑REE=121.42×10~(-6)~154.43×10~(-6),轻、重稀土元素分异明显(La/Yb)_N=19.25~31.98,在稀土元素配分图上显示右倾型,除一个流纹岩样品具显著负Eu异常外,多数样品无明显Eu负异常(δEu=0.45~0.90)。岩石具弱富集大离子亲石元素Ba、Sr,明显亏损高场强元素Nb、Ta、Ti的特征。结合区域资料,认为十八站—韩家园地区早白垩世中酸性火山岩形成于蒙古-鄂霍茨克洋闭合机制下后碰撞伸展背景。粗面安山岩、粗面岩和流纹岩系同源岩浆部分熔融与结晶分异作用的结果,岩浆来源于受俯冲流体交代的富集岩石圈地幔。  相似文献   

Comparison of single- and dual-permeability models in simulating the unsaturated hydro-mechanical behavior in a rainfall-triggered landslide     

Wei Shao  Zongji Yang  Junjun Ni  Ye Su  Wen Nie  Xieyao Ma 《Landslides》2018,15(12):2449-2464

Landslide-prone slopes in earthquake-affected areas commonly feature heterogeneity and high permeability due to the presence of cracks and fissures that were caused by ground shaking. Landslide reactivation in heterogeneous slope may be affected by preferential flow that was commonly occurred under heavy rainfall. Current hydro-mechanical models that are based on a single-permeability model consider soil as a homogeneous continuum, which, however, cannot explicitly represent the hydraulic properties of heterogeneous soil. The present study adopted a dual-permeability model, using two Darcy-Richards equations to simulate the infiltration processes in both matrix and preferential flow domains. The hydrological results were integrated with an infinite slope stability approach, attempting to investigate the hydro-mechanical behavior. A coarse-textured unstable slope in an earthquake-affected area was chosen for conducting artificial rainfall experiment, and in the experiment slope, failure was triggered several times under heavy rainfall. The simulated hydro-mechanical results of both single- and dual-permeability model were compared with the measurements, including soil moisture content, pore water pressure, and slope stability conditions. Under high-intensity rainfall, the measured soil moisture and pore water pressure at 1-m depth showed faster hydrological response than its simulations, which can be regarded as a typical evidence of preferential flow. We found the dual-permeability model substantially improved the quantification of hydro-mechanical processes. Such improvement could assist in obtaining more reliable landslide-triggering predication. In the light of the implementation of a dual-permeability model for slope stability analysis, a more flexible and robust early warning system for shallow landslides hazard in coarse-textured slopes could be provided.  相似文献