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   

山东省地面沉降监测与防治工作进展          下载免费PDF全文

张永伟  邵明  肖敏 《山东国土资源》2018,34(8)

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   

Studies on the Application of Steady State Assumption in 1DV Model for the Estimation of Settling Velocity of Suspended Sediments in a Shallow Estuary     

K. L. Priya 《Ocean Science Journal》2018,53(3):449-459

Settling velocity is one of the important parameters in sediment transport modeling of estuaries. The methods adopted for its determination vary from theoretical equations to experimental methods. The theoretical equation generally adopted in the 1DV model include assumptions in order to simplify the solution. It is generally assumed that either the condition is steady or the vertical diffusion is negligible. This study evaluated the relative importance of the two assumptions made for the estimation of settling velocity. Two approaches were adopted: unsteady and negligible vertical diffusion (NS-NVD) and steady with vertical diffusion (S-VD) to estimate the settling velocity. The Muthupet Estuary in the Coromandal coast of India was selected for the study. The S-VD approach estimated settling velocity fairly well at the two locations with appreciable vertical diffusion. The NS-NVD approach was observed to be superior for estimating settling velocity at shallow reaches of the estuary having low flow velocity. The calculated settling velocity was further applied in 1DV model to predict the suspended sediment concentration. The S-VD approach predicted suspended sediment concentration at those locations with appreciable vertical diffusion with an R² value of 0.82 against 0.67 for the NS-NVD approach. At the other shallow reach of the estuary with low flow velocity, the NS-NVD approach gave an R² value of 0.822 against 0.71 for the S-VD approach. The vertical diffusion was observed to play a secondary role at those locations which are shallow with a water depth of 0.6 m and with a low flow velocity of the order of 0.01 m/s. The study demonstrated that localized hydrodynamic conditions influence the method adopted for the estimation of settling velocity.  相似文献   

基于云存储技术的海岛信息管理和 展示平台设计与实现     

孙超  汪愿愿  潘增弟  孙亚伟 《海洋通报》2019,38(2):233-240

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   

Changes in hillslope hydrology in a perched,shallow soil system due to clearcutting and residual biomass removal     

Colin P. R. McCarter  Stephen D. Sebestyen  Susan L. Eggert  Randall K. Kolka  Carl P. J. Mitchell 《水文研究》2020,34(26):5354-5369

Sustainable fuels legislation and volatility in energy prices have put additional pressures on the forestry sector to intensify the harvesting of biomass for “advanced biofuel” production. To better understand how residual biomass removal after harvest affects forest hydrology in relatively low slope terrain, a Before-After-Control-Impact (BACI) study was conducted in the USDA Forest Service's Marcell Experimental Forest, Minnesota, USA. Hydrological measurements were made from 2010–2013 on a forested hillslope that was divided into three treatment blocks, where one block was harvested and residual biomass removed (Biomass Removed), the second was harvested and residual biomass left (Biomass Left), and the last block was left as an Unharvested Control. The pre-harvest period (2 years) was 2010–11 and post-harvest (2 years) was 2012–13. Water table elevation at the upslope and downslope position, subsurface runoff, and soil moisture were measured between May–November. Mixed effect statistical models were used to compare both the before-after and “control” treatment ratios (ratios between harvested hillslopes and the Unharvested Control hillslope). Subsurface runoff significantly increased (p < .05) at both harvested hillslopes but to a greater degree on the Biomass Left hillslope. Greater subsurface runoff volumes at both harvested hillslopes were driven by substantial increases during fall, with additional significant increases during summer on the Biomass Left hillslope. The hydrological connectivity, inferred from event runoff ratios, increased due to harvesting at both hillslopes but only significantly on the Biomass Left hillslope. The winter harvest minimized soil disturbance, resulting in no change to the effective hydraulic conductivity distribution with depth. Thus, the observed hydrological changes were driven by increased effective precipitation and decreased evapotranspiration, increasing the duration that both harvested hillslopes were hydrologically active. The harvesting of residual biomass appears to lessen hydrological connectivity relative to leaving residual biomass on the hillslope, potentially decreasing downstream hydrological impacts of similar forestry operations.  相似文献   

基于概率积分法的采动坡体稳定性预测与分析          下载免费PDF全文

王猛  孙丽丽  薄怀志 《山东国土资源》2018,34(12)

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   

载波/多普勒平滑伪距在Android手机中的定位实现     

张书维  高井祥  赵龙  李增科 《测绘通报》2020,(4):63-67

针对Android手机GNSS伪距定位精度较低的问题，利用手机端观测信息，通过载波相位/多普勒平滑伪距改善手机端伪距观测值的质量，从而达到提高定位精度的效果。首先给出了Android手机GNSS原始观测量的获取方法，然后推导了载波相位平滑伪距和多普勒平滑伪距算法模型，并设计合理有效的试验对算法的精度进行评定。试验结果表明：在手机端静态定位中载波相位和多普勒平滑算法均可提高原始伪距的定位精度，且多普勒平滑算法表现更优；在手机端动态定位中多普勒平滑算法可获得比原始伪距更优的定位精度，但是载波相位平滑算法较原始伪距更差；由于硬件的制约手机端周跳和信号失锁严重，占比超过50%，载波相位在手机端的可用性较低；多普勒平滑算法的最优平滑时间常数小于等于10 s，具有实时动态定位的巨大潜力。  相似文献   

Light Chemical Elements in Stars: Mysteries and Unsolved Problems     

L. S. Lyubimkov 《Astrophysics》2018,61(2):262-285

  相似文献   

日照市土壤地球化学元素分布规律及成因探讨          下载免费PDF全文

庞绪贵  宋娟娟  代杰瑞  喻超  张华平  陈磊  任天龙  王红晋 《山东国土资源》2018,34(4)

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   

海洋工程项目生态建设方案研究          下载免费PDF全文

蔡灵  侯建平  欧阳玉蓉  吴侃侃 《海洋开发与管理》2018,35(10):84-87

为完善海洋工程项目的海洋环境影响评价和促进海洋生态文明建设,文章根据相关实践经验,从原则和依据、定位、生态空间和生态景观格局、污染物排放和控制、生态修复和补偿以及监测计划和保障等方面提出生态建设方案的内容,按照项目建设前、项目规划、项目设计和项目实施的全过程设置方案的程序,并以案例项目具体说明。在此基础上,总结目前海洋工程项目生态建设亟待解决的问题,即生态建设及其相关活动需重新定义、方案实施过程和效果的检验和评估无制度和规范保障以及方案编制缺乏整体性和区域性。  相似文献