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71.
72.
This paper addresses an important problem in ship control application—the robust stabilization of underactuated ships on a linear course with comfort. Specifically, we develop a multivariable controller to stabilize ocean surface ships without a sway actuator on a linear course and to reduce roll and pitch simultaneously. The controller adapts to unknown parameters of the ship and constant environmental disturbances induced by wave, ocean current and wind. It is also robust to time-varying environmental disturbances, time-varying change in ship parameters and other motions of the ship such as surge and heave. The roll and pitch can be made arbitrarily small while the heading angle and sway are kept to be in reasonably small bounds. The controller development is based on Lyapunov’s direct method and backstepping technique. A Lipschitz continuous projection algorithm is used to update the estimate of the unknown parameters to avoid the parameters’ drift due to time-varying environmental disturbances. Simulations on a full-scale catamaran illustrate the effectiveness of our proposed controller. 相似文献
73.
M. -S. Jiang F. Chai R. C. Dugdale F. P. Wilkerson T. -H. Peng R. T. Barber 《Deep Sea Research Part II: Topical Studies in Oceanography》2003,50(22-26):2971
A coupled physical–biological model was developed to simulate the low-silicate, high-nitrate, and low-chlorophyll (LSHNLC) conditions in the equatorial Pacific Ocean and used to compute a detailed budget in the Wyrtki box (5°N–5°S, 180–90°W) for the major sources and cycling of nitrogen and silicon in the equatorial Pacific. With the incorporation of biogenic silicon dissolution, NH4 regeneration from organic nitrogen and nitrification of ammonia in the model, we show that silicon recycling in the upper ocean is less efficient than nitrogen. As the major source of nutrients to the equatorial Pacific, the Equatorial Undercurrent provides slightly less Si(OH)4 than NO3 to the upwelling zone, which is defined as 2.5°N–2.5°S. As a result, the equatorial upwelling supplies less Si(OH)4 than NO3 into the euphotic zone in the Wyrtki box, having a Si/N supply ratio of about 0.85 (2.5 vs. 2.96 mmolm−2 day−1). More Si(OH)4 than NO3 is taken up with a Si/N ratio of 1.17 (2.72 vs. 2.33 mmolm−2 day−1) within the euphotic zone. The difference between upwelling supply and biological uptake is balanced by nutrient regeneration and horizontal advection. Excluding regeneration, the net silicate and nitrate uptakes are nearly equal (1.76 vs. 1.84 mmolm−2 day−1). However, biogenic silica export production is slightly higher than organic nitrogen (1.74 vs. 1.59 mmolm−2 day−1) following a 1.1 Si/N ratio. In the central equatorial Pacific, low silicate concentrations limit diatom growth; therefore non-diatom new production accounts for most of the new production. Higher silicate supply in the east maintains elevated diatom growth rates and new production associated with diatoms dominate upwelling zone. In contrast, the new production associated with small phytoplankton is nearly constant or decreases eastward along the equator. The total new production has a higher rate in the east than in the west, following the pattern of surface silicate. This suggests that silicate regulates the diatom production, total new production, and thereby carbon cycle in this area. The modeled mean primary production is 48.4 mmolCm−2 day−1, representing the lower end of direct field measurements, while new production is 15.0 mmolCm−2 day−1, which compares well with previous estimates. 相似文献
74.
红色无硫细菌处理高浓度鱼品废水的研究 总被引:1,自引:0,他引:1
本文从城市生活污水的沉降污泥中分离出三株红色无硫细菌,经鉴定R1为胶质红假单胞菌(Rhodopscudomonas gelatinosa),R2为沼泽红假单胞菌(R palustris)、RS-1为红螺属(Rhodosprillum)的一种。R1与R2均为兼性需氧和兼性光能利用菌,RS-1为专性厌氧光合菌。作者提出了它们的主要生理、生化特性和最适生长条件,最后确定R1、R2是较有利用前途的优势种类。作者利用上述分离的菌株对高浓度的鱼品废水进行了净化处理试验,得出R1对CODcr的去除率约为65%,R2的去除率为74%以上。二者混合使用可提高至87%。作者还发现废水中的非光合性杂生菌有助于提高光合细菌的净化力。 相似文献
75.
依据黄、东海环流的的动力学模型 ,运用“流速分解法”对黄、东海正压环流进行了数值模拟。计算结果表明冬季黄海正压环流主要受风应力影响 ,基本形态为黄海暖流由济州岛西南进入南黄海中部 ,其东西两侧分别为两支向南流动的沿岸流 ;夏季主要受到潮致体力的影响 ,为一逆时针涡旋。东海环流主要是边界力作用驱动的结果 ,东海黑潮、台湾暖流和对马暖流较稳定。冬季风应力对东海环流表层流场有消弱作用 ,在夏季则有一定增强作用。 相似文献
76.
77.
利用漳州港海域无围堰填海造地前后的水深测量数据,结合海域地质钻探、表层和柱状沉积物资料,用数字地形模型方法计算了该区海底的冲淤量,分析了冲淤变化及其影响因素,结果显示:(1)淤积主要发生在近岸海域,其主要原因是近岸3-10m厚的海底淤泥层在回填土的挤压和推移下发生形变,产生淤浅假象;另一个原因是回填时部分泥沙流失入海,淤积在近岸海域,致使淤积强度增大。(2)由近岸往外,淤积强度逐渐减弱,并过渡为产中刷状态。 相似文献
78.
1989-1999年开展光诱鱿鱼浮拖网渔具渔法研究的生产试验结果为:1998年生产试验86个夜(航次),总产量33.225t,其中鱿鱼产量为12.470t,占总产量的37.5%,总产值139000元,比同村光诱敷网的平均产量(31.62t)高5.1%左右。1999年生产试验80夜(航次),总产量54.66t,其中鱿鱼产量31.92t,占总产量的58.4%,总产值187000元。试验网产量比同村光诱敷网的平均产量(45.64t)增产19.76%,产值增加22.65%,鱿鱼产量占总渔获量的比例提高近10个百分点,投入产出比为1:1.684。取得了较好的试验结果,达到了预期试验目的。此外,文中还讨论了水上灯数量,网具规格和柔性网板等对生产效果和捕捞对象的影响及适应性情况,并建议开展光场强度及其分布的海上实测和光场强度对鱿鱼,趋光性鱼类的行为习性以及生长影响等试验研究,制定出光诱鱿鱼浮报网和敷网作业诱鱼灯数量和分布标准,以合理利用鱿鱼和中上层鱼类资源,实现可持续发展。 相似文献
79.
Monthly and seasonal panel experiments were carried out in the Yongxing Island from September 1979 to August 1981. Altogether 119 species of fouling organisms are collected, of which, Hydroides elegans, Serpula vermicular is, Scrupocellaria longispinosa, Amathia distant, Enteromorpha spp. and Ostrea spp. are dominant species. Fouling of organisms may occur all the year round with evident seasonal variations, Species succession in the process of community formation is very evident and the climax has arrived after two years. Great variation exists between fouling organisms in different years and at different stations. 相似文献
80.
I~IOXThe Okinawa Trough is an extending back--arc basin between the East China Sea Shelf andthe Ry'Ukyu Island Arc of Japan. There are widespreadly distributing acid pumice in the troughand a little basalt just in some area of the extending center. There have been some detailed rePOrtsabout the mineralogy and petrochemical feature of the subalkali tholeiite and alkali trachyte in thetrough (Zhai and Gan, 1995; Li et al., 1997; Qin and Zhai, 1988). This paper mainly reportselectron mic… 相似文献