Robust adaptive control of underactuated ships on a linear course with comfort     

K. D. Do  J. Pan  Z. P. Jiang   《Ocean Engineering》2003,30(17):2201-2225

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   

秦山核电站邻近水域石油降解细菌的生态学研究     

陈忠元  史君贤 《海洋学研究》1991,9(2):48-53

本文分析了1989年4月(春),7月(夏),10月(秋)和1990年1月(冬)秦山邻近水域表层水中石油降解细菌的丰度和分布规律,同时比较了温度、含油量、营养盐、溶解氧、盐度等环境因素对其数量变动的影响。分析结果发现,测区表层水中石油降解菌数量最高值达1.1×10~5个/dm~3,最低值为400个/dm~3,季节变化波动于97～4.9×10~4个/dm~3之间,菌量变化与水温,含油量呈正相关,与盐度呈负相关趋势,认为测区高营养盐、高溶解氧状况可能不成为石油降解细菌生长繁殖的限制因子,并指出测区低丰度的石油降解菌数量与该海区低水平的油污是一致的。  相似文献   

福建罗源湾海滩互花米草盐沼中18种金属元素的分布   总被引：13，自引：0，他引：13  

钦佩  谢民  仲崇信 《海洋科学》1989,13(6):23-27

本文对福建罗源湾可湖海滩互花米草盐沼中的18种金属进行了测试,结果表明,罗源湾可湖海滩的环境质量基本是好的,并探讨了开发利用互花米草的新途径。  相似文献   

Visualization for fisheries management from a spatiotemporal perspective   总被引：1，自引：1，他引：1  

Kemp  Z.; Meaden  G. 《ICES Journal of Marine Science》2002,59(1):190-202

  相似文献   

Contamination of organotin compounds and imposex in molluscs from Vancouver,Canada     

Horiguchi T  Li Z  Uno S  Shimizu M  Shiraishi H  Morita M  Thompson JA  Levings CD 《Marine environmental research》2004,57(1-2):75-88

Gastropods and bivalves were collected at 15 sites at Vancouver and Victoria, Canada between 24 May and 7 June, 1999, to establish tissue concentrations of butyltin and phenyltin compounds, to record imposex symptoms in gastropods, and to assess the present status of organotin contamination around Vancouver. No neogastropods (such as Nucella lima) were found around Vancouver. Neogastropod populations could have been extirpated by severe TBT contamination in Vancouver, as relatively high concentrations of TBT were detected in tissues of Mytilus trossulus from Vancouver, and the neogastropods distributed in Vancouver might be sensitive to TBT. Recovery from imposex, however, was observed in neogastropod populations from three sites at Victoria and Mission Point. TBT contamination has continued around Vancouver, arising from continuous use of TBT in antifouling paints for vessels larger than 25 m in length; however, TBT has decreased around Victoria and Mission Point. Different patterns of TBT accumulation in tissue were observed among the bivalve species from Vancouver. The highest TBT concentration detected in Tresus capax suggested some possible adverse effects. TBT was the most predominant butyltin component in almost all bivalve specimens surveyed, suggesting a low rate of TBT metabolism. Phenyltin compounds were not detected in any molluscan specimens in this study.  相似文献   

Diet of albacore Thunnus alalunga from the waters of Mauritius (western Indian Ocean) inferred from stomach contents and fatty acid analysis     

Z Dhurmeea  H Pethybridge  EV Romanov  C Appadoo  N Bodin 《African Journal of Marine Science》2020,42(2):131-140

The diet of albacore Thunnus alalunga from their spawning ground in the waters of Mauritius was investigated. The stomach contents of 249 albacore individuals, caught by industrial longliners and artisanal fishers, was analysed, and the dominant prey taxa were selected for lipid and fatty acid (FA) analysis. The FA profiles of prey were compared with those of liver tissue of spawning-capable and post-spawning female albacore, using multivariate analysis. Whereas stomach content analysis identified cephalopods and crustaceans as the dominant prey items in number, FA-profile analysis identified crustaceans and fishes as the most-frequently consumed prey of post-spawning female albacore. In contrast, the FA profiles of spawning-capable albacore and those of prey showed very low similarity. Analysis of the prey suggests that although cephalopods, crustaceans and fishes could all provide albacore with the required lipids and FAs, cephalopod prey seem to be less desirable owing to their lower energy content (i.e. low in total lipid, triacylglycerol, 16:0, 18:0 and 18:1ω9). Instead, the most beneficial food appeared to be locally available fishes, which are more energy-rich and have a higher docosahexaenoic acid/ eicosapentaenoic acid ratio. These results provide new information on the trophic ecology of albacore, promote our understanding of the importance of prey type for successful reproduction of albacore, and highlight the advantages of FA profiling to study diet.  相似文献   

南沙群岛珊瑚礁地貌图像信息管理系统     

傅孙成  钟晋梁  张乔民  刘清祥  熊永兰 《热带海洋学报》1998,(3)

运用面向对象的软件开发技术,结合珊瑚礁地貌学、计算机图像学和计算机信息管理技术,在Windows平台上研制开发出南沙群岛珊瑚礁地貌图像信息管理系统。该系统集文件管理、数据库管理和图形、图像管理于一体,具有信息检索输出、信息编辑和信息维护等功能,以图形用户介面交互,达到"所见即所得"的效果。  相似文献   

Short period internal waves over the Huanghe (Yellow River) delta front   总被引：4，自引：0，他引：4  

L. D. Wright  Z. -S. Yang  B. D. Bornhold  G. H. Keller  D. B. Prior  W. J. Wiseman Jr.  Y. B. Fan  Z. Su 《Geo-Marine Letters》1986,6(2):115-120

Internal waves with periods of about 5 minutes and trough to crest heights of up to 6.2 m were observed acoustically over the actively accreting delta front of the Huanghe (Yellow River) in the western portion of the Gulf of Bohai, Peoples Republic of China. The radian frequency of the internal waves was close to the locally-observed Brunt-Vaisala frequency. Through the relatively short (one hour) duration of an internal wave train, the amplitude was observed to decrease progressively with time. These internal waves may cause resuspension of delta-front sediments.  相似文献   

Effect of shallow and narrow water on added mass of cylinders with various cross-sectional shapes     

Z.X. Zhou  Edmond Y.M. Lo  S.K. Tan 《Ocean Engineering》2005,32(10):1199-1215

The sway, heave and roll added masses of three uniform cylinders with semi-circular, rectangular and triangular cross-sectional shapes in shallow and narrow water are numerically analysed. The method is based on simulation of the potential flow induced by the cylinder's mode of motion. The effects of shallow and narrow water on added mass are analysed and presented. It is concluded that the shallow and narrow water effects on added mass depend on the different cross-section shapes of the cylinders. In particular, the water depth effect on sway added mass is stronger than that on heave added mass while the narrow water effect on sway is weaker than that on heave. The shallow water effect on added mass tends to weaken the narrow water effect. Lastly the effect of shallow and narrow water on added mass on a rectangular cylinder is the strongest while that on a triangular cylinder is the weakest.  相似文献   

珠江三角洲地质灾害的模糊综合评价     

詹文欢  钟建强 《热带海洋学报》1995,(1)

珠江三角洲地质灾害种类的多样性与其所处的复杂地质环境和多变的气候条件密切相关。文章选用了地震活动、活动断裂、地壳升降运动、软土地基、地面塌陷以及冲、淤积等６个主要因素作为评价指标，并用模糊数学方法对珠江三角洲内１７个小区作了计算，结果表明该区大部分地区属于轻灾害区，只有滨海沿岸地区属于较重灾害区。  相似文献