Robust and adaptive path following for underactuated autonomous underwater vehicles   总被引：1，自引：0，他引：1  

K. D. Do  J. Pan  Z. P. Jiang 《Ocean Engineering》2004,31(16):1967-1997

This paper proposes a nonlinear robust adaptive control strategy to force a six degrees of freedom underactuated underwater vehicle with only four actuators to follow a predefined path at a desired speed despite of the presence of environmental disturbances and vehicle’s unknown physical parameters. The proposed controller is designed using Lyapunov’s direct method, the popular backstepping and parameter projection techniques. The closed loop path following errors can be made arbitrarily small. Interestingly, it is shown that our developed control strategy is easily extendible to situations of practical importance such as parking and point-to-point navigation. Numerical simulations are provided to illustrate the effectiveness of the proposed methodology.  相似文献   

RTK GPS在无验潮水深测量中的应用   总被引：3，自引：0，他引：3  

栗志刚  孙仁权 《海洋测绘》2005,25(5):46-48

介绍了应用全球定位系统实时动态测量（RTK GPS）技术进行无验潮水深测量的基本方法，并在实际工作中进行了验证。  相似文献   

维护体系良性运行 适应新版质量标准     

王婕  廉双喜 《海洋技术学报》2001,20(4):76-78

本文介绍了海洋技术研究所质量管理处在维护质量体系运行方面的主要作法和经验体会，结合2000版ISO9201标准的新内容，提出适应新版标准的想法。  相似文献   

海浪预报产品数据库管理系统开发研究     

许富祥  李凤金  刘煜  戴明瑞  高志华  杨春城  李洁  韦锋余 《海洋预报》2003,20(1):44-51

本文介绍海浪预报产品数据库管理系统，包括数据库管理系统的总体设计，硬软件的配置，数据库管理系统的主要内容和解决的关键技术。该数据库管理系统的建成，提供了我国近海和西北太平洋海浪预报的系统性资料，不仅对提高海浪预报准确率提供基础资料，也给海浪中长期预测预报方法研究和区域海洋学研究带来极大帮助。  相似文献   

莱西市水资源管理系统的人机互动功能     

齐勇  于诰方  李寿田  孙秀竹  胡翠红 《海洋湖沼通报》2007,(2):142-146

本文结合莱西市水资源管理的基本特性,采用人机交互管理方式,成功地运用地理信息系统(GIS),实现了界面良好的莱西市水资源信息系统的各种功能,为规范水资源业务管理的程序、开展地区水资源管理信息系统化建设,提供了有力的技术支持。  相似文献   

Are Global Tide Gauge Data Stationary in Variance?     

H. B  kiiz  H. M. Ng 《Marine Geodesy》2005,28(3):209-217

Tide gauges distributed all over the world provide valuable information for monitoring mean sea level changes. The statistical models used in estimating sea level change from the tide gauge data assume implicitly that the random model components are stationary in variance. We show that for a large number of global tide gauge data this is not the case for the seasonal part using a variate-differencing algorithm. This finding is important for assessing the reliability of the present estimates of mean sea level changes because nonstationarity of the data may have marked impact on the sea level rate estimates, especially, for the data from short records.  相似文献   

凡纳滨对虾咸淡水养殖系统内细菌群落组成的PCR-DGGE分析   总被引：16，自引：0，他引：16  

罗鹏  胡超群  谢珍玉  张吕平  任春华  许尤厚 《热带海洋学报》2006,25(2):49-53

采用PCR(polym erase chain reaction)-DGGE(denaturing grad ient gel electrophoresis)及传统的微生物培养方法对凡纳滨对虾Litopenaeus vannam ei咸淡水养殖系统内各种环境的细菌群落组成进行了比较研究。传统的微生物培养计数表明,从海湾水、养殖池水到对虾粪样,细菌和弧菌的数量表现出依次增加的趋势,粪样及肠壁中弧菌的数量高出外界水环境1—4个数量级。相对于外界水环境,粪样中有很高的芽孢杆菌孢子含量,但是肠壁定植细菌中不存在芽孢杆菌(孢子)。PCR-DGGE及聚类分析结果表明,从海湾沿岸、养殖池、对虾粪便到对虾肠壁,细菌群落的多样性由高到低,无论是在哪种环境,群落的优势种都十分明显,且只有2—4种。来自同一环境各样品间的细菌群落组成非常相似,来自不同环境的样品,其细菌群落组成差别较大。聚类图上各簇的排列顺序反映了样品在取样空间分布上的毗邻次序和它们的相似程度。  相似文献   

A preliminary study of carbon system in the East China Sea   总被引：1，自引：0，他引：1  

Shizuo Tsunogai  Shuichi Watanabe  Junya Nakamura  Tsuneo Ono  Tetsuro Sato 《Journal of Oceanography》1997,53(1):9-17

In the central part of the East China Sea, the activity of CO₂ in the surface water and total carbonate, pH and alkalinity in the water column were determined in winter and autumn of 1993. The activity of CO₂ in the continental shelf water was about 50 ppm lower than that of surface air. This decrease corresponds to the absorption of about 40 gC/m²/yr of atmospheric CO₂ in the coastal zone or 1 GtC/yr in the global continental shelf, if this rate is applicable to entire coastal seas. The normalized total carbonate contents were higher in the water near the coast and near the bottom. This increase toward the bottom may be due to the organic matter deposited on the bottom. This conclusion is supported by the distribution of pH. The normalized alkalinity distribution also showed higher values in the near-coast water, but in the surface water, indicating the supply of bicarbonate from river water. The residence time of the East China Sea water, including the Yellow Sea water, has been calculated to be about 0.8 yr from the excess alkalinity and the alkalinity input. Using this residence time and the excess carbonate, we can estimate that the amount of dissolved carbonate transported from the coastal zone to the oceanic basin is about 70 gC/m²/yr or 2 GtC/yr/area-of-global-continental-shelf. This also means that the rivers transport carbon to the oceans at a rate of 30 gC/m²/yr of the coastal sea or 0.8 GtC/yr/ area-of-global shelf, the carbon consisting of dissolved inorganic carbonate and terrestrial organic carbon decomposed on the continental shelf.  相似文献   

具有匹配不确定的奇异摄动系统的鲁棒控制   总被引：2，自引：0，他引：2  

高存臣  王宪杰 《中国海洋大学学报(自然科学版)》2004,34(5):918-920

对于同时具有结构匹配不确定和系统不确定量的奇异摄动系统，利用Lyapunov稳定性理论进行了鲁棒性研究。给出了1个理想奇异摄动系统的稳定鲁棒控制也是不确定奇异摄动系统稳定控制的稳定条件和鲁棒界，讨论了鲁棒界及其随参数变化的变化范围。本文是王宪杰，高存臣已有结果的推广。  相似文献   

El Nio/La Nia过程影响因子的模糊诊断分析     

张韧 《热带海洋学报》2001,(2)

基于模糊系统理论，讨论了从实测信号中滤除特定干扰噪音的途径和过程，研究了从观测资料中辩识El Nino／La Nina主要影响因子的诊断检测方法。结果表明，由于模糊系统具有非线性、容错性和自适应学习等特性，因此能够比较有效地辨认和检测出El Nino／La Nina事件的主要影响因子，并大致分析出它们对不同El Nino／La Nina事件的影响程度和贡献大小。  相似文献