基于采样分布式估计器的多无人艇轨迹跟踪控制     

胡金波  刘智伟  葛明峰 《南京气象学院学报》2018,10(4):443-449

提出了一种级联控制算法解决多无人艇（USVs）系统的分布式轨迹跟踪问题.这种控制算法可以分为两层：第一层是基于采样信息的分布式估计器,主要用于估计领航者的期望轨迹;第二层是每个无人艇的本地控制器,主要是结合滑模控制与神经网络径向基函数,在系统具有欠驱动、参数不确定性和扰动等因素的情况下,使其状态跟踪期望轨迹的本地估计值.为了求解上述跟踪控制问题,基于李雅普诺夫理论与级联系统理论,推导得到了所有无人艇位置状态收敛到期望轨迹的充分条件,并通过仿真结果验证了所提出控制方法的有效性与正确性.  相似文献   

基于MODIS数据的长株潭地区城市热岛时空分析   总被引：7，自引：1，他引：6  

历华  曾永年  贠培东  黄健柏  邹杰 《测绘科学》2007,32(5):108-110,116

基于MODIS影像,采用分裂窗算法反演的地表温度对长株潭地区城市热岛空间分布与季相变化特征、影响因子进行定量研究。结果表明,长株潭地区春季和夏季存在明显的城市热岛效应,而冬季和秋季城市热岛并不明显;地表覆盖类型对城市热岛的影响十分明显,长株潭地区春、夏、秋季植被绿地状况与城市热岛呈现明显负相关分布,其中以夏季最为明显,夏季地表温度与NDVI相关系数的平方R2达到0.8193,即植被覆盖对城市地表温度的影响显著。因此,城市植被的分布与季节变化影响着城市热岛的强度与时空分布,揭示出植被绿地对降低城市热岛效应具有重要的作用,大范围的绿地建设能有效降低城市热岛效应。  相似文献   

肥城矿区煤系中的顺层断层   总被引：8，自引：4，他引：4  

魏久传  吕祥佑 《煤田地质与勘探》1992,20(6):8-11

肥城矿区煤矿生产中揭露了许多顺层断层,过去未被人们认识。笔者根据井下揭露资料,论述了顺层断层的特征及形成机制,并探讨了矿井生产中顺层断层的预测和处理方法。   相似文献   

溃屈型滑坡稳定性分析中三个问题的探讨   总被引：3，自引：0，他引：3  

朱冬林  聂德新  符文熹 《地质灾害与环境保护》1999,10(4):32-36

针对溃屈型滑坡稳定性分析中的三个问题,即滑带土强度参数的分段取值,顺层段与切层段分界点和水的作用,逐一进行初步探讨。  相似文献   

煤矿矿震应力窗口效应   总被引：5，自引：0，他引：5  

肖和平 《华南地震》1999,19(1):85-90

对煤矿矿震活动特征,震源机制解,与天然地震的相关性以及特殊的环境条件等进行了研究,认为煤矿矿震的孕育和发生受控于区域应力场,具有区域应力变化的灵敏窗口效应,可视为探索天然地震前兆和区域应力场变化的应力窗口。  相似文献   

Palaeokarst and rauhwacke development,mountain uplift and subaerial sliding of tectonic sheets (northern Sierra de los Filabres,Betic Cordilleras,Spain)     

Orozco  Miguel  Molina  José Miguel  Crespo-Blanc  Ana  Alonso-Chaves  Francisco Manuel 《Geologie en Mijnbouw》1999,78(1):103-117

The rauhwackes near Serón in the northern Sierra de los Filabres (S Spain), previously considered as true tectonic breccias, are reinterpreted on the basis of sedimentological, geomorphological and geometrical evidence as subaerial or nearly subaerial sedimentary deposits. Channel fills, parallel lamination, cross-lamination, graded bedding, sedimentary clastic dykes and other sedimentary structures and features occur in the rauhwacke body. These sedimentary rocks correspond to continental deposits of alluvial and karstic origin deposited over a karstified erosional surface of Nevado–Filabride marbles. Although no fossils have been found in the rauhwackes, a Tortonian age for these rocks is suggested on the basis of structural arguments and lithostratigraphic data from the nearby Almanzora basin. The rauhwackes were buried by slabs of Alpujarride rocks that gravitationally slid over them during the uplifting of the Sierra de los Filabres.  相似文献   

Dynamic analysis of sliding structures with unsynchronized support motions     

Yen‐Po Wang  Wei‐Hsin Liao 《地震工程与结构动力学》2000,29(3):297-313

The dynamic analysis of sliding structures is complicated due to the presence of friction. Synchronization of the kinematics of all the isolation bearings is often granted to simplify the task. This, however, may lead to inaccurate prediction of the structural responses under certain circumstances. Stepped structures or continuous bridges with seismic isolation are notable examples where unsynchronized bearing motions are expected. In this paper, a logically simple and numerically efficient procedure is proposed to solve the dynamic problem of sliding systems with unsynchronized support motions. The motion equations for the sliding and non‐sliding modes of the isolated structure are unified into a single equation that is represented as a difference equation in a discrete‐time state‐space form and the base shear forces between the sliding interfaces can be determined through simple matrix algebraic analysis. The responses of the sliding structure can be obtained recursively from the discrete‐time version of the motion equation with constant integration time step even during the transitions between the non‐sliding and sliding phases. Therefore, both accuracy and efficiency in the dynamic analysis of the highly non‐linear system can be enhanced to a large extent. Rigorous assessment of seismic structures with unsynchronized support motions has been carried out for both a stepped structure and a continuous bridge. Effectiveness of friction pendulum bearings for earthquake protection of such structures has been verified. Moreover, evident unsynchronized sliding motions of the friction bearings have been observed, confirming the necessity to deal with each of the bearings independently in the analytical model. Copyright © 2000 John Wiley & Sons, Ltd.  相似文献   

瞬变电磁采样函数优化法降噪技术          下载免费PDF全文

武欣  薛国强  肖攀  饶丽婷  郭睿  方广有 《地球物理学报》2017,60(9):3677-3684

常用的双极性同步采样方法对瞬变电磁系统的观测噪声具有一定的抑制作用,但在实际工作中其噪声抑制能力仍显不足.本文在双极性同步采样方法基础上提出一种优化方法,以提升瞬变电磁系统的噪声抑制能力,即:通过对取样道加高斯窗函数的方式,赋予取样道内各采样点合适的累加权重,提升系统对取样道内高频噪声的抑制能力;使用高斯窗函数与梳状滤波器构造复合窗函数,通过对包含所有叠加周期的完整观测序列加复合窗函数的形式优化各周期的叠加权重,提升系统对实际工频噪声的抑制能力.对优化前后不同采样函数的谱特性及野外实测数据的处理效果进行比较,结果表明本文提出的方法较传统双极性同步采样方法具有更强的噪声抑制能力.  相似文献   

深海6000 m拖曳式瞬变电磁系统及其应用          下载免费PDF全文

周胜  宋刚  黄龙  席振铢  侯海涛  陈兴朋  亓庆新 《地球物理学报》2017,60(11):4294-4301

针对我国西南印度洋合同区热液硫化物矿快速、有效以及便捷地质勘探装备的要求,研发了由甲板控制系统、万米光电复合缆、仪器舱拖体和天线拖体组成的深海6000 m拖曳式瞬变电磁系统.为了便于拖体布放和快速发现异常,选择重叠回线收发装置类型;采用理论数值计算确定了在拖曳高度不大于50 m的前提下,观测1～100ms窗范围内的二次场响应,可以发现近海底深海热液硫化物矿堆;另外,通过不同拖延深度海上试验,研究了拖曳深度对瞬变电磁的影响规律及仪器性能.大洋第30航次第二航段在西南印度洋脊热液区,应用该系统发现了明显的瞬变电磁异常.印证了系统的有效性.  相似文献   

Residual slip of sliding blocks induced by near‐fault ground motions          下载免费PDF全文

Kristel C. Meza Fajardo  Apostolos S. Papageorgiou 《地震工程与结构动力学》2017,46(7):1203-1220

The response of a rigid block supported on a horizontally moving foundation through a dry‐friction contact is investigated to near‐fault ground motions. Such motions can be thought of as consisting of a coherent component (‘pulse’) and an incoherent component, which can be described as a band‐limited ‘random noise’. The equation of motion of this strongly nonlinear system is reduced to a normalized form that reveals important parameters of the problem such as the critical acceleration ratio. The response of the sliding block to a set of uniformly processed near‐fault motions, covering a sufficiently wide range of magnitudes, is evaluated numerically for selected discrete values of the acceleration ratio. For each value of the critical acceleration ratio, the numerically computed residual slips are fitted with a Weibull (Gumbel type III) extreme value probability distribution. This allows the establishment of regression equations that describe accurately design sliding curves corresponding to various levels of non‐exceedance probability. The analysis reveals that the coherent component of motion contributes significantly to the response of the sliding block. Furthermore, the relevant acceleration in specifying the critical acceleration ratio is the (normalized) amplitude, α_{H_pulse}, of the pulse and not the (normalized) amplitude of the incoherent component α_H. Finally, the incoherent component is described quantitatively in terms of the root‐mean‐square acceleration a_RMS, and an attempt is made to understand its influence on the response of the sliding block. Copyright © 2016 John Wiley & Sons, Ltd.  相似文献