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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
173.
Very high-frequency marine multichannel seismic reflection data generated by small-volume air- or waterguns allow detailed, high-resolution studies of sedimentary structures of the order of one to few metres wavelength. The high-frequency content, however, requires (1) a very exact knowledge of the source and receiver positions, and (2) the development of data processing methods which take this exact geometry into account. Static corrections are crucial for the quality of very high-frequency stacked data because static shifts caused by variations of the source and streamer depths are of the order of half to one dominant wavelength, so that they can lead to destructive interference during stacking of CDP sorted traces. As common surface-consistent residual static correction methods developed for land seismic data require fixed shot and receiver locations two simple and fast techniques have been developed for marine seismic data with moving sources and receivers to correct such static shifts. The first method – called CDP static correction method – is based on a simultaneous recording of Parasound sediment echosounder and multichannel seismic reflection data. It compares the depth information derived from the first arrivals of both data sets to calculate static correction time shifts for each seismic channel relative to the Parasound water depths. The second method – called average static correction method – utilises the fact that the streamer depth is mainly controlled by bird units, which keep the streamer in a predefined depth at certain increments but do not prevent the streamer from being slightly buoyant in-between. In case of calm weather conditions these streamer bendings mainly contribute to the overall static time shifts, whereas depth variations of the source are negligible. Hence, mean static correction time shifts are calculated for each channel by averaging the depth values determined at each geophone group position for several subsequent shots. Application of both methods to data of a high-resolution seismic survey of channel-levee systems on the Bengal Fan shows that the quality of the stacked section can be improved significantly compared to stacking results achieved without preceding static corrections. The optimised records show sedimentary features in great detail, that are not visible without static corrections. Limitations only result from the sea floor topography. The CDP static correction method generally provides more coherent reflections than the average static correction method but can only be applied in areas with rather flat sea floor, where no diffraction hyperbolae occur. In contrast, the average static correction method can also be used in regions with rough morphology, but the coherency of reflections is slightly reduced compared to the results of the CDP static correction method. 相似文献
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中国台湾地区地处欧亚板块与菲律宾海板块之间,地震活动频繁.本文报道了 我国台湾地区及其邻近海域1985~2002年间5.5级以上地震的条带内外频度比分 布,并着重研究了1999—2002年中发生的3次7.5级以上地震前的条带现象.其结 果表明:台湾地区近期发生的3次7.5级以上大地震前,5.5级以上地震呈条带分 布.这些条带符合条带内地震个数Nin≥6的条件,符合条带内、外频度比Nin/(Nin Nout)≥75%的条件,也符合条带长宽比大于5的要求,只是与板内地震条带相比,条 带的长度较短. 相似文献
176.
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
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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
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
179.
氮磷营养盐与有机汞联合作用对微氏海链藻生长的影响 总被引:1,自引:1,他引:1
探讨在高营养盐(氮、磷、硅分别为浮游植物生长的营养盐阚值≥40、50、9倍)条件下,氮浓度及氮磷摩尔比值[n(N)/n(P)]变化、汞(甲基汞和乙基汞)对微氏海链藻(Thalassiosira weissflogii)生长的影响。结果表明,高营养盐区海链藻的生长遵循营养盐限制的唯一因子论;氮浓度和氮磷比提高促进生长,当n(N)/n(P)=64则呈抑制效应;生长初期,甲基汞和乙基汞均产生毒性抑制作用,生长中后期,适量甲基汞(浓度≤1.0μg/L)、乙基汞(浓度≤0.5μg/L)却呈兴奋效应,促进生长;汞形态不同,剂量-效应关系不同。氮和有机汞是海链藻生长的刺激因子。适度有机汞污染与氮富营养化对微氏海链藻的生长产生协同效应。 相似文献
180.