无人船运动控制方法综述   总被引：1，自引：1，他引：0  

裴志远  戴永寿  李立刚  金久才  邵峰 《海洋科学》2020,44(3):153-162

为实现无人船海上自主作业,无人船运动控制的快速性、准确性以及鲁棒性亟待提高。首先从全驱动控制和欠驱动控制角度,分别概括了国内外无人船航向控制、航速控制、轨迹跟踪控制以及路径跟踪控制的主流控制方法。其次,归纳总结了处理海洋环境不确定扰动的研究进展,包括扰动的建模和消除、抑制扰动的主流方法。最后,总结了无人船运动控制现状与存在的问题,并从工程应用和理论研究两个角度对未来的研究方向进行了展望。  相似文献   

象山港海域分区评价方法研究          下载免费PDF全文

金余娣  叶林安  刘莲  章紫宁  鲁水 《海洋开发与管理》2020,37(7):45-48

文章根据2011-2018年在象山港海域调查的象山港水文、水团、水环境、沉积物环境、生物生态等调查数据，将象山港海域划分为若干个具有不同生态变化特征的区域，研究象山港海域内的空间异质性，以便剖析各区域环境的问题。研究发现：象山港水交换特征、水团分布、水环境、沉积环境和生物生态特征将象山港划分为A、B、C、D、E 5个区评价较为合理。该方法可以有效并合理地对象山港海域做出评价，并为相关海洋科学工作者和管理者提供科学依据。  相似文献   

钦州湾海洋环境的富营养化水平评价及其对浮游植物叶绿素a的影响          下载免费PDF全文

康建华  林毅力  王雨  蓝文陆 《海洋开发与管理》2020,37(11):67-74

文章通过钦州湾现场调查资料，分别利用单因子污染指数法和富营养化指数法对湾内水质的污染状况和富营养化水平进行评价，并分析讨论不同的富营养化水平条件下浮游植物叶绿素a的响应。结果显示，钦州湾的污染状况和富营养化程度从湾顶至湾外呈现由重至轻的梯度变化，并出现两个“极端区域”：茅尾海化学需氧量（COD）和营养盐的污染指数劣于三类海水水质标准并重度富营养化；外湾污染指数符合一类海水水质标准并贫营养化。分析表明，茅尾海的重度富营养化是由河流输入、相对封闭的地形以及过度的牡蛎养殖造成，而外湾的贫营养化则主要归因于较少的水产养殖和陆源污水排放以及大量的浮游植物对磷酸盐的消耗。叶绿素a在这两个区域均呈现低值，茅尾海内主要是由于贝类滤食大粒径浮游植物和真光层深度下降引起，而外湾则是氮磷比（N/P）失衡，浮游植物生长受磷限制导致。另外，核电站温排水有可能是导致叶绿素a较高的原因。减少茅尾海内的养殖规模，种植红树林，集中污水于外湾排放，加强温排水口的水质监控是保证钦州湾海洋生态环境可持续发展的手段。  相似文献   

Urban re-generations: afterword to special issue on the politics of urban greening in Australian cities     

Donna Houston 《The Australian geographer》2020,51(2):257-263

ABSTRACT

‘Urban re-generations' is written as an afterword to the special issue of Australian Geographer on ‘The Politics of Urban Greening in Australian Cities'. The collection prompts a deep questioning of reparative and regenerative work associated with greening, green spaces and green infrastructures. The climate-driven 2019-2020 bushfire crisis and COVID-19 have amplified the visibility of the more-than-human connectivity of our cities and the deep underlying structures of social and environmental inequity underpinning a variety of urban green spaces and agendas. Inspired by the articles in this special issue, the afterword explores how we might call back the grammars and practices of regeneration from their service to the neo-liberal, settler-colonial city and instead nurture reparative de-colonial practices that aid in the collaborative work of re-composing, becoming into better relation with, and working in modes of situated historical and cultural difference, with green and just cities.  相似文献   

How forest gaps shaped plant diversity along an elevational gradient in Wolong National Nature Reserve?     

Chen  Li  Han  Wangya  Liu  Dan  Liu  Guohua 《地理学报(英文版)》2019,29(7):1081-1097

Journal of Geographical Sciences - Understanding the underlying ecological processes that control plant diversity within (α-diversity) and among (β-diversity) forest gaps is important for...  相似文献   

ENVIRONMENTAL RESPONSE OF THE PERMIAN VOLCANISM IN LUCAOGOU FORMATION IN JIMSAR SAG,JUNGGAR BASIN,NORTHWEST CHINA          下载免费PDF全文

QU Chang-sheng  QIU Long-wei  YANG Yong-qiang  YU Kuan-hong  TANG Li-li  WAN Min 《地震地质》2019,41(3):789-802

The lithological features, the types of organic matter and its occurrence and carbon and oxygen isotopic value were clarified by combining core observation, thin slice authentication, X ray diffraction analysis, kerogen type identification and carbon and oxygen isotope analysis. The characteristic of strata, the distribution of volcanoes of Junggar Basin were also taken into consideration. A comprehensive analysis was conducted to evaluate environmental response of volcanism in Lucaogou formation in Jimsar sag. The results show that rocks is a mixed sedimentation of effusive rock and carbonate rocks, volcanic materials is widely developed in Lucaogou formation and origins from the edge of sag or distant source volcano activity. Organic matter is predominantly unstructural algae and asphaltene. The carbon isotopic value of carbonates ranges between 6.8‰ and 9.7‰ with an average of 8.3‰, featured in high positive excursions, while oxygen isotopic value varies from -11.9‰ to -4.3‰ with an average of -6.2‰. During the period of volcanic activity, the volcanic material released high amounts of nutrient to the lake basin, which is beneficial to the algae and other organic organisms. In the poor oxygen and calm water environments, the organic matter is distributed in the laminar algal and the carbon isotope value is high positive drift. During the intermittent period of volcanic activity, the lake level decreased and the lake bottom water changed to the oxygen-enriched environments. The organic matter is locally enriched or dispersed in local layers, and the carbon isotope values decreased slightly. The frequent volcanic activity promoted the organism boom, which lead carbon isotope value to have high positive characteristics and change trends.  相似文献   

Parametric uncertainty assessment of hydrological models: coupling UNEEC-P and a fuzzy general regression neural network   总被引：1，自引：1，他引：0  

Arman Ahmadi  Dimitri P. Solomatine 《水文科学杂志》2019,64(9):1080-1094

Due to the complicated nature of environmental processes, consideration of uncertainty is an important part of environmental modelling. In this paper, a new variant of the machine learning-based method for residual estimation and parametric model uncertainty is presented. This method is based on the UNEEC-P (UNcertainty Estimation based on local Errors and Clustering – Parameter) method, but instead of multilayer perceptron uses a “fuzzified” version of the general regression neural network (GRNN). Two hydrological models are chosen and the proposed method is used to evaluate their parametric uncertainty. The approach can be classified as a hybrid uncertainty estimation method, and is compared to the group method of data handling (GMDH) and ordinary kriging with linear external drift (OKLED) methods. It is shown that, in terms of inherent complexity, measured by Akaike information criterion (AIC), the proposed fuzzy GRNN method has advantages over other techniques, while its accuracy is comparable. Statistical metrics on verification datasets demonstrate the capability and appropriate efficiency of the proposed method to estimate the uncertainty of environmental models.  相似文献   

Hydrological impact of a reservoir network in the upper Gan River Basin,China     

Ningpeng Dong  Zhongbo Yu  Chuanguo Yang  Mingxiang Yang  Wenzhuo Wang 《水文研究》2019,33(12):1709-1723

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帕隆藏布流域冰湖变化及危险性评估     

刘娟  姚晓军  高永鹏  祁苗苗  段红玉  张大弘 《湖泊科学》2019,31(4):1132-1143

冰湖作为区域气候变化的灵敏指示器和主要冰川灾害的启动器，认识其空间分布及变化特征对探讨冰湖对气候变化的响应规律及冰湖溃决危险性评估具有重要意义.基于1968-1980年地形图数据和1994-2016年Landsat TM/OLI遥感影像资料，综合利用RS、GIS技术和数理统计方法分析帕隆藏布流域面积≥ 0.01 km²冰湖时空分布及其动态变化，并对潜在危险性冰湖进行判别和评估.结果表明：2016年帕隆藏布流域共有冰湖351个，面积50.48 km²，且面积和数量分别以面积>1 km²和面积<0.1 km²的冰湖为主，这些冰湖主要分布于海拔2800~5400 m之间.近50年来帕隆藏布流域冰湖总体呈数量增多、面积增加态势；海拔<3000 m的冰湖相对稳定，而海拔>4500 m的冰湖数量和面积增加则相对迅速.近50年间帕隆藏布流域冰川面积减少591.34 km²，气候变暖导致的冰川末端退缩和冰川融水增加为冰湖形成和扩张提供了发育空间和物质来源.切毛措、光谢错等9个冰湖为潜在危险性冰湖，预计未来一段时间内帕隆藏布流域冰湖溃决可能处于活跃阶段，其形成和暴发也将更加频繁.  相似文献   

白洋淀超微真核藻的空间分布特征及关键影响因子     

雷瑾  史小丽  张民  李胜男  陈开宁  杨州 《湖泊科学》2019,31(6):1559-1569

超微真核藻个体微小、比表面积大,具有高效的碳吸收速率,对水体初级生产力具有重要的贡献.目前对淡水超微真核藻的认知还非常有限.于2017年5月对白洋淀进行采样调查,结合流式细胞术和高通量测序技术探究了白洋淀超微真核藻群落结构的空间分布特征及关键环境影响因子.结果表明,白洋淀超微真核藻的平均丰度为7.59×104cells/ml,且随着营养水平的升高呈现先增加后降低的变化趋势.回归分析表明,超微真核藻丰度在中营养水平水域主要受溶解性总磷和TN/TP影响,在富营养水域主要与盐度有关.测序比对结果表明在纲水平上白洋淀超微真核藻主要以绿藻纲Chlorophyceae、硅藻纲Bacillariophyceae、中心硅藻纲Coscinodiscophyceae、金藻纲Chrysophyceae为主,不同区域差异不大.但在操作分类单元(Operation Taxonomy Units,OTU)水平上,超微真核藻群落结构在白洋淀不同营养状态湖区存在显著差异,中营养水域主要类群为栅列藻科Scenedesmaceae,近囊胞藻属Paraphysomona sp.,定鞭藻纲Haptophyceae和甲藻纲Dinophyceae为主,而富营养水域主要类群为红球藻科Haematococcaceae,金藻纲的Chromulinale sp.和Chrysophycea sp..Bioenv分析表明,对超微真核藻群落组成影响最大的环境因子是溶解性总氮、溶解性总磷、TN/TP、硝态氮、溶解氧.本研究表明超微真核藻的群落结构存在较明显的环境异质性,对白洋淀水体富营养化状态有很好的指示.  相似文献