Stability Analysis on Speed Control System of Autonomous Underwater Vehicle   总被引：1，自引：1，他引：0  

李晔  庞永杰  万磊  王芳  廖煜雷 《中国海洋工程》2009,23(2):345-354

The stability of the motion control system is one of the decisive factors of the control quality for Autonomous Underwater Vehicle (AUV).The divergence of control,which the unstable system may be brought about,is fatal to the operation of AUV.The stability analysis of the PD and S-surface speed controllers based on the Lyapunov' s direct method is proposed in this paper.After decoupling the six degree-of-freedom (DOF) motions of the AUV,the axial dynamic behavior is discussed and the condition is deduced,in which the parameters selection within stability domain can guarantee the system asymptotically stable.The experimental results in a tank and on the sea have successfully verified the algorithm reliability,which can be served as a good reference for analyzing other AUV nonlinear control systems.  相似文献   

Crustal profiles of active continental collisional belt: Czechoslovak deep seismic reflection profiling in the West Carpathians   总被引：1，自引：0，他引：1  

&#;estmr Tomek  Libu&#;e Dvo&#;áková  Ivan Ibrmajer  Rudolf Jirícek  Tomás Koráb 《Geophysical Journal International》1987,89(1):383-388

Summary. Czechoslovak deep seismic reflection profiles across the West Carpathians, the first in the Alpine-Himalayan belt, and surface geological data, suggest that the passive margin of the Eurasian plate was obliquely overriden by the upper Carpatho-Pannonian plate during the end of the Krosno sea subduction some 17-14 Ma ago. The following period was dominated by slight oblique continental collision (transpression and transtension) of the West Carpathian-East Alpine continental material escaping from the East Alpine collision zone and Eurasian Brunovistulic passive margin. Crustal shortening in the North was accommodated by significant northerly dipping backthrusting and crustal thickening. Backthrusting is clearly observable on deep seismic lines 2T and 3T. Different subsidence features are present on the deep seismic line 3T. There are active pull-apart graben in the Vienna basin, mid-Miocene (16–10 Ma) low-angle normal faulting in the Danube basin, and there is a normal simple shear zone offsetting the Moho boundary beneath the Danube basin.  相似文献   

A model for decoding the life cycle of granular avalanches in a rotating drum     

Eloïse Marteau  José E. Andrade 《Acta Geotechnica》2018,13(3):549-555

Granular materials can behave as harmless sand dunes or as devastating landslides. A granular avalanche marks the transition between these distinct solid-like and fluid-like states. The solid-like state is typically described using plasticity models from critical state theory. In the fluid regime, granular flow is commonly captured using a visco-plastic model. However, due to our limited understanding of the mechanism governing the solid–fluid-like transition, characterizing the material behavior throughout the life cycle of an avalanche remains an open challenge. Here, we employ laboratory experiments of transient avalanches spontaneously generated by a rotating drum. We report measurements of dilatancy and grain kinematics before, during, and after each avalanche. Those measurements are directly incorporated into a rate-dependent plasticity model that quantitatively predicts the granular flow measured in experiments. Furthermore, we find that dilatancy in the solid-like state controls the triggering of granular avalanches and therefore plays a key role in the solid–fluid-like transition. With the proposed approach, we demonstrate that the life cycle of a laboratory avalanche, from triggering to run out, can be fully explained. Our results represent an important step toward a unified understanding of the physical phenomena associated with transitional behavior in granular media.  相似文献   

Water level and atmospheric humidity history of Lake Ichkeul (northern Tunisia) during the last 3000 years     

Asma Ben Hamad  Finn A. Viehberg  Afef Khadraoui  Chahira Zaïbi  Yasser Trabelsi  Gloria H. Mouanga  Martin R. Langer  Habib Abida  Fekri Kamoun 《Arabian Journal of Geosciences》2018,11(12):316

Changes in paleoecology and climate of northern Tunisia during the last 3000 years were reconstructed based on the flood history interpreted from a 172-cm sediment core of Lake Ichkeul (NW Tunisia). Seven wet/dry episodes were identified based on biological (ostracods, foraminifera and mollusks) and biotic indices (H and E index, species richness and abundance). These proxy-based environmental changes were supported by correspondence analyses (CAs) and ecophenotypic responses of the brackish taxon Cyprideis torosa in addition to a grain-size study. Two dry episodes were identified in the lower (EP1) and upper (EP7) parts of the core. These were marked by the dominance of the brackish ostracod C. torosa. High water salinity was indicated by the presence of the brackish ostracod Loxoconcha elliptica, the foraminifer Ammonia sp. and lagoonal mollusks. The occurrence of the freshwater ostracods Ilyocypris sp., Herpetocypris sp., Dawinula stevensoni and Limnocythere inopinata was associated with high species richness and ecophenotypic changes of C. torosa valves indicating lower salinity during three major wet episodes (EP2, EP4, and EP6). The ecological and environmental changes, occurring between 3050 and 50 cal. year BP, are most likely linked to an increase of fluvial inputs which are also recognized in several other Mediterranean lakes. The humid episodes were interrupted by two saline periods (EP3 and EP5) during which freshwater ostracod assemblages declined, diversity indices dropped to the lowest values, and fine-grained sediments became dominant. The top of the core is characterized by the remarkable dominance of L. elliptica coupled with C. torosa, the absence of freshwater ostracods, and the changes in grain-size sediment parameters which are most likely the result of anthropogenic activities. The changes in hydrochemistry and sedimentology were attributed to the deepening of the Bizerte navigation canal, main wadis damming, and Tinja sluice construction which mostly occurred in the XX^th century.  相似文献   

Long-term increase in diffuse groundwater recharge following expansion of rainfed cultivation in the Sahel,West Africa   总被引：1，自引：0，他引：1  

Maïmouna Ibrahim  Guillaume Favreau  Bridget R. Scanlon  Jean Luc Seidel  Mathieu Le Coz  Jérôme Demarty  Bernard Cappelaere 《Hydrogeology Journal》2014,22(6):1293-1305

Rapid population growth in sub-Saharan West Africa and related cropland expansion were shown in some places to have increased focused recharge through ponds, raising the water table. To estimate changes in diffuse recharge, the water content and matric potential were monitored during 2009 and 2010, and modeling was performed using the Hydrus-1D code for two field sites in southwest Niger: (1) fallow land and (2) rainfed millet cropland. Monitoring results of the upper 10 m showed increased water content and matric potential to greater depth under rainfed cropland (>2.5 m) than under fallow land (≤1.0 m). Model simulations indicate that conversion from fallow land to rainfed cropland (1) increases vadose-zone water storage and (2) should increase drainage flux (～25 mm year^?1) at 10-m depth after a 30–60 year lag. Therefore, observed regional increases in groundwater storage may increasingly result from diffuse recharge, which could compensate, at least in part, groundwater withdrawal due to observed expansion in irrigated surfaces; and hence, contribute to mitigate food crises in the Sahel.  相似文献   

Grain size characteristics of superficial sediments of the Gulf of Tunis (NE Tunisia)     

Hanen Saïdi  Radhia Souissi  Fouad Zargouni 《Arabian Journal of Geosciences》2014,7(8):3365-3387

This work presents a recent grain size study characterizing superficial sediments of the whole sectors of the Gulf of Tunis which extends from Sidi Ali El Mekki to Sidi Daoued. In this study, a total of 112 samples were collected from different depths following 26 profiles perpendicular to the shore and from rivers. The determination of the proportions of coarse and fine fractions and the interpretation of the grain size results lead to dividing the Gulf of Tunis into two principal coasts: (1) the western coast situated between Sidi Ali El Mekki and Borj Cédria, which is characterized by three sedimentary facies: (a) a sandy facies along the coastline, (b) a mixed facies between Ghar El Melh and Raoued, near the Medjerda River, and between La Goulette and Ezzahra, near the Miliane River, and (c) a muddy facies between Ghar El Melh and Kalâat El Andalous and covered by fine to very fine sands, and (2) the eastern coast, which is characterized by a sandy facies and covered by medium to coarse sands. The dominant N–E and N–W waves generate longshore currents that provide sediment transport following the directions N–S, from Sidi Ali El Mekki to Kalâat El Andalous; SE–NW, from Gammarth to Raoued; NE–SW, from Sidi Bou Saïd to La Goulette and from Sidi Daoued to Bir El Jadi; SE–NW, from Hammam-Plage to Ezzahra; and SW–NE, from Port aux Princes to Rtiba.  相似文献   

Middle to Upper Eocene ostracofauna of central Tunisia and Pelagian Shelf: examples of Jebel Bargou and the Gabes Gulf     

Aïda Amami-Hamdi  Kmar Ben Ismail-Lattrache  Ferid Dhahri  Rakia Saïd-Benzarti 《Arabian Journal of Geosciences》2014,7(4):1587-1603

Studies on ostracofauna gathered from the Middle–Late Eocene outcropping series of Jebel Bargou anticline, central Tunisia and from an offshore well in the Pelagian Shelf (ABR1) allowed to date major biostratigraphic limits and contribute to improve the precision on the present Eocene biozonation scheme based specially on the planktonic foraminifera markers. Paleogeographic and paleoecological interpretation was derived from an analysis of 60 ostracod species belonging to 38 genera coupled to lithostratigraphic facies interpretation. Ostracods associations indicate an evident similarity between the studied sections with circalittoral taxonomic dominance. In large scale, the ostracofauna recognized in the studied sections shows plentiful similarities with those of Northern Africa and the Middle East regions (Libya, Mauritania, Egypt, Jordan, and Sicilia). The similarities with the genera from Nigeria, Ghana, and Togo are rare and totally absent with those of European margin. Accordingly, during the Middle to Late Eocene, marine connection is evident between Northern Africa and the Middle East, probable between Northern Africa and eastern Africa and totally absent between Northern Africa and European margin because ostracods similarities are absent between European and Tunisian ostracods we were identified except some cosmopolitan forms.  相似文献   

Uraniferous bitumen nodules in the Talvivaara Ni–Zn–Cu–Co deposit (Finland): influence of metamorphism on uranium mineralization in black shales     

Andreï Lecomte  Michel Cathelineau  Etienne Deloule  Marc Brouand  Chantal Peiffert  Kirsti Loukola-Ruskeeniemi  Esa Pohjolainen  Hannu Lahtinen 《Mineralium Deposita》2014,49(4):513-533

In the central part of the Fennoscandian Shield, the Talvivaara Ni–Zn–Cu–Co deposit, hosted by Palaeoproterozoic metamorphosed black schists, contains low uranium concentrations ranging from 10 to 30 ppm. The Talvivaara black schists were deposited 2.0–1.9 Ga ago and underwent subsequent metamorphism during the 1.9–1.79 Ga Svecofennian orogeny. Anhedral uraninite crystals rimmed by bitumen constitute the main host of uranium. U–Pb secondary ion mass spectrometry dating indicates that uraninite crystals were formed between 1,878?±?17 and 1,871?±?43 Ma, during peak metamorphism. Rare earth element patterns and high Th content (average 6.38 wt%) in disseminated uraninite crystals indicate that U was concentrated during high temperature metamorphism (>400 °C). The formation of bitumen rims around uraninite may be explained by two distinct scenarios: (a) a transport of U coincident with the migration of hydrocarbons or (b) post-metamorphic formation of bitumen rims, through radiolytic polymerization of gaseous hydrocarbons at the contact with uraninite.  相似文献   

Theoretical study of the local charge compensation and spectroscopic properties of B-type carbonate defects in apatite     

Haohao Yi  Etienne Balan  Christel Gervais  Loïc Ségalen  Marc Blanchard  Michele Lazzeri 《Physics and Chemistry of Minerals》2014,41(5):347-359

The structure and spectroscopic properties of selected models of B-type carbonate defects in apatite locally compensated by fluoride or hydroxyl ions are investigated using first-principles quantum mechanical calculations. Theoretical infrared absorption spectra and ¹³C, and ¹⁹F nuclear magnetic resonance chemical shifts are determined. Among the investigated models, only the clumped (CO₃ ^2?, F^?) defect, with the carbonate group close to the sloping face of the tetrahedral site and the F^? ion at the remaining apex, corresponds to previous experimental observations performed on carbonate-fluorapatite samples. Although the substitution of hydroxyl by fluoride ions is commonly observed in minerals, the clumped (CO₃ ^2?, OH^?) defects are unlikely to occur in apatite, considering both their theoretical spectroscopic properties and relative stability. Anionic F^? for OH^? exchange between channel and B sites displays a preference of ~20 kJ/mol for the local charge compensation by fluoride ions at the B-site, pointing to a significantly different behavior of F^? and OH^? ions in the charge compensation mechanism. This difference is ascribed to the poor H-bond acceptor character of available oxygen atoms surrounding the apex of the tetrahedral site. The explicit calculation of the infrared absorption spectra of the defect models is also used to interpret the significant difference observed in the linewidth of the ν₂ and ν₃ CO₃ infrared powder absorption bands of carbonated apatite samples. It is shown that for a concentration of 4.4 wt% of CO₂, long-range electrostatic effects already significantly contribute to the broadening of the ν₃ CO₃ bands in apatite.  相似文献   

Numerical Homogenization of Jointed Rock Masses Using Wave Propagation Simulation     

Hatem Gasmi  Essaïeb Hamdi  Nejla Bouden Romdhane 《Rock Mechanics and Rock Engineering》2014,47(4):1393-1409

Homogenization in fractured rock analyses is essentially based on the calculation of equivalent elastic parameters. In this paper, a new numerical homogenization method that was programmed by means of a MATLAB code, called HLA-Dissim, is presented. The developed approach simulates a discontinuity network of real rock masses based on the International Society of Rock Mechanics (ISRM) scanline field mapping methodology. Then, it evaluates a series of classic joint parameters to characterize density (RQD, specific length of discontinuities). A pulse wave, characterized by its amplitude, central frequency, and duration, is propagated from a source point to a receiver point of the simulated jointed rock mass using a complex recursive method for evaluating the transmission and reflection coefficient for each simulated discontinuity. The seismic parameters, such as delay, velocity, and attenuation, are then calculated. Finally, the equivalent medium model parameters of the rock mass are computed numerically while taking into account the natural discontinuity distribution. This methodology was applied to 17 bench fronts from six aggregate quarries located in Tunisia, Spain, Austria, and Sweden. It allowed characterizing the rock mass discontinuity network, the resulting seismic performance, and the equivalent medium stiffness. The relationship between the equivalent Young’s modulus and rock discontinuity parameters was also analyzed. For these different bench fronts, the proposed numerical approach was also compared to several empirical formulas, based on RQD and fracture density values, published in previous research studies, showing its usefulness and efficiency in estimating rapidly the Young’s modulus of equivalent medium for wave propagation analysis.  相似文献