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   

星站差分与PPP技术在深远海调查中的位置服务精度分析     

周东旭  唐秋华  张化疑  梁冠辉  厉峰 《海洋通报》2020,39(2):215-222

利用在全球不同海域的船载GNSS进出港数据,以事后动态处理技术(PPK)的坐标计算值为评价基准,分析了Veripos星站差分系统和事后动态精密单点定位技术(PPP)在不同运动状态下的位置服务精度。结果表明,Veripos与PPP在低动态下的平面与高程位置服务精度可优于6.2 cm和14.9 cm,在常规动态下平均精度优于20 cm;PPP与Veripos坐标分量平均互差小于15 cm,标准差小于23 cm,在深远海调查中PPP技术可作为星站差分系统的有效补充和特殊情况下的位置服务替代。  相似文献   

孟加拉湾及其毗邻海域中尺度涡旋活动的冬、夏季差异          下载免费PDF全文

黄挺  周锋  田娣  张家赢 《海洋学研究》2020,38(3):21-30

基于1993—2017年从卫星高度计资料中识别出来的中尺度涡轨迹数据集,对冬、夏季孟加拉湾涡旋的源地和性质进行了研究。研究表明孟加拉湾西部、安达曼海和孟加拉湾通往赤道的出口处的中尺度涡旋活动呈现显著的季节性差异。安达曼海在冬、夏季从北往南中尺度涡旋分别以“反气旋涡-气旋涡-反气旋涡”和“气旋涡-反气旋涡-气旋涡”的格局分布。不同源区涡旋的季节性生长过程有明显差异。孟加拉湾西部的涡旋在夏季生长迅速但消散缓慢,斯里兰卡冷涡生长缓慢但消散迅速。不同源区涡旋半径和振幅大小有不同的特征。孟加拉湾西部,无论冬、夏季,反气旋涡的振幅、半径都比气旋涡大;夏季季风漂流区,气旋涡半径比反气旋涡小但是振幅比反气旋涡大;安达曼海内无论冬、夏季都是最北侧聚集区涡旋的半径和振幅最大。孟加拉湾内生命史为30~40 d的涡旋数量最多,生命史在100 d以上的涡旋主要分布在孟加拉湾西部。  相似文献   

多层砂土地基扩底桩单桩抗压模型试验及颗粒流模拟研究     

李飞  杨俊杰  宋琦  孙涛 《中国海洋大学学报(自然科学版)》2020,(2):116-125

利用室内半模试验和颗粒流数值模拟,揭示多层砂土地基扩底桩单桩抗压承载特性及变形特征。结果表明,通过对比分析极限承载力与H_h/D(持力层厚度与扩大头直径之比)的关系可以看出,单桩的抗压极限承载力随H_h/D逐渐增加,当H_h/D超过2.0时,极限承载力基本不再增加,此时的单桩抗压极限承载力稳定在300.01~303.25 N,是H_h/D=0.5时极限承载力(183.83 N)的1.65倍。扩大头下部土体发生局部压缩-剪切破坏,破坏面从扩大头底面边缘向斜下方扩展,在水平方向影响范围达到最大后逐渐向桩内侧收缩;荷载作用越大,地基破坏区域越大,相应的极限抗压承载力也越大;持力层厚度增加,扩大头分担的荷载比例增大,分担的荷载达到稳定需要的桩顶位移也越大,H_h=0.5 D试验扩大头分担的荷载比例稳定时为60%,对应的桩顶位移约为29 mm;桩顶位移达到33 mm后,H_h=1.0~3.0 D试验稳定在63%~65%之间;通过细观颗粒流理论对砂土移动特性的研究发现,持力层厚度从0.5 D增大至2.0 D,破坏面的起始扩展角度从31°增大至42°。数值模拟研究结果与模型试验数据吻合效果良好,证明该方法分析多层砂土地基扩底桩单桩抗压荷载传递机理是可行的。  相似文献   

hairy和hedgehog在单环刺蜢幼虫体节形成过程中的表达特征分析     

李琦  秦贞奎  张婷婷  魏茂凯  侯西坦  张志峰 《中国海洋大学学报(自然科学版)》2020,50(4):63-69

hairy作为成对控制基因参与果蝇等体节动物的体节形成;体节极性基因hedgehog是节肢动物和环节动物体节边界维持的关键基因。本研究分析了单环刺螠hairy的序列特征以及hairy和hedgehog在其幼虫体节发生过程中的时空表达特征,结果显示:单环刺螠Hairy序列中含有保守的HLH结构域、Hairy_orange结构域和四肽WRPW;其mRNA在早期体节幼虫中的表达量显著高于晚期担轮幼虫,并且定位于每个体节的边界处。单环刺螠hedgehog mRNA在体节幼虫中的表达水平显著高于早期体节幼虫,并且呈现保守的体节边界表达特征。研究结果表明,hairy和hedgehog在单环刺螠幼虫体节中的表达图式与小头虫等典型体节动物中的表达图式基本一致。  相似文献   

AUV矢量推进水动力计算及水平回转操纵性试验     

李雨田  雷敏  冯朝  韩用波 《数字海洋与水下攻防》2020,3(4):288-294

针对矢量推进模式下的 AUV 水动力性能和操纵性能，开展了 AUV 矢量推进水动力 CFD 计算， 对矢量推进水平回转操纵性进行了评估，加工了矢量推进样机，并进行湖上操纵性验证。理论计算和试验数据表明：矢量推进具备极高的低速操纵性，该研究为矢量推进在 AUV 上的应用提供了理论和技术基础。  相似文献   

GEODETIC AND TELESEISMIC CONSTRAINTS ON SLIP DISTRIBUTION OF 2015 M_W6.4 PISHAN EARTHQUAKE          下载免费PDF全文

CHEN Yun-guo  HE Ping  DING Kai-hua  LI Shui-ping  WANG Qi 《地震地质》2019,41(1):137-149

On July 3^rd, 2015, a M_W6.4 earthquake occurred on Pishan County, Xinjiang, located in the front of western Kunlun thrust belt, which is the largest earthquake(M_W6.0~7.0)in the past 40 years in this region. In this study, we collected both the near-filed geodetic coseismic deformation observations including 4 GPS sites and one high-resolution ALOS-2 InSAR imagery, and far-field teleseismic P waveforms from 25 stations provided by IRIS/USGS, to invert the fault parameters(strike and dip)and coseismic rupture model of 2015 M_W6.4 Pishan earthquake. Using the finite fault theory, a non-linear simulated annealing algorithm was employed to resolve our joint inversion problem. The strike (120°~130°) and dip angle(35°~40°)of optimal models are different from that of some previous studies, and the dip change is strongly constrained by combined data than that of strike. In fixing the geometric parameters of optimal fault model, we also considered data weight(5)(geodetic data/teleseismic P waveforms)and constrained weight from moment and smooth factor(2.5). Clearly, our results indicate that the slip distribution mainly concentrates in the depth range from 9 to 16km and a length range of 20km along the strike direction, which is similar to the spatial distribution of the relocated aftershocks. The maximum slip is~95cm. The seismic moment release is 5.45×10¹⁸N·m, corresponding to M_W6.42. Compared with the single data set, geodetic data or teleseismic waveform, our joint inversion model could simultaneously constrain the seismic moment and slip distribution well, thus avoiding effectively a lower-resolution rupture distribution determined by teleseismic-only inversion and a bias released moment estimated by the geodetic-only inversion. Importantly, we should consider both the near-field geodetic data and far-field teleseismic data in retrieving the rupture model for accurately describing the seismogenic structure of active fault in western Kunlun region.  相似文献   

LATE QUATERNARY ACTIVITY OF THE SOUTHEASTERN SECTION OF ZHONGDIAN-DAJU FAULT          下载免费PDF全文

LI Guang-tao  SU Gang  CHENG Li  LI Feng  WU Hao 《地震地质》2019,41(3):545-560

The southeast section of Zhongdian-Daju Fault is located in the northern part of Haba and Yulong Snow Mountain, belonging to the southwestern boundary of the secondary block in northwestern Sichuan, an important boundary fault striking 310°~320° on the whole. The nature of the fault, the age of its activity and the slip rate are of great significance for the analysis of the secondary block movement in the northwestern Sichuan and the intersection relationship with the eastern piedmont fault of Yulong Mountains. Based on the 1 ︰ 5 million-scale active fault geological mapping, this paper studies in detail the stratigraphic landform, scarp landform, surface rupture, typical fault profile and river terrace along the fault. Based on the research results, we divide the southeastern section of Zhongdian-Daju Fault into two sub-segments, the Majiacun-Daju sub-segment and the Daju-Dadong sub-segment, according to the geometric structure, fault landforms and fault activity. (1)Fault scarp:In the Majiacun-Daju sub-segment, the fault parallelly controls the two sides of the Haba fault depression. It cuts the late Pleistocene moraine deposits, forming a fault scarp of about 4.5km long and(14±2)m high. The continuity of the scarp is very good, and it is also very obvious in the remote sensing image. In the Daju-Dadong sub-segment, a scarp with a height of about 2m is formed, and an optical luminescence dating sample is collected from the upper part of the gravel layer on the second-order terrace to obtain an age of(22±2.2)ka. (2)Horizontal dislocation:In the Majiacun-Daju sub-segment, through the analysis of the development of outwash fans in the area and the measurement and induction of the gully dislocations, it is considered that there are at least three stages of outwash fans developed in the area and there may be four phases of faulting. That is, the earliest-stage outwash fan and gully are horizontally dislocated about 1km; the second-stage outwash fan and gully are horizontally dislocated about 47m, and the vertical dislocation is about(14±2)m; the gully in the third stage outwash fan is horizontally dislocated twice, the first dislocation formed a beheaded gully with a dislocation of 22m, and the second formed a beheaded gully with a dislocation of 8.5m. It is further proved that the fault has strong activity since the Holocene in the Majiacun to Daju area. In the Daju-Dadong sub-segment, there are no obvious horizontal dislocations in the alluvial deposits since the Holocene. Only 3~4 gullies are found to be offset right-laterally in the ridges east of Wenhe Village, with the maximum dislocation of 210m, which may be the older phase dislocation. (3)Surface rupture:In the northwest direction of Dabazi Village on the T3 terrace in the basin between Majiacun and Daju, an earthquake surface rupture zone is found, extending in the NW direction. The rupture zone left clear traces on the about 1m-thick, hard T₃ terrace surface formed by calcification of sand gravels, and the overburden either upwarps and bulges, or ruptures, generates ground fissures, or forms small pull-apart "depressions" locally. However, the rupture zone is not large in size, about 350m long, 60m wide at the widest point, and 0.3~1.5m high. It is partially en-echelon or obliquely arranged, dominated by compressive ruptures. Through observation, the possibility of artificial transformation is ruled out for these upwarping bulges, ruptures or ground fissures. The fault section is found in the southeast direction of the rupture zone. The slickensides at the section show that the fault is dominated by right-lateral strike-slip with a small amount of thrust. In the eastern sub-segment, only intermittently distributed surface ruptures are found in the northern part of the village, and the scale is small. In summary, through the field geological survey, it is found that the Majiacun-Daju sub-segment is a Holocene active segment. Though the Daju-Dadong sub-segment also offset the late Pleistocene to Holocene strata, it is considered that its Holocene activity is weak in terms of either the dislocation amount or the slip rate of this segment. By analyzing the geological and geomorphological evidences, such as fault scarps, horizontal dislocation and surface ruptures along the fault, it is considered that the Majiacun-Daju sub-segment is a right-lateral strike-slip fault with a normal faulting component, and its vertical slip rate since the late Pleistocene is(0.4~0.8)mm/a, the horizontal slip rate is 1.5~2.4mm/a. The Daju-Dadong sub-segment is dominated by right-lateral strike-slip with a normal faulting component, and its vertical slip rate since the late Late Cenozoic is 0.1mm/a. The formation of the NW-trending surface rupture zone found in the Daju Basin is very young, where there are only two major earthquakes, namely, the M_S6.4 1966 Zhongdian earthquake and the 1996 Lijiang M_S7.0 earthquake, and both earthquakes produced NW-oriented surface rupture zones. Therefore, it cannot be ruled out that the rupture zone is a product of the 1966 Zhongdian M_S6.4 earthquake or the 1996 Lijiang M_S7.0 earthquake.  相似文献   

APPLYING 3D INVERSION OF SINGLE-PROFILE MAGNETOTELLURIC DATA TO IDENTIFY THE SHADE AND YUNONGXI FAULTS          下载免费PDF全文

JIANG Feng  CHEN Xiao-bin  DONG Ze-yi  CUI Teng-fa  LIU Zhong-yin  WANG Pei-jie 《地震地质》2019,41(6):1444-1463

Many synthetic model studies suggested that the best way to obtain good 3D interpretation results is to distribute the MT sites at a 2D grid array with regular site spacing over the target area. However, MT 3D inversion was very difficult about 10 years ago. A lot of MT data were collected along one profile and then interpreted with 2D inversion. How to apply the state-of-the-art 3D inversion technique to interpret the accumulated mass MT profiles data is an important topic. Some studies on 3D inversion of measured MT profile data suggested that 2D inversions usually had higher resolution for the subsurface than 3D inversions. Meanwhile, they often made their interpretation based on 2D inversion results, and 3D inversion results were only used to evaluate whether the overall resistivity structures were correct. Some researchers thought that 3D inversions could not resolute the local structure well, while 2D inversion results could agree with the surface geologic features much well and interpret the geologic structures easily. But in the present paper, we find that the result of 3D inversion is better than that of 2D inversion in identifying the location of the two local faults, the Shade Fault(SDF)and the Yunongxi Fault(YNXF), and the deep structures. In this paper, we first studied the electrical structure of SDF and YNXF based on a measured magnetotelluric(MT) profile data. Besides, from the point of identifying active faults, we compared the capacity of identifying deep existing faults between 2D inversion models and 3D models with different inversion parameters. The results show that both 2D and 3D inversion of the single-profile data could obtain reasonable and reliable electrical structures on a regional scale. Combining 2D and 3D models, and according to our present data, we find that both SDF and YNXF probably have cut completely the high resistivity layer in the upper crust and extended to the high conductivity layer in the middle crust. In terms of the deep geometry of the faults, at the profile's location, the SDF dips nearly vertically or dips southeast with high dip angle, and the YNXF dips southeast at depth. In addition, according to the results from our measured MT profile, we find that the 3D inversion of single-profile MT data has the capacity of identifying the location and deep geometry of local faults under present computing ability. Finally, this research suggests that appropriate cell size and reasonable smoothing parameters are important factors for the 3D inversion of single-profile MT data, more specifically, too coarse meshes or too large smoothing parameters on horizontal direction of 3D inversion may result in low resolution of 3D inversions that cannot identify the structure of faults. While, for vertical mesh size and data error thresholds, they have limited effect on identifying shallow tectonics as long as their changes are within a reasonable range. 3D inversion results also indicate that, to some extent, adding tippers to the 3D inversion of a MT profile can improve the model's constraint on the deep geometry of the outcropped faults.  相似文献   

PALEO-EARTHQUAKE STUDY METHODS ON BEDROCK FAULT SURFACE—HISTORY,CURRENT SITUATION,SUGGESTIONS AND PROSPECTS          下载免费PDF全文

ZOU Jun-jie  HE Hong-lin  YOKOYAMA Yosuke  WEI Zhan-yu  SHI Feng  HAO Hai-jian  ZHUANG Qi-tian  SUN Wen  ZHOU Chao  SHIRAHAMA Yoshiki 《地震地质》2019,41(6):1539-1562

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