执行器退化的遥机器人系统量化反馈容错控制     

郑柏超  傅曦雨  杨鑫  阚亚进 《南京气象学院学报》2016,8(6):499-504

针对遥机器人系统中存在执行器退化、控制输入量化,且编、解码端的量化灵敏度参数不匹配的问题,设计了遥机器人系统的鲁棒量化反馈容错控制系统.控制器结构的线性部分由线性矩阵不等式给出,旨在解决系统指标性能问题,非线性部分则用于处理量化参数不匹配问题.经稳定性理论证明,提出的鲁棒量化反馈容错控制方法能消除执行器退化及量化参数不匹配等的影响,并确保从机器人能渐近跟踪主机器人.最后,算例仿真验证了方法的有效性.  相似文献   

Modelling of deformation response and chemo‐mechanical coupling in chalk     

S. Pietruszczak  D. Lydzba  J. F. Shao 《国际地质力学数值与分析法杂志》2006,30(10):997-1018

A constitutive relation is derived for describing the mechanical response of chalk. The approach is based on a phenomenological framework which employs chemo‐plasticity. The properties of the material are assumed to be affected by the physico‐chemical processes that occur through the interaction between the skeleton and the pore fluid. The underlying mechanism is discussed by invoking a micromechanical analysis. The performance of the framework is illustrated by examining the evolution of mechanical characteristics in the presence of different pore fluids. Copyright © 2006 John Wiley & Sons, Ltd.  相似文献   

Effects of grazing by Daphnia on algal carotenoids: Implications for paleolimnology     

P. R. Leavitt  S. R. Brown 《Journal of Paleolimnology》1988,1(3):201-213

Reverse-phase thin layer chromatography was used to quantify algal carotenoid degradation resulting from grazing by Daphnia magna in suspensions of lyophilized Oscillatoria utermöhlii, O. limnetica, Anabaena flos-aquae and Synechococcus sp. Three samples were removed every 24 h from 0 h to 144 h and the carotenoid, carbon and nitrogen content of the remaining algal-fecal mixture was determined. Grazing by Daphnia reduced carotenoid concentrations by 30%–80% after 144 h, with myxoxanthophyll being the most labile pigment in experiments with filamentous cyanophytes. However, as a group, the carotenoids were more resistant to the combined effects of grazing by Daphnia and bacterial action than were particulate algal carbon (78% to 82% lost by 144 h) or nitrogen (86%–90%) during the period in which easily digestible material remained. The maximal extent of carotenoid enrichment relative to particulate carbon ranged from 150% to 300% of initial pigment concentrations but declined with repeated coprophagy. On the basis of these results and published pigment budgets, we conclude both that fecal transportation of pigments may be an important determinant of carotenoid accumulation rates and that carotenoid stratigraphies should record predator-mediated changes in zooplankton community structure, especially in oligotrophic conditions.  相似文献   

Biodegradation and environmental behavior of biodiesel mixtures in the sea: An initial study     

DeMello JA  Carmichael CA  Peacock EE  Nelson RK  Samuel Arey J  Reddy CM 《Marine pollution bulletin》2007,54(7):894-904

Biodiesel, a mixture of fatty acid methyl esters (FAMEs) derived from animal fats or vegetable oils, is rapidly moving towards the mainstream as an alternative source of energy. However, the behavior of biodiesel, or blends of biodiesel with fossil diesel, in the marine environment have yet to be fully understood. Hence, we performed a series of initial laboratory experiments and simple calculations to evaluate the microbial and environmental fate of FAMEs. Aerobic seawater microcosms spiked with biodiesel or mixtures of biodiesel and fossil diesel revealed that the FAMEs were degraded at roughly the same rate as n-alkanes, and more rapidly than other hydrocarbon components. The residues extracted from these different microcosms became indistinguishable within weeks. Preliminary results from physical-chemical calculations suggest that FAMEs in biodiesel mixtures will not affect the evaporation rates of spilled petroleum hydrocarbons but may stabilize oil droplets in the water column and thereby facilitate transport.  相似文献   

Coastal habitat degradation and green sea turtle diets in Southeastern Brazil     

Santos RG  Martins AS  Farias Jda N  Horta PA  Pinheiro HT  Torezani E  Baptistotte C  Seminoff JA  Balazs GH  Work TM 《Marine pollution bulletin》2011,62(6):1297-1302

To show the influence of coastal habitat degradation on the availability of food for green turtles (Chelonia mydas), we assessed the dietary preferences and macroalgae community at a feeding area in a highly urbanized region. The area showed low species richness and was classified as degraded. We examined stomach contents of 15 dead stranded turtles (CCL = 44.0 cm (SD 6.7 cm)). The diet was composed primarily of green algae Ulva spp. (83.6%). In contrast, the macroalgae community was dominated by the green alga Caulerpa mexicana. We found a selection for red algae, seagrass and Ulva spp., and avoidance for C. mexicana and brown alga Dictyopteris delicatula. The low diversity of available food items, possibly a result of environmental degradation, likely contributed to the low dietary diversity. The nutritional implications of this restricted diet are unclear.  相似文献   

Absorption and Photocatalytic Degradation of Machine Oil by Exfoliated Graphite-Supported Nanometer TiO2 Material     

CAO Hong MA Enbao WANG Xuehua CHEN Jiazang BIN Xiaobei 《《地质学报》英文版》2006,80(2):285-289

By loading nanometer anatase onto exfoliated graphite with the sol-gel method, exfoliated graphite-TiO2 composite （EG-TiO2） can be prepared, which can adsorb oil and can also degrade oil. In a technologic condition for preparing EG-TiO2, the impregnated number of times is the most important factor to influence oil-adsorbing capability, that is, when the impregnated number of times increases, the amount of saturation-adsorbed oil decreases. The study of EG-TiO2 photocatalytic degradation of machine oil based on the weight-loss method and infrared spectrum method indicates that EG-TiO2 has obvious effect of photocatalytic degradation for machine oil. Its performance is superior to pure nanometer TiO2 powder because nanometer TiO2 in EG-TiO2 has three-dimension laminar structure and comparatively high adsorption capability.  相似文献   

微生物降解有机物的碳氢同位素分馏研究进展     

王万春 《矿物岩石地球化学通报》2007,26(3):269-275

微生物降解使有机化合物的稳定碳、氢同位素发生不同程度分馏的研究在有机污染物来源和微生物环境修复等领域取得了长足进展,并对原油和天然气微生物降解研究有借鉴意义。微生物作用下的同位素分馏为动力同位素分馏,导致重同位素在残余物中富集。影响微生物降解有机物同位素分馏的主要因素有微生物的降解代谢途径、辅酶作用、降解类型与程度、同位素质量差异和有机物碳数等。不同的微生物代谢途径代表不同的生物化学反应,造成了同位素分馏的显著差异;辅酶对反应的催化作用使微生物作用造成的同位素分馏更加复杂。低碳数正构烷烃遭受微生物降解程度越高,碳、氢同位素的分馏也越大,同位素变重与降解程度之间有明显的相关性。但对于复杂化合物,由于降解的多级反应,同位素分馏与降解程度间的相关性并不明显。在同样降解程度下,氢同位素分馏大于碳同位素分馏,低碳数正构烷烃的同位素分馏大于高碳数正构烷烃的同位素分馏。  相似文献   

气候影响下的荒漠下的荒漠化监测     

A.N.左洛托克瑞林 《干旱区地理》2007,30(6):797-804

根据揭示沙漠化扩张内在规律的相关气候驱动因子的假说,气候作用影响之下的沙漠化是在具反射率-降水正、负反馈特点的气候系统之中的区域干旱化过程与干旱土壤退化过程相互作用的结果。在辐射调节下的地表下垫面温度占主导的条件下,气候成因的沙漠化是由区域气候系统反馈所形成。正反馈的外部调节因子是降水量的变化和极端降水事件(特别是旱灾)的出现频率,降水量减少以及降水频率的降低直接影响沙漠化的程度。20世纪下半叶,人类因素导致的干旱土地退化作为另外的正反馈调节因子,其重要性正在增加。通常正反馈的扩大趋势会被通过蒸腾而进行的地表温度调节的负反馈所抑制。由正反馈到负反馈的转换是通过地球表面与大气层之间的热量交换的调节所确定的,其中非潜热因子处于增加状态。上述情况在反射率和地表温度同时增加的条件下发生。在超出绿色植物生物量及其NDVI指数阈值的条件下,负反馈向正反馈的转换就会发生。人为作用导致的植被退化加快了向绿色植物生物量阈值逼近的进程,从而引起气候因素驱动的沙漠化扩大。一个主要由气候因素影响的荒漠化区域,在大多数情况下,其绿色生物量均在季节变化和年际变化中达到了阈值。在中度的人为影响的植被退化条件下,这些地域一般都包括部分干旱与半干旱土地。然而有时,人类活动也会导致干旱的半湿润土地退化。本文运用Turan和Sahel地区1982-2001年NDVI指数的监测结果,分析了全球变暖和人为作用导致的土地退化。  相似文献   

An assessment of land degradation in the Save catchment of Zimbabwe     

Julia Mambo  Emma Archer 《Area》2007,39(3):380-391

The lack of reliable baseline information on land degradation is a hindrance towards its monitoring and mitigation. Of particular interest is the identification of areas susceptible to degradation. In this study, remote sensing and GIS technologies were applied to detect and map susceptibility to land degradation in Buhera district, in Save catchment, Zimbabwe. Data used included Landsat TM and ETM imagery for 1992 and 2002, agro-ecological zones, vegetation cover and population density. The study identified five preliminary categories of degradation susceptibility ranging from very high to low.  相似文献   

Pastoralists’ perceptions and realities of vegetation change and browse consumption in the northern Kalahari, Namibia     

M. Katjiua  D. Ward   《Journal of Arid Environments》2007,69(4):716-730

Pastoral production around artificial watering points in semi-arid environments affects the density and composition of plant communities. In the Kalahari desert of southwestern Africa, bush encroachment is often regarded as the major form of land degradation resulting from pastoral production around watering points. We investigated the OvaHerero pastoralists’ perceptions of the extent of vegetation change since the establishment of artificial watering points in the northern Kalahari desert of Namibia, and related this to ecological data on vegetation change. We determined the utility of woody vegetation to pastoralists’ livelihoods in terms of provision of construction material, fuel wood and browse. We quantified local knowledge of cattle browse consumption and correlated this with field data. We also assessed the purposes for which major livestock types were used. Our results showed that: (1) pastoral knowledge of bush encroachment and browse consumption was consistent with concurrently collected field data, (2) the current level of bush encroachment was perceived to be beneficial for pastoral production, and (3) cattle played an important role in the production of milk and milk by-products for domestic use, and served as a source of cash income, while sheep and goats were primarily kept for meat consumption. This result contrasts with historical studies that mainly portray cattle as a symbol of social status among OvaHerero pastoralists.  相似文献