基于分布式控制力矩陀螺的水下航行器轨迹跟踪控制   总被引：2，自引：0，他引：2  

黄道敏  徐瑞昆  唐国元  冯雷  刘智  徐国华 《海洋工程》2018,36(6):69-76

基于控制力矩陀螺群(CMGs)的水下航行器具有低速或零速机动的能力。采用基于分布式CMGs的水下航行器方案,并研究其水平面的轨迹跟踪控制问题。通过全局微分同胚变换将非完全对称的动力学模型解耦成标准欠驱动控制模型,并根据简化的模型构建其轨迹跟踪的误差动力学模型,将轨迹跟踪控制问题转化为误差模型镇定问题。基于一种分流神经元模型和反步法设计了系统的轨迹跟踪控制律,该控制器不需要对任何虚拟控制输入进行求导计算,且能确保跟踪误差的最终一致有界性。仿真结果表明该控制器能够实现在不依赖动力学参数先验知识的情况下对光滑轨迹的有效跟踪。  相似文献   

两株南极枝孢霉属真菌Cladosporium sp.NJF4和NJF6的次级代谢产物研究          下载免费PDF全文

常俊男  田晓清  樊成奇  黄金昌  陆亚男  韩清华 《极地研究》2020,32(1):60-67

南极因其独特的自然环境成为潜在、重要的微生物资源库,是产生新型生物活性物质和先导化合物菌株的潜在种源地,南极微生物正在成为创新药物研究新的重要资源。虽然近年来对南极微生物次级代谢产物的研究逐渐增加,但与温带和热带微生物研究相比仍处于初级阶段。对从南极普里兹湾海洋沉积物中获得的两株枝孢霉属真菌Cladosporium sp. NJF4和NJF6进行次级代谢产物分离及结构鉴定,获得20个化合物。化合物结构类型包括甾醇(1)、倍半萜类(7—8)、生物碱类(9—14)、二酮哌嗪(2—5、15—17)、芳香酸(6、18—19)等,其中倍半萜类(7—8)为首次从枝孢霉属真菌中分离得到,以上研究将为丰富南极微生物次级代谢产物库奠定一定的研究基础。  相似文献   

Damage identification method using harmonic excitation force considering both modelling and measurement errors     

Aiko Furukawa  Junji Kiyono  Hirokazu Iemura  Hisanori Otsuka 《地震工程与结构动力学》2005,34(10):1285-1304

A method of structural damage identification using harmonic excitation force is presented. It considers the effects of both measurement and modelling errors in the baseline finite element model. Damage that accompanies changes in structural parameters can be estimated for a damaged structure from the change between measured vibration responses and ones calculated from the analytical model of the intact structure. In practice, modelling errors exist in the analytical model due to material and geometric uncertainties and a reduction in the degrees of freedom as well as measurement errors, making identification difficult. To surmount these problems, bootstrap hypothesis testing, which enables statistical judgment without information about these errors, was introduced. The method was validated by numerical simulation using a three‐dimensional frame structure and real vibration data for a three‐storey steel frame structure. Copyright © 2005 John Wiley & Sons, Ltd.  相似文献   

山东省区域地质构造演化探讨   总被引：13，自引：0，他引：13       下载免费PDF全文

宋明春  李洪奎 《山东国土资源》2001,17(6):12-21

山东省区域地质构造演化分为5个阶段.①陆核形成阶段形成太古宙高级区,地壳分异成稳定的花岗岩穹窿和活动的绿岩带,第一次克拉通化完成.②陆块发生形成阶段地壳向刚性发展,在华北陆核硅铝壳的基础上先后有3次张开、闭合裂谷作用,第二次克拉通化完成.这一阶段演化在鲁西地区主要表现为挤压作用,形成大量造山花岗岩;鲁东地区则以拉张作用为主,形成海槽,产生沉积.③秦昆洋形成演化阶段四堡期沿鲁东南部地壳拉张,在华北板块与扬子板块间形成秦昆洋.晋宁期秦昆洋关闭,华北板块与扬子板块对接碰撞,沿胶南造山带产生大量同碰撞花岗岩,同时产生超高压变质作用及形成丰富多彩的碰撞构造.晋宁运动最终形成统一的原始中国古陆,第三次克拉通化完成.④陆块发展阶段鲁西地区地壳频繁升降,形成广泛的海相及海陆交互相沉积;鲁东地区则以造山抬升为主,地层沉积较少.⑤滨太平洋发展阶段该阶段的主要特征是断块构造发育,形成盆岭构造格局,产生大陆边缘花岗岩,构造体系由古亚洲构造域转向滨太平洋构造域.  相似文献   

The Fault Block''s Framework in Boli Basin and its Control Over the Deposition     

Cao Chengrun  SHAN Xuanlong  Wang Dongpo  WANG Xianmin  Yao Ping 《世界地质(英文版)》2001,4(1)

Boli basin, between Yishu fracture belt and Dunmi fracture belt, is the biggest Mesozoic coal basin in the east of Heilongjiang Province. Now it is a fault - fold remnant basin. The basin' s shape is generally consistent with the whole distribution of the cover folds, an arc protruding southwards. The basement of the basin can be divided into three fault blocks or structural units. The formation and evoluation of the basin in Mesozoic was determined by the basement fault blocks' displacement features rusulted from by the movement of the edge faults and the main basement faults.  相似文献   

Reliability assessment of serviceability performance of braced retaining walls using a neural network approach     

A. T. C. Goh  F. H. Kulhawy 《国际地质力学数值与分析法杂志》2005,29(6):627-642

In urban environments, one major concern with deep excavations in soft clay is the potentially large ground deformations in and around the excavation. Excessive movements can damage adjacent buildings and utilities. There are many uncertainties associated with the calculation of the ultimate or serviceability performance of a braced excavation system. These include the variabilities of the loadings, geotechnical soil properties, and engineering and geometrical properties of the wall. A risk‐based approach to serviceability performance failure is necessary to incorporate systematically the uncertainties associated with the various design parameters. This paper demonstrates the use of an integrated neural network–reliability method to assess the risk of serviceability failure through the calculation of the reliability index. By first performing a series of parametric studies using the finite element method and then approximating the non‐linear limit state surface (the boundary separating the safe and ‘failure’ domains) through a neural network model, the reliability index can be determined with the aid of a spreadsheet. Two illustrative examples are presented to show how the serviceability performance for braced excavation problems can be assessed using the reliability index. Copyright © 2005 John Wiley & Sons, Ltd.  相似文献   

Quaternary fault segmentation and interaction in the epicentral area of the 1561 earthquake (Mw = 6.4), Vallo di Diano, southern Apennines, Italy     

V. Spina  E. Tondi  P. Galli  S. Mazzoli  G. Cello 《Tectonophysics》2008,453(1-4):233

The main structural characteristics of the Caggiano and Polla faults, exposed in the epicentral area of the 1561 earthquake (Mw = 6.4), southern Italy, have been investigated in detail to assess their spatial and temporal properties, and to evaluate their seismogenic potential. These right stepping normal faults show an overlap of about 7 km and an across strike separation of about 4 km. The geometric relationships between the Caggiano and Polla faults, but also the displacement distribution along each fault, demonstrate that they have been strongly interacting throughout the Pleistocene. Nevertheless, geological evidence of Holocene tectonic activity was mainly recognized along the Caggiano Fault (faulted late glacial deposits) and in the southernmost part of the Polla Fault (faulted deposits of probably Late Pleistocene age). This suggests that the Caggiano Fault can be considered as the most tectonically active fault in the Vallo di Diano Fault System. By calculating Coulomb stress changes, we have constrained modes of mechanical interactions between the two faults in a scenario compatible with the 1561 earthquake. This approach allows us to argue that both the Caggiano and the Polla Faults are probably linked at depth, and part of the same seismogenic structure which may be potentially responsible for composite ruptures with magnitude ≥ 6.5.  相似文献   

Influence of Structural Non-Stationarity of Surface Roughness on Morphological Characterization and Mechanical Deformation of Rock Joints   总被引：2，自引：2，他引：0  

N. Fardin 《Rock Mechanics and Rock Engineering》2008,41(2):267-297

Summary Structural non-stationarity of surface roughness affects accurate morphological characterization as well as mechanical behaviour of rock joints at the laboratory scale using samples with a size below the stationarity threshold. In this paper, the effect of structural non-stationarity of surface roughness is investigated by studying the scale dependence of surface roughness and mechanical behaviour of rock joints. The results show that the structural non-stationarity mainly affects the accurate characterization of the surface roughness of the fracture samples. It also controls the amount and location of the contact areas during shear tests, which in turn affects the mechanical properties and asperity degradation of the samples. It is concluded that for accurate determination of the morphological and mechanical properties of rock joints at laboratory and field scales, samples with size equal to or larger than the stationarity threshold are required. Author’s address: Nader Fardin, Rock Mechanics Group, Department of Mining Engineering, Faculty of Engineering, University of Tehran, P.O. Box: 11365/4563, Tehran, Iran  相似文献   

手掘式顶管在市政排水工程中的应用          下载免费PDF全文

刘会 《探矿工程》2008,35(10):52-54

从混凝土管材的选定、工作坑的设计及施工、顶管顶进中若干关键问题入手,介绍了手掘式顶管施工技术在成都市中心城水环境综合整治工程G标段管道排水工程中的应用。  相似文献   

Efficiency analysis of open trench for impact pile driving through a single-variable method     

Amir Hamidi  Abtin Farshi Homayoun Rooz 《Marine Georesources & Geotechnology》2021,39(1):82-102

Abstract

The ground vibrations during pile driving operation have a drastic potential to undermine the surrounding structures both in land and reclaimed land. Particularly, reclaimed land necessitates ample application of pile driving due to the weak land condition. To prevent the structural damage, attenuation of the ground vibrations to an allowable level through active isolation of circular open trench is the scope of this study. In this research, finite element simulations of continuous impact pile driving process from the ground surface was executed with particular attention to the pile-soil interaction, and thereby, the efficiency of open trench application in attenuation of the unsafe distance of different structures was surveyed using the vibration sensitivity degree. Regarding the crucial parameters of an open trench (depth, width, and location), it was concluded that a sufficient high depth can attenuate the unsafe distance up to 68%, the trench width variations are less effective, and an average pile-trench distance is the most efficient option. The excavation volume was also concluded as another crucial parameter in open trench design which takes all three parameters into account. The trench depth equal to the pile’s maximum critical depth of vibration was inferred for an optimum design.  相似文献