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   

Age and early metamorphic history of the Sanbagawa belt: Lu–Hf and P–T constraints from the Western Iratsu eclogite     

S. ENDO  S.WALLIS  T. HIRATA  R. ANCZKIEWICZ  J. PLATT  M. THIRLWALL  Y. ASAHARA 《Journal of Metamorphic Geology》2009,27(5):371-384

Two distinct age estimates for eclogite-facies metamorphism in the Sanbagawa belt have been proposed: (i) c.  120–110 Ma based on a zircon SHRIMP age for the Western Iratsu unit and (ii) c.  88–89 Ma based on a garnet–omphacite Lu–Hf isochron age from the Seba and Kotsu eclogite units. Despite the contrasting estimates of formation ages, petrological studies suggest the formation conditions of the Western Iratsu unit are indistinguishable from those of the other two units—all ∼20 kbar and 600–650 °C. Studies of the associated geological structures suggest the Seba and Western Iratsu units are parts of a larger semi-continuous eclogite unit. A combination of geochronological and petrological studies for the Western Iratsu eclogite offers a resolution to this discrepancy in age estimates. New Lu–Hf dating for the Western Iratsu eclogite yields an age of 115.9 ± 0.5 Ma that is compatible with the zircon SHRIMP age. However, petrological studies show that there was significant garnet growth in the Western Iratsu eclogite before eclogite facies metamorphism, and the early core growth is associated with a strong concentration of Lu. Pre-eclogite facies garnet (Grt1) includes epidote–amphibolite facies parageneses equilibrated at 550–650 °C and ∼10 kbar, and this is overgrown by prograde eclogite facies garnet (Grt2). The Lu–Hf age of c.  116 Ma is strongly skewed to the isotopic composition of Grt1 and is interpreted to reflect the age of the pre-eclogite phase. The considerable time gap ( c.  27 Myr) between the two Lu–Hf ages suggests they may be related to separate tectonic events or distinct phases in the evolution of the Sanbagawa subduction zone.  相似文献   

Metamorphic phase relations in orthopyroxene-bearing granitoids: implication for high-pressure metamorphism and prograde melting in the continental crust     

S. K. BHOWMIK  L. SAHA  S. DASGUPTA  M. FUKUOKA 《Journal of Metamorphic Geology》2009,27(4):295-315

In this work, the factors controlling the formation and preservation of high-pressure mineral assemblages in the metamorphosed orthopyroxene-bearing metagranitoids of the Sandmata Complex, Aravalli-Delhi Mobile Belt (ADMB), northwestern India have been modelled. The rocks range in composition from farsundite through quartz mangerite to opdalite, and with varying K₂O, Ca/(Ca + Na)_rock and FeO_tot + MgO contents. A two stage metamorphic evolution has been recorded in these rocks.
An early hydration event stabilized biotite with or without epidote at the expense of magmatic orthopyroxene and plagioclase. Subsequent high-pressure granulite facies metamorphism (∼15 kbar, ∼800 °C) of these hydrated rocks produced two rock types with contrasting mineralogy and textures. In the non-migmatitic metagranitoids, spectacular garnet ± K-feldspar ± quartz corona was formed around reacting biotite, plagioclase, quartz and/or pyroxene. In contrast, biotite ± epidote melting produced migmatites, containing porphyroblastic garnet incongruent solids and leucosomes.
Applying NCKFMASHTO T–M (H₂O) and P–T pseudosection modelling techniques, it is demonstrated that the differential response of these magmatic rocks to high-pressure metamorphism is primarily controlled by the scale of initial hydration. Rocks, which were pervasively hydrated, produced garnetiferous migmatites, while for limited hydration, the same metamorphism formed sub-solidus garnet-bearing coronae. Based on the sequence of mineral assemblage evolution and the mineral compositional zoning features in the two metagranitoids, a clockwise metamorphic P–T path is constrained for the high-pressure metamorphic event. The finding has major implications in formulating geodynamic model of crustal amalgamation in the ADMB.  相似文献   

Enhanced Activity in Close T Tauri Binaries     

Gösta Gahm 《Astrophysics and Space Science》2006,304(1-4):149-152

The number of confirmed and suspected close T Tauri binaries (period days) is increasing. We discuss some systems with enhanced emission line activity and periodic line profile changes. Non-axisymmetric flows of plasma in the region between the circumbinary disk and the stars can be generated through the influence of the secondary component. Such enhanced activity is found around binaries with eccentric as well as circular orbits. We discuss our observations of the T Tauri stars RW Aurigae A and RU Lupi, which may host very close brown dwarf companions. Model simulations indicate that non-axisymmetric flows are generated around close binaries with circumbinary disks, also in systems with circular orbits.  相似文献   

Coma Morphology of Three Non-periodic Comets     

R. Schulz  J. A. Stüwe  C. Erd 《Earth, Moon, and Planets》2005,97(3-4):387-397

The coma morphology and short-term evolution was investigated of three non-periodic comets in retrograde orbits, C/2001 Q4 (NEAT), C/2002 T7 (LINEAR), and C/2003 K4 (LINEAR). All three comets display distinct coma features, which were very different from one comet to the next and remained rather constant in shape during the observational period. A single, broad feature perpendicular to the sun-tail direction dominated the coma of C/2003 K4 in all used filters (B,V,R,I), whereas the coma of Comet C/2002 T7 exhibited different features in blue and red filters. C/2001 Q4 showed rather complex coma morphology with clear short-term variability in coma brightness. Therefore, these non-periodic comets neither show a featureless coma nor any similarities of the features detected. The overall distribution of coma material was investigated from the shape of radial coma profiles averaged around the comet nucleus. For C/2001 Q4 and C/2002 T7, the slopes fitted to the linear part of these profiles are flatter in the blue than in the red, which can be explained by the presence of coma gas. For C/2003 K4 no such difference is indicated in the May observations (r = 2.3 AU), while in July (r = 1.7 AU) the profiles in the B-filter are flatter than in V, R, and I, hence gas contamination was relevant at least in the B filter. The R and I filter images were used to determine approximate Afρ values of each comet as a function of time.  相似文献   

关于非球形粒子光散射的T-矩阵数值计算方法的研究   总被引：1，自引：0，他引：1  

丁继烈  许丽生  张强 《成都信息工程学院学报》2001,16(1):1-7

首先介绍了无规取向轴对称非球形粒子光散射的T－矩阵数值方法。然后，进一步研究了T－矩阵计算的收敛问题，提出了一种新的关于无规取向无吸收非线形散射物体的物理收敛方法，我们研究了椭球粒子的收敛问题，结果表明我们的数值方法和T－矩阵计算程序是有效的， 收敛精度与粒子的尺度和形状有很强的依赖性，在一定的条件下，我们的物理收敛速度优于NASA Mishchenko的数学收敛速序。  相似文献   

High-pressure eclogites in northern Jiangsu – southern Shandong province, eastern China     

MASAKI ENAMI  QUIJA ZANG  YUJUN YIN 《Journal of Metamorphic Geology》1993,11(4):589-603

Abstract Eclogites are distributed for more than 500 km along a major tectonic boundary between the Sino-Korean and Yangtze cratons in central and eastern China. These eclogites usually have high-P assemblages including omphacite + kyanite and/or coesite (or its pseudomorph), and form a high-P eclogite terrane. They occur as isolated lenses or blocks 10 cm to 300 m long in gneisses (Type I), serpentinized garnet peridotites (Type II) and marbles (Type III). Type I eclogites were formed by prograde metamorphism, and their primary metamorphic mineral assemblage consists mainly of garnet [pyrope (Prp) = 15–40 mol%], omphacite [jadeite (Jd) = 34–64 mol%], pargasitic amphibole, kyanite, phengitic muscovite, zoisite, an SiO₂ phase, apatite, rutile and zircon. Type II eclogites characteristically contain no SiO₂ phase, and are divided into prograde eclogites and mantle-derived eclogites. The prograde eclogites of Type II are petrographically similar to Type I eclogites. The mantle-derived eclogites have high MgO/(FeO + Fe₂O₃) and Cr₂O₃ compositions in bulk rock and minerals, and consist mainly of pyrope-rich garnet (Prp = 48–60 mol%), sodic augite (Jd = 10–27 mol%) and rutile. Type III eclogites have an unusual mineral assemblage of grossular-rich (Grs = 57 mol%) garnet + omphacite (Jd = 30–34 mol%) + pargasite + rutile. Pargasitic and taramitic amphiboles, calcic plagioclase (An₆₈), epidote, zoisite, K-feldspar and paragonite occur as inclusions in garnet and omphacite in the prograde eclogites. This suggests that the prograde eclogites were formed by recrystallization of epidote amphibolite and/or amphibolite facies rocks with near-isothermal compression reflecting crustal thickening during continent–continent collision of late Proterozoic age. Equilibrium conditions of the prograde eclogites range from P > 26 kbar and T= 500–750°C in the western part to P > 28 kbar and T= 810–880°C in the eastern part of the high-P eclogite terrane. The prograde eclogites in the eastern part are considered to have been derived from a deeper position than those in the western part. Subsequent reactions, manifested by (1) narrow rims of sodic plagioclase or paragonite on kyanite and (2) symplectites between omphacite and quartz are interpreted as an effect of near-isothermal decompression during the retrograde stage. The conditions at which symplectites re-equilibrated tend to increase from west (P < 10 kbar and T < 580°C) to east (P > 9 kbar and T > 680°C). Equilibrium temperatures of Type II mantle-derived eclogites and Type III eclogite are 730–750°C and 680°C, respectively.  相似文献   

The double solid reactant method: II. An application to the shallow groundwaters of the Porto Plain,Vulcano Island (Italy)     

Matteo Lelli  Roberto Cioni  Luigi Marini 《Environmental Geology》2008,56(1):139-158

This paper presents an example of application of the double solid reactant method (DSRM) of Accornero and Marini (Environmental Geology, 2007a), an effective way for modeling the fate of several dissolved trace elements during water–rock interaction. The EQ3/6 software package was used for simulating the irreversible water–rock mass transfer accompanying the generation of the groundwaters of the Porto Plain shallow aquifer, starting from a degassed diluted crateric steam condensate. Reaction path modeling was performed in reaction progress mode and under closed-system conditions. The simulations assumed: (1) bulk dissolution (i.e., without any constraint on the kinetics of dissolution/precipitation reactions) of a single solid phase, a leucite-latitic glass, and (2) precipitation of amorphous silica, barite, alunite, jarosite, anhydrite, kaolinite, a solid mixture of smectites, fluorite, a solid mixture of hydroxides, illite-K, a solid mixture of saponites, a solid mixture of trigonal carbonates and a solid mixture of orthorhombic carbonates. Analytical concentrations of major chemical elements and several trace elements (Cr, Mn, Fe, Ni, Cu, Zn, As, Sr and Ba) in groundwaters were satisfactorily reproduced. In addition to these simulations, similar runs for a rhyolite, a latite and a trachyte permitted to calculate major oxide contents for the authigenic paragenesis which are comparable, to a first approximation, with the corresponding data measured for local altered rocks belonging to the silicic, advanced argillic and intermediate argillic alteration facies. The important role played by both the solid mixture of trigonal carbonates as sequestrator of Mn, Zn, Cu and Ni and the solid mixture of orthorhombic carbonates as scavenger of Sr and Ba is emphasized.

Luigi Marini (Corresponding author)Email:

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牙鲆种群动态及其资源管理     

朱鑫华 《海洋与湖沼》1992,23(3):270-279

本文根据1980—1986年间鱼类生物学参数测定,结合体长分布资料的模拟分析,研究黄、渤海区牙鲆种群年龄结构、死亡动态以及在不同年龄和死亡率条件下世代资源生物量变化的规律。模型分析结果表明,当F=1.0和t_c=6.0a时,单位补充量最大群体产量为1492g。由此认为,现阶段牙鲆资源利用的最佳策略是通过增殖放流,增加资源补充;同时应适当控制捕捞压力,减少渔具对幼鱼资源的破坏并增设繁殖保护区,以追求最大持续产量。  相似文献   

梭鱼标准代谢、内源氮排泄与体重和温度的关系   总被引：5，自引：0，他引：5  

线薇薇  朱鑫华 《中国海洋大学学报(自然科学版)》2002,32(3):368-374

在 13.5 ,18,2 1.5 ,2 4和 2 7℃ 5个温度条件下测定了梭鱼 (体重范围 1.88～ 14.0 2 g)的标准代谢率和内源氮排泄率。梭鱼标准代谢率随体重的增加而增加 ,二者的关系为幂函数关系 ;随温度的升高而增加 ,二者的关系为指数关系 ;标准代谢率与体重和温度的关系可用如下方程表示 :RS=0 .12 4 6 W0 .9954 e0 .0 84 1T(r2 =0 .92 2 0 )。梭鱼的氨氮、尿素、总氮及能量的排泄率随体重和温度的增加而增加 ,与体重为幂函数关系 ,与温度的关系为多项式形式。梭鱼氨氮和尿素日排泄率的变幅分别为 0 .15～ 0 .88mg N/d和 0 .0 3～ 0 .2 9mg N/d。不同温度下 ,尿素排泄量占总氮比例在 9.9%～2 2 .4 9%之间 ,随温度升高该值有逐渐增大的趋势。  相似文献