Nonlinear Dynamic Characteristics of the Vectored Thruster AUV in Complex Sea Conditions

The mobility of the vectored thruster AUV in different environment is the important premise of control system design. The new type of autonomous underwater vehicle (AUV) equipped with rudders and vectored thrusters which are combined to control the course is studied. Firstly, Euler angles representation and quaternion method are applied to establish six-DOF kinematic model respectively, then Newton second law and Lagrangian approach are used to deduce the vectored thruster AUV’s nonlinear dynamic equations with six degrees of freedom (DOF) respectively in complex sea conditions based on the random wave theory according to the structural and kinetic characteristics of the vectored thruster AUV in this paper. The kinematic models and dynamic models based on different theories have the same expression and conclusion, which shows that the kinematic models and dynamic models of the vectored thruster AUV are accurate. The Runge-Kutta arithmetic is used to solve the dynamic equations, which not only can simulate the motions such as cruise and hover but also can describe the vehicle’s low-frequency and high-frequency motion. The results of computation show that the mobility of the vectored thruster AUV in interference-free environment and the integrated signals including low-frequency motion signal and high-frequency motion signal in environmental disturbance accord with practical situation, which not only solve the problem of especial singularities when the pitch angle θ = ±90° but also clears up the difficulties of computation and display of the coupled nonlinear motion equations in complex sea conditions. Moreover, the high maneuverability of the vectored thruster AUV equipped with rudders and vectored thrusters is validated, which lays a foundation for the control system design.

Nonlinear trajectory tracking control of a new autonomous underwater vehicle in complex sea conditions

Autonomous underwater vehicles (AUVs) navigating in complex sea conditions usually require a strong control system to keep the fastness and stability. The nonlinear trajectory tracking control system of a new AUV in complex sea conditions was presented. According to the theory of submarines,the six-DOF kinematic and dynamic models were decomposed into two mutually non-coupled vertical and horizontal plane subsystems. Then,different sliding mode control algorithms were used to study the trajectory tracking control. Because the yaw angle and yaw angle rate rather than the displacement of the new AUV can be measured directly on the horizontal plane,the sliding mode control algorithm combining cross track error method and line of sight method was used to fulfill its high-precision trajectory tracking control in the complex sea conditions. As the vertical displacement of the new AUV can be measured,in order to achieve the tracking of time-varying depth signal,a stable sliding mode controller was designed based on the single-input multi-state system,which took into account the characteristic of the hydroplane and the amplitude and rate constraints of the hydroplane angle. Moreover,the application of dynamic boundary layer can improve the robustness and control accuracy of the system. The computational results show that the designed sliding mode control systems of the horizontal and vertical planes can ensure the trajectory tracking performance and accuracy of the new AUV in complex sea conditions. The impacts of currents and waves on the sliding mode controller of the new AUV were analyzed qualitatively and quantitatively by comparing the trajectory tracking performance of the new AUV in different sea conditions,which provides an effective theoretical guidance and technical support for the control system design of the new AUV in real complex environment.

Characteristics of Meso-Cenozoic Igneous Complexes in the South Yellow Sea Basin,Lower Yangtze Craton of Eastern China and the Tectonic Setting

The South Yellow Sea Basin is partially surrounded by the East Asian continental Meso- Cenozoic widespread igneous rocks belt. Magnetic anomaly and multi-channel seismic data both reveal the prevalent occurrence of igneous rocks. We preliminarily defined the coupling relation between magnetic anomalies and igneous rock bodies. Some igneous complexes were also recognized by using multi-channel seismic and drilling data. We identified various intrusive and extrusive igneous rock bodies, such as stocks, sills, dikes, laccoliths and volcanic edifice relics through seismic facies analysis. We also forecasted the distribution characteristics of igneous complexes. More than fifty hypabyssal intrusions and volcanic relics were delineated based on the interpretation of magnetic anomaly and dense intersecting multi-channel seismic data. It is an important supplement to regional geology and basin evolution research. Spatial matching relations between igneous rock belts and fractures document that extensional N-E and N-NE-trending deep fractures may be effective pathways for magma intrusion. These fractures formed under the influence of regional extension during the Meso- Cenozoic after the Indosinian movement. Isotopic ages and crosscutting relations between igneous rock bodies and the surrounding bedded sedimentary strata both indicate that igneous activities might have initiated during the Late Jurassic, peaked in the Early Cretaceous, gradually weakened in the Late Cretaceous, and continued until the Miocene. Combined with previous studies, it is considered that the Meso-Cenozoic igneous activities, especially the intensive igneous activity of the Early Cretaceous, are closely associated with the subduction of the Paleo-Pacific Plate.

Characteristics and distribution patterns of reef complexes on the carbonate platform margin in deep water areas:the western South China Sea

As a potential oil and gas reservoir, reef complexes have been a research focus from petroleum geologists for a long time. There are favorable conditions for the development of reef complexes in the South China Sea; however, their internal structures, evolution and distribution are still poorly understood. Based on 2D and 3D seismic data, the internal structures and evolution patterns of the reef complexes on the carbonate platform margin in the deep water areas over the western South China Sea were studied in detail. The result shows that two types of reef complexes, i.e., fault controlling platform margin reef complexes and ramp reef complexes have been developed in the study area. The reef complexes have independent or continuous mound or lenticular seismic reflections, with three internal structures （i.e., aggrading, prograding and retrograding structures）. There are different growth rates during the evolution of the reef complexes, resulting in the formation of catch-up reefs, keep-up reefs and quick step reefs. The study also reveals that different platform margin reef complexes have different internal structures and distributions, because of the different platform types. These results may be applied to the exploration and prediction of carbonate platform margin reef complexes in other areas that are similar to the study area.

The Gravity Flow on a Shelf-Edge-Slope-Basin-Floor Complex in Qiongdongnan Basin,Northern South China Sea

The Qiongdongnan Basin lies in the west part of the northern South China Sea.To the west the basin is bound by the Red River Fault and the Yinggehai Basin,to the east by the Pearl River Mouth Basin,and to the south by the Xisha Rise.In this study,the sequence stratigraphic framework was set up and 11 third-order sequences were distinguished.Based

南亚抗震不利地段海陆交互复杂互层地基加固性能研究

针对孟加拉国某港口工程海陆交互相复杂互层地基加固中遇到的地层特性复杂、加固效果难以预测以及软黏土和粉细砂互层土场地地震液化的问题,结合场地地质条件、使用功能、工程特点等,对插板预压联合降水强夯在该场地条件下的加固效果展开研究。依托项目试验区块,通过对加固前后土体物理力学指标的对比分析和沉降-时程曲线、孔隙水压力-时程消散曲线等的研究,得到插板预压联合降水强夯加固的过程特性以及对原状土和吹填土的加固效果。研究表明,插板预压联合降水强夯法对于复杂互层土上吹填砂场地具有较好的适应性,加固效果可满足设计承载力和工后沉降控制要求,该法对于减轻砂土层的液化具有一定的作用。研究成果对于南亚地区复杂互层土吹填场地设计具有指导意义。

基于残差单元与注意力门的非对称编解码海杂波抑制网络

针对非均匀海杂波环境下弱小目标检测困难的问题,本文基于复值残差单元和注意力门机制,提出一种用于海杂波抑制的非对称编解码网络(Asymmetric Encoder-Decoder Network,AED-Net).该网络以雷达回波经匹配滤波后得到的复值信号为输入,利用复值残差单元取代常规卷积单元进行弱小目标和海杂波特征的提取,增强网络特征提取能力的同时避免特征信息退化.然后采用注意力门模块将编码路径各模块提取的特征信息分别送入到解码路径对应的模块.最终输出海杂波抑制后的复值信号.由于各注意力门的输入和输出维度可根据网络结构自主选择,该网络设计是一种非对称编解码结构.与典型对称编解码网络UNet相比,复值残差单元与注意力门的引入显著降低了特征信息的冗余度,增强特征信息的提取与传递,提升了海杂波抑制性能.与此同时,复值残差单元的参数规模远小于卷积单元,而注意力门的引入也有效减少解码路径单元的数量,整个网络的参数规模显著减小.基于海杂波实测数据的实验结果表明,与典型复值UNet(Complex Value-UNet,CV-UNet)网络相比,AED-Net的输出信杂比平均提升9 dB,有效工作的最低信杂比降低了3 dB,模型参数量和计算量分别减少57.8%、50%.

海南岛沿海城镇化对海风锋推进影响的数值模拟

本文利用中尺度模式WRF-ARW(Weather Research and Forecasting Model-Advanced Research WRF)(Version 4.0)对海南岛不同天气条件下的典型海风锋个例进行了高分辨率数值模拟,通过设计局地城镇化的敏感性试验,重点分析了海南岛沿海城镇化对海风锋推进的影响及其可能机制。研究结果表明:海南岛沿海城镇化造成的海风锋结构差异是热力作用和动力作用共同影响的结果;城镇下垫面的摩擦效应与城市热岛的增强阻碍海风向内陆推进,减弱了海风锋途经地区的降温增湿效应,造成海风锋位置相对滞后;而城镇化所引起的高海陆热力差异增强了海风风速及海风辐合,同时导致海风锋前的垂直上升气流和海风环流厚度也明显增强。海风锋发展不同时期,城镇化对海风锋的推进影响有所不同。海风锋发展初期,海陆热力差异引起的推动作用与摩擦效应的阻碍作用相抵消,导致海风锋的推进无明显影响;海风锋发展强盛阶段,城镇化条件下内陆城市与非城市之间的热力差异有所增强,阻碍了海风锋向内陆推进,导致海风锋内陆渗透距离减小。不同天气条件下城市化对海风锋推进的影响有所不同,相比于晴空天气,多云天气下城市与非城市的热力差异稍强,加强了城市热岛效应对海风推进的阻碍作用,导致海风锋滞后距离稍远。此外,当土地利用类型更换为城镇后,净辐射与陆气间交换能量减少,导致其潜热通量显著减小,感热通量值变大,从而升高了下垫面温度,增强了海风的垂直上升运动,进而造成边界层高度的升高。

2001-2020年东海区大陆海岸带复合生态系统韧性时空演变

海岸带是自然、社会、经济相互作用频繁的地区,然而,过度开发胁迫海岸带生态环境退化。海岸带复合生态系统韧性研究有利于实现精准有效的生态保护。本文综合多源数据从复合生态系统基底状态、社会经济发展与资源环境禀赋的耦合协调关系、复合生态系统的可持续发展潜力、人类活动对环境的影响范围与强度方面构建评价体系,定量评估2001-2020年东海区大陆海岸带复合生态系统韧性,分析韧性时空演变特征与空间分异的影响因素。结果表明:(1)2001-2020年东海区大陆海岸带复合生态系统韧性呈波动下降趋势,韧性空间异质性显著,具有明显的海陆梯度地带性。(2)林地是维持区域复合生态系统韧性的主体。(3)反映人类活动分布与强度的因素对复合生态系统韧性的影响越来越大。研究为保护、恢复、促进海岸带复合生态系统可持续利用与管理提供了理论支持与实践参考。

浅海区超长桩基阶梯式镂空环形冲击反循环钻机施工技术

基于珠海市区至珠海机场城际轨道交通工程金海特大桥横跨西江断裂带弱风化花岗岩地层钻孔桩成孔技术,针对~#26~~#29墩共80根,直径3.00 m,孔深50.00~100.00 m,进行钻机选型、平台要求、配套设备、耗电量及成本分析对比研究,研制阶梯式镂空环形冲击反循环钻机,优化钻头结构、钻机形式、排渣方式和钻渣分离沉渣箱等结构设备,钻机重量小、操作方便、成孔效率高且施工质量稳定,有效地解决了常规冲击钻在大直径、长桩基基础施工中,效率低且风险高的难题。

基于FE-SEA混合法的梁弯曲振动响应分析

FE-SEA混合法将计算低频响应的有限单元法和计算高频响应的统计能量分析结合起来,可用于全频段的结构振动响应分析。将FE-SEA混合法运用到梁结构的弯曲振动分析中,研究了计算整体动力刚度阵Dgg原理,推导了修正的动力刚度阵ΔD、修正的力阵ΔF以及整体模态的输入功率Pg在梁弯曲振动分析中具体的表达式。最后利用计算机仿真对三种耦合情况进行了仿真,并利用FEA和SEA方法的计算结果,证明了FE-SEA混合法运用于梁结构弯曲振动响应分析的正确性。与传统的有限元法相比,FE-SEA混合法的计算量大大减小。

基于FE-SEA混合法的复杂结构中频声辐射预测精度改进方法

阐述了FE-SEA混合方法基本理论,建立了圆柱结构FE-SEA混合方法模型,利用FEM-BEM方法对模型中的耦合损耗因子给予修正。在白噪声激励条件下,预测了复杂圆柱结构辐射声场。在模拟声激励及力激励条件下完成了飞机舱段内声场的实验测量,同时使用仿真模型进行腔内噪声预测,并与实验结果进行对比。结果表明:使用FEM-BEM方法修正耦合损耗因子,可以提高预测精度,使预测结果在中频范围内的绝对误差小于5 dB。

Study on Development Law of Complex Fluvial Reservoir under Water

The Bozhong oilfield (Hereinafter referred to as BZ oilfield) is a typical representative of complex fluvial reservoirs in the Bohai Sea, located in the southern Bohai Sea, with an average porosity of 30.3% and an average permeability of 643 × 10-3 μm2, belonging to medium high porosity and permeability reservoir, the reservoir has good connectivity, and the average underground crude oil viscosity is 5 mPa·s. There are many plane fault blocks, and the longitudinal oil well section is long, so the oil-water relationship is very complex. With the further development of the oilfield, the vertical and horizontal oil-water movement law, residual oil distribution and potential are unclear, resulting in rapid bottom water coning, unbalanced injection and production in the oilfield, and increasingly prominent contradictions among layers, planes and layers in the oilfield. Through numerical simulation analysis and comparison of displacement law and recovery degree under different influence conditions, this paper studies the development effect of actual sand body under different influence conditions such as different well types, different development methods and well layout positions, and takes appropriate development methods for the oilfield, which is of great significance to improve the development effect of the oilfield.

一种有效顾及复杂海域避碰的路径规划方法

针对现有舰船避碰路径规划方法难以适用于复杂海域的现状,本文提出一种有效顾及复杂海域避碰的路径规划方法。首先,通过K-means方法将舰船避碰阶段选用合理的危险度判别指标进行划分;然后,依据Nomoto模型进行航迹推演,预测舰船在一定时间分辨率后的航迹;接着,在避碰阶段中剔除具有碰撞危险和不符合此阶段避碰规则的预测航迹,并在余下的预测航迹中选取危险度最小的航迹作为最优预测航迹;最后,在正常航行阶段建立遴选函数,选取最优预测航迹,将所有最优预测航迹合成以生成路径。实验结果表明:相对于当前先进的改进人工势场方法来说,所提方法在只有点状碍航区的较简单环境下可有效提升规划效率;所提方法在有各类碍航区的较复杂海域,能顾及来船的航向变化,规划出遵循国际海上避碰规则的避碰路径。

Late Cryogenian glaciation in South Australia:Fluctuating ice margin and no extreme or rapid post-glacial sea-level rise

Postulated extreme sea-level rise of up to 1-1.5 km with the late Cryogenian Ghaub deglaciation in Namibia is contentious,as is the great rapidity(<104 yr)of the sea-level rise.Such extreme glacioeustatic events,if real,would have been global and affected all continents.In South Australia,up to six glacial advances and retreats during the late Cryogenian Elatina glaciation indicate a fluctuating ice margin.The latter stage of the Elatina glaciation and the immediate post-glacial environment are examined here for evidence of extreme and rapid sea-level rise.In the central Adelaide Rift Complex,diamictite with faceted and striated clasts occurs at the top of the Elatina Formation<1-2 m beneath the early Ediacaran Nuccaleena Formation’cap carbonate’.One hundred kilometres to the south,~30 m of siltstone and sandstone followed by^6 m of clast-poor diamictite with clasts 10+cm long occur between tidal rhythmites and the cap carbonate.Three hundred kilo metres further south,~70 m of siltsto ne,dolo mitic siltstone and minor dolomite separate tidal rhythmites and early Ediacaran strata.Hence the rhythmites were deposited during a high stand(interstadial or interglacial),not during post-glacial sea-level rise.Storm-generated erosional surfaces within tidal rhythmites at Warren Gorge indicate intermittent rhythmite deposition,and water depth and other palaeoenvironmental factors are uncertain,casting doubt on a published estimate of rapid sea-level rise during rhythmite deposition.The lack of late Cryogenian deeply incised valleys and thick valley-fill deposits in South Australia and central Australia argues against extreme sea-level variations.A hiatus occurred between Elatina deglaciation and deposition of the Nuccaleena cap carbonate,and three palaeomagnetic polarity chrons identified in the cap carbonate imply slow deposition spanning 10^5-10^6 yr.This is supported by independent evidence from magnetic chronostratigraphy for Ediacaran strata in South Australia and California,and by stratigraphic and sedimentological arguments for condensed deposition of cap carbonates.It is concluded that neither extreme nor rapid sea-level rise was associated with late Cryogenian deglaciation in South Australia.

The Space and Time Features of Global SST Anomalies Studied by Complex Principal Component Analysis

In this paper, the variability characteristics of the global field of sea surface temperature (SST) anomaly are studied by complex principal component (c.p.c.) analysis, whose results are also compared with those of real p.c. analysis. The data consist of 40 years of global SST monthly averages over latitudes from 42 5°S to 67 5°N. In the spatial domain, it is found that the distribution of the first complex loading amplitude is characterized by three areas of large values: the first one in the eastern and central equatorial Pacific Ocean, the second one in the northern tropical Indian Ocean and South China Sea, the third one in the northern Pacific Ocean. As it will be explained, this pattern may be considered as representative of El Nio mode. The first complex loading phase pattern shows a stationary wave in the Pacific (also revealed by real p.c. analysis) superimposed to an oscillating disturbance, propagating from the Pacific to Indian or the opposite way. A subsequent correlation analysis among different spatial points allows revealing disturbances actually propagating westward from the Pacific to the Indian Ocean, which could therefore represent reflected Rossby waves, i.e. the west phase of the signals that propagate disturbances of thermal structure in the tropical Pacific Ocean. In the time domain, a relation between the trend of the first complex principal component and the ENSO cycle is also established.

“果园诗人”傅天琳的成名历程及其“大海”情结

傅天琳作为新时期成长起来的“果园诗人”,其登上诗坛带有更为明显的机遇与偶然性。她把“归来派”对她的倾力扶植及厚待视为终生难以偿还的灵魂债务,形成了难以释怀的“大海”情结。她的“大海诗”就内蕴及燃烧着这种情结,既抒发了她对“归来派”的感激与眷恋,又倾诉她建构自己人格与艺术的渴望与欣然,希望表明她的转向实与“归来派”殊途同归。“大海”情结的反复抒发,象征傅天琳对“归来派”文学精神的追寻与眷恋。

日本对东地中海地区外交:表现、原因、挑战及走向

鉴于东地中海地区地缘战略位置非常重要,日本近年来不失时机强化对东地中海地区的外交。日本的东地中海地区外交,着重聚焦于推动解决该地区热点难点问题、海洋合作、能源合作、难民救助与非传统安全等领域问题。在继续巩固深化与东地中海地区重要国家关系的同时,日本近年来也逐步拓展对突尼斯、利比亚与叙利亚等影响力较小国家的外交。日本不断加强对东地中海地区外交,可以从谋求地缘战略利益与彰显全球影响力等多方面来分析与解读。日本的东地中海地区外交,由于受限于各种因素的制约,今后将会面临着一些挑战与问题。

海面复杂背景下图像增强算法研究

该文提出一种改进的基于去雾理论的夜间低照度图像增强算法。通过对暗通道先验去雾算法在处理夜间复杂灯光图像中存在的伪光晕、亮度不准等问题进行分析,采用一种可以边缘保持的滤波方法进行暗通道求取,并针对图像特点对大气光值进行精确估计,结合采样方法提升处理效率,实现对低照度图像的有效增强。经过实验分析,该算法能有效地防止光晕现象,改善图像的亮度和噪声。

中欧集装箱海铁复合运输网络脆弱性分析

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