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非线性Thau观测下的水下机器人定速推进故障识别
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作者 张博憧 韩世迁 王萍萍 《现代电子技术》 北大核心 2024年第20期165-169,共5页
水下机器人在水中运动时受水流、湍流和涡流等流体动力学的复杂影响,会对推进系统产生非线性影响,使得工作状态发生微小变化,难以准确估计其运行状态,增加了故障识别的难度。为此,提出一种非线性Thau观测下的水下机器人定速推进故障识... 水下机器人在水中运动时受水流、湍流和涡流等流体动力学的复杂影响,会对推进系统产生非线性影响,使得工作状态发生微小变化,难以准确估计其运行状态,增加了故障识别的难度。为此,提出一种非线性Thau观测下的水下机器人定速推进故障识别方法。利用无损卡尔曼滤波估计水下机器人定速推进器的状态量;通过非线性Thau观测算法,结合状态量估计结果建立非线性Thau观测器,识别定速推进故障;通过模糊神经网络逼近非线性Thau观测器内的有界非线性不确定性扰动,提升故障识别精度。实验结果证明:该方法可有效估计水下机器人定速推进器的状态量,并逼近非线性Thau观测器的有界非线性不确定性扰动;而且可有效识别定速推进故障,故障识别精度较高。 展开更多
关键词 非线性 thau观测 水下机器人 定速推进 故障识别 无损卡尔曼滤波 模糊神经网络
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小波神经网络逼近能力及Thau定理推广 被引量:5
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作者 李力 方华京 《控制与决策》 EI CSCD 北大核心 2000年第5期561-564,568,共5页
首先提出神经元数目有限的小波神经网络对一大类 L ipschitz函数的逼近能力定理 ;然后对Thau定理进行推广 ,得到几个实用性较强的推广定理 ;最后通过构造一种基于推广 Thau定理的小波神经网络非线性观测器 ,展示出该逼近定理的应用前景。
关键词 小波 神经网络 thau定理 推广 函数逼近
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Geology,Fluid Inclusion and Isotopic Study of the Neoproterozoic Suoi Thau Copper Deposit,Northwest Vietnam 被引量:2
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作者 TRAN Mydung LIU Junlai +1 位作者 LI Xiaochun DANG Mycung 《Acta Geologica Sinica(English Edition)》 SCIE CAS CSCD 2016年第3期913-927,共15页
The Sin Quyen-Lung Po district is an important Cu metallogenic province in Vietnam, but there are few temporal and genetic constraints on deposits from this belt. Suoi Thau is one of the representative Cu deposits ass... The Sin Quyen-Lung Po district is an important Cu metallogenic province in Vietnam, but there are few temporal and genetic constraints on deposits from this belt. Suoi Thau is one of the representative Cu deposits associated with granitic intrusion. The deposit consists of ore bodies in altered granite or along the contact zone between granite and Proterozoic meta-sedimentary rocks. The Cu-bearing intrusion is sub-alkaline I-type granite. It has a zircon U-Pb age of ~776 Ma, and has subduction-related geochemical signatures. Geochemical analysis reveals that the intrusion may be formed by melting of mafic lower crust in a subduction regime. Three stages of alteration and mineralization are identified in the Suoi Thau deposit, i.e., potassic alteration; silicification and Cu mineralization; and phyllic alteration. Two-phase aqueous fluid inclusions in quartz from silicification stage show wide ranges of homogenization temperatures (140-383℃) and salinities (4.18wt%- 19.13wt%). The high temperature and high salinity natures of some inclusions are consistent with a magmatic derivation of the fluids, which is also supported by the H-O-S isotopes. Fluids in quartz have JD values of-41.9‰ to -68.8%. The fluids in isotopic equilibrium with quartz have j180 values ranging from 7.9‰ to 9.2%. These values are just plotted in the compositional field of magmatie- hydrothermal fluids in the ~Dwater versus jlSOwater diagram. Sulfide minerals have relatively uniform j34S values from 1.84%o to 3.57%0, which is supportive of a magmatic derivation of sulfur. The fluid inclusions with relatively low temperatures and salinities most probably represent variably cooled magmatic-hydrothermal fluids. The magmatic derivation of fluids and the close spatial relationship between Cu ore bodies and intrusion suggest that the Cu mineralization most likely had a genetic association with granite. The Suoi Thau deposit, together with other deposits in the region, may define a Neoproterozoic subduction-related ore-forming belt. 展开更多
关键词 Suoi thau deposit Fan Si Pan belt copper ore deposit subduction related mineralization
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对一件于阗语税收文书的考释 被引量:1
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作者 范晶晶 《西域研究》 CSSCI 北大核心 2022年第3期28-36,170,共10页
中国人民大学博物馆藏GXW0404于阗语文书包括两项征税记录。一是征收絺紬;二是奉媲摩守捉帖,向辖下各村征收麻子。时间在8世纪后半叶,地点在杰谢乡。这件文书反映了当时征税的一些具体情况,有助于了解媲摩守捉、杰谢乡的税收运作过程。... 中国人民大学博物馆藏GXW0404于阗语文书包括两项征税记录。一是征收絺紬;二是奉媲摩守捉帖,向辖下各村征收麻子。时间在8世纪后半叶,地点在杰谢乡。这件文书反映了当时征税的一些具体情况,有助于了解媲摩守捉、杰谢乡的税收运作过程。本文还考订了于阗语中的“麻子”一词。 展开更多
关键词 于阗 税收 守捉 絺紬 麻子
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