一个开放式移动机器人体系结构

本文首先说明了体系结构研究的内容，研究体系结构的意义，以及当前几个典型的体系结构研究范例。然后较详细地介绍了开放式体系结构ＯＳＭＯＲ及其在传感器处理方面的特点，并分别讨论了结构中各模块的功能及实现方法。

海洋机器人变参数大时延控制系统补偿方法的研究

本文提出一种变参数大时延系统的补偿方法，具有传输滞后系统的幅相频率特性和时域特性，流体动力学变参数的修正方法和具有传输滞后和零阶保持器滞后的补偿仿真。

俯冲带深部流体特征——以西南天山变质俯冲杂岩为例

The subduction zone is an important site of the fluid activity and recycling of chemical elements. The fluid characteristic of deep subduction zones is a top scientific problem attracting the petrologists, geochemists and tectonists. In this dissertation, the characteristics of fluid activity within a deep subduction zone have been explored on the basis of the studies on the petrography, mineral chemistry, fluid inclusions, geochemistry and metamorphic P–T conditions of the omphacite-bearing high-pressure veins and related hosts from the low-temperature/high-pressure metamorphic belt in southwestern Tianshan, China. Multiple high-pressure veins are exposed in host eclogites and blueschists. The veins are composed predominantly of omphacite, garnet, quartz, and other minerals. Some veins contain cm-sized rutiles. In general, the vein can be divided into three types, the ‘in situ dehydration’ vein, the ‘external transport’ vein and the ‘composite’ vein. The omphacites within the veins and related host rocks contain lots of two-phase or three-phase primary fluid inclusions. The final melting temperature (Tfm) of fluid inclusions varies mainly from -0.6 to -4.3 °C, the homogeneous temperature (Th) varies from 185 to 251 °C, the salinity varies from 1.1 to 6.9 wt.% NaCl equivalent and the density varies from 0.81 to 0.9 g/cm3. The fluids were released under the conditions of T = 520–580°C and P = 15–19 kbar at blueschist facies to eclogite facies transition. The fluids include not only Li, Be, LILE, La, Pb-enriched and HFSE- and HREE-depleted aqueous fluids but also HFSE (Ti-Nb-Ta)-rich aqueous fluids. The complex composed of aluminosilicate polymers and F was the catalyst which had caused the Ti-Nb-Ta to be dissolved into the fluids. During the transport of the LILE-rich and HFSE- and HREE-poor fluids, they can exchange some chemical elements with country rocks and leach some trace elements in some extent. The rutile could be precipitated from the HFSE (Ti-Nb-Ta)-rich aqueous fluids when CO2 was added into the fluids. The host rocks could obtain some elements, such as Ca, Cs, Rb, Ba and Th, from the external fluids. The fluids with complex composition had been released within the deep subduction zone (>50 km) in Early Carboniferous during the subduction of the South Tianshan Ocean under the Yili–Central Tianshan Plate. The results obtained in this dissertation have made new progress compared with the published data (e.g. Tatsumi, 1989; Becker et al., 1999; Scambelluri and Philippot, 2001; Manning, 2004; Hermann et al., 2006; Spandler and Hermann, 2006).

高原湖泊溶解有机质的三维荧光光谱特性初步研究

提要近年来,荧光光谱技术被广泛应用于研究天然水体中溶解有机质(Dissolved Organic Matter,DOM)的物理化学特性。为了理解高原湖泊中DOM的组成、荧光光谱特性及其在湖泊水体中的垂直分布情况,作者利用荧光发射光谱、三维荧光光谱研究云贵高原湖泊红枫湖和百花湖中的DOM。结果显示,高原湖泊DOM主要表现为类富里酸荧光,包括可见区和紫外区两种类型的荧光峰,各种天然水体中都有报道的类蛋白荧光在红枫湖DOM中并不明显,而在百花湖DOM中则有较强的类蛋白荧光。溶解有机质所含三种类型荧光峰(PeakA:紫外区类富里酸荧光峰;PeakB:可见区类富里酸荧光峰;PeakC:类蛋白荧光峰)的荧光强..

喀斯特石漠化与地质-生态环境背景的空间相关性分析——以广西都安瑶族自治县为例

分析都安瑶族自治县喀斯特石漠化分布特征,依托GIS 和RS 技术,采用定性和定量相结合的分析方法,选出分析喀斯特石漠化的地质- 生态环境背景因素。运用主成分分析法,得出喀斯特石漠化的地质生态环境指数,并绘制都安县地质- 生态环境指数图,揭示石漠化与其地质- 生态环境背景因素的空间相关性。利用多元回归方法,通过检验其显著度选出最佳的回归模型,为喀斯特石漠化生态重建提供依据。