机器人多级自适应控制器鲁棒性分析

本文给出了机器人关节系统多级自适应控制器的鲁棒性分析.分析表明机器人多级自适应控制系统即使子系统间存在相互关联项和子系统存在未建模特性.采用σ-修正法也能保证系统的输出有界.

乍得西南部中新生代火山作用与盆地演化

Located in the Central and West African, Chad, which is not well geological explored, is characterized by Mesozoic- Cenozoic intra-continental rift basins. The boreholes exposed that, during Mesozoic-Cenozoic times, volcanic activities were intense in these basins, but study on volcanic rocks is very weak, especially on those embedded in rift basins, and so far systematic and detailed work has still no carried out. Based on the project of China National Oil and Gas Exploration and Development Corporation, “The analysis of reservoir condition and the evaluation of exploration targets of seven basins in block H in Chad”, and the cooperative project between Institute of Geology and Geophysics, CAS and CNPC International (Chad) Co. Ltd., “Chronology and geochemistry studies on Mesozoic-Cenozoic volcanic rocks from southwestern Chad Basins”, systematic geochronology, geochemistry and Sr-Nd-Pb isotopic geochemistry studies on volcanic rocks from southwestern Chad basins have been done in the thesis for the first time. Detailed geochronological study using whole-rock K-Ar and Ar-Ar methods shows the mainly eruption ages of these volcanic rocks are Late Cretaceous- Paleogene. Volcanic rocks in the well Nere-1 and Figuier-1 from Doba basin are products of the Late Cretaceous which majority of the K-Ar (Ar-Ar) ages fall in the interval 95-75 Ma, whereas volcanic rocks in the well Ronier-1 from Bongor Basin and the Well Acacia-1 from Lake Chad Basin formed in the Paleogene which the ages concentrated in 66-52Ma. Two main periods of volcanic activity can be recognized in the study area, namely, the Late Cretaceous period and the Paleogene period. Volcanic activities have a general trend of south to north migration, but this may be only a local expression, and farther future studies should be carried on. Petrology study exhibits these volcanic rocks from southwestern Chad basins are mainly tholeiitic basalt. Major- and trace elements as well as Sr-Nd-Pb isotopic geochemistry studies show that the late Cretaceous and the Paleogene basalts have a definitely genetic relationship, and magmas which the basalts in southwestern Chad basins derived from were produced by fractional crystallization of olivine and clinopyroxene and had not do suffered from crustal contamination. These basalts are prominently enriched light rare earth elements (LREE), large-ion lithophile elements (LILE) and high field strength elements (HFSE) and depleted compatible elements. They have positive Ba, Pb, Sr, Nb, Ta, Zr, Hf anomalies and negative Th, U, P,Y anomalies. It is possible that the basalts from southwestern Chad basins mainly formed by mixing of depleted mantle (DM) and enriched mantle (EMⅡ) sources. The late Cretaceous basalts have higher (87Sr/86Sr)i ratios than the Paleogene basalts’, whereas have lower (143Nd/144Nd)i ratios than the latter, showing a significant temporal evolution. The mantle sources of the Late Cretaceous basalts may have more enriched mantle(EMⅡ) compositions, whereas those of the Paleogene basalts are relatively more asthenospheric mantle (DM) components. The mantle components with temporal change observed in basalts from Chad basins were probably correlated with the asthenospheric mantle upwelling and lithospheric thinning in Central and Western Africa since Mesozoic. Mesozoic- Cenozoic Volcanism in Chad basins probably is a product of intra- plate extensional stress regime, corresponded to the tectonic setting of the whole West and Central African during Cretaceous. Volcanism is closely correlated with rifting. As time passed from early period to late, the basaltic magma of Chad basins, characterized with shallower genetic depth, higher density and smaller viscosity, probably indicates the gradual strengthening evolution of the rifting. In the initial rife stage, volcanic activities are absent in the study area. Volcanic activities are basiccally corresponded with the strong extensional period of Chad basins, and the eruption of basalts was slightly lagged behind the extensional period. In the post-rift stage (30-0Ma), these basins shifted to the thermal sag phase, volcanic activities in the study area significantly decreased and then terminated.

贵州省务川地区土法炼汞工人汞蒸汽暴露调查及健康影响评价

为探讨土法炼汞过程中汞蒸汽暴露对炼汞工人健康的影响，测定了贵州省务川土法炼汞区和对照区（贵州省长顺县）人群的尿汞、尿常规参数（pH、葡萄糖、尿胆红素原、潜血、尿蛋白）、尿肌酐和尿B2微球蛋白含量，并对两地区人群进行了详细的健康检查。测定结果显示，土法炼汞区人群尿汞和尿B2微球蛋白的平均含量分别高达779μg·g^-1Cr和208．5μg·g^-1Cr，远远高于对照区人群的尿汞1．24μg·g^-1Cr和尿B2微球蛋白75．4μg·g^-1Cr．分析表明，务川地区土法炼汞人群遭受了较严重的汞蒸汽暴露，部分暴露人群已经表现出轻度慢性汞中毒的症状，其肾脏已经遭受到一定程度的损伤.

云南兰坪金顶超大型铅锌矿区镉的环境地球化学研究

矿产资源开采利用过程中导致的重金属环境污染问题日益严重。我国铅锌矿资源丰富，其开采利用过程中镉的环境污染也日益突出。本文通过对云南兰坪金顶Pb-Zn矿区矿床开采利用过程中镉等重金属元素的环境地球化学行为及矿区生态环境的研究，得出如下主要结论。 1. 矿石淋滤实验表明矿区部分氧化铅锌矿石可以很快被再次氧化或者被溶解并释放出大量镉等有害元素，滤出元素可以迅速发生沉淀或被沉淀物包裹，其释放能力表现为Zn>Pb>Cd。铅锌氧化矿石中菱锌矿组分含量是影响镉淋失的主要因素。在开放体系的水-岩作用下，矿区岩石、矿物的自然风化极易造成当地水系统中镉污染。 2. 矿区不同岩（矿）石中镉含量分布差异比较大，围岩中镉含量为50-650 ppm，平均310 ppm，原生矿中镉含量为14-2800 ppm，平均767 ppm，氧化矿中镉含量为110-8200 ppm，平均1661 ppm，其平均值最高。Zn、Cd地球化学性质的差异导致了二者在原生矿和氧化矿中的不同地球化学分配特点，原生矿Zn/Cd高于氧化矿Zn/Cd，表明氧化环境中镉更容易在氧化矿中富集，而锌更容易被氧化析出到环境中。氧化矿中Cd与Ca呈负相关，这表明Cd的富集和Ca的氧化淋失是同时进行的，并且还可能有Cd对Ca的类质同像代替存在。 3. 矿区上游对照区土壤中的高含量Cd浓度是因土壤母质层重金属高背景值造成的，而非人为污染。矿区中心区土壤受到严重Cd污染，可能与选厂、采场废石堆、尾矿库和露采矿山大范围暴露有关。矿区沿沘江下游两岸土壤中Cd含量远远超出上游土壤背景值和金顶全区土壤背景值，这可能是与污水灌溉有关。通过加权综合污染指数评价法发现矿区土壤污染的主要因子是Cd，其次是Zn和Pb，矿区土壤重金属污染贡献顺序为：Cd>Zn>Pb。矿区土壤污染主要表现为：矿区土壤污染有从中心区向沘江下游扩散区土壤中蔓延的趋势。 4. 矿区水体中出现较高含量的镉，高出天然河流中镉含量的50-100倍。矿区架崖山、北厂和跑马坪等采矿区水体中镉浓度范围在15-30 µg/L之间。矿区水体中镉含量水平表现为：矿山浅层地下水>矿山溪流水>沘江河水。研究结果表明，矿区沘江下游河段水体明显受镉污染，其中水体中镉的平均含量为15.7 µg/L，悬浮物中镉含量为49.3 mg/kg，沉积物中镉含量为203.7 mg/kg。矿区载镉岩石和矿物的自然风化是造成矿区水环境中镉污染的直接原因。 5. 跑马坪采场的废弃石具有较低的Cd含量，而北厂、架崖山采场的废弃石具有较高的Cd浓度，可能与废弃矿石类型本身差异有关。尾矿剖面中的Cd含量，在表层中随剖面深度呈递减趋势，在中层随剖面深度变化不明显，而在底层中明显富集。尾矿库表层尾矿样品中弱酸提取态和可还原态Cd高于底层尾矿样品，相比之下，表层尾矿中Cd等重金属元素易于释放到环境中，对环境的潜在危害大。老尾矿库尾矿砂中Cd金属总量高于新尾矿库尾矿砂，可能还是因为选矿工艺、技术的差异造成的。 6. 矿区污染段水体中硫同位素值较低，远远低于上游非污染区硫同位素值。矿区水体中δ34S值保持了金顶铅锌矿山源区矿山物质硫同位素的特征，显示了矿山来源物质的影响。根据水体硫酸盐中硫同位素稀释原理，研究发现沘江下游水体SO42-中85 %的硫来源于矿山物质。 7. 从矿区筛选出Cd、Zn、Pb的超富集植物共有4种：其中Cd超富集植物有2种，分别是本地生条裂萎陵菜（Potentilla lancinata Card. In Lecomte）和辣子草（Galinsoga parviflora Cav.）；Zn超富集植物仅发现有1种植物，为节节草（Equisetum ramosissmum Desf.）；Pb超富集植物发现了1种植物，为毛莲菜（Picris hieracioides L.）。这些植物均具备了超富集植物的基本特征，在污染土壤治理与修复方面具有一定的实践意义。 8. 建立了金顶铅锌矿山（床）地质环境模型。Cd的释放、迁移扩散模式为：雨水淋滤时，矿山固体废弃物产生富Cd的酸性或弱酸性矿山排水，通过下渗淋滤发生测向和垂向迁移，进入周边水体和土壤，然后被水系沉积物中针铁矿、方解石等吸附，并在沉降物中沉淀富集，导致矿区主要河流沘江水体的自净能力下降，加速水体的进一步恶化，破坏生物生存环境。矿区受污染水体、土壤和大气中的有害物质通过生物链进入动植物体内，进而危害人类健康。