Estimation of the natural purification rate of a eutrophic lake after pollutant removal

Pollution resulting from increased human activities is threatening Lake Donghu, its effects being characterized by serious eutrophication. A steady increase of phosphorus loading is the most important factor of the lake eutrophication. Pollution external control projects are being implemented and will be accomplished before the year 2010. In order to predict the restoration rate by the lake's self-purification after the projects of external control, a model of predicting the removal rate of total phosphorus (TP) from lake water is developed, and a brief method of estimating the release and export rate of sediment phosphorus is suggested. Results show that, on the premise of external loading fully controlled. The restoration needs about 55 years or more. Obviously, the great P pool in the sediment will be a limiting factor of preventing the improvement of water quality after the external loading is under control. Based on the estimation we conclude that after the external control projects before 2010, in order to restore the lake in a few years, although highly cost, the first step must be the sediment dredging to remove internal loading. The second step is diverting water of River Changjiang into the lake to accelerate the improvement of lake water. Otherwise, removal of pollutant sources will become meaningless. (c) 2006 Elsevier B.V. All rights reserved.

一种通用访问控制管理模型

目前的访问控制管理模型都是针对某种特定的访问控制模型提出的，不能适应多访问控制模型共存于一个大型系统的情况，一个管理模型不能同时适用于多访问控制模型的主要原因是管理者管理范围定义包含了某种访问控制模型中特有的组件．通过使用各种访问控制模型中共有的主体和权限来定义管理模型中的管理范围，将管理模型与访问控制模型之间的关系抽象为一个用于计算策略相关管理范围的函数，提出了一种能够用来管理不同访问控制模型的通用访问控制管理模型，为了便于模型实际使用，在模型中引入管理空间的概念与实际组织结构相对应，形成分布式访问控制管理结构，同时模型严格区分了管理空间的直接管理者和间接管理者在管理权限上的不同，使得管理者具有一定的自治性．最后讨论了管理模型中的管理规则和语义，证明了模型的完备性，并讨论和分析了针对不同访问控制模型的policy~*算法．

基于Biba和Clark-Wilson策略的混合强制完整性模型

商业应用需要实施完整性策略保护.Biba模型提供了一种简洁的多级完整性控制方案,但是需要引入可信主体来保证实施的可用性.而Clark-Wilson模型通过可监控的状态转换提供了一种完备的完整性保护,但其复杂性影响了该模型的完整实现.提出的模型以Biba严格完整性策略为基础,同时根据可信主体在其生命周期所属的状态实施Biba低水标策略.对可信主体在其生命周期发生的状态转换及相应的低水标参数调整,采用Clark-Wilson模型来进行监控.在有效解决了Biba策略的可用性问题和Clark-Wilson模型监控量过大给系统带来的配置和运行负担问题的同时,继承它们的优点.证明了该策略融合方案是可行的、安全的.

模型无关的无定标视觉伺服控制

本文首先介绍了视觉伺服的一般原理 .然后提出了一种模型无关的无定标视觉伺服控制方法 ,在这种方法中不需要机器人模型和摄像机模型 ,应用方差最小化的原理推导出了模型无关的无定标视觉伺服控制律 .此外还给出了图像雅可比矩阵的递推公式 .文章最后通过一个轨线跟踪的仿真实验验证了算法的正确性和有效性

一种新型柔索驱动并联机器人的模型样机

提出一种新型并联机器人机构 ,利用张紧柔索驱动该并联机器人·通过运动学和动力学分析、工作空间分析、轨迹规划、误差分析 ,设计并制作了模型样机本体、驱动与控制模块 ,开发了机器人语言 ,控制模型样机完成指定动作·实验结果表明 ,这种新型并联机器人是可行的 ,适用于轻型机床等设备·该机器人在某一速度范围内工作时 ,会产生较明显的振动 ,并伴有噪声 ,因此要提高机器人的性能还必须设法抑制其振动

7000米载人潜水器推进器故障容错控制分配研究

介绍了7000米载人潜水器推进系统的组成和推进器布置,描述了潜水器控制分配问题,对推进器推力和期望控制量进行了归一化处理.根据载人潜水器的推进器布置,建立了系统的控制分配模型,设计了推进器故障容错处理策略,研究了基于推力最小二范数的载人潜水器控制分配求解方法.采用基于伪逆矩阵与定点分配的混合控制分配求解算法,在半物理仿真平台上实验验证了控制分配求解算法的正确性和有效性.

一种具有波浪补偿和防晃功能的船用起重机

船用特种起重机是指在海浪环境中进行起吊作业的专用起重机器人，其需要解决的主要问题是波浪运动的补偿和摆动的抑制。本文针对此采用并串联结构机器人的理论和技术，提出了能实现海浪补偿与防晃一体化的起重机方案，对方案的机构原理、测量方法、控制方法和非对称液压缸的建模等都进行了具体的分析与论证。最后得出结论：现有技术水平能够实现海浪补偿与防晃一体化，研制特种起重机是可行的。本项研究的科学意义在于探索在海浪环境

a state-adaptive access control model for web-based idrs system

Huazhong Univ Sci & Technol, Natl Tech Univ Ukraine, Huazhong Normal Univ, Harbin Inst Technol, IEEE Ukraine Sect, I& M/CI Joint Chapter

Robust Learning Control for Manipulators with Uncertainty Disturbances Based on Internal Model

In this paper, a disturbance controller is designed for making robotic system behave as a decoupled linear system according to the concept of internal model. Based on the linear system, the paper presents an iterative learning control algorithm to robotic manipulators. A sufficient condition for convergence is provided. The selection of parameter values of the algorithm is simple and easy to meet the convergence condition. The simulation results demonstrate the effectiveness of the algorithm..

南海张裂大陆边缘数值模拟研究

The South China Sea (SCS) is one of the largest marginal seas in the western Pacific, which is located at the junction of Eurasian plate, Pacific plate and Indian-Australian plate. It was formed by continent breakup and sea-floor spreading in Cenozoic. The complicated interaction among the three major plates made tectonic movement complex and geological phenomena very rich in this area. The SCS is an ideal place to study the formation and evolution of rifted continental margin and sea-floor spreading since it is old enough to have experienced the major stages of the basin evolution but still young enough to have preserved its original nature. As the demand for energy grows day by day in our country, the deep water region of the northern continental margin in the SCS has become a focus of oil and gas exploration because of its huge hydrocarbon potential. Therefore, to study the rifted continental margin of the SCS not only can improve our understanding of the formation and evolution processes of rifted continental margin, but also can provide theoretical support for hydrocarbon exploration in rifted continental margin. This dissertation mainly includes five topics as follows: (1) Various classic lithosphere stretching models are reviewed, and the continuous non-uniform stretching model is modified to make it suitable for the case where the extension of lithopheric mantle exceeds that of the crust. Then simple/pure shear flexural cantilever model is applied to model the basement geometries of SO49-18 profile in the northern continental margin of the SCS. By fitting the basements obtained by using 2DMove software with modeling results, it is found that the reasonable effective elastic thickness is less than 5km in this region. According to this result, it is assumed that there is weak lower crust in the northern continental margin in the SCS. (2) We research on the methods for stretching factor estimation based on various lithosphere stretching models, and apply the method based on multiple finite rifting model to estimate the stretching factors of several wells and profiles in the northern continental margin of the SCS. (3) We improve one-dimension strain rate inversion method with conjugate gradient method, and apply it to invert the strain rate of several wells in the northern continental margin of the SCS. Two-dimension strain rate forward modeling is carried out, and the modeling results show that effective elastic thickness is a key parameter to control basin’s geometry. (4) We simulate divergent upwelling mantle flow model using finite difference method, and apply this newly developed model to examine the formation mechanism of the northwest and central sub-basin in the SCS. (5) We inverse plate thickness and basal temperature of oceanic lithosphere using sea-floor ages and bathymetries of the North Pacific and the North Atlantic based on varied-parameters plate model, in which the heat conductivity, heat capacity and coefficient of thermal expansion depend on temperature or depth. A new empirical formula is put forward based the inversed parameters, which depicts the relation among sea-floor age, bathymetry and heat flow. Then various similar empirical formulae, including the newly developed one, are applied to examine the sea-floor spread issue in the SCS based on the heat flow and bathymetry data of the abyssal sub-basin.