基于SQP算法的7000m载人潜水器有约束非线性控制分配研究

以7000m载人潜水器为研究对象,分析了潜水器的推进系统,并给出了6自由度推力转换模型,重点讨论了载人潜水器控制分配的优化问题.结合7000m载人潜水器的推进器布置和推进器特点,设计了优化准则代价函数,采用序列二次规划(sequential quadratic programm ing,SQP)算法求解了载人潜水器的非线性控制分配问题,通过半物理仿真平台实验验证了本文提出的控制分配算法的正确性和有效性.yh

一类载人潜水器的导航技术研究

介绍了一类载人潜水器导航系统的组成,接着阐述了基于工业以太网的信息采集模块.由于载人潜水器动力学模型存在未建模扰动以及各种传感器存在不同程度的误差,需要采用卡尔曼滤波器(KF)等方法进行数据滤波,最后将滤波后的数据用于该类载人潜水器的导航研究.半物理仿真平台结果表明,载人潜水器的导航精度得到了大幅度提高.

WAGO750模块与PC机之间的通讯

介绍了一种用于WAGO750-842以太网节点及系列模块与PC机之间的一种通用而又简便的通讯方法,该方法能够使PC机与WAGO750系列模块方便地进行数据交换,从而达到计算机对控制对象进行信息采集和控制输出的目的。该方法已在载人潜水器控制系统中得到成功应用,效果良好。

载人潜水器及其运动控制

介绍了载人潜水器的构成及推进器的布置,在此基础上导出了载人潜水器的推力分配方程。阐述了载人潜水器的运动控制。最后,将运动控制系统在载人潜水器半物理仿真平台上进行了验证,运动控制效果良好。

载人潜水器数据采集与监控系统

介绍了基于工业以太网的载人潜水器的数据采集与监控系统。简要地阐述了载人潜水器的重要性。详细地描述了该系统的硬件结构及各智能节点的特点,并对系统中各层所实现的功能进行了详细的介绍。目前,该系统已在实验室进行了实验,实验效果良好。

基于ROV援潜救生自主作业方法研究

利用ROV代替潜水员进行潜艇供排气管对接作业是援潜救生的发展趋势，其中供排气管对接技术是为失事艇员提供生命保障的关键技术。由于水下作业环境比较复杂以及水下作业难度大等特点，人工遥控ROV进行援潜对接供排空气管作业过程中，还停留在只是能够打开潜艇供排气系统花甲板盖的工作上，还没有实现对类似接通供排空气管精确作业的工作。受到海流、风浪、失事潜艇周围较大涡流、供排气管的拖曳阻力、水下可视条件以及高精度定位等因素的限制，作业任务越复杂，要求ROV系统上机械手精确定位精度越高，操纵的难度也越大，由人工操作很难实现。在现有ROV人工操作的基础上，使ROV系统具有自主作业功能，更能发挥其在对接空气管作业中的能力，提高作业效率，缩短救援时间，因此本文在现有ROV基础上扩展预编程自主控制驾驶功能模块即ROV-A系统，借助预编程技术ROV-A系统在对接空气管作业中的一些特殊任务时能够实现自主作业功能。 本文结合中国科学院沈阳自动化研究所水下机器人中心未来援潜救生关键技术研究内容，针对为失事潜艇接通空气管作业中的一些关键技术，开展基于具有自主作业能力的ROV-A系统自主作业方法研究，深入研究了具有自主作业能力ROV-A系统的运动规划与协调控制技术以及水下作业力控制技术，以实现高精度的机械手末端位置控制与期望力跟踪；针对潜艇供排气系统的已知结构研究了水下目标定位技术，为对接空气管的特定需求发展具有自主作业能力的水下作业技术提供理论依据。重点研究针对系统特点的运动规划与多性能指标实现归一化问题；研究基于系统动力学模型误差的系统位姿控制问题；研究基于阻抗力控制水下作业目标定位问题；在系统运动规划与控制研究的基础上，研究能实现机械手末端精确轨迹跟踪的控制策略问题以及力控制问题。本论文研究内容如下： （1）根据ROV-A系统特点，从描述系统的空间位置和姿态着手，研究了ROV-A系统的空间运动学与基于Kane方法的动力学，得出载体基座自由运动模式的系统空间运动数学模型，为论文后续研究工作奠定了基础。 （2）针对对接空气管作业中的一些高精度和复杂的作业，研究了系统作业时的运动规划问题。针对系统运动学冗余、作业规划约束性能指标多，例如机械手可操作性，关节限制，载体的姿态，避障等等，结合梯度投影法和最小范数伪逆矩阵法以及任务优先逆运动学方法，引入模糊控制技术，将模糊控制的定性知识表达与任务优先逆运动学算法相结合，以水下作业末端位置控制及轨迹跟踪为前提，对系统运动分配、关节限位、避免奇异有无海流下的系统性能优化等运动规划进行了研究，仿真证明运动规划算法的有效性。 （3）研究了基于动力学模型的系统基本控制问题。针对系统动力学模型的复杂性和不精确性，在基于载体输出反馈控制的基础上，设计了基于输出反馈自适应控制算法，通过自适应学习的方式直接逼近系统动力学方程状态量之间的非线性关系，在外界不停扰动下逐渐提高系统的控制精度；基于Lyapunov稳定性理论，证明了存在外界干扰和自适应逼近误差条件下ROV-A系统控制器的闭环稳定性；通过仿真实验验证控制系统的有效性，为系统的控制提供了一种新思路。同时在基于位置运动控制的基础上引入了力控制，通过对常规PID外环力控制器基础上的改进，在系统离线规划的前提下实现力与位置控制的解耦，通过仿真验证期望力的稳定跟踪。 （4）研究了基于ROV-A系统阻抗力控制的水下矩形围壁环境约束的位置定位方法。通过在对具有先验知识的矩形围壁环境约束的学习理解基础上，应用外部阻抗力控制环包容内部位置运动控制环的控制策略。利用力传感器的反馈信息变化确定系统末端执行器与约束环境的接触特征点，根据环境的先验知识推理出环境定位信息。通过计算机仿真实验验证了水下具有先验知识环境的定位方法和ROV-A系统的控制策略的有效性。仿真结果证明定位方法和控制策略是可行的。 （5）结合系统控制，分析了系统在为失事潜艇对接空气管作业中的恒定和时变两种期望力输入作业模式，提出了基于在线运动规划下外部力控制环包容内部位置环控制方法，利用ROV-A系统完成了为失事潜艇自主对接空气管中两个典型作业。介绍了整个控制方法的组成和执行过程，分析了综合控制策略，最后通过仿真实验分析了综合力控制方法的性能，包括恒力和时变期望力输入进行了深入研究。

西南极南设得兰群岛中新生代火山岩基底沉积学及其大地构造制约

Livingston Island, the second island of South Shetland Island, constains Mesozoic-Cenozoic basement, Mesozoic-Cenozoic volcanic sequences, plutonic intrusions and post-subduction volcanic rocks, which document the history and evolution of an important part of the South Shetland Islands magmatic arc. The sedimentary sequence is named the Miers Bluff Formation (MBF) and is interpreted as turbidite since the first geological study on South Shetland Islands, and is interpreted as turbidite. It base and top are not exposed, but a thickness of more than 3000m has been suggested and seems plausible. The turbidite is overlain by Mid - Cretaceous volcanic rocks and intruded by Eocene tonalites. The age of the Miers Bluff Formation is poorly constrained Late Carboniferous -Early Triassic. Sedimentary Environment, tectonic setting and forming age of sedimentary rocks of the Miers Bluff Formation were discussed by means of the methods of sedimentology, petrography and geochemistry, combinig with the study of trace fossils and microfossil plants. The following conclusions are obstained. A sedimentary geological section of Johnsons Dock is made by outside measuring and watching, and then according the section, the geological map near the Spanish Antarctic station was mapped. Four pebbly mudstone layers are first distinguished, which thickness is about 10m. The pebbly mudstone is the typical rock of debris flow, and the depostional environment of pebbly mudstone may be the channel of mid fan of submarine fan. The sedimentsry structural characteristics and size analysis of sandstones show the typical sedimentary feature of turbidity flow and the Miers Bluff Formation is a deep-water turbidite (include some gravity-flow sediments). The materials of palaeocurrents suggest the continental slope dip to southeast, and indicate the provenance of turbidity sediment in the northwest area. By facies analysis, six main facies which include seven subfacies were recognized, which are formed in mid-fan and lower-fan of submarine, meanwhile, the sedimentary features of each facies and subfacies are summarized. The study of clastic composition, major elements, trace elements and rare earth elements indicates the forming setting of the Miers Bluff Formaton is active continental margin and continental island arc and the provenance is dissected magmatic arc which main composition is felsic gneiss. Many trace fossils of the whole succession were found in the turbidites of the Miers Bluff Formation. All these trace fossils are deep sea ichnofossils. There are fifteen ichnogenus, sixteen ichnospecies. Moreover, a new trace fossil was found and a new ichnogenus and new ichnospecies was proposed - Paleaichnus antarctics ichnogen, et ichnosp, nov.. Except the new ichnogenus and ichnospecies, others had been found in deep-sea flysch turbidites. Some are in mudstone and are preserved in the cast convex of overlying sandstone sole, they formed before turbidity flows occurred and belong to the high-different Graphoglyptida of fiysch mudstone. Others as Fucusopsis and Neonereites are preserved in sandstones and stand for trace assemblages after turbidity sedimentation. These trace fossils are typical members of abyssal "Nereites" ichnofacies, and provide for the depositional environment of the Miers Bluff Formation. Fairly diverse microfossil plants have been recovered from the Miers Bluff Formation, Livingston Island, including spores, pollen, acritarchs, wood fragments and cuticles. Containing a total of about 45 species (forms) of miospores, the palynofiora is quantitatively characterized by the dominance of non-striate bisaccate pollen, but spores of pteridophytes and pollen of gymnosperms are proportionate in diversity. It is somewhat comparable to the subzone C+D of the Alisporites zone of Antarctica, and the upper Craterisporites rotundus zone and the lower Polycingulatisporites crenulatus zone of Australia, suggesting a Late Triassic (possibly Norian-Rhaetian) age, as also evidenced by the sporadic occurrence of Aratrisporites and probable Classopollis as well as the complete absence of bisaccate Striatiti. The parent vegetation and paleoclimate are preliminarily deduced. At last, the paper prooses the provenance of sedimentary rocks of the Miers Bluff Formation locates in the east part to the southern Chile(or Southern South American). In the Triassic period, contrasting with New Zealand, Australia and South American of the Pacific margin of Gondwanaland, the Miers Bluff Formation is deposited in the fore-arc basin or back-arc basin of magmatic arc.

藏北措勤盆地白垩纪碳酸盐岩沉积相及缺氧事件响应研究

As a part of Gangdisi-Nianqingtanggula plate, Cuoqin basin (N 29°3O'～33°20'; E 80°～90°) is situated in the west of the Tibet autonomous Region, with an area of 100000 square kilometers. Cretaceous shallow-water carbonate is widely distributed in this basin. Its accumulative thickness is more than 1000 meters. Sedimentary facies of cretaceous shallow-water carbonate and carbon isotope feature are studied in details here. On basis of two main sections researched comprehensively, five facies marks are found. With the combination of Wilson's model and ramp model, a platform-mild slope model are put forward, which is thought to be a comprehensive model for this area. There are three sedimentary circles which are comprised of terrestrial clastic tidal flat and carbonate platform facies in Duoba Member of Duoni Formation. Langshan Formation is mainly comprised of carbonate platform facies. We also studied the carbon isotope features influenced by Cretaceous Aptian-Albian's oceanic anoxic events (OAE). After correlating the δ~(13)C curves of the studied section with that of Peregrina Canyon section in Mexico, we find that there are similar δ~(13)C curves fluctuation styles, namely there is also a δ~(13)C positive excursion in shallow-water carbonate in the studied area, and the degree of δ~(13)C positive excursion in shallow-water carbonate is much higher. There are two main causes which should interpret above δ~(13)C positive excursion feature: on the one hand ,much organic carbon take much 12C off when they are buried with a higher speed during the OAE, which lead to the ~(12)C rise of oceanic total dissolved carbon (TDC),on the other hand, during the OAE there are stratification structures in pale-ocean, in the upper mixed layer with high carbon fixation (HCML). There are so much plankton organisms which absorb much ~(12)C as the ~(13)C of shallow-water carbonate in this layer rise higher. Furthermore, on the basis of the theories of carbonate isotope strata, we suggest that the currently used boundary between Aptian and Albian in the studied area is possibly above the international one, which means the main parts of Duoba Member of Duoni Foramatiom in this area should be belong to Albian in stead of Aptian.

碳、氧稳定同位素分析在古环境研究中的应用

A number of proxy records of paleoenvironment using stable isotopes could show the history of past environmental changes. These archives include peat and lake sediments, loess-paleosot sequence, fossil mammals and stalagmite, and so on. The stable isotopic composition of carbonate and organic matter and frequency magnetic susceptibility from Tianshuigou and Yuanlei loess-palesol sequence can be used to give estimates of the paleoenvironmental history of Dali, and even of the whole Chinese Loess Plateau during the last 250ka. Features of the High Temperature and Large Precipitation Event in the Tibet Plateau and its adjacent area during 40~30kaBP had been studied by Professor Shi Y. In this dissertation, its impact on Chinese Loess Plateau has been discussed again. Carbon and oxygen isotopic ratios, magnetic susceptibility and frequency magnetic susceptibility in Tianshuigou and Yuanlei profiles show that the Event in this area is not so stronger as the Tibet Plateau. The carbon isotopic composition of organic matter in Tianshuigou, Yuanlei, dingcun and Jingcun loess-palesol sequences are indicative of major changes in the paleovagetation between terrace and plain of the Chinese Loess Plateau. Water is one of the most important factors adjusting the relative biomass of C4 plant in terrestrial ecosystems. Stable carbon isotope ratio of vertebrate tooth enamel is used increasingly to reconstruct environmental and ecological information modern and ancient ecosystems. The SI3C value of tooth enamel bioapatites can distinguish between browsers and grazers. Data from typical grassland of Inter Mongolia, the Alpine meadow of Qinghai-Tibet Plateau and the Yaluzangbu Great Canyon indicate that diets of mammals could record the relative biomass of C4 plant only in the C4 dominated ecosystem. In a C3 dominated ecosystem, diet of mammals would include more C3 plants than vegetation. According to Professor Cerling, proxy records from North and South America, Africa and Pakistan show that at the end of the Miocene (between 8Ma to 6 Ma) there was a global expansion of CA biomass, probably when atmospheric CO2 levels declined. Thus, "C4 world" and "CO2 starvation" are put forward. In this dissertation, carbon isotopes of fossil tooth such as Equus sanmeniensis and Hipparion chiai from Linxia, China reveal that there is a C3 dominated ecosystem in the late Miocene. Diets of ancient mammals in Linxia are not evidence of global expansion of C4 biomass.

Grid integration of wave energy & generic modelling of ocean devices for power system studies

The work presented in this thesis covers four major topics of research related to the grid integration of wave energy. More specifically, the grid impact of a wave farm on the power quality of its local network is investigated. Two estimation methods were developed regarding the flicker level Pst generated by a wave farm in relation to its rated power as well as in relation to the impedance angle ψk of the node in the grid to which it is connected. The electrical design of a typical wave farm design is also studied in terms of minimum rating for three types of costly pieces of equipment, namely the VAr compensator, the submarine cables and the overhead line. The power losses dissipated within the farm's electrical network are also evaluated. The feasibility of transforming a test site into a commercial site of greater rated power is investigated from the perspective of power quality and of cables and overhead line thermal loading. Finally, the generic modelling of ocean devices, referring here to both wave and tidal current devices, is investigated.

Intelligent design assistant (IDA): a case base reasoning system for material and design

This paper describes the approach to the modelling of experiential knowledge in an industrial application of Case-Based Reasoning (CBR). The CBR involves retrieval techniques in conjunction with a relational database. The database is especially designed as a repository of experiential knowledge, and includes qualitative search indices. The system is intended to help design engineers and material engineers in the submarine cable industry. It consists of three parts: a materials database; a database of experiential knowledge; and a CBR system used to retrieve similar past designs based upon component and material qualitative descriptions. The system is currently undergoing user testing at the Alcatel Submarine Networks site in Greenwich.

Modelling air quality in street canyons: a review

High pollution levels have been often observed in urban street canyons due to the increased traffic emissions and reduced natural ventilation. Microscale dispersion models with different levels of complexity may be used to assess urban air qualityand support decision-making for pollution control strategies and traffic planning. Mathematical models calculate pollutant concentrations by solving either analytically a simplified set of parametric equations or numerically a set of differential equations that describe in detail wind flow and pollutant dispersion. Street canyon models, which might also include simplified photochemistry and particle deposition–resuspension algorithms, are often nested within larger-scale urban dispersion codes. Reduced-scale physical models in wind tunnels may also be used for investigating atmospheric processes within urban canyons and validating mathematical models. A range of monitoring techniques is used to measure pollutant concentrations in urban streets. Point measurement methods (continuous monitoring, passive and active pre-concentration sampling, grab sampling) are available for gaseous pollutants. A number of sampling techniques (mainlybased on filtration and impaction) can be used to obtain mass concentration, size distribution and chemical composition of particles. A combination of different sampling/monitoring techniques is often adopted in experimental studies. Relativelysimple mathematical models have usually been used in association with field measurements to obtain and interpret time series of pollutant concentrations at a limited number of receptor locations in street canyons. On the other hand, advanced numerical codes have often been applied in combination with wind tunnel and/or field data to simulate small-scale dispersion within the urban canopy.

Spatial variability of air pollution in the vicinity of a permanent monitoring station in central Paris

The strong spatial and temporal variability of traffic-related air pollution detected at roadside locations in a number of European cities has raised the question of how representative the site and time period of air quality measurements actually can be. To address this question, a 7-month sampling campaign was carried out on a major road axis (Avenue Leclerc) leading to a very busy intersection (Place Basch) in central Paris, covering the surroundings of a permanent air quality monitoring station. This station has recorded the highest CO and NOx concentrations during recent years in the region of Paris. Diffusive BTX samplers as well as a mobile monitoring unit equipped with real-time CO, NOx and O3 analysers and meteorological instruments were used to reveal the small-scale pollution gradients and their temporal trends near the permanent monitoring station. The diffusive measurements provided 7-day averages of benzene, toluene, xylene and other hydrocarbons at different heights above the ground and distances from the kerb covering summer and winter periods. Relevant traffic and meteorological data were also obtained on an hourly basis. Furthermore, three semiempirical dispersion models (STREET-SRI, OSPM and AEOLIUS) were tested for an asymmetric canyon location in Av. Leclerc. The analysis of this comprehensive data set has helped to assess the representativeness of air quality monitoring information.