执行器退化的遥机器人系统量化反馈容错控制

针对遥机器人系统中存在执行器退化、控制输入量化,且编、解码端的量化灵敏度参数不匹配的问题,设计了遥机器人系统的鲁棒量化反馈容错控制系统.控制器结构的线性部分由线性矩阵不等式给出,旨在解决系统指标性能问题,非线性部分则用于处理量化参数不匹配问题.经稳定性理论证明,提出的鲁棒量化反馈容错控制方法能消除执行器退化及量化参数不匹配等的影响,并确保从机器人能渐近跟踪主机器人.最后,算例仿真验证了方法的有效性.     

恶劣环境下GPS/BDS混合双差模糊度固定性能分析

针对在恶劣观测环境下每个GNSS系统只观测到较少的几颗卫星,采用标准双差模型很难实现整周模糊度固定的问题,该文对GPS/BDS系统间混合双差模型进行研究,利用该模型计算出GPS/BDS系统偏差。在此基础上,利用实验分别对模拟和真实恶劣观测环境下的模糊度固定性能进行分析,实验结果表明,恶劣环境下GPS/BDS系统间混合双差模型表现良好,相较于经典的双差模型可将模糊度固定平均所需时间分别缩短43%和33%,模糊度固定成功率分别提高107%和31%。     

面向蓝藻的洱海气象监测站布局方法

针对洱海流域蓝藻预警研究所需的气象数据不足的问题,提出洱海气象监测站优化布局方法,采用环境影响统计概念模型分析了对环境产生影响的主要经济因素,根据水体污染指标将洱海各个行政区分为高污染区和低污染区,再考虑汇入洱海支流是否流经高污染区,认为在高污染区支流汇入口是蓝藻发生概率较高的区域。依据2个主要参数:区域污染程度和支流入口,部署气象监测站,该监测站能为洱海蓝藻预警研究提供必要、准确和可靠的水面气温、降雨量以及日照长度等气象参数,将对水环境的监测和研究具有重大意义和广泛应用前景。     

钟姑地区典型矿床的重磁找矿模式

钟姑地区位于宁芜中生代火山岩盆地南段,已发现有白象山铁矿等多个大型铁矿,是长江中下游成矿带以玢岩型铁矿为主的矿集区。本文以钟姑地区实测岩石物性参数为桥梁,以实测重磁数据为基础,分析了该区白象山铁矿、钟九铁矿和云楼铁矿的重磁场分布特征,并根据典型矿区已知地质条件,运用成熟的2.5D重磁联合反演技术进行计算,从定量角度认识铁矿体深部发育形态、位置与重磁异常之间对应关系,建立钟姑地区白象山铁矿等典型矿床的重磁找矿模式,为该区进一步找矿突破提供地球物理场信息。     

CO2加富对塔玛亚历山大藻叶绿素荧光参数及产毒的影响

由大气中CO_2浓度升高引起的海洋酸化,是全球性的重大环境问题之一。本研究采用实验生态学的方法,以塔玛亚历山大藻(Alexandrium tamarense)为研究对象,分析其在CO_2加富条件下叶绿素荧光动力学参数及产毒特征的变化。调制叶绿素荧光结果显示,CO_2加富对塔玛亚历山大藻的PSⅡ最大光化学量子产量(Fv/Fm)、最大相对电子传递效率(r ETRmax)有显著影响(P0.05),且随着培养时间的增长Fv/Fm、r ETRmax均降低,对半饱和光强(Ik)、快速光曲线初始斜率(α)却无显著影响(P0.05)。结果说明CO_2加富能促进塔玛亚历山大藻的PSⅡ最大光化学量子产量,提高其最大光能转换效率和相对最大电子传递效率。高效液相色谱法分析结果显示,该株塔玛亚历山大藻主要产漆沟藻毒素1(GTX1)、漆沟藻毒素4(GTX4)、N-磺酰氨甲酰基毒素(C1)及N-磺酰氨甲酰基毒素(C2)四种PSTs毒素,CO_2加富不改变主要麻痹性贝毒(PSTs)的种类组成,但能显著提高氨基甲酸酯类毒素(GTX1、GTX4)产量(P0.05),而降低N-磺酰氨甲酰基类毒素(C1、C2)产量(P0.05),说明加富能使塔玛亚历山大藻所产毒素发生转化,进而影响藻细胞的整体毒性。     

A multiobjective steepest descent method with applications to optimal well control

Multiobjective optimization deals with mathematical optimization problems where two or more objective functions (cost functions) are to be optimized (maximized or minimized) simultaneously. In most cases of interest, the objective functions are in conflict, i.e., there does not exist a decision (design) vector (vector of optimization variables) at which every objective function takes on its optimal value. The solution of a multiobjective problem is commonly defined as a Pareto front, and any decision vector which maps to a point on the Pareto front is said to be Pareto optimal. We present an original derivation of an analytical expression for the steepest descent direction for multiobjective optimization for the case of two objectives. This leads to an algorithm which can be applied to obtain Pareto optimal points or, equivalently, points on the Pareto front when the problem is the minimization of two conflicting objectives. The method is in effect a generalization of the steepest descent algorithm for minimizing a single objective function. The steepest-descent multiobjective optimization algorithm is applied to obtain optimal well controls for two example problems where the two conflicting objectives are the maximization of the life-cycle (long-term) net-present-value (NPV) and the maximization of the short-term NPV. The results strongly suggest the multiobjective steepest-descent (MOSD) algorithm is more efficient than competing multiobjective optimization algorithms.     

浮托安装进船过程中护舷碰撞力实测研究

浮托安装法广泛应用于大型组块海上安装。导管架平台上部组块浮托安装进船过程中,风、浪、流引起的浮托驳船横向运动造成浮托驳船与导管架桩腿的碰撞,碰撞力可能会对导管架结构造成损伤。陆丰7-2上部组块浮托安装中,为了监测碰撞力大小,设计了碰撞力海上监测系统。通过在导管架外侧四个桩腿上安装光纤光栅应变传感器对碰撞过程中导管架桩腿进行应力监测,进而计算碰撞力。对碰撞过程,载荷作用位置、方向进行简化,并对载荷大小及垂向作用位置对计算的影响进行了研究。结构分析模型简化后,测点von-Mises应力与碰撞力大小成正比,对导管架整体结构建模计算并取局部结构计算比例系数,结合应力实测数据计算出进船过程中驳船对导管架桩腿碰撞力。     

Ultimate Bending Capacity of Strain Hardening Steel Pipes

Based on Hencky’s total strain theory of plasticity, ultimate bending capacity of steel pipes can be determined analytically assuming an elastic-linear strain hardening material, the simplified analytical solution is proposed as well. Good agreement is observed when ultimate bending capacities obtained from analytical solutions are compared with experimental results from full-size tests of steel pipes. Parametric study conducted as part of this paper indicates that the strain hardening effect has significant influence on the ultimate bending capacity of steel pipes. It is shown that pipe considering strain hardening yields higher bending capacity than that of pipe assumed as elastic-perfectly plastic material. Thus, the ignorance of strain hardening effect, as commonly assumed in current codes, may underestimate the ultimate bending capacity of steel pipes. The solutions proposed in this paper are applicable in the design of offshore/onshore steel pipes, supports of offshore platforms and other tubular structural steel members.