多频率高频地波雷达的阵列幅相校正

针对多频率高频地波雷达的工程应用,提出了基于自适应遗传算法的阵列无源校正方法.该方法将阵列幅度和相位校正问题转化为多元参数的联合估计问题,利用遗传算法得到了该优化问题的最优解估计.现场实测数据表明：与定点浮标观测结果相比,校正后多频率高频地波雷达海流探测性能大幅提高,在频率为14.2MHz下,相关系数由0.77变为0.85,均方根误差由29.25cm/s降到21.62cm/s;在频率为22.5MHz下,相关系数由0.86变为0.94,均方根误差由24.59cm/s降到17.58cm/s.     

双足机器人的滑模控制

作者利用牛顿 欧拉法建立了12自由度双足机器人的动力学模型,并建立了双足机器人的滑模控制模型·采用比较简单的李亚普诺夫函数对滑模控制的稳定性进行了分析,并利用滑模控制方法对双足机器人的12个关节自由度进行了加速度补偿控制·通过在各关节自由度上加入给定范围的随机误差来代替双足机器人结构参数、转动惯量及摩擦力等因素对各关节自由度运动所造成的误差·仿真实验结果显示双足机器人的各关节自由度的角位移和角速度的误差都比较小,达到了预期的控制效果·仿真实验结果也证实滑模控制方法能够用于12自由度双足机器人的轨迹跟踪控制·     

The formation depth of coesitebearing eclogite, Dabie UHPM zone, China, modified by tectonooriginal additional hydrostatic pressure

The knowledge that hydrostatic pressure is equal to the gravity value of the overlying rocks in studying a dynamic state of certain underground site is argued. It is suggested that the stress field T in the crust is a combination or superposition of total hydrostatic pressure P with differential stress σ , and the total hydrostatic pressure P at any point in the crust comprises two parts: one is spherical stress tensor PG caused by the gravity, and the other is spherical stress tensor Ps caused by tectonic stress; therefore P could not be attributed to the gravity of overlying rocks only. The results obtained by a finite-element simulation indicate that the tectono-original additional hydrostatic pressures Ps decrease gradually from the compressive zone (Pcs) to the shear zone (PSHs) and to the tensile zone (PTs), i. e. PCS>PSHs> PTs in the same depth. On the basis of the above-mentioned research, the method of measurement and calculation of metal logenetic depth corrected by Ps is established, i.e. first tectonic additional hydrostatic pressure Ps is removed from general hydrostatic pressure P to get PG, gravity additional pressure, then accordingly the depth data are measured and calculated. The plastic deformation of garnet in coesite-bearing eclogite, quartz eclogite and garnet amphibo-lite of the ultrahigh-pressure metamorphic (UHPM) complex in the Yingshan County in Dabie Mt. is studied by the transmission electron microscope (TEM). It is shown that the garnets have ductile deformation in the metamorphic condition of eclogite and amphibolite facies. Microstructures of the garnet vary greatly among coesite-bearing eclogite, quartz eclogite and garnet amphibolite. The tectonic principal stress in three-dimensional space and the tectonic additional hydrostatic pressure are reconstructed by differential stress and strain ratio (α) of garnet in minor coesite-bearing eclogite, then the gravity and thickness of overlying rocks are determined. The formation depth of ≥ 32.09-32.106 km of the coesite-bearing eclogite in Yingshan County in the Dabie UHPM zone is obtained from difference PG which comes from P minus Ps, Ps = (σ1 + σ2 + σ3) /3. The value of P is 2.8 GPa resulting from Qz-coes geobarmeter. This result is at all different from other researchers' conclusion that the formation depth of eclogite in Dabie UHPM zone is ≥100 km by the method of weight/ special weight (W/SW). The strong tectionic action makes a great contribution to the formation of e-clogite in the Dabie UHPM zone at so shallow depth of about 32 km, therefore it is thought that attention should be paid to the tectonc-original additional hydrostatic pressure in the study on UHPM zone.     

Application of the Three-Dimensional Shallow Sea and Continental Shelf Mode for Inversion of Undercurrent

0Introduction Muchresearchworkonoceancirculationhasbeendoneandsomenumericalmodels[14]havebeendeveloped.Athreelayer3DmodelwasraisedbyLeendertseandLiu[5].Butthesolutionofthemodelinthe(x,y,z)coordinatesys temrequireshugecomputationalquantity.XuDongfenget al[6]andFangGuohongetal[7]setupa3Dmodeltocalculateoffingcirculation.A3Dmodelinσcoordinatesystemwasap pliedtoEuropeanNorthSeabyDuranceandHughes[8],butnonlineartermswereignored.Differentmodelsareadoptedin simulationfordifferentproblems.Thea…     

考虑人机作用力的康复训练机器人各运动轴最优轨迹跟踪预测控制

针对人机作用力影响康复训练机器人的跟踪性能问题,提出了一种新颖的观测器设计方法,目的是利用系统的位置输出估计人机作用力.同时,为了抑制人机作用力并避免运动中产生较大的跟踪误差而影响康复者安全,设计了非线性控制器,并得到了机器人各运动轴系统模型.进一步,结合预测控制同时约束了系统轨迹跟踪误差和速度跟踪误差,并实现了各运动轴的最优轨迹跟踪.通过仿真结果对比分析和实验研究,表明文中提出人机作用力观测和控制器设计方法的有效性和优越性.      

基于路面垂直轮廓B样条拟合的车辆运动估计偏移抑制

针对用视觉里程计估计车辆运动时因相对测量误差累积而导致偏移的问题,提出了一种基于路面垂直轮廓B样条拟合动态跟踪的偏移抑制方法.当车辆行驶过程中一直紧贴路面时,由于车辆的运动轨迹与路面在垂直方向上的轮廓形状相吻合,故可以通过跟踪路面的垂直轮廓用于抑制视觉里程计估计车辆的运动轨迹时产生的偏移.因为路面垂直轮廓跟踪和车辆运动估计在时间上不同步,所以建立了一种具有固定滞后的卡尔曼偏移抑制器.实验结果表明,所提出的方法对于抑制视觉里程计运动估计中的偏移是有效的.     

Focal mechanism analysis and parameter estimation of Zhangbei-Shangyi earthquake from differential SAR interferometry

On 10 January, 1998 an earthquake of Ms=6.2occurred in the Zhangbei-Shangyi region of North China.The surface seismic deformation was measured in the previous study using the 3 pass ERS-1/2 SAR differential interferometric technology (D-INSAR). In this note the focal mechanism of Zhangbei-Shangyi earthquake is estimated from the D-INSAR measurement of surface deformation based on a standard elastic dislocation model for seismic displacement. The inversion procedure is an iterative, linear least-squares algorithm. Through the relation between the focal parameters and displacement in the line of sight direction measured in the radar interferogram, the optimum focal parameter set is derived. The results show that the seismic fault of Zhangbei-Shangyi earthquake is a thrust fault dipping SW with a large right-lateral displacement component.The strike and dip are 95° and 30° respectively on a fault patch of 12 km long by 14 km wide. Its hypocenter is located at N40°58', E114°21', and 7.5 km in depth. The estimated slip vector is 0.728 m with a rake of 105.95°, the trend of slip is NW13.26°, and M0is 2.69×1018 N @ m.     

The trajectory parameters analysis of saltating sand grains driven by wind

The study of trajectory parameters of saltating sand grains is of great importance to forming the kinematic theory of wind-sand current. By establishing the simplified theoretical pattern and probing into the relationship between lift-off angle (α) and landing angle (β), relationship between the ratio of saltation length ( L) to maximum height (H) and lift-off angle as well as the angular variation laws of any point on the trajectory, it has been demonstrated that the relations among these parameters are nonlinear. Meanwhile, it has also been proved that the theoretical analysis is basically reliable in accordance with the wind tunnel experiments using high-speed multiflash photography. Generally, the trajectory shapes of saltating sand grains are controlled precisely and the theoretical analysis is closely combined with the experimental results.     

Formation and causes of NO<Subscript><Emphasis Type="Italic">x</Emphasis></Subscript> pollution on the east side of the Taihang Mountains in China

Tropospheric column amounts of NO 2 from OMI/Aura products were applied to investigate the seasonal variation of NO x on the east side of the Taihang Mountains (ESTM) in China. The NO 2 concentration varied seasonally, with winter maxima and summer minima. To explore the causes of the heavy NO 2 pollution in this region, wind field simulations were conducted by using the Fifth-Generation NCAR/Penn State Mesoscale Model (MM5). MM5 simulations showed that wind directions in the ESTM region were dominated by northeasterly and northwesterly winds throughout the year and to a lesser degree by southwesterlies. Elevated NO 2 concentrations (higher than 50×10 15 molec/cm 2 ) occurred in three meteorological situations: convergent wind fields (5 days), northeasterly winds (2 days), and calm days (1 day) in January. Although the local anthropogenic NO x emission strength was not so high as that in other developed areas, the calms and frequent occurrence of convergent wind fields, as well as unfavorable terrains for diffusion, resulted in the accumulation of atmospheric pollutants and hence heavy NO x pollution. Furthermore, long-distance NO x transportation from the Beijing-Tianjin-Tangshan region to the ESTM area could be seen when the wind was from a northeasterly direction, especially under high wind speeds.     

Validating a dust production model by field experiment in Mu Us Desert, China

It is essential for validation and improvement of a dust production model to perform field observations on dust emissions. The dust production model (DPM model) consists of two physically explicit sub-models, namely saltation model [1, 2] (eq. (1)) and sandblasting model [3] (eqs. (2) and (3)). Fh is saltation flux, E is fraction of erodible surface, C is a dimensional constant, ρa is air density, g is gravitational acceleration, U* is the wind friction velocity, Ut*(Dp) is threshold frict…     

Plasma structures inside boundary layers of magnetic clouds

Magnetic cloud is an important interplanetary dis-turbance structure generated by the coronal mass ejections(CMEs), it has been widely investigated[1—5] since it wassuggested by Burlaga et al[1]. However, the boundary ofthe magnetic cloud has no objective definition yet. Manyobservational signatures have been used to identify thecloud boundary[6—13], as Burlaga[14] indicated, there is noconsistency among these various approaches. The problemof the BLs was not been solved because of its co…     

复杂地形大气污染物传输和扩散的高分辨率模拟

使用一套耦合的模式系统模拟了浙江三门海岸复杂地形示踪试验的扩散过程。模式由风场诊断模式Calmet和拉格朗日随机游走扩散模式RPPM组成,Calmet提供高分辨率风场,RPPM计算地面浓度用以和实际观测值比较。在每次实验中,示踪物浓度在取样点处测得,所有的取样点分布在几条弧线上以便捕捉到烟流主体。由两种方法得到的地面浓度比较表明,这套模式系统较好地模拟了烟流的轨迹和地表浓度分布。     

High-pressure sound velocity of perovskite-enstatite and the possible composition of the Earth’s lower mantle

The compressional sound velocity V_p for enstatite of polycrystalline specimens were measured at pressures from 40 to 140 GPa using the optical analytical techniques under shock loading. The dependence of V_P, (in km/s) on Hugoniot pressure (P, in GPa) can be described by InV_p= 3.079-0.691 In(P) + 0.094(lnP)². V_p satisfies Birch’s law:V _p = 4.068 + 1.677_ρ, where ρ is corresponding density, which indicated that enstatite is stable throughout the conditions of the lower mantle. The wave velocityP is 0.5% lower and the wave velocity S is 2% higher than that of PREM respectively. We concluded that the lower mantle is mainly composed of perovskite-(Mg_1-x, Fe_x) SiO₃ and only a small amount of (Mg_1-x, Fe_x) O is allowed in it.     

基于自动识别系统信息相关系数法的阵列幅相误差校准方案

针对高频地波雷达系统的工程应用,提出一种基于自动识别系统(automatic identification system, AIS)信息相关系数法进行阵列幅相误差校准的方法。该方法利用低信噪比的舰船回波信号,可以实现同步校正,不需要专门部署应答器,且成本低,对于不能借助直达波校准的单基地高频地波雷达系统同样适用。分析现场的实测数据结果表明,通过该方法对阵列幅相误差进行校准可以获得稳定的幅度、相位校准值,校准后多信号分类(multiple signal classification, MUSIC)空间谱估计方位角的准确性和分辨率得到大幅度提高,进而显著改善利用MUSIC算法估计海流方位角的高频地波雷达系统海流探测性能。     

基于自适应MPC的无人驾驶车辆轨迹跟踪控制

根据自适应模型预测控制相关原理,设计一种无人驾驶车辆的轨迹跟踪控制策略.基于车辆动力学模型,建立轨迹跟踪控制器,并设计目标函数与相关约束,利用自适应MPC(model predictive control)控制算法对其进行求解.在每一个控制时刻工作点,不断更新卡尔曼状态估计器相关增益系数矩阵以及控制器的状态来适应无人驾驶车辆当前的工作环境,以此补偿车辆的非线性以及状态测量噪声带来的影响.在MATLAB中搭建仿真模型并进行仿真验证,得出自适应MPC对于无人驾驶车辆的轨迹跟踪拥有较好的控制精度与鲁棒性,验证了该算法应用在轨迹跟踪控制层的有效性,为轨迹跟踪控制的研究提供了参考.     

Compression behavior and equation of state of Ni77P23 amorphous alloy

The compression behavior of Ni77P23 amorphous alloy is investigated at room temperature in a diamond-anvil cell instrument using insitu high pressure energy dispersive X-ray diffraction with a syn- chrotron radiation source. The equation of state is determined by fitting the experimental data accord- ing to Birch-Murnaghan equation: -ΔV/V0=0.08606P-3.2×10-4P2 5.7×10-6P3. It is found that the structure of Ni77P23 amorphous alloy is stable under pressures up to 30.5 GPa.     

Enhanced anti-sunward flow near local noon during a period of horizontal IMF and high solar wind velocity <Emphasis Type="Italic">V</Emphasis><Subscript><Emphasis Type="Italic">Y</Emphasis></Subscript>

It is believed that a southward interplanetary magnetic field (IMF) is mainly responsible for the energy input from solar wind into the magnetosphere. This paper presents an unusual case of strong anti-sunward plasma flow (up to 2 km/s) in the polar cap ionosphere and large cross-polar cap potential (CPCP) during a period of horizontal IMF (|B _Z | < 2 nT) observed by both ACE (at the L1 point) and Geotail (on the dusk flank of the magnetosheath). The CPCP is even higher than that under preceding B _Z ≈ −23 nT. Furthermore, GOES8 observed that the magnetosheath field turns northward as the anti-sunward plasma flow and CPCP start to increase, which implies that the magnetosheath field interacting with the Earth’s magnetopause has significantly rotated and differs from the IMF observed by ACE and Geotail. In accordance with previous theoretical work, we suggest that the magnetic field line draping produces a southward magnetosheath field and enhances anti-sunward plasma flow and the CPCP.     

北太平洋海浪特征分析

利用最新的欧洲中尺度天气预报中心(ECMWF)提供的1979—2014年逐6 h的ERA-Interim有效波高和风速数据,分析近36a北太平洋海浪场的变化特征。结果表明:有效波高经验正交函数分解(EOF)的第1模态呈同相位分布,该模态与太平洋10 a涛动指数(PDO)和厄尔尼诺事件(ENSO)呈显著的遥相关,可以通过这些气候因子的变化来预测有效波高的年代际变化;第2模态表明北太平洋西部海域的有效波高有显著的递增趋势,而东部海域则逐渐减小;第3模态以45°N为界,西风带呈现高低纬反相的双涡型分布,并有显著的2.5 a左右年际变化周期。北太平洋海域有效波高和风速重现期极值的大值区位于西风带,重现期越长,日本群岛南部海域风速加强越显著,加强的极值区延伸到中国的东海甚至是菲律宾群岛的东部海岸。     

基于操作空间的机械臂自适应模糊鲁棒控制

为提高动力学模型不确定的机械臂系统的跟踪精度, 提出了一种基于操作空间的自适应模糊的鲁棒轨迹跟踪控制方法。考虑存在未知的外部扰动和其他未建模动态, 引入GL(General Linear)矩阵及其乘法算子,利用模糊系统逼近任意非线性函数的能力对机械臂动力学进行前馈补偿, 通过鲁棒控制项抑制建模误差和有界扰动。该方法无需求解机械臂在操作空间的动力学模型。根据Lyapunov 稳定性理论证明了系统的稳定性,并通过仿真实验验证了所设计控制器能达到较好的轨迹跟踪效果。     

Data fusion techniques for incomplete measurement of trajectory

This paper focuses on data processing for incomplete measurement of trajectory (IMT) in aerospace measurement and control. The IMT means that the principal equipment loses the measured data during some intervals so that trajectory parameters (position, velocity, etc.) cannot be determined independently. Based on a joint model for trajectory estimation with reduced parameter, a fusion way is put forth by making full use of measured data from auxiliary equipment with lower precision. In the superposition intervals of measurement between principal and auxiliary equipment, the technique of diagnosing and estimating system errors is applied to improving the estimate precision of trajectory parameters (TP) and determining the precision after data fusion. In practical test, this method operates so successfully that it can not only provide complete TP but improve their precision remarkably. Meanwhile, this way is also applicable to other problems of incomplete measurement.