变化海流环境下AUV能量最优三维路径规划

为获取变化海流环境下自主水下航行器(autonomous underwater vehicle, AUV)的能量最优路径, 基于最优控制理论提出一种用于AUV的三维能量最优路径规划算法。首先, 为了有效抑制海流对路径规划的影响, 将海流向量加入到AUV运动学模型中。其次, 在已知俯仰角及AUV位置的情况下, 利用庞特里亚金极小值原理, 获得能量最优控制律。最后, 利用线性定常系统的状态空间理论, 计算得到初始艏向角、航速以及能量消耗。在仿真环节, 通过与负反馈控制策略相比较, 说明所提算法能够规划出三维能量最优路径, 而且可以有效降低AUV的能量消耗。     

凋亡抑制蛋白与肿瘤关系的研究

凋亡抑制蛋白(inhibitor of apoptosis proteins,IAPs)可以作为癌症诊断和治疗的靶点,在肿瘤研究方面备受关注,就凋亡抑制蛋白的结构、功能、在肿瘤中的表达与肿瘤的关系等研究进展作一综述,为凋亡抑制蛋白的研究提供信息和思路.     

论美国反垄断措施及其借鉴意义

美国是世界上反垄断措施实施最为严厉的国家,有着极为丰富的反垄断经验。分析美国反垄断的理论基础与实践做法,可以促进我国电信、电力等行业竞争与反垄断,也可以为我国制订《反垄断法》等法律法规提供理论和实践借鉴。     

加强管理体制改革与创新努力使实验教学和管理上一个新台阶

结合化学系实验室现状 ,探讨了实验教学在实现两个重要转变的过程中 ,进行实验室体制改革等方面的思路和实践 .     

惯性导航系统水平阻尼网络的自适应控制

当海况变化较大时，惯性导航系统(INS)的误差振荡幅度较大．为了减小系统误差的振荡幅度，提出了一种新的设计思想，采用自适应控制方法，根据实际的海况变化情况，实时校正阻尼参数，使由舰船的机动性造成的系统误差最小．结果表明，与传统方法相比，水平误差角振荡幅度减小了约50％，速度误差振荡幅度减小了约30％．经度、纬度和航向误差振荡幅度也有明显改善；水平阻尼网络的自适应控制有效地改善了INS的动态性能．     

Environmental Issues of Geothermal Development in Yangbajing, Tibet and the Countermeasures

The pollution source and pollution state of surface water is respectively assessed with equal-standard-pollution-load index and Nemero index, and the habitans' health is assessed as well by comparison with pre-development of geothermal field. Results show that: 1 ) Three pollutive factors obviously fail to attain the required standards and their order sorted by impact degree is As＞F- ＞S2-. 2) The Nemero index of Donggua cross section of Duilongqu River is 0. 725and the water quality is at mildly-polluted level. 3) In Lhasa River, the Nemero indexes of cross sections affected by geothermal fields are much higher than that of the unaffected one, which shows the present and potential impacts of geothermal development. 4) Much more inhabitants nearby got trichomadesis sickness after geothermal development, which shows that the surface water pollution in this area has threatened the inhabitants' health. In addition, other environmental issues caused by Yangbajing geothermal development are analyzed and some countermeasures are proposed.     

石油微观渗流数值模拟实验

应用基于骨架隐曲面造型技术，构造了一种抽象的孔隙空间模型，在此基础上运用系统模拟技术开发了一个石油微观运移数值模拟实验平台，用于模拟和展示石油在饱含水孔隙介质中的运移过程，并验证了以浮力为主要运移动力的动力学模型的适用性。     

雷达/红外双模制导背景下的模糊目标跟踪器

在雷达／红外双模制导背景下，对雷达／红外传感器的测量数据进行融合并提出了一种跟踪机动目标的模糊跟踪器。该跟踪器能够精确的获取目标机动的动态信息，应用一系列的模糊规则自适应的调整卡尔曼滤波器的过程噪声协方差矩阵，从而更适合用于实际的跟踪系统。通过对红外成像和雷达多传感器对目标跟踪系统的数字仿真表明所提出的模糊跟踪器性能良好。     

原油掺炼及其应用

石油掺炼作为石油精馏的一部分，对整个石油精馏具有重要意义。最佳掺炼比可通过实验、软件模拟等方法得到。通过对最佳掺炼比的实验及软件的分析发现国内外研究石油掺炼的模拟软件操作原理和步骤基本相同，利用各模拟软件掺炼后所给油品物性的可换算性，可用不同软件分别对掺炼和下游工序进行模拟。     

Impoverishment of Soil Nutrients in Gully Erosion Areas in Yuanmou Basin

The impoverishment of soil nutrients of nine gully head areas in Yuanmou Basin is assessed through an integrated evaluation method established on the basis of Fuzzy mathematics and multivariate mathematical theory. Results show that soil erosion of gully erosion area in Yuanmou basin has resulted in severe impoverishment of soil nutrients. All gully head areas are at high leves of impoverishment except for one at middle. By probing into and analyzing the mechanism of impoverishment of soil nutrients, we find that soil erosion has led to impoverishment of soil nutrients in a way of compacting soil, heightening position of obstacle horizon, and reducing the content of organic matter, as well as the direct loss of nutrient elements. Finally, this paper points out that soil and water conservation arming at the prevention of soil erosion is the most effective way against impoverishment of soil nutrients in Yuanmou basin.