Historical and contemporary movement and survival rates of walleye (Sander vitreus) in Lake Winnipeg,Canada

Understanding patterns of fish movement in large lake ecosystems is essential for determining appropriate management actions as differences in movement behaviour can influence life history traits such as growth and survival. Lake Winnipeg in Manitoba, Canada supports the 2nd largest walleye (Sander vitreus) commercial fishery in North America. We used mark-recapture models to determine movement and estimate survival of walleye between basins of Lake Winnipeg in historical and contemporary contexts, comparing a tag-recovery study completed historically during 1974–1977 with a contemporary (2017–2019) acoustic telemetry study. Mark-recapture models revealed comparably low but detectable annual transitions between basins from historical (0.3–1.2%) and contemporary datasets (7–8.5%). Historically, fish > 300 mm more frequently moved in a south to north direction. Contemporary estimates suggest similar length-based directionality in that fish > 350 mm were always more likely to move in a south-north direction. Contemporary annual survival derived from mark-recapture models ranged between 27 and 45% and 64.3% when derived from catch curve analysis, while independently derived annual historical survival estimates ranged between 50 and 69% and 45.5% from catch curve analysis. Using the contemporary dataset, we also observed seasonal variation in movement and survival between basins, with the greatest movement across the lake occurring during the fall. Our results demonstrate a persisting pattern of low but measurable movement, suggesting between basin movement is not unusual for Lake Winnipeg. Further, low walleye survival rates reported here for the two time periods studied, support recent management actions to reduce fishing pressure across the lake.     

基于参数预标定的长行程PMLSM无传感器控制

为了解决长行程定子不连续永磁直线同步电机存在的因无法全程安装位置传感器和不同动子和定子之间的电磁参数不固定所造成的控制性能下降的难题,提出一种在每一段定子内先进行参数标定,再进行速度控制的控制系统设计。首先,在动子进入过程中,对电机进行电磁参数标定,根据标定参数对控制器参数进行调整,以达到更好的控制效果。然后,使用无位置传感器控制系统使动子快速达到设定速度值并稳定运行。实验结果表明:动子进入过程参数标定精度分别为0.002Wb和0.000 4H;无位置传感器控制中位置估计精度为0.63mm,速度收敛时间为0.45s,稳态误差为0.02m/s。基本满足永磁直线同步电机用于长行程运输的控制快速性、稳定性等要求。     

Passivity‐based adaptive control of a 2‐DOF serial robot manipulator with temperature dependent joint frictions

Mechanical systems are always suffering from the effects of temperature dependent friction forces where the system is operated in a wide range of temperature. Temperature and its variation play an important role in friction force in mechanical systems. If it is not compensated, it will tend to unwanted consequences, including steady‐state errors, limit cycling, and hunting. Therefore, it is necessary to take the temperature effects into account. This has been a strong motivation for the researchers to work on temperature effects on joint friction. In this paper, an adaptive compensation (control) scheme is proposed and applied to a 2‐degree‐of‐freedom serial robot manipulator by taking the temperature effects into account on the joints friction. In the proposed control scheme, the temperature is not required to be sensed. In this paper, joint friction is described by LuGre dynamic model with temperature dependent parameters. These parameters are described by some functions with unknown temperature dependent terms. According to the mathematical and practical concepts, the temperature dependent friction is decomposed into a viscous term and a disturbance term. An adaptive controller is designed to compensate the friction effect and it is shown that the proposed controller relaxes the condition for a priori knowledge about the environment characteristics, including the upper and lower bounds of the environment temperature and the parameters of the functions, describing the temperature dependent joint frictions. The stability and convergence of the joint position and velocity are proved in the sense of Lyapunov and then the proposed method is confirmed by the simulations.     

Novel model reference adaptive control architecture using semi‐initial excitation‐based switched parameter estimator

This paper is a generalization of the recently developed techniques of initial excitation (IE)–based adaptive control with an introduction to the definition of semi‐initial excitation (semi‐IE), a still more relaxed notion than IE. Classical adaptive controllers typically ensure Lyapunov stability of the extended error dynamics (tracking error + parameter estimation error) and asymptotic tracking, while requiring a stringent condition of persistence of excitation (PE) for parameter convergence. Of late, the authors have proposed a new adaptive control architecture, which guarantees parameter convergence under the online‐verifiable IE condition leading to exponential stability of the extended error dynamics. In earlier works, it has been established that the IE condition is significantly milder than the classical PE condition. The current work further slackens the excitation condition by proposing the concept of semi‐IE. The proposed adaptive controller is proved to ensure convergence of the parameter estimation error to a lower‐dimensional manifold under the weaker semi‐IE condition, while the stronger condition of IE guarantees convergence of the parameter estimation error to zero. The designed algorithm is shown to improve transient response of tracking error sufficiently in contrast to conventional adaptive controllers.     

杭州湾南岸滩涂沉积物中HCHs与DDTs污染特征分析

摘 要：目的 了解六六六（hexachlorocyclohexanes,HCHs）与滴滴涕(dichloro diphenyl trichloroethanes,DDTs)在杭州湾南岸滩涂沉积物中的污染现状。方法 于2018年4月，采集杭州湾南岸地区4个采样点不同深度（0~80 cm）滩涂沉积物，利用气相色谱-串联质谱法（gas chromatography tandem mass spectrometry, GC-MS/MS）测定了该区域中HCHs与DDTs的含量，对其分布规律进行分析，使用共识沉积物质量基准法对其生态学风险进行了评估。结果 所有样品中均检出，HCHs与DDTs含量分别为4.20~6.24 μg/kg与3.37~4.73 μg/kg，主要以β-HCH、δ-HCH以及DDE为主，其污染主要来源于历史性工业品，整体污染处于较低水平；20.3%的沉积物样品中DDEs含量以及28.1%的样品DDTs总量介于阈值效应浓度(threshold concentration, TECs) 和可能效应浓度(probable effect concentration, PECs)之间。结论 杭州湾南岸沉积物中HCHs与DDTs的污染处于较低水平，具有较小的生态学风险。     

环境监测的现状、发展及优化对策浅析

社会经济的快速发展对生态环境造成了较大破坏,并产生了一系列连锁反应,不利于我国可持续发展目标的实现。为此,必须要切实做好环境监测工作。本文从环境监测的概念出发,就现阶段的环境监测现状进行了分析,并在此基础上阐述了环境监测工作未来发展及优化对策,以供参考。     

Adaptive constraint control for flexible manipulator systems modeled by partial differential equations with dead-zone input

In this article, based on partial differential equations (PDEs), the flexible manipulator system with both dead-zone input and state constraints is studied. The dynamic model of the flexible manipulator system is described by PDEs. The parameters of the dead-zone input are unknown, and the state constraint problem is also considered. An adaptive approach is proposed to offset the effects caused by dead-zone input. Thus, to guarantee that all states remain within their respective constraint regions, the boundary control law based on the barrier Lyapunov function is given, and an adaptive controller is designed. According to the Lyapunov analysis method, the control method is given to ensure that all signals of the closed-loop system are bounded and all states satisfy the constraint conditions. Finally, simulation results show the effectiveness of the proposed control method in this article.     

深圳抽水蓄能电站引水系统灌浆质量控制与分析

抽水蓄能电站引水系统灌浆质量控制,决定了水道系统渗水量的大小,关系到电站长期运行的经济指标及水道安全。详细介绍了深圳抽水蓄能电站灌浆参数的设计和灌浆中采取的管理措施与技术措施,分析了灌浆检测成果。电站投入运行以来,引水系统结构稳定,无渗漏。通过总结深圳抽水蓄能电站灌浆过程,对水道引水系统灌浆质量控制提出了几点建议,可供类似工程借鉴。     

Robust adaptive control for unmatched systems with guaranteed parameter estimation convergence

This paper provides a modified model reference adaptive control (MRAC) scheme to achieve better transient control performance for systems with unknown unmatched dynamics, where an adaptive law with guaranteed convergence is introduced. We first revisit the standard MRAC system and analyze the tracking error bound by using L₂‐norm and Cauchy‐Schwartz inequality. Based on this analysis, we suggest a feasible way to compensate the undesired transient dynamics induced by the gradient descent–based adaptive laws subject to sluggish convergence or even parameter drift. Then, a modified adaptive law with an alternative leakage term containing the parameter estimation error is developed. With this adaptive law, the convergence of both the estimation error and tracking error can be proved simultaneously. This enhanced convergence property can contribute to deriving smoother control signal and improved control response. Moreover, this paper provides a simple and numerically feasible approach to online verify the well‐known persistent excitation condition by testing the positive definiteness of an introduced auxiliary matrix. Comparative simulations based on a benchmark 3‐DOF helicopter model are given to validate the effectiveness of the proposed MRAC approach and show the improved performance over several other MRAC schemes.