The Binchuan area of Yunnan is located in the western part of the Emeishan large igneous province in the western margin of the Yangtze Block. In the present study, the Wuguiqing profile in thickness of about 1440 m is...The Binchuan area of Yunnan is located in the western part of the Emeishan large igneous province in the western margin of the Yangtze Block. In the present study, the Wuguiqing profile in thickness of about 1440 m is mainly composed of high-Ti basalts, with minor picrites in the lower part and andesites, trachytes, and rhyolites in the upper part. The picrites have relatively higher platinum- group element （PGE） contents （PGE=16.3-28.2 ppb）, with high Cu/Zr and Pd/Zr ratios, and low S contents （5.03-16.9 ppm）, indicating the parental magma is S-unsaturated and generated by high degree of partial melting of the Emeishan large igneous province （ELIP） mantle source. The slightly high Cu/Pd ratios （11 000-24 000） relative to that of the primitive mantle suggest that 0.007% sulfides have been retained in the mantle source. The PGE contents of the high-Ti basalts exhibit a wider range （~PGE=0.517-30.8 ppb）. The samples in the middle and upper parts are depleted in PGE and have ~Nd （260 Ma） ratios ranging from -2.8 to -2.2, suggesting that crustal contamination of the parental magma during ascent triggered sulfur saturation and segregation of about 0.446%-0.554% sulfides, and the sulfide segregation process may also provide the ore-forming material for the magmatic Cu-Ni-PGE sulfide deposits close to the studied basalts. The samples in this area show Pt- Pd type primitive mantle-normalized PGE patterns, and the Pd/Ir ratios are higher than that of the primitive mantle （Pd/Ir=l）, indicating that the obvious differentiation between Ir-group platinum- group elements （IPGE） and Pd-group platinum-group elements （PPGE） are mainly controlled by olivine or chromites fractionation during magma evolution. The Pd/Pt ratios of most samples are higher than the average ratio of mantle （Pd/Pt=0.55）, showing that the differentiation happened between Pt and Pd. The differentiation in picrites may be relevant to Pt hosted in discrete refractory Pt-alloy phase in the mantle; whereas the differentiation in the high-Ti basalts is probably associated with the fractionation of Fe-Pt alloys, coprecipitating with Ir-Ru-Os alloys. Some high-Ti basalt samples exhibit negative Ru anomalies, possibly due to removal of laurite collected by the early crystallized chromites.展开更多
This paper considers the automatic carrier landing problem of carrier-based aircrafts subjected to constraints,deck motion,measurement noises,and unknown disturbances.The iterative model predictive control(MPC)strateg...This paper considers the automatic carrier landing problem of carrier-based aircrafts subjected to constraints,deck motion,measurement noises,and unknown disturbances.The iterative model predictive control(MPC)strategy with constraints is proposed for automatic landing control of the aircraft.First,the long short-term memory(LSTM)neural network is used to calculate the adaptive reference trajectories of the aircraft.Then the Sage-Husa adaptive Kalman filter and the disturbance observer are introduced to design the composite compensator.Second,an iterative optimization algorithm is presented to fast solve the receding horizon optimal control problem of MPC based on the Lagrange’s theory.Moreover,some sufficient conditions are derived to guarantee the stability of the landing system in a closed loop with the MPC.Finally,the simulation results of F/A-18A aircraft show that compared with the conventional MPC,the presented MPC strategy improves the computational efficiency by nearly 56%and satisfies the control performance requirements of carrier landing.展开更多
A distributed model predictive control(DMPC)method based on robust control barrier function(RCBF)is developed to achieve the safe formation target of multi-autonomous mobile robot systems in an uncertain disturbed env...A distributed model predictive control(DMPC)method based on robust control barrier function(RCBF)is developed to achieve the safe formation target of multi-autonomous mobile robot systems in an uncertain disturbed environment.The first step is to analyze the safety requirements of the system during safe formation and categorize them into collision avoidance and distance connectivity maintenance.RCBF constraints are designed based on collision avoidance and connectivity maintenance requirements,and security constraints are achieved through a combination.Then,the specified safety constraints are integrated with the objective of forming a multi-autonomous mobile robot formation.To ensure safe control,the optimization problem is integrated with the DMPC method.Finally,the RCBF-DMPC algorithm is proposed to ensure iterative feasibility and stability while meeting the constraints and expected objectives.Simulation experiments illustrate that the designed algorithm can achieve cooperative formation and ensure system security.展开更多
基金supported by the National Basic Research Program of China(No.2007CB411401)the Knowledge Innovation Program of the Chinese Academy of Sciences(No.KZCX2-YW-136)the National Natural Science Formation of China(No.40873028)
文摘The Binchuan area of Yunnan is located in the western part of the Emeishan large igneous province in the western margin of the Yangtze Block. In the present study, the Wuguiqing profile in thickness of about 1440 m is mainly composed of high-Ti basalts, with minor picrites in the lower part and andesites, trachytes, and rhyolites in the upper part. The picrites have relatively higher platinum- group element （PGE） contents （PGE=16.3-28.2 ppb）, with high Cu/Zr and Pd/Zr ratios, and low S contents （5.03-16.9 ppm）, indicating the parental magma is S-unsaturated and generated by high degree of partial melting of the Emeishan large igneous province （ELIP） mantle source. The slightly high Cu/Pd ratios （11 000-24 000） relative to that of the primitive mantle suggest that 0.007% sulfides have been retained in the mantle source. The PGE contents of the high-Ti basalts exhibit a wider range （~PGE=0.517-30.8 ppb）. The samples in the middle and upper parts are depleted in PGE and have ~Nd （260 Ma） ratios ranging from -2.8 to -2.2, suggesting that crustal contamination of the parental magma during ascent triggered sulfur saturation and segregation of about 0.446%-0.554% sulfides, and the sulfide segregation process may also provide the ore-forming material for the magmatic Cu-Ni-PGE sulfide deposits close to the studied basalts. The samples in this area show Pt- Pd type primitive mantle-normalized PGE patterns, and the Pd/Ir ratios are higher than that of the primitive mantle （Pd/Ir=l）, indicating that the obvious differentiation between Ir-group platinum- group elements （IPGE） and Pd-group platinum-group elements （PPGE） are mainly controlled by olivine or chromites fractionation during magma evolution. The Pd/Pt ratios of most samples are higher than the average ratio of mantle （Pd/Pt=0.55）, showing that the differentiation happened between Pt and Pd. The differentiation in picrites may be relevant to Pt hosted in discrete refractory Pt-alloy phase in the mantle; whereas the differentiation in the high-Ti basalts is probably associated with the fractionation of Fe-Pt alloys, coprecipitating with Ir-Ru-Os alloys. Some high-Ti basalt samples exhibit negative Ru anomalies, possibly due to removal of laurite collected by the early crystallized chromites.
基金National Defense Science and Technology Innovation Project(No.2022-4b5s-wwht-0041)。
文摘This paper considers the automatic carrier landing problem of carrier-based aircrafts subjected to constraints,deck motion,measurement noises,and unknown disturbances.The iterative model predictive control(MPC)strategy with constraints is proposed for automatic landing control of the aircraft.First,the long short-term memory(LSTM)neural network is used to calculate the adaptive reference trajectories of the aircraft.Then the Sage-Husa adaptive Kalman filter and the disturbance observer are introduced to design the composite compensator.Second,an iterative optimization algorithm is presented to fast solve the receding horizon optimal control problem of MPC based on the Lagrange’s theory.Moreover,some sufficient conditions are derived to guarantee the stability of the landing system in a closed loop with the MPC.Finally,the simulation results of F/A-18A aircraft show that compared with the conventional MPC,the presented MPC strategy improves the computational efficiency by nearly 56%and satisfies the control performance requirements of carrier landing.
基金National Natural Science Foundation of China(Nos.62173303 and 62273307)Natural Science Foundation of Zhejiang Province(No.LQ24F030023)。
文摘A distributed model predictive control(DMPC)method based on robust control barrier function(RCBF)is developed to achieve the safe formation target of multi-autonomous mobile robot systems in an uncertain disturbed environment.The first step is to analyze the safety requirements of the system during safe formation and categorize them into collision avoidance and distance connectivity maintenance.RCBF constraints are designed based on collision avoidance and connectivity maintenance requirements,and security constraints are achieved through a combination.Then,the specified safety constraints are integrated with the objective of forming a multi-autonomous mobile robot formation.To ensure safe control,the optimization problem is integrated with the DMPC method.Finally,the RCBF-DMPC algorithm is proposed to ensure iterative feasibility and stability while meeting the constraints and expected objectives.Simulation experiments illustrate that the designed algorithm can achieve cooperative formation and ensure system security.
