Experimental Study of a Command Governor Adaptive Depth Controller for an Unmanned Underwater Vehicle     

《Applied Ocean Research》2019

Unmanned Underwater Vehicles (UUVs) are increasingly being used in advanced applications that require them to operate in tandem with human divers and around underwater infrastructure and other vehicles. These applications require precise control of the UUVs which is challenging due to the non-linear and time varying nature of the hydrodynamic forces, presence of external disturbances, uncertainties and unexpected changes that can occur within the UUV’s operating environment. Adaptive control has been identified as a promising solution to achieve desired control within such dynamic environments. Nevertheless, adaptive control in its basic form, such as Model Reference Adaptive Control (MRAC) has a trade-off between the adaptation rate and transient performance. Even though, higher adaptation rates produce better performance they can lead to instabilities and actuator fatigue due to high frequency oscillations in the control signal. Command Governor Adaptive Control (CGAC) is a possible solution to achieve better transient performance at low adaptation rates. In this study CGAC has been experimentally validated for depth control of a UUV, which is a unique challenge due to the unavailability of full state measurement and a greater thrust requirement. These in turn leads to additional noise from state estimation, time-delays from input noise filters, higher energy expenditure and susceptibility to saturation. Experimental results show that CGAC is more robust against noise and time-delays and has lower energy expenditure and thruster saturation. In addition, CGAC offers better tracking, disturbance rejection and tolerance to partial thruster failure compared to the MRAC.  相似文献   

基于噪声谱比法的内蒙古西部地区台站场地响应研究     

张珂  王鑫  王树波  张红才  宋晓燕 《大地测量与地球动力学》2020,40(6):646-651

利用内蒙古西部12个台站的地脉动噪声数据，采用噪声谱比法研究台站的场地响应情况。分析表明，台站场地响应按曲线形态可分为3类，且可能受地形地貌、局部构造和台基状况等条件影响。对比分析噪声谱比法与Moya方法的场地响应结果发现，场地响应曲线形态基本一致，只有极少数台站存在明显差异。结果表明，内蒙古西部区域大部分台站的台基状况总体较好，场地响应曲线较为平坦，无明显频率放大点。  相似文献   

亚毫米波射电天文用超导SIS接收机的研制(英文)     

史生才 《紫金山天文台台刊》2003,(1)

为了研制亚毫米波射电天文用超导SIS(超导 -绝缘体 -超导 )接收机 ,我们重点开展了如下研究 ,1 )Nb超导SIS结在其能隙频率附近的量子混频特性 ,及其结合高能隙超导薄膜 (NbTiN)和高电导率金属薄膜 (Al)分布结阵在 780 - 950GHz频率区间的量子混频特性 ;2 )亚毫米波超导混频器嵌入阻抗的数值和实验表征 ;3)高电流密度小面积Nb超导SIS结的制备和特性表征 ;4)一个 60 0 - 72 0GHz超导SIS混频器的研制和特性表征。本文详细介绍了相关的数值分析和实验测量结果。  相似文献   

Optimal Filtering Algorithm for Stochastic 2-D FMM Ⅱ with Multiplicative Noise     

CHUDongsheng LIANGMeng SHIXin ZHANGLing 《中国海洋大学学报(英文版)》2004,3(1):106-110

1　Introduction　Inrecentyearstherehasbeengrowingresearchin terestinthetwo dimensional (2 D )systemtheory .The 2 Dsystemsmayfindapplicationsinareassuchasmarineseismicdataprocessingandimageprocessing .Althoughmoreandmorevaluableresultshavebeengained ,mos…  相似文献   

Readout Techniques for Drift and Low Frequency Noise Rejection in Infrared Arrays     

Gert Finger  Reinhold J. Dorn  Alan W. Hoffman  Hamid Mehrgan  Manfred Meyer  Alan F. M. Moorwood  Joerg Stegmeier 《Experimental Astronomy》2002,14(2):117-127

Three different methods are presented to subtract thermal drifts and low-frequency noise from the signal of infrared array. The first is dead pixels with open Indium bumps, the second is reference output as implemented on the Hawaii2 multiplexer, and the third is dark pixels to emulate reference cells having a capacity connected to the gate of the unit cell field-effect transistor (FET). The third method is the most effective and yields a reduction in readout noise from15.4–9.4 erms. A novel method will be described to extend this readout technique to the Aladdin 1 K × 1 K InSb array. This revised version was published online in July 2006 with corrections to the Cover Date.  相似文献   

小杂鱼脱脂技术的研究     

陈培基  李来好  李刘冬  刁石强 《广东海洋大学学报》2003,23(6):21-26

以小杂鱼或低值鱼为原料 ,采用常温溶剂萃取法进行脱脂 ,研究了不同溶剂、溶剂混合比、流速和萃取时间对鱼类脱脂的影响。结果表明 ,在常温下用等体积的异丙醇和乙酸乙酯混合溶剂 ,以流速 4～ 8mL/min连续萃取 4～ 6h ,脱脂鱼肉的脂肪平均含量w为 0 .19%,脱脂率高达96 .2 6 %。该方法的溶剂损耗量为加热溶剂萃取法的 1/3倍。  相似文献   

Phase Relations and Melting of Anhydrous K-bearing Eclogite from 1200 to 1600{degrees}C and 3 to 5 GPa     

Spandler  Carl; Yaxley  Greg; Green  David H.; Rosenthal  Anja 《Journal of Petrology》2008,49(4):771-795

To investigate eclogite melting under mantle conditions, wehave performed a series of piston-cylinder experiments usinga homogeneous synthetic starting material (GA2) that is representativeof altered mid-ocean ridge basalt. Experiments were conductedat pressures of 3·0, 4·0 and 5·0 GPa andover a temperature range of 1200–1600°C. The subsolidusmineralogy of GA2 consists of garnet and clinopyroxene withminor quartz–coesite, rutile and feldspar. Solidus temperaturesare located at 1230°C at 3·0 GPa and 1300°C at5·0 GPa, giving a steep solidus slope of 30–40°C/GPa.Melting intervals are in excess of 200°C and increase withpressure up to 5·0 GPa. At 3·0 GPa feldspar, rutileand quartz are residual phases up to 40°C above the solidus,whereas at higher pressures feldspar and rutile are rapidlymelted out above the solidus. Garnet and clinopyroxene are theonly residual phases once melt fractions exceed 20% and garnetis the sole liquidus phase over the investigated pressure range.With increasing melt fraction garnet and clinopyroxene becomeprogressively more Mg-rich, whereas coexisting melts vary fromK-rich dacites at low degrees of melting to basaltic andesitesat high melt fractions. Increasing pressure tends to increasethe jadeite and Ca-eskolaite components in clinopyroxene andenhance the modal proportion of garnet at low melt fractions,which effects a marked reduction in the Al₂O₃ and Na₂O contentof the melt with pressure. In contrast, the TiO₂ and K₂O contentsof the low-degree melts increase with increasing pressure; thusNa₂O and K₂O behave in a contrasted manner as a function ofpressure. Altered oceanic basalt is an important component ofcrust returned to the mantle via plate subduction, so GA2 maybe representative of one of many different mafic lithologiespresent in the upper mantle. During upwelling of heterogeneousmantle domains, these mafic rock-types may undergo extensivemelting at great depths, because of their low solidus temperaturescompared with mantle peridotite. Melt batches may be highlyvariable in composition depending on the composition and degreeof melting of the source, the depth of melting, and the degreeof magma mixing. Some of the eclogite-derived melts may alsoreact with and refertilize surrounding peridotite, which itselfmay partially melt with further upwelling. Such complex magma-genesisconditions may partly explain the wide spectrum of primitivemagma compositions found within oceanic basalt suites. KEY WORDS: eclogite; experimental petrology; mafic magmatism; mantle melting; oceanic basalts  相似文献   

多传感器观测下带乘性噪声系统的逆向滤波与反褶积融合算法     

褚东升  李玉全  梁猛  张玲 《中国海洋大学学报(自然科学版)》2002,32(5):837-842

针对多传感器观测环境下带乘性噪声系统的逆向最优滤波与反褶积融合估计问题 ,本文提出了 1种基于极大似然准则的最优融合算法。该算法中各单传感器间并行计算 ,并且融合中心与单传感器处理中心间无反向通讯 ,因而执行效率较高。仿真表明 ,该融合算法产生的逆向滤波与反褶积比单传感器处理结果有较明显提高  相似文献   

带乘性噪声的一类非线性系统的滤波算法     

褚东升  张征 《中国海洋大学学报(自然科学版)》2006,36(4):569-572

针对带乘性噪声的一类非线性系统,给出了1种带单重渐消因子的强跟踪状态滤波算法。该算法将非线性系统线性化后,采用了线性最小方差估计方法来进行状态估计,通过运用正交原理和引入渐消因子,使得滤波效果具有强跟踪的优良性能。该算法扩展了卡尔曼滤波在带乘性噪声非线性系统状态估计中的应用范围。仿真结果表明了该算法的有效性。  相似文献   

Geophysical Evidence of a Relict Oceanic Crust in the Southwestern Scotia Sea     

Lodolo  Emanuele  Coren  Franco  Schreider  Anatoly A.  Ceccone  Giulio 《Marine Geophysical Researches》1997,19(5):439-450

The southwestern part of the Scotia Sea, at the corner of the Shackleton Fracture Zone with the South Scotia Ridge has been investigated, combining marine magnetic profiles, multichannel seismic reflection data, and satellite-derived gravity anomaly data. From the integrated analysis of data, we identified the presence of the oldest part of the crust in this sector, which tentative age is older than anomaly C10 (28.7 Ma). The area is surrounded by structural features clearly imaged by seismic data, which correspond to gravity lows in the satellite-derived map, and presents a rhomboid-shaped geometry. Along its southern boundary, structural features related to convergence and possible incipient subduction beneath the continental South Scotia Ridge have been evidenced from the seismic profile. We interpret this area, now located at the edge of the south-western Scotia Sea, as a relict of ocean-like crust formed during an earlier, possibly diffuse and disorganized episode of spreading at the first onset of the Drake Passage opening. The successive episode of organized seafloor spreading responsible for the opening of the Drake Passage that definitively separated southern South America from the Antarctic Peninsula, instigated ridge-push forces that can account for the subduction-related structures found along the western part of the South Scotia Ridge. This seafloor accretion phase occurred from 27 to about 10 Ma, when spreading stopped in the western Scotia Sea Ridge, as resulted from the identification of the marine magnetic anomalies.  相似文献