Control synthesis and adaptation for an underactuated autonomousunderwater vehicle     

Leonard  N.E. 《Oceanic Engineering, IEEE Journal of》1995,20(3):211-220

The motion of an autonomous underwater vehicle (AUV) is controllable even with reduced control authority such as in the event of an actuator failure. In this paper we describe a technique for synthesizing controls for underactuated AUV's and show how to use this technique to provide adaptation to changes in control authority. Our framework is a motion control system architecture which includes both feed-forward control as well as feedback control. We confine ourselves to kinematic models and exploit model nonlinearities to synthesize controls. Our results are illustrated for two examples, the first a yaw maneuver of an AUV using only roll and pitch actuation, and the second a “parking maneuver” for an AUV. Experimental results for the yaw maneuver example are described  相似文献   

Porphyroblast inclusion-trail orientation data: eppure non son girate*!     

T. H. BELL  S. E. JOHNSON  B. DAVIS  A. FORDE  N. HAYWARD  C. WILKINS 《Journal of Metamorphic Geology》1992,10(3):295-307

Extensive examination of large numbers of spatially orientated thin sections of orientated samples from orogens of all ages around the world has demonstrated that porphyroblasts do not rotate relative to geographical coordinates during highly non-coaxial ductile deformation of the matrix subsequent to their growth. This has been demonstrated for all tectonic environments so far investigated. The work also has provided new insights and data on metamorphic, structural and tectonic processes including: (1) the intimate control of deformation partitioning on metamorphic reactions; (2) solutions to the lack of correlation between lineations that indicate the direction of movement within thrusts and shear zones, and relative plate motion; and (3) a possible technique for determining the direction of relative plate motion that caused orogenesis in ancient orogens.  相似文献   

Relationships Between Saline Ground Water Soil, and Leaf Tissue Composition of the Phreatophyte Mezquite     

F. L. García-Carreño  E. Troyo-Diéguez  J. L. Ochoa 《Ground water》1992,30(5):676-682

  相似文献   

APPLICATION OF ANALYTIC HIERARCHY PROCESS TO ASSESSING THE ECOLOGICAL VULNERABILITY OF WETLANDS IN THE JIANGHAN PLAIN   总被引：5，自引：1，他引：4  

WANGXue-lei NINGLong-mei HUWang-bin 《中国地理科学(英文版)》2003,13(3):272-276

Wetlands in the Jianghan Plain are important components of wetland types in lake area in the middle and lower reaches the Changjiang (Yangtze) River and they fulfill many uses and functions related to hydrology,waste assimilation, ecosystem productivity and biodiversity. Owing to natural factors and human activities, especially excessive reclamation from lakes, the shrinking process of the lakes has been accelerated. Wetland ecosystem has shown the characteristics of vulnerability. According to the analysis of wetland ecological function in the Jianghan Plain, this paper presented an index system related to productivity, stability and environmental capacity. By using the method of Analytic Hierarchy Process, we computed the values of the relative weights of the indexes, and evaluated the vulnerability level of the wetland ecosystem by the method of multi-indexes. The case study showed that the fragile extent of wetland ecosystem in the Jianghan Plain is 5.6. This means that the wetland ecosystem in the Jiang-han Plain is laid to the state of middle vulnerability. Therefore, the wetland conservation and eco-rehabilitation in the JiangJaan Plain should be paid attention to.  相似文献   

A variational formalism for tidal excitation: non-rotating, homentropic stars     

Yasser Rathore    Avery E. Broderick  Roger Blandford 《Monthly notices of the Royal Astronomical Society》2003,339(1):25-32

  相似文献   

Richtmyer-Meshkov Experiments on the Omega Laser     

R. M. Hueckstaedt  S. H. Batha  M. M. Balkey  N. D. Delamater  J. R. Fincke  R. L. Holmes  N. E. Lanier  G. R. Magelssen  J. M. Scott  J. M. Taccetti  C. J. Horsfield  K. W. Parker  S. D. Rothman 《Astrophysics and Space Science》2005,298(1-2):255-259

Observations of the interstellar medium reveal a dynamic realm permeated by shocks. These shocks are generated on a large range of scales by galactic rotation, supernovae, stellar winds, and other processes. Whenever a shock encounters a density interface, Richtmyer-Meshkov instabilities may develop. Perturbations along the interface grow, leading to structure formation and material mixing. An understanding of the evolution of Richtmyer-Meshkov instabilities is essential for understanding galactic structure, molecular cloud morphology, and the early stages of star formation. An ongoing experimental campaign studies Richtmyer-Meshkov mixing in a convergent, compressible, miscible plasma at the Omega laser facility. Cylindrical targets, consisting of a low density foam core and an aluminum shell covered by an epoxy ablator, are directly driven by fifty laser beams. The aluminum shell is machined to produce different perturbation spectra. Surface types include unperturbed (smooth), single-mode sinusoids, multi-mode (rough), and multi-mode with particular modes accentuated (specified-rough). Experimental results are compared to theory and numerical simulations.  相似文献   

The correlation of solar flare production with magnetic energy in active regions     

E. B. Mayfield  John K. Lawrence 《Solar physics》1985,96(2):293-305

An investigation of 531 active regions was made to determine the correlation between energy released by flares and the available energy in magnetic fields of the regions. Regions with magnetic flux greater than 10²¹ maxwell during the years 1967–1969, which included sunspot maximum, were selected for the investigation. A linear regression analysis of flare production on magnetic flux showed that the flare energy is correlated with magnetic energy with a coeificient of correlation of 0.78. Magnetic classification and field configuration also significantly affect the production of flares.This work was supported by the Aerospace Sponsored Research Program.  相似文献   

Biological and granulometric controls on sedimentary organic matter of an intertidal mudflat     

Lawrence M. Mayer  Peter T. Rahaim  William Guerin  Stephen A. Macko  Les Watling  Franz E. Anderson 《Estuarine, Coastal and Shelf Science》1985,20(4):491-503

A variety of measures of organic matter concentration and quality were made on samples collected from the top few mm of intertidal mudflat sediment over the course of a year, in order to assess the relative importance of biological and sedimentological influences on sedimentary organic matter. Winter and summer were times of relatively fine-grained sediment accumulation, caused by biological deposition or stabilization processes and resulting in higher organic matter concentrations. Stable carbon isotope and Br:C ratios indicated a planktonic source of bulk organic matter. Ratios of organic carbon to specific surface area of the sediments were consistent with an organic monolayer coverage of sediment grains. Correction for changing grain size during the year showed no change in the organic concentration per unit surface area, in spite of organic matter inputs by in situ primary production, buildup of heterotroph biomass and mucus coatings, and biodeposition of organic-rich seston. There were also no indications of changes in bulk organic quality, measured as hydrolyzable carbohydrates and amino acids, in response to these biological processes. It is concluded that biological processes on a seasonal time scale affect the bulk organic matter of these sediments via a modulation of grain size rather than creation or decay of organic matter.  相似文献   

The Faint Sky Variability Survey – I. Goals and data reduction process     

P. J. Groot  P. M. Vreeswijk  M. E. Huber  M. E. Everett  S. B. Howell  G. Nelemans  J. van Paradijs  E. P. J. van den Heuvel  T. Augusteijn  E. Kuulkers  R. G. M. Rutten  J. Storm 《Monthly notices of the Royal Astronomical Society》2003,339(2):427-434

  相似文献   

The NAIAD experiment for WIMP searches at Boulby mine and recent results     

B. Ahmed  G. J. Alner  H. Araujo  J. C. Barton  A. Bewick  M. J. Carson  D. Davidge  J. V. Dawson  T. Gamble  S. P. Hart  R. Hollingworth  A. S. Howard  W. G. Jones  M. K. Joshi  V. A. Kudryavtsev  T. B. Lawson  V. Lebedenko  M. J. Lehner  J. D. Lewin  P. K. Lightfoot  I. Liubarsky  R. Lüscher  J. E. McMillan  B. Morgan  G. Nicklin  S. M. Paling  R. M. Preece  J. J. Quenby  J. W. Roberts  M. Robinson  N. J. T. Smith  P. F. Smith  N. J. C. Spooner  T. J. Sumner  D. R. Tovey 《Astroparticle Physics》2003,19(6):691-702

The NAIAD experiment (NaI Advanced Detector) for weakly interacting massive particle (WIMP) dark matter searches at Boulby mine (UK) is described. The detector consists of an array of encapsulated and unencapsulated NaI(Tl) crystals with high light yield. Six crystals are collecting data at present. Data accumulated by four of them (10.6 kg × year exposure) have been used to set upper limits on the WIMP–nucleon spin-independent and WIMP–proton spin-dependent cross-sections. Pulse shape analysis has been applied to discriminate between nuclear recoils, as may be caused by WIMP interactions, and electron recoils due to gamma background. Various calibrations of crystals are presented.  相似文献