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

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台湾海峡西岸重力场变化梯度场图像分析     

梁全强  刘序俨  黄声明  吴维日  陈新泽 《大地测量与地球动力学》2006,26(4):82-85

讨论了应用曲面拟合技术和利用离散的重力观测点的重力变化对特定研究区的重力场变化进行数值模拟以获取该区重力变化空间梯度场图像的具体方法;并应用该方法获得了2004年3月福建安溪3.6级地震前的重力变化空间梯度场图像,发现空间梯度场图像能清晰地反映出地震前重力场群体性变化的差异性;利用此方法对2005年6月~2006年3月间台湾海峡西岸重力场变化进行数值模拟,获得其空间梯度场图像。  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

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长诏断裂带垂直运动与地震关系初探   总被引：5，自引：0，他引：5  

黄松风 《大地测量与地球动力学》2003,23(4):99-104

利用跨断层短水准资料分析了长诏断裂带断层活动特征，结果表明：长诏断裂带总体活动性质基本相同．分时段活动性质有所不同。断层各段多数以压性逆断为主，不同于历史地质考察结果。此外，长诏断裂带各断裂都具有分段活动特点。  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

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