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   

Tropospheric ozone annual variation and possible troposphere-stratosphere coupling in the Arctic and Antarctic as derived from ozone soundings at Resolute and Amundsen-Scott stations     

A. N. GRUZDEV  S. A. SITNOV 《Tellus. Series B, Chemical and physical meteorology》1993,45(2):89-98

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Magnetic field and differential rotation in the radiative zone of the Sun     

R. N. Ikshanov  V. G. Ivanov 《Solar physics》1992,142(1):1-10

The problem of the interaction between magnetic fields and differential rotation in the radiative zone of the Sun is investigated. It is demonstrated that effects of magnetic buoyancy can be neglected in the analysis of this interaction. It is shown that hydromagnetic torsional waves propagating from the solar core cannot be responsible for the 22-year solar cycle. A possible geometry of the magnetic field that conforms with stationary differential rotation is considered. A verifying method for hypotheses on the structure of the magnetic field and torsional oscillations in the radiative zone of the Sun is proposed based on helioseismic data.  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   

A circular passive synthetic array: an inverse problem approach     

Yen  N. 《Oceanic Engineering, IEEE Journal of》1992,17(1):40-47

Based on the general concept of the inverse acoustic radiation problem, the temporal scanning of a stationary acoustic field along a closed contour is used to simplify the measurement approach for obtaining information on source directionality. The mathematical formulation is derived from a model of the two-dimensional acoustic field. The formulation of the inverse problem is also investigated to establish a methodology for improving the angular resolution of the array processing. The fundamental relationship between the sound sources and the circular passive synthetic array is explored, utilizing existing mathematical methods, in order to develop the processing algorithm. Other subjects of practical interest, such as directional ambiguity, effect of Doppler frequency, interference noise, and processing gain are discussed. It is concluded that the results can be used to establish guidelines for engineering design and deployment of this type of synthetic array, and to further exploit the new array signal processing technique  相似文献   

Black sea environment     

Alexander V. Drozdov  Anatoly F. Mandych 《GeoJournal》1992,27(2):139-139

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Recent warming in southeastern Zaire (Central Africa) inferred from disturbed geothermal gradients     

M.N. Sebagenzi  G. Vasseur  P. Louis 《Global and Planetary Change》1992,6(2-4)

Several temperature-depth profiles measured in Kasai and in Shaba provinces of Zaire using mining exploration boreholes exhibit a significant negative temperature gradient near the surface. This anomalous curvature which extends to 100–200 m depth could reflect the effect of variations in surface conditions. Applying the theory of heat conduction in a semi-infinite homogeneous medium, these profiles indicate a surface warming by 3–4°C. This warming is related to the effect of the environmental changes associated with the mining exploitation and the urbanization during the last 40–90 years.  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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A sedimentary record from a deep Quaternary valley in the southern Lillebælt area, Denmark: Eemian and Early Weichselian lithology and chronology at Mommark     

JÓN EIRÍKSSON  PETER H. KRISTENSEN  HOLGER LYKKE-ANDERSEN  KATHRYN BROOKS  REW MURRAY  KAREN LUISE KNUDSEN  CHRISTOPHER GLAISTER 《Boreas: An International Journal of Quaternary Research》2006,35(2):320-331

A unique sequence of Late Saalian, Eemian and Early Weichselian strata is exposed in a coastal outcrop at Mommark in the western Baltic. The sedimentary facies and faunas reflect palaeoenvironmental changes from an initial freshwater lake followed by marine transgression and interglacial deposition in a palaeo-Baltic sea. The upper part of the Eemian marine record indicates regression followed by lacustrine sedimentation and deposition of Early Weichselian aeolian sediments, which are truncated by an erosional unconformity overlain by a till bed. The lower and middle parts of the sequence have previously been correlated with the European glacial-interglacial stratigraphy on the basis of pollen analysis, while the upper part has been dated for the present study using optically stimulated luminescence (OSL) of samples from the aeolian and glacial deposits. A similar complete glacial-interglacial-glacial succession has not previously been recorded from this area. The Mommark sequence of conformable strata has been subjected to lateral compression, evidenced by folding and low-angle reverse faults. Seismic records from the adjacent waters in the western Baltic reveal a system of buried Quaternary valleys in the area. It is suggested that the interglacial deposition took place in a basin within one of these valleys and that a slab constituting the Mommark sequence, originating from the margin of a valley, has been glaciotectonically displaced northwestwards to the present location.  相似文献   

Environmental effects on galaxy luminosity functions: the cluster Abell 496     

F. Durret  C. Adami  C. Lobo 《Astrophysics and Space Science》2003,285(1):185-189

We have derived the galaxy luminosity function in various regions of the cluster of galaxies Abell 496 from a wide field image in the I band. A Schechter function fit in the 17≤ I_AB ≤22(–19.5≤ M_IAB ≤ –14.5) magnitude interval gives a steep power law index, which is somewhat steeper in the outer regions than in the inner zones. This result agrees with previous findings obtained by several teams on the Coma cluster and can be interpreted as due to the fact that faint galaxies are accreted by large ones in the central regions. This revised version was published online in July 2006 with corrections to the Cover Date.  相似文献