Underwater glider modelling and analysis for net buoyancy, depth and pitch angle control     

Nur Afande Ali Hussain  Rosmiwati Mohd-Mokhtar 《Ocean Engineering》2011,38(16):1782-1791

Underwater glider is an autonomous underwater vehicle that glides by controlling their buoyancy and attitude using internal actuators. By changing the vehicle's buoyancy intermittently, vertical motion can be achieved. Characteristics of glider motion include upward and downward movement in a saw tooth pattern, turning and gliding in a vertical spiral motion and gliding without using thrusters or propellers. This paper presents the modelling and identification on net buoyancy, depth and pitching angle of an underwater glider system. A ballast tank subsystem is considered appropriate for the identification process since it is the main parameter for the motion control. By selecting the ballast rate as the input, three aspects of the dynamics of a glider can be observed: buoyancy, depth of the glider and pitching angle. The MATLAB System Identification Toolbox^TM is used to obtain a mathematical model of the glider ballast-buoyancy, ballast-depth and ballast-pitching angle conditioning system. The best three parametric estimation models are chosen, and the results of the comparison between simulated and estimated outputs are presented. The information obtained from the modelling and identification approaches are used for USM's Underwater Glider Prototype controller design. The information observed during this procedure are utilised for optimisation, stability, reliability and robustness analysis of the underwater glider.  相似文献   

Theoretical investigation of the neutron star in low-mass X-ray binary X1822-371 (V691 CrA)     

Sk. Monowar Hossein  Nur Farhad  Sajahan Molla  Mehedi Kalam 《Astrophysics and Space Science》2016,361(6):203

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Adaptive state estimation of groundwater contaminant boundary input flux in a 2-dimensional aquifer     

Muhammad Malik Nauman  Murtuza Mehdi  Asif Iqbal  Muhammad Saifullah Abu Bakar  Brahim Aissa  Dk Nur Afiqah Jalwati Puteri  Amer Farhan Rafique 《地下水科学与工程》2019,(4):373-382

In many circumstances involving heat and mass transfer issues,it is considered impractical to measure the input flux and the resulting state distribution in the domain.Therefore,the need to develop techniques to provide solutions for such problems and estimate the inverse mass flux becomes imperative.Adaptive state estimator(ASE)is increasingly becoming a popular inverse estimation technique which resolves inverse problems by incorporating the semi-Markovian concept into a Bayesian estimation technique,thereby developing an inverse input and state estimator consisting of a bank of parallel adaptively weighted Kalman filters.The ASE is particularly designed for a system that encompasses independent unknowns and/or random switching of input and measurement biases.The present study describes the scheme to estimate the groundwater input contaminant flux and its transient distribution in a conjectural two-dimensional aquifer by means of ASE,which in particular is because of its unique ability to efficiently handle the process noise giving an estimation of keeping the relative error range within 10%in 2-dimensional problems.Numerical simulation results show that the proposed estimator presents decent estimation performance for both smoothly and abruptly varying input flux scenarios.Results also show that ASE enjoys a better estimation performance than its competitor,Recursive Least Square Estimator(RLSE)due to its larger error tolerance in greater process noise regimes.ASE's inherent deficiency of being slower than the RLSE,resulting from the complexity of algorithm,was also noticed.The chosen input scenarios are tested to calculate the effect of input area and both estimators show improved results with an increase in input flux area especially as sensors are moved closer to the assumed input location.  相似文献   

Optimization of area–volume–elevation curve using GIS–SRTM method for rainwater harvesting in arid areas     

Khamis Naba Sayl  Nur Shazwani Muhammad  Ahmed El-Shafie 《Environmental Earth Sciences》2017,76(10):368

The major limitation in planning water harvesting is the lack of knowledge in the estimation of surface area and storage volume at any depth of dam reservoir. The area–volume–elevation (AVE) curve of a reservoir plays a key role in estimating the most suitable depth, optimum surface area and highest capacity of reservoir storage. The existing methods to estimate the AVE curve are costly and time-consuming and require laborious work. This study attempts to develop a method to optimize the AVE curve for earth dams, using the digital elevation model generated by the Shuttle Radar Topography Mission (SRTM) data, and integrate it with the geographic information system (GIS), known as the GIS–SRTM. The proposed method was tested using field data in the Western Desert of Iraq, which is an arid environment. Three constructed small earth dams were selected for this study. The AVE curves were extracted for Horan 2 (H2), Al-gara 2 (G2) and Al-gara 4 (G4) earth dams. Comprehensive analyses have been carried out to evaluate the performance of the AVE curves using the proposed GIS–SRTM method and the field data. From the comparison, the proposed GIS–SRTM method was able to produce reliable AVE curves with a relative error less than 20%. Additionally, the proposed method was less time-consuming and the AVE curves can be visualized immediately. The proposed GIS–SRTM method is relatively supportive in analyzing spatial data to select the optimal site for rainwater harvesting and prevent excessive evaporation losses.  相似文献   

Application of the Artificial Neural Network and Neuro‐fuzzy System for Assessment of Groundwater Quality          下载免费PDF全文

Mahmoud Khaki  Ismail Yusoff  Nur Islami 《洁净——土壤、空气、水》2015,43(4):551-560

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Radiocarbon age distribution of groundwater in the Konya Closed Basin, central Anatolia, Turkey     

C. Serdar Bayari  N. Nur Ozyurt  Susan Kilani 《Hydrogeology Journal》2009,17(2):347-365

Annual abstraction of 2.6?×?10⁹ m³ of groundwater in the 53,000 km² Konya Closed Basin of central Turkey has caused a head decline of 1 m/year over the last few decades. Therefore, understanding the hydrogeology of this large endorheic basin, in a semi-arid climate, is important to sustainable resource management. For this purpose, the groundwater’s radiocarbon age distribution has been investigated along a 150-km transect parallel to regional flow. Results show that the groundwater ranges in age from Recent at the main recharge area of the Taurus Mountains in the south, to about 40,000 years around the terminal Salt Lake located in the north. In this predominantly confined flow system, radiocarbon ages increase linearly by distance from the main recharge area and are in agreement with the hydraulic ages. The mean velocity of regional groundwater flow (3 m/year) is determined by the rate of regional groundwater discharge into the Salt Lake. Calcite dissolution, dedolomitization and geogenic carbon dioxide influx appear to be the dominant geochemical processes that determine the carbon isotope composition along the regional flow path. The groundwater’s oxygen-18 content indicates more humid and cooler paleorecharge. A maximum drop of 5°C is inferred for the past recharge temperature.  相似文献   

Hydrological Characteristics of Estuary in Wulan Delta in Demak Regency,Indonesia     

Lintang Nur Fadlillah  Widyastuti  M.  Geottongsong  Tanita  Sunarto  Marfai  Muh Aris 《Water Resources》2019,46(6):832-843

Water Resources - Understanding estuarine characteristics is crucial for managing aquatic ecosystem and aquaculture. A delta is a dynamic area that influence by both sea and river. Research on a...  相似文献   

Spatial analysis of a historical phenomenon: using GIS to demonstrate the strategic placement of Umayyad desert palaces   总被引：1，自引：0，他引：1  

Mahmoud Bashir Alhasanat  Shahid Kabir  Wan Muhd Aminuddin Wan Hussin  Erin Addison 《GeoJournal》2012,77(3):343-359

The Umayyad qusour (desert palaces) are monumental structures built during the reign of the first caliphate of Islam. Usually dismissed as “pleasure palaces” or “hunting lodges,” some scholars are beginning to argue that these prominent structures were strategic interventions in the landscape. Until now, historians have relied mainly on textual, architectural and art-historical analyses of the qusour in order to understand Umayyad state architecture. This research proposes the use of spatial analysis through GIS to lend a new dimension to the discussion. The results of the analysis show that Umayyad qusour are carefully situated at routes of transhumance and water sources. The distribution pattern of the Umayyad qusour is clustered at the outlet of Wadi Sarhan, and there is actually line-of-sight communication between Azraq, Amra, Haranah, Muwaqqar, Umm al Walid, Mushatta, and Qastal. There is also a positive association between Umayyad qusour and their water sources. These results support the argument that the Umayyad qusour were built strategically at perennial water sources in order to monitor routes of transhumance amongst the socio-political centers of the period.  相似文献   

Stabilization of tropical kaolin soil with phosphoric acid and lime   总被引：2，自引：0，他引：2  

Amin?EisazadehEmail author  Khairul?Anuar?Kassim  Hadi?Nur 《Natural Hazards》2012,61(3):931-942

Studies on the chemically stabilized soils have shown that the effectiveness of treatment is largely dependent on soil’s natural environment. In tropical kaolin soils, phosphoric acid may be used as an alternative to traditional alkaline stabilizers for improving soil properties. This research was carried out in an effort to identify the time-dependent soil-stabilizer reactions. Data for the study of characterization of treated samples were obtained from X-ray diffractometry, energy dispersive X-ray spectrometry, field emission scanning electron microscopy, Fourier transform infrared spectroscopy, and leaching analysis. Based on the collected data, the kaolinite mineral with pH-dependent structural properties showed slightly different behavior both in basic and in acidic mediums. Also, it was found that the chemical stabilizers preferentially attacked the alumina surface of the clay particles. Therefore, it was rational to suggest that with respect to lime and phosphoric acid treatment, aluminate hydrate compounds are more likely to be formed.  相似文献   

Cation Exchange Capacity of Phosphoric Acid and Lime Stabilized Montmorillonitic and Kaolinitic Soils     

Amin Eisazadeh  Khairul Anuar Kassim  Hadi Nur 《Geotechnical and Geological Engineering》2012,30(6):1435-1440

Studies on the chemically stabilized soils have shown that the effectiveness of treatment is largely dependent on soil??s natural environment. In this research, the time-dependent changes induced in permanent cation exchange capacity of lime and phosphoric acid treated soils, comprised mainly of montmorillonite and kaolinite minerals, were investigated. Also, in order to study the relationship between the exchange capacity and acidity/alkalinity of pore water, pH measurements were performed on cured samples. Based on the collected data, it was found that the pH of stabilized soils showed a tendency for reaching soil??s natural pH with increasing curing time. In addition, the increase in number of broken bonds around the edges of soil particles and also the formation of cementitious compounds that acquired negative charges contributed to achieving higher CEC_p values at longer curing periods. Nevertheless, the kaolinite mineral with pH-dependent structural properties, showed a rather limited behavior in the acidic medium. From engineering point of view, the lime treated samples revealed the highest degree of improvement with an approximately ten-fold strength increase in comparison to the natural soil over an 8?months curing period.  相似文献