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   

Time-dependent greenhouse warming computations with a coupled ocean-atmosphere model     

Ulrich Cubasch  Klaus Hasselmann  Heinke Höck  Ernst Maier-Reimer  Uwe Mikolajewicz  Benjamin D Santer  Robert Sausen 《Climate Dynamics》1993,9(3):165-165

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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   

西宁盆地泥石流类型及其防治意见     

洪文之  徐旭 《青海国土经略》1997,(1)

概略地叙述了西宁地区的泥石流形成条件和形成机理,并将西宁地区泥石流划分为稀性泥石流类及泥石质泥石流种类。在此基础上提出防治泥石流灾害的意见。  相似文献   

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   

描述地壳垂直运动过程的一种函数形式     

杨国华  巩曰沐  卢景忠  韩月萍 《大地测量与地球动力学》1995,(1)

本文在已有数据处理方法的基础上，利用近代数值逼近理论，给出了从时空域角度描述地壳垂直运动过程的一种具体的函数解析形式。最后给出了一个实际算例。  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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The Siberian Solar Radio Telescope: the current state of the instrument,observations, and data   总被引：2，自引：0，他引：2  

Grechnev  V.V.  Lesovoi  S.V.  Smolkov  G. Ya.  Krissinel  B.B.  Zandanov  V.G.  Altyntsev  A.T.  Kardapolova  N.N.  Sergeev  R.Y.  Uralov  A.M.  Maksimov  V.P.  Lubyshev  B.I. 《Solar physics》2003,216(1-2):239-272

The Siberian Solar Radio Telescope (SSRT) is one of the world's largest solar radio heliographs. It commenced operation in 1983, and since then has undergone several upgrades. The operating frequency of the SSRT is 5.7 GHz. Since 1992 the instrument has had the capability to make one-dimensional scans with a high time resolution of 56 ms and an angular resolution of 15 arc sec. Making one of these scans now takes 14 ms. In 1996 the capability was added to make full, two-dimensional images of the solar disk. The SSRT is now capable of obtaining images with an angular resolution of 21 arc sec every 2 min. In this paper we describe the main features and operation of the instrument, particularly emphasizing issues pertaining to the imaging process and factors limiting data quality. Some of the data processing and analysis techniques are discussed. We present examples of full-disk solar images of the quiet Sun, recorded near solar activity minimum, and images of specific structures: plages, coronal bright points, filaments and prominences, and coronal holes. We also present some observations of dynamic phenomena, such as eruptive prominences and solar flares, which illustrate the high-time-resolution observations that can be done with this instrument. We compare SSRT observations at 5.7 GHz, including computed `light curves', both morphologically and quantatively, with observations made in other spectral domains, such as 17 GHz radio images, Hα filtergrams and magnetograms, extreme-ultraviolet and X-ray observations, and dynamic radio spectra.  相似文献   

A high-resolution radio study of neutral gas in the starburst galaxy NGC 520     

R. J. Beswick  A. Pedlar  M. S. Clemens  P. Alexander 《Monthly notices of the Royal Astronomical Society》2003,346(2):424-432

We present subarcsec angular resolution observations of the neutral gas in the nearby starburst galaxy NGC 520. The central kpc region of NGC 520 contains an area of significantly enhanced star formation. The radio continuum structure of this region resolves into ∼10 continuum components. By comparing the flux densities of the brightest of these components at 1.4 GHz with published 15-GHz data we infer that these components detected at 1.4 and 1.6 GHz are related to the starburst and are most likely to be collections of several supernova remnants within the beam. None of these components is consistent with emission from an active galactic nuclei. Both neutral hydrogen (H  i ) and hydroxyl (OH) absorption lines are observed against the continuum emission, along with a weak OH maser feature probably related to the star formation activity in this galaxy. Strong H  i absorption  ( N _H∼ 10²² atoms cm⁻²)  traces a velocity gradient of 0.5 km s⁻¹ pc⁻¹ across the central kpc of NGC 520. The H  i absorption velocity structure is consistent with the velocity gradients observed in both the OH absorption and in CO emission observations. The neutral gas velocity structure observed within the central kpc of NGC 520 is attributed to a kpc-scale ring or disc. It is also noted that the velocity gradients observed for these neutral gas components appear to differ with the velocity gradients observed from optical ionized emission lines. This apparent disagreement is discussed and attributed to the extinction of the optical emission from the actual centre of this source hence implying that optical ionized emission lines are only detected from regions with significantly different radii to those sampled by the observations presented here.  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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