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   

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   

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   

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 Quantitative Method to Optimise Magnetic Field Line Fitting of Observed Coronal Loops     

Carcedo  L.  Brown  D.S.  Hood  A.W.  Neukirch  T.  Wiegelmann  T. 《Solar physics》2003,218(1-2):29-40

Many authors use magnetic-field models to extrapolate the field in the solar corona from magnetic data in the photosphere. The accuracy of such extrapolations is usually judged qualitatively by eye, where a less judgemental quantitative approach would be more desirable. In this paper, a robust method for obtaining the best fit between a theoretical magnetic field and intensity observations of coronal loops on the solar disk will be presented. The method will be applied to Yohkoh data using a linear force-free field as an illustration. Any other theoretical model for the magnetic field can be used, provided there is enough freedom in the model to optimize the fit.  相似文献