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   

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   

Black sea environment     

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

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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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Formation of galactic subsystems in light of the magnesium abundance in field stars: The thin disk     

V. A. Marsakov  T. V. Borkova 《Astronomy Letters》2006,32(6):376-392

Data from our compiled catalog of spectroscopically determined magnesium abundances in stars with accurate parallaxes are used to select thin-disk dwarfs and subgiants according to kinematic criteria. We analyze the relations between the relative magnesium abundances in stars, [Mg/Fe], and their metallicities, Galactic orbital elements, and ages. The [Mg/Fe] ratios in the thin disk at any metallicity in the range ?1.0 dex <[Fe/H] < ?0.4 dex are shown to be smaller than those in the thick disk, implying that the thin-disk stars are, on average, younger than the thick-disk stars. The relative magnesium abundances in such metal-poor thin-disk stars have been found to systematically decrease with increasing stellar orbital radii in such a way that magnesium overabundances ([Mg/Fe] > 0.2 dex) are essentially observed only in the stars whose orbits lie almost entirely within the solar circle. At the same time, the range of metallicities in magnesium-poor stars is displaced from ?0.5 dex < [Fe/H] < +0.3 dex to ?0.7 dex < [Fe/H] < +0.2 dex as their orbital radii increase. This behavior suggests that, first, the star formation rate decreases with increasing Galactocentric distance and, second, there was no star formation for some time outside the solar circle, while this process was continuous within the solar circle. The decrease in the star formation rate with increasing Galactocentric distance is responsible for the existence of a negative radial metallicity gradient (grad _R[Fe/H] = ?0.05 ± 0.01 kpc^?1) in the disk, which shows a tendency to increase with decreasing age. At the same time, the relative magnesium abundance exhibits no radial gradient. We have confirmed the existence of a steep negative vertical metallicity gradient (grad _Z[Fe/H] = ?0.29 ± 0.06 kpc^?1) and detected a significant positive vertical gradient in relative magnesium abundance (grad _Z[Mg/Fe] = 0.13 ± 0.02 kpc^?1); both gradients increase appreciably in absolute value with decreasing age. We have found that there is not only an age-metallicity relation, but also an age-magnesium abundance relation, in the thin disk. We surmise that the thin disk has a multicomponent structure, but the existence of a negative trend in the star formation rate along the Galactocentric radius does not allow the stars of its various components to be identified in the immediate solar neighborhood.  相似文献   

APPLICATION OF ANALYTIC HIERARCHY PROCESS TO ASSESSING THE ECOLOGICAL VULNERABILITY OF WETLANDS IN THE JIANGHAN PLAIN   总被引：5，自引：1，他引：4  

WANGXue-lei NINGLong-mei HUWang-bin 《中国地理科学(英文版)》2003,13(3):272-276

Wetlands in the Jianghan Plain are important components of wetland types in lake area in the middle and lower reaches the Changjiang (Yangtze) River and they fulfill many uses and functions related to hydrology,waste assimilation, ecosystem productivity and biodiversity. Owing to natural factors and human activities, especially excessive reclamation from lakes, the shrinking process of the lakes has been accelerated. Wetland ecosystem has shown the characteristics of vulnerability. According to the analysis of wetland ecological function in the Jianghan Plain, this paper presented an index system related to productivity, stability and environmental capacity. By using the method of Analytic Hierarchy Process, we computed the values of the relative weights of the indexes, and evaluated the vulnerability level of the wetland ecosystem by the method of multi-indexes. The case study showed that the fragile extent of wetland ecosystem in the Jianghan Plain is 5.6. This means that the wetland ecosystem in the Jiang-han Plain is laid to the state of middle vulnerability. Therefore, the wetland conservation and eco-rehabilitation in the JiangJaan Plain should be paid attention to.  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   

HCN fluorescence on Titan     

Roger V. Yelle  Caitlin A. Griffith 《Icarus》2003,166(1):107-115

The HCN emission features near 3 μm recently detected by Geballe et al. (2003, Astrophys. J. 583, L39) are analyzed with a model for fluorescence of sunlight in the ν₃ band of HCN. The emission spectrum is consistent with current knowledge of the atmospheric temperature profile and the HCN distribution inferred from millimeter-wave observations. The spectrum is insensitive to the abundance of HCN in the thermosphere and the thousand-fold enhancement relative to photochemical models suggested by Geballe et al. (2003, Astrophys. J. 583, L39) is not required to explain the observations. We find that the spectrum can be matched with temperatures from 130 to 200 K, with slightly better fits at high temperature, contrary to the temperature determination of 130±10 K of Geballe et al. (2003, Astrophys. J. 583, L39). The HCN emission spectrum is sensitive to the collisional de-excitation probability, P₁₀, for the ν₃ state and we determine a value of 10⁻⁵ with an accuracy of about a factor of two. Analysis of absorption lines in the C₂H₂ν₃ band near 3 μm, detected in the same spectrum, indicate a C₂H₂ mole fraction near 0.01 μbar of 10⁻⁵ for P₁₀=10⁻⁴. The derived mole fraction, however, is dependent upon the value adopted for P₁₀ and lower values are required if P₁₀ at Titan temperatures is less than its room temperature value.  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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