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   

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   

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 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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Transient‐state groundwater flow in various geometries with wells at arbitrary positions: analytical methods     

M. W. Roth  C. M Wilson  M. Z. Iqbal 《水文研究》2003,17(17):3519-3530

We have developed a method for analytically solving the porous medium flow equation in many different geometries for horizontal (two‐dimensional), homogeneous and isotropic aquifers containing impermeable boundaries and any number of pumping or injection wells located at arbitrary positions within the system. Solutions and results are presented for rectangular and circular aquifers but the method presented here is easily extendible to many geometries. Results are also presented for systems where constant head boundary conditions can be emulated internal to the aquifer boundary. Recommendations for extensions of the present work are briefly discussed. Copyright © 2003 John Wiley & Sons, Ltd.  相似文献   

The X-ray and extreme-ultraviolet flux evolution of SS Cygni throughout outburst     

Peter J. Wheatley  Christopher W. Mauche  Janet A. Mattei 《Monthly notices of the Royal Astronomical Society》2003,345(1):49-61

We present the most complete multiwavelength coverage of any dwarf nova outburst: simultaneous optical, Extreme Ultraviolet Explorer and Rossi X-ray Timing Explorer observations of SS Cygni throughout a narrow asymmetric outburst. Our data show that the high-energy outburst begins in the X-ray waveband 0.9–1.4 d after the beginning of the optical rise and 0.6 d before the extreme-ultraviolet rise. The X-ray flux drops suddenly, immediately before the extreme-ultraviolet flux rise, supporting the view that both components arise in the boundary layer between the accretion disc and white dwarf surface. The early rise of the X-ray flux shows that the propagation time of the outburst heating wave may have been previously overestimated.
The transitions between X-ray and extreme-ultraviolet dominated emission are accompanied by intense variability in the X-ray flux, with time-scales of minutes. As detailed by Mauche & Robinson, dwarf nova oscillations are detected throughout the extreme-ultraviolet outburst, but we find they are absent from the X-ray light curve.
X-ray and extreme-ultraviolet luminosities imply accretion rates of  3 × 10¹⁵ g s⁻¹  in quiescence,  1 × 10¹⁶ g s⁻¹  when the boundary layer becomes optically thick, and  ∼10¹⁸ g s⁻¹  at the peak of the outburst. The quiescent accretion rate is two and a half orders of magnitude higher than predicted by the standard disc instability model, and we suggest this may be because the inner accretion disc in SS Cyg is in a permanent outburst state.  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   

Finite element formulation and algorithms for unsaturated soils. Part II: Verification and application     

Daichao Sheng  David W. Smith  Scott W. Sloan  Antonio Gens 《国际地质力学数值与分析法杂志》2003,27(9):767-790

The finite‐element formulation and integration algorithms developed in Part I are used to analyse a number of practical problems involving unsaturated and saturated soils. The formulation and algorithms perform well for all the cases analysed, with the robustness of the latter being largely insensitive to user‐defined parameters such as the number of coarse time steps and error control tolerances. The efficiency of the algorithms, as measured by the CPU time consumed, does not depend on the number of coarse time steps, but may be influenced by the error control tolerances. Based on the analyses presented here, typical values for the error control tolerances are suggested. It is also shown that the constitutive modelling framework presented in Part I can, by adjusting one constitutive equation and one or two material parameters, be used to simulate soils that expand or collapse upon wetting. Treating the suction as a strain variable instead of a stress variable proves to be an efficient and robust way of solving suction‐dependent plastic yielding. Moreover, the concept of the constitutive stress is a particularly convenient way of handling the transition between saturation and unsaturation. Copyright © 2003 John Wiley & Sons, Ltd.  相似文献   

Structurally controlled gold and sulfosalt mineralization: the Altenberg example, Salzburg Province, Austria     

H. Putz  W.H. Paar  D. Topa  J. Horner  V. Lüders 《Mineralogy and Petrology》2003,78(1-2):111-138

Summary ?In the south-eastern Altenbergkar–Silbereck area in the eastern Tauern window (Lungau, Salzburg) structurally controlled precious-metal (Au–Ag) mineralization is hosted in marbles of the Permo(?)-Mesozoic Silbereck Formation and in the underlying Variscan Central gneiss. During the Alpine otogeny both lithologies were affected by ductile deformation (shearing, D1; folding, D2/D3) and subsequent brittle deformation (tension gashes, D4; normal faulting, D5) related to the uplift and exhumation of the Tauern window. Mineralization is controlled by brittle D4 structures. NE–SW trending steeply dipping tension gashes of the “Tauerngoldgang” type occur within the Central gneiss. Three different marble-hosted ore types following fracture systems as well as foliation and bedding planes can be distinguished: 1) metasomatic replacement ores, 2) ores in tension gashes and 3) ores in talc-bearing structures, often containing high-grade gold and silver mineralization (native gold in association with Ag–Pb–Bi–sulfosalts). Four stages of mineralization can be distinguished which occur in all ore types: arsenopyrite–pyrite–pyrrhotite (first stage), Au–(Ag–Pb–Bi–sulfosalts) (second stage), base-metal sulfides and tetrahedrite–tennantite (third stage) and Ag-rich galena (fourth stage). Preliminary fluid inclusion data indicate temperatures of ore formation well above 300 °C (346 °C mean) for the second stage within the Central gneiss and temperatures between 310 and 230 °C for the second and third stages in the marble. Received October 12, 2001; revised version accepted September 5, 2002 Published online March 10, 2003  相似文献   

Richtmyer-Meshkov Experiments on the Omega Laser     

R. M. Hueckstaedt  S. H. Batha  M. M. Balkey  N. D. Delamater  J. R. Fincke  R. L. Holmes  N. E. Lanier  G. R. Magelssen  J. M. Scott  J. M. Taccetti  C. J. Horsfield  K. W. Parker  S. D. Rothman 《Astrophysics and Space Science》2005,298(1-2):255-259

Observations of the interstellar medium reveal a dynamic realm permeated by shocks. These shocks are generated on a large range of scales by galactic rotation, supernovae, stellar winds, and other processes. Whenever a shock encounters a density interface, Richtmyer-Meshkov instabilities may develop. Perturbations along the interface grow, leading to structure formation and material mixing. An understanding of the evolution of Richtmyer-Meshkov instabilities is essential for understanding galactic structure, molecular cloud morphology, and the early stages of star formation. An ongoing experimental campaign studies Richtmyer-Meshkov mixing in a convergent, compressible, miscible plasma at the Omega laser facility. Cylindrical targets, consisting of a low density foam core and an aluminum shell covered by an epoxy ablator, are directly driven by fifty laser beams. The aluminum shell is machined to produce different perturbation spectra. Surface types include unperturbed (smooth), single-mode sinusoids, multi-mode (rough), and multi-mode with particular modes accentuated (specified-rough). Experimental results are compared to theory and numerical simulations.  相似文献