数据驱动的水下潜航器在线建模及运动控制技术          下载免费PDF全文

耿令波  霍雨佳  赵海阔  胡志强 《数字海洋与水下攻防》2021,4(6):431-438

面向未来高机动水下潜航器对精确运动控制的需求,考虑到现有控制方法所面临的动态跟踪能力差、耦合系统控制精度低等不足,研究基于模型的控制方法。水下潜航器水动力非线性强、建模困难,研究了数据驱动的水下潜航器运动建模方法,可实现对潜航器未来运动的长时精确预报。面向微小型水下潜航器难以安装声学测速及推进器转速测量装置,研究了无声学传感信息下线速度多步预报技术,仅需惯导数据及推进器、舵角控制信号,实现对不同航次线速度长时精确预报。基于该建模方法,研究了水下潜航器 MPC 及基于模型的强化学习运动控制技术,基于仿真平台及无人机实物平台验证了控制方法的有效性。  相似文献   

In situ observation of a phase transition in Fe2SiO4 at high pressure and high temperature     

Shigeaki Ono  Takumi Kikegawa  Yuji Higo 《Physics and Chemistry of Minerals》2013,40(10):811-816

We used an in situ measurement method to investigate the phase transition of Fe₂SiO₄ polymorphs under high pressures and temperatures. A multi-anvil high-pressure apparatus combined with synchrotron X-ray radiation was used. The stability of each polymorph was identified by observing the X-ray diffraction data from the sample. In most experiments, the diffraction patterns were collected 10–30 min after reaching the desired pressure and temperature conditions. The transition boundary between the olivine and spinel phase at T = 1,000–1,500 K and P = 2–8 GPa was determined to occur at P (GPa) = 0.5 + 0.0034 × T (K). The transition pressure determined in this study was in general agreement with that observed in previous high-pressure experiments. However, the slope of the transition, dP/dT, determined in our study was significantly higher than that estimated by the previous study combined with the in situ X-ray method.  相似文献   

Influence of housing and urban development on debris flow flooding and deposition   总被引：2，自引：2，他引：0  

Kana NAKATANI  Yuki OKUYAMA  Yuji HASEGAWA  Yoshifumi SATOFUKA  Takahisa MIZUYAMA 《山地科学学报》2013,10(2):273-280

Debris flows form deposits when they reach an alluvial fan until they eventually stop.However,houses located in the alluvial fan might affect the debris flow flooding and deposition processes.Few previous studies have considered the effects of houses on debris flow flooding and deposition.This study conducted model experiments and numerical simulations using the Kanako2D debris flow simulator to determine the influence of houses on debris flow flooding and deposition.The model experiments showed that when houses are present,the debris flow spreads widely in the cross direction immediately upstream of the houses,especially when the flow discharge is large or the grain size is small.Houses located in the alluvial fan also influence the deposition area.The presence of houses led to flooding and deposition damage in some places and reduced the damage in others.The simulation also demonstrated the influence of houses.Both the model experiment and the simulation showed that houses change the flooding and deposition areas.  相似文献   

珠海凤凰山森林下垫面干季和湿季气象要素的对比分析与动量和感热交换系数的参数化研究     

刘雨佳  韦志刚  陈辰  董文杰  朱献  陈广宇  刘雅静 《气候与环境研究》2020,25(5):457-468

利用珠海凤凰山陆气相互作用观测塔站2014年11月至2016年5月的观测数据,对比分析了干湿季森林下垫面能量通量和气象要素的变化特征,分析了在不同稳定度下3个风向范围（315°～45°、45°～135°和135°～225°）的动量和感热交换系数随冠层表面风速的变化特征,并对动量和感热交换系数进行了参数化研究。结果表明:干季感热和潜热通量值相当,湿季潜热远大于感热。干季和湿季的夜晚都出现负感热现象,感热从大气向森林输送。相对湿度的变化幅度大,与该地气象状况密切相关,相对湿度的垂直梯度夜晚较大,白天较小。干季的气温垂直梯度比湿季的明显。风速在冬季变化平缓,夏季变化剧烈,低层风速随高度变化梯度明显,高层较紊乱。各高度风向差异不大。中性和近中性状态下,在风向为315°～45°、45°～135°和135°～225°时,动量交换系数C_dn分别为0.05、0.0055和0.022,感热交换系数C_hn分别为0.0055、0.003和0.004。在稳定和不稳定状态下,动量交换系数C_d、感热交换系数C_h随冠层表面风速v明显发生变化,稳定条件下,C_d、C_h随v的增大而增大;不稳定条件下,C_d、C_h随v的增大而减小。分不同风向对森林冠层C_d、C_h在稳定和不稳定条件下与v的关系进行了拟合,得到了参数化公式。  相似文献   

Congruence between euphausiid community and water region in the northwestern Pacific: particularly in the Oyashio–Kuroshio Mixed Water Region     

Sayaka Sogawa  Hiroya Sugisaki  Hiroaki Saito  Yuji Okazaki  Shinji Shimode  Tomohiko Kikuchi 《Journal of Oceanography》2013,69(1):71-85

The relationship between euphausiid community structure and water region was studied during a 2-year seasonal survey in the northwestern (NW) Pacific Ocean. The euphausiid community structure and its associated species were analyzed from 38 micronekton samples collected during eight cruises. The euphausiid community structure and its distribution patterns clearly corresponded to physical oceanographic features in the Oyashio region, Oyashio–Kuroshio Mixed Water Region (OKMWR), and Kuroshio region. In contrast, community structure was unrelated to seasonality. The 19 species out of 40 identified in this area were grouped and named after their habitats. The six cold-water species were grouped into three regional types: two coastal Oyashio species, three Oyashio–OKMWR species, and one Oyashio–Kuroshio species. The four species dominating in the OKMWR were categorized into each specific types: Nematoscelis difficilis as OKMWR–Oyashio species, Euphausia gibboides as OKMWR species, Euphausia similis as OKMWR–Oyashio & OKMWR–Kuroshio species, and Euphausia recurva as OKMWR–Kuroshio species. The seven warm-water species were categorized as Kuroshio–OKMWR species or Kuroshio species. The other two species were categorized as cosmopolitan species. In particular, regarding the result in the OKMWR, our study suggest that (1) the OKMWR has high species diversity, and (2) the dominant species, such as Euphausia pacifica, N. difficilis, E. similis, and E. gibboides, are considered to be key species in the food webs in this region.  相似文献   

Shaking table tests of steel frame with superelastic Cu–Al–Mn SMA tension braces          下载免费PDF全文

Yoshikazu Araki  Kshitij C. Shrestha  Nao Maekawa  Yuji Koetaka  Toshihiro Omori  Ryosuke Kainuma 《地震工程与结构动力学》2016,45(2):297-314

Shaking table tests are performed on a one‐bay one‐story steel frame with superelastic Cu–Al–Mn shape memory alloy (SMA) tension braces. The frame is subjected to a series of scaled ground motions recorded during the 1995 Kobe earthquake, Japan. The test results demonstrate that the SMA braces are effective to prevent residual deformations and pinching. It is also shown that the time history responses observed from the shaking table tests agree well with the numerical predictions using a rate‐independent piecewise‐linear constitutive model calibrated to the quasi‐static component tests of the SMA braces. This suggests that the loading rate dependence of Cu–Al–Mn SMAs as well as the modeling error due to the piecewise linear approximation can be neglected in capturing the global response of the steel frame. Numerical simulations under a suite of near‐fault ground motion records are further performed using the calibrated analytical models to demonstrate the effectiveness of the SMA braces when the variability of near‐fault ground motions is taken into account. A stopper, or a deformation restraining device, is also proposed to prevent premature fracture of SMA bars in unexpectedly large ground motions while keeping the self‐centering capability in moderate to large ground motions. The effectiveness of the stopper is also demonstrated in the quasi‐static component and shaking table tests. Copyright © 2015 John Wiley & Sons, Ltd.  相似文献   

一次性免堆载预压技术研究与应用          下载免费PDF全文

冯士广  纪燕祥  尹春播  丁宁宁  赵志杰  孙宇佳  何若梅  戚霁  侯永革  邸凯强 《探矿工程》2019,46(5):72-77

软土地基处理恰当与否,关系到整个工程质量、投资和进度,其重要性已越来越多地被人们所认识。通过开展一次性免堆载预压技术研究,根据排水固结原理及桩体自身抗拔力,用三维固结筒实现饱和软土无外来荷载条件下的一次性快速排水固结,提高地基土抗剪强度、降低压缩性、改善透水性及动力特征。  相似文献   

Fifteen years progress of the TRITON array in the Western Pacific and Eastern Indian Oceans     

Kentaro Ando  Yoshifumi Kuroda  Yosuke Fujii  Tatsuya Fukuda  Takuya Hasegawa  Takanori Horii  Yasuhisa Ishihara  Yuji Kashino  Yukio Masumoto  Keisuke Mizuno  Motoki Nagura  Iwao Ueki 《Journal of Oceanography》2017,73(4):403-426

The Triangle Trans‐Ocean Buoy Network (TRITON) project by the Japan Agency for Marine-Earth Science and Technology began with deployment in the western tropical Pacific Ocean in 1998 and has shifted to steady, long-term observations since 1999. After on-site inter-comparison with the Autonomous Temperature Line Acquisition System mooring system of the Tropical Atmosphere and Ocean (TAO) array by the National Oceanic and Atmospheric Administration, the TRITON array became the international TAO/TRITON array in 2000 as a key component of the Global Ocean and Climate Observing Systems. The TAO/TRITON array took over from the TAO array, which was developed during the Tropical Ocean and Global Atmosphere program (1985–1994), and replaced the western part of TAO with new additional real-time measurements of salinity and ocean currents. In 2001, two TRITON moorings were deployed in the eastern Indian Ocean for capturing the eastern pole of the Indian Ocean Dipole. From this initiative, the Indian Ocean Observing System (IndOOS) was designed, and the Indian Ocean mooring array (Research Moored Array for Africa–Asian–Australian Monsoon Analysis and Prediction) was developed as a key component of IndOOS. In this paper, 15 years of progress in the TRITON project in the western Pacific and eastern Indian Oceans is reviewed with regards to scientific outcomes, technological development, and collaborations with international and domestic partners. Future directions for sustainable observation in the Pacific and Indian Oceans are also discussed.  相似文献   

ESR/U-series chronology of the Lower Palaeolithic palaeoanthropological site of Visogliano, Trieste, Italy     

Christophe Falgures  Jean-Jacques Bahain  Carlo Tozzi  Giovanni Boschian  Jean-Michel Dolo  Norbert Mercier  Hlne Valladas  Yuji Yokoyama 《Quaternary Geochronology》2008,3(4):390-398

The Visogliano shelter, in north-eastern Italy, is an important Middle Pleistocene occupation site where human remains were found together with an archaic lithic industry, including choppers, chopping tools and a few protobifaces. It is of utmost importance to try to document this period, when a second wave of settlement colonised Western Europe, carrying new flaking techniques and tools.Combined ESR/U-series analyses, integrated with biostratigraphical and environmental data, define a chronological frame for the layers from which the artefacts were unearthed. The lower levels, including human remains, can be dated to the 350–500 kyr time span, in agreement with micromammal and stratigraphical studies.These data make Visogliano one of the oldest palaeoanthropological sites in Italy, where human remains are directly associated with protobifaces, choppers and chopping tools. In Western Europe, Visogliano is contemporaneous to the G soil of the Arago Cave, France, with which it shares several similarities in faunal assemblages and radiometric data, and which contains human remains also. These data make Visogliano as one of the oldest sites in Europe where the Acheulian culture is observed.  相似文献   

Decreases in turbidity during neap tides initiate late winter blooms of Eucampia zodiacus in a macrotidal embayment     

Yuji Ito  Toshiya Katano  Naoki Fujii  Masumi Koriyama  Kenji Yoshino  Yuichi Hayami 《Journal of Oceanography》2013,69(4):467-479

Eucampia zodiacus Ehrenberg is harmful, as it causes reduction in the quality of the aquacultured Porphyra thalli owing to nutrient depletions during dense blooms in the late winter in the macrotidal Ariake Sea, Japan. To understand the mechanism of bloom development, changes in the abundance of E. zodiacus during a bloom were investigated along vessel transects from February to April 2012. In addition, marine environmental variables were continuously monitored by the Ariake Sea Monitoring Tower, which revealed that turbidity periodically decreased during neap tides. During the 16 February neap tide, a high Secchi depth (4.3 m) was recorded at offshore stations and the Z _1% depth, at which the light intensity attenuates to 1 % of that at the sea surface, exceeded the water depth. On 16 February, the abundance of E. zodiacus was 52–732 cells mL^?1, peaking at 7.0 m depth offshore. Subsequently, abundance increased at all stations. During the 22 February spring tide, abundance became vertically uniform. On 19 March, abundance at the tower reached 3758 cells mL^?1 at the surface. We conclude that an improvement in light conditions in the deeper layer triggered the bloom, although the size and the duration of the bloom were determined by nutrient availability. Thus, decreases in turbidity during neap tides and subsequent strong vertical mixing during spring tides may be instrumental in the population dynamics of the large diatom E. zodiacus in macrotidal environments.  相似文献