Robust and adaptive path following for underactuated autonomous underwater vehicles   总被引：1，自引：0，他引：1  

K. D. Do  J. Pan  Z. P. Jiang 《Ocean Engineering》2004,31(16):1967-1997

This paper proposes a nonlinear robust adaptive control strategy to force a six degrees of freedom underactuated underwater vehicle with only four actuators to follow a predefined path at a desired speed despite of the presence of environmental disturbances and vehicle’s unknown physical parameters. The proposed controller is designed using Lyapunov’s direct method, the popular backstepping and parameter projection techniques. The closed loop path following errors can be made arbitrarily small. Interestingly, it is shown that our developed control strategy is easily extendible to situations of practical importance such as parking and point-to-point navigation. Numerical simulations are provided to illustrate the effectiveness of the proposed methodology.  相似文献   

Parameter identification of a compliant nonlinear SDOF system in random ocean waves by reverse MISO method     

R. Panneer Selvam  S. K. Bhattacharyya   《Ocean Engineering》2001,28(9):33

The determination of the drag and inertia coefficients, which enter into the wave force model given by Morison's equation, is particularly uncertain and difficult when a linear spectral model is used for ocean waves, and the structure is compliant and has nonlinear dynamic response. In this paper, a nonlinear System Identification method, called Reverse Multiple Inputs–Single Output (R–MISO) is applied to identify the hydrodynamic coefficients as well as the nonlinear stiffness parameter for a compliant single-degree-of-freedom system. Four different types of problems have been identified for use in various situations and the R–MISO has been applied to all of them. One of the problems requires iterative solution strategy to identify the parameters. The method has been found to be efficient in predicting the parameters with reasonable accuracy and has the potential for use in the laboratory experiments on compliant nonlinear offshore systems.  相似文献   

Drag force on a circular cylinder in unseparated laminar high Reynolds number nonlinear random oscillatory flow     

Dag Myrhaug  Hanne T. Wist  Lars Erik Holmedal 《Ocean Engineering》2003,30(17):2227-2238

The stochastic properties of the drag force maxima on a circular cylinder subjected to nonlinear random waves are investigated. Unseparated laminar high Reynolds number flow is considered. A simplified approach based on second order Stokes waves is presented, including the sum-frequency effect only. It is demonstrated how a drag force formula valid for regular linear waves can be used to find the cumulative distribution function of individual drag force maxima for nonlinear irregular waves. Here the [Wang, 1968] drag force coefficient is used.  相似文献   

Effects of high-order nonlinear interactions on unidirectional wave trains   总被引：2，自引：0，他引：2  

Nobuhito Mori  Takashi Yasuda 《Ocean Engineering》2002,29(10):1233-1245

Numerical simulations of gravity waves with high-order nonlinearities in two-dimensional domain are performed by using the pseudo spectral method. High-order nonlinearities more than third order excite apparently chaotic evolutions of the Fourier energy in deep water random waves. The high-order nonlinearities increase kurtosis, wave height distribution and H_max/H_1/3 in deep water and decrease these wave statistics in shallow water. Moreover, they can generate a single extreme high wave with an outstanding crest height in deep water. High-order nonlinearities (more than third order) can be regarded as one cause of freak waves in deep water.  相似文献   

Meadow fragmentation and reproductive output of the SE Asian seagrass Enhalus acoroides     

Jan E. Vermaat  Rene N. Rollon  Cristina Day A. Lacap  Claire Billot  Filipe Alberto  Hildie M.E. Nacorda  Frank Wiegman  Jorge Terrados 《Journal of Sea Research》2004,52(4):201

Flower and fruit production of the abundant, tall, long-lived, dioecious, surface-pollinating seagrass species Enhalus acoroides (L.) Royle were estimated at seven sites in the reef flats off Bolinao (NW Luzon, The Philippines) featuring different fragmentation of the seagrass meadows. Fragmentation of the seagrass meadow was quantified as cover of E. acoroides and all seagrass species present in 20×20 m plots. E. acoroides and overall seagrass cover were correlated positively. The proportion of female flowers of E. acoroides that developed a fruit increased sharply as overall seagrass cover was around 50%. Apparent sex ratio bore no relationship with overall seagrass cover. This threshold-type of relationship suggests that fragmentation of seagrass meadows can have a major effect on the reproductive output of this species. A possible mechanism underlying these results would be a non-linear increase of the efficiency of trapping the surface-dispersed pollen with increasing seagrass canopy density. This provides the first evidence based on real data that fragmentation can affect the population dynamics of seagrass species.  相似文献   

层结流体中的非线性惯性重力内波     

侯一筠  李炜  王新生 《海洋与湖沼》1994,25(5):539-545

根据地球流体力学基本方程组,在密度垂直层结的情况下,引进行波坐标,研究非线性定形波在相平面上的几何拓扑结构。严格论证了不存在定形孤立波,并通过Ｈａｍｉｌｔｏｎ函数及其角作用变把行波系统化成最简形式,由此而得到非线性惯性重力内波的解析解。  相似文献   

Numerical modeling of nonlinear water waves over heterogeneous porous beds   总被引：1，自引：0，他引：1  

Eric C. Cruz  Qin Chen   《Ocean Engineering》2007,34(8-9):1303-1321

The transformation of nonlinear water waves over porous beds is studied by applying a numerical model based on Chen's [2006. Fully nonlinear Boussinesq-type equations for waves and currents over porous beds. Journal of Engineering Mechanics, 132:2, 220–230] Boussinesq-type equations for highly nonlinear waves on permeable beds. The numerical model uses a high-order time-marching solution and fourth-order finite-difference schemes for discretization of first-order spatial derivatives to obtain a computational accuracy consistent with the model equations. By forcing the wave celerity and spatial porous-damping rate of the linearized model to match the exact linear theory for horizontal porous bed over a prescribed range of relative depths, the values of the model parameters are optimally determined. Numerical simulations of the damped wave propagation over finite-thickness porous layer demonstrate the accuracy of both the numerical model and governing equations, which have been shown by prior theoretical analyses to be accurate for both nominal and thick porous layers. These simulations also elucidate on the significance of the higher-order porous-damping terms and the influence of the hydraulic parameters. Application of the model to the simulation of the wave field around a laboratory-scale submerged porous mound provides a measure of its capability, as well as useful insight into the scaling of the porous-resistance coefficients. For application to heterogeneous porous beds, the assumption of weak spatial variation of the porous resistance is examined using truncated forms of the governing equations. The results indicate that the complete set of Boussinesq-type equations is applicable to porous beds of nonhomogeneous makeup.  相似文献   

Horizontal and vertical components of earthquake ground motions at liquefiable sites   总被引：1，自引：0，他引：1  

J. Yang  T. Sato  S. Savidis  X. S. Li 《Soil Dynamics and Earthquake Engineering》2002,22(3)

Field observations on ground motions from recent earthquakes imply that current knowledge is limited with regard to relating vertical and horizontal motions at liquefiable sites. This paper describes a study with the purpose of clarifying this emerging issue to some extent. A series of numerical analyses is carried out on a liquefiable soil deposit with a verified, fully coupled, nonlinear procedure. It is shown that the transformation of vertical motions in the deposit differs considerably from the transformation of horizontal motions. Both the amplitude and frequency content of the horizontal motions are strongly dependent on the shaking level or the associated nonlinear soil behavior. The transfer function for vertical motions is however likely to be independent of the intensity of input motions; no reduction in the amplitude occurs even in the case of strong shaking. The results are shown to be in consistence with the laboratory observations on shaking table tests and recent field observations that less nonlinearity exists for vertical motions. It is also shown that the possibility exists for using information on spectral ratios between the horizontal and vertical surface motions to quickly identify in situ soil behavior and liquefaction that are not readily covered by conventional field or laboratory experimentation procedures.  相似文献   

地震静校正全局最优化问题的求解   总被引：4，自引：2，他引：4       下载免费PDF全文

井西利  杨长春  李幼铭  白彦彬 《地球物理学报》2002,45(5):707-713

针对地震静校正存在的非线性和多参数性等问题，本文提出了一种全局优化的剩余静校正方法.在模型更新规则上，把模拟退火方法和均匀优化设计方法结合在一起，使模型的更新更为合理，从而加快了搜寻全局最优解的速度.同时提出了模型的不同分量的温度参数和退火过程的选取方式，把温度参数的选取与地震剖面的能量联系起来，使温度参数的选取具有自适应的特点.该方法克服了常规模拟退火方法所具有的寻优空间不均匀以及退火参数需通过多次试验选取的缺陷.通过实际地震资料的计算证明，本文提出的方法对地震静校正问题合理而有效.  相似文献   

基于GIS与ANN耦合技术的地裂缝灾情非线性模拟预测系统——以山西榆次地裂缝灾害为例   总被引：4，自引：0，他引：4       下载免费PDF全文

武强  陈珮珮  董东林  孙卫东  魏迎春 《地震地质》2002,24(2):249-257

现代地裂缝在世界许多国家普遍存在 ,已成为当今世界范围内的主要地质灾害之一。本文在详尽分析了山西榆次地裂缝的各个致灾因子的基础上 ,利用GIS技术建立了地质学意义上的专题层 ;然后采用人工神经网络技术构建出了地裂缝灾害活动性的评价模型 ,并建立了地裂缝活动性的评价系统 ,对榆次地裂缝进行了灾害活动性评价 ,为榆次市城建和国土规划等部门的正确决策提供了重要的科学依据  相似文献