A Cascade Approach for Global Trajectory Tracking Control of Underactuated AUVs     

毕凤阳  魏英杰  张嘉钟  曹伟 《中国海洋工程》2010,24(2):369-380

A global trajectory tracking controller is presented for underactuated AUVs with only surge force and yaw moment in the horizontal plane. A transformation is introduced to represent the tracking error system into a cascade form. The global and uniform asymptotic stabilization problem of the resulting cascade system is reduced to the stabilization problem of two subsystems by use of the cascade approach. For the stabilization of the subsystem involving the yaw moment, a control law is proposed based on the feedback linearization method. Another subsystem is stabilized by designing a fuzzy sliding mode controller which can offer a systematical means of constructing a set of shrinking-span and dilating-span membership functions. In order to demonstrate the practicability of the proposed controller, control constraints, parameter uncertainties, and external disturbances are considered according to practical situation of AUVs. Simulation results show very good tracking performance and robustness of the proposed control schemes.  相似文献   

平台钢在海洋环境中腐蚀因子的灰色关联分析     

兰志刚  侯保荣  宋积文  陈胜利  张杰 《海洋科学》2010,34(11):69-71

结合海洋平台实测的pH值、温度、溶解氧、盐度、生物附着等数据,通过灰色关联算法分析了海水腐蚀因子对平台钢腐蚀的影响,并按实际影响大小进行了排序。结果表明海水腐蚀因子对于A537-1钢和SM50B-ZC钢平均腐蚀速率的影响主次顺序不同。对平台钢的腐蚀规律研究及现场应用提供了可参考的依据。  相似文献   

Groundwater dating with 3H and SF6 in relation to mixing patterns,transport modelling and hydrochemistry     

A. Zuber  S. Witczak  K. Ra&#x;ski  I. liwka  M. Opoka  P. Mochalski  T. Kuc  J. Karlikowska  J. Kania  M. Jackowicz‐Korczy&#x;ski  M. Duli&#x;ski 《水文研究》2005,19(11):2247-2275

A comprehensive study of a sandy aquifer of deltaic origin in southern Poland included water chemistry, isotopes, dissolved trace gases and transport modelling. Tritium, sulphur hexafluoride (SF₆) and freons (F‐11, F‐12 and F‐113) showed the presence of modern waters in the recharge areas and shallow confined parts of the aquifer. The presence of older Holocene waters farther from the recharge areas was indicated by lack of ³H, SF₆ contents ≤0·02 fmol l⁻¹ and relatively low ¹⁴C values. The discharge from the system is by upward seepage in the valley of a major river. Pre‐Holocene waters of a cooler climate, identified on the basis of δ¹⁸O, δ²H, ¹⁴C, Ne and Ar data, were found in some distant wells. Concentrations of N₂, Ne and Ar determined by gas chromatography were used for calculating the noble gas temperatures, air excess needed for correction of SF₆, and nitrogen content released by denitrification process. The time series of ³H content available for some wells supplied quantitative information on age distributions and the total mean ages of flow through the unsaturated and saturated zones. The derived ³H age distributions turned out to be very wide, with mean values in the range of about 30 to 160 years. For each well with determined ³H age, the SF₆ data showed either a lower age range or the possibility of a lower age as expected due to shorter travel times of SF₆ through the unsaturated zone, which most probably also resulted in different types of age distributions of these tracers. Freons appeared to be of little use for individual age determinations. A quantitative estimation of two‐component mixing from SF₆ ³H relations is not possible unless the travel time of ³H through the unsaturated zone is comparable to that of SF₆. The ratio of integrals of the response function over the age range with tracer and the whole response function yields the ratio of water with tracer to total flow of water. That ratio is a tracer‐dependent function of time. Transport modelling of SF₆ tracer done with MT3D code yielded initially large discrepancies between calculated and measured tracer concentrations. Some discrepancies remained even after calibration of the transport model with SF₆. Simulation of tritium contents with a calibrated transport model yielded reasonable agreement with measured contents in some wells and indicated a need for further investigations, particularly in the eastern part of the aquifer. The existence of distinct hydrochemical zones is consistent with the tracer data; young waters with measurable ³H and SF₆ contents are aerobic and of HCO₃ Ca or HCO₃ SO₄ Ca types. Slightly elevated Na and Cl contents, as well as the highest concentrations of SO₄ and NO₃ within this zone are due to anthropogenic influences. Anaerobic conditions prevail in the far field, under the confining cover, where pre‐bomb era Holocene waters dominate. In that zone, dissolved oxygen, NO₃ and U contents are reduced, and Fe, Mn and NH₄ contents increase. In the third zone, early Holocene and glacial waters occur. They are of HCO₃ Ca Na or HCO₃ Na types, with TDS values higher than 1 g l⁻¹ and Na content higher than 200 mg l⁻¹, due to either small admixtures of ascending or diffusing older water or freshening of marine sediments, a process that is probably occurring till the present time. Copyright © 2005 John Wiley & Sons, Ltd.  相似文献   

K-band spectroscopy of the intermediate polar XY Ari     

S.P. Littlefair  V.S. Dhillon  T.R. Marsh 《Monthly notices of the Royal Astronomical Society》2001,327(2):669-672

We present the K -band infrared spectrum of the intermediate polar XY Ari. The spectrum confirms the cataclysmic binary nature of XY Ari, showing emission lines of He  i ( λ 2.0587 μm) and the Brackett and Paschen series of H  i . The broad nature of these lines suggests an origin in an accretion disc. The spectrum is strongly reddened by absorption within the molecular cloud Lynds 1457 and shows prominent absorption features from the secondary star, from which we determine a spectral type for the secondary of M0V. The secondary contributes     per cent of the K -band light. We derive a visual extinction to XY Ari of     and a distance of     , placing XY Ari behind the molecular cloud.  相似文献   

Short time-scale fluctuations in the difference light curves of QSO 0957+561A,B: microlensing or noise?     

R. Gil-Merino  L. J. Goicoechea  M. Serra-Ricart  A. Oscoz  D. Alcalde  E. Mediavilla 《Monthly notices of the Royal Astronomical Society》2001,322(2):397-410

From optical R -band data of the double quasar QSO 0957+561A,B, we made two new difference light curves (with an overlap of about 330 d between the time-shifted light curve for the A image and the magnitude-shifted light curve for the B image). We observed noisy behaviours around the zero line and no short time-scale events (with a duration of months), where the term 'event' refers to a prominent feature that may be a result of microlensing or another source of variability. Only one event lasting two weeks and rising −33 mmag was found . Measured constraints on the possible microlensing variability can be used to obtain information on the granularity of the dark matter in the main lensing galaxy and the size of the source. In addition, one can also test the ability of the observational noise to cause the rms averages and the local features of the difference signals. We focused on this last issue. The combined photometries were related to a process consisting of an intrinsic signal plus a Gaussian observational noise. The intrinsic signal has been assumed to be either a smooth function (polynomial), a smooth function plus a stationary noise process, or a correlated stationary process . Using these three pictures without microlensing, we derived some models totally consistent with the observations. We finally discussed the sensitivity of our telescope (at Teide Observatory) to several classes of microlensing variability.  相似文献   

Non-linear fluid dynamics of eccentric discs     

G.I. Ogilvie 《Monthly notices of the Royal Astronomical Society》2001,325(1):231-248

A new theory of eccentric accretion discs is presented. Starting from the basic fluid-dynamical equations in three dimensions, I derive the fundamental set of one-dimensional equations that describe how the mass, angular momentum and eccentricity vector of a thin disc evolve as a result of internal stresses and external forcing. The analysis is asymptotically exact in the limit of a thin disc, and allows for slowly varying eccentricities of arbitrary magnitude. The theory is worked out in detail for a Maxwellian viscoelastic model of the turbulent stress in an accretion disc. This generalizes the conventional alpha viscosity model to account for the non-zero relaxation time of the turbulence, and is physically motivated by a consideration of the nature of magnetohydrodynamic turbulence. It is confirmed that circular discs are typically viscously unstable to eccentric perturbations, as found by Lyubarskij, Postnov & Prokhorov, if the conventional alpha viscosity model is adopted. However, the instability can usually be suppressed by introducing a sufficient relaxation time and/or bulk viscosity. It is then shown that an initially uniformly eccentric disc does not retain its eccentricity as had been suggested by previous analyses. The evolutionary equations should be useful in many applications, including understanding the origin of planetary eccentricities and testing theories of quasi-periodic oscillations in X-ray binaries.  相似文献   

Non-linear electrodynamics and the gravitational redshift of highly magnetized neutron stars     

Herman J. Mosquera Cuesta  José M. Salim 《Monthly notices of the Royal Astronomical Society》2004,354(4):L55-L59

  相似文献   

Ion winds in Saturn's southern auroral/polar region     

Tom S Stallard  Steve Miller  Laurence M Trafton  Robert D Joseph 《Icarus》2004,167(1):204-211

We present profiles of the line-of-sight (l.o.s.) ionospheric wind velocities in the southern auroral/polar region of Saturn. Our velocities are derived from the measurement of Doppler shifting of the H₃⁺ν₂Q(1,0⁻) line at 3.953 microns. The data for this study were obtained using the facility high-resolution spectrometer CSHELL on the NASA Infrared Telescope Facility (IRTF) on Mauna Kea, Hawaii, during the night of February 6, 2003 (UT). The l.o.s. velocity profiles finally derived are consistent with an extended region of the upper atmosphere sub-corotating with the planet: the ion velocities in the inertial reference are only 1/3 of those expected for full planetary corotation. We discuss the results in the light of recent proposals for the kronian magnetosphere, and suggest that, in this region, Saturn's ion winds may be under solar wind control.  相似文献   

Age and origin of the lowlands of Mars     

Alberto G Fairén  James M Dohm 《Icarus》2004,168(2):277-284

One of the many significant findings of the Mars Global Surveyor mission is the presence of hundreds of quasi-circular depressions (QCDs) observed from high-resolution MOLA topography data. Their presence has recently been interpreted to reflect a northern lowlands that archive some of the earliest recorded rocks on Mars, mostly below a veneer of Hesperian and Amazonian materials. Here we analyze these data, coupled with a recent synthesis of geologic, geophysical, geomorphic, topographic, and magnetic information. Such analysis allows us to suggest a potential plate tectonic phase during the recorded Early into Middle Noachian martian history that transitioned into a monoplate world with episodic magmatic-driven activity persisting to present. This working hypothesis is based on: (1) the observation that the basement of the northern plains is younger than the basement of the southern highlands, but older than the material exposures of the cratered highlands, suggesting different formational ages for each one of the three geologic-time units; (2) the observation that parts of the very ancient highland's crust are highly magnetized, thus suggesting that most if not all of the formation of the lowlands basement postdates the shut off of the martian dynamo, some 4 Gyr ago, and so allowing hundreds of millions of years for the shaping of the buried lowlands. Consequently, the role of endogenic processes in the earliest geological evolution of Mars (Early perhaps into Middle Noachian) requires reconsideration, since MOLA topographic and MGS magnetic data afford a temporal window sufficient for very early, non-primordial shaping of the northern lowlands' basement.  相似文献   

Iron line profiles in strong gravity     

Kris Beckwith  Chris Done 《Monthly notices of the Royal Astronomical Society》2004,352(2):353-362

  相似文献