Nonlinear adaptive control of an underwater towed vehicle     

Francisco Curado Teixeira  António Pedro Aguiar 《Ocean Engineering》2010,37(13):1193-1220

This paper addresses the problem of simultaneous depth tracking and attitude control of an underwater towed vehicle. The system proposed uses a two-stage towing arrangement that includes a long primary cable, a gravitic depressor, and a secondary cable. The towfish motion induced by wave driven disturbances in both the vertical and horizontal planes is described using an empirical model of the depressor motion and a spring-damper model of the secondary cable. A nonlinear, Lyapunov-based, adaptive output feedback control law is designed and shown to regulate pitch, yaw, and depth tracking errors to zero. The controller is designed to operate in the presence of plant parameter uncertainty. When subjected to bounded external disturbances, the tracking errors converge to a neighbourhood of the origin that can be made arbitrarily small. In the implementation proposed, a nonlinear observer is used to estimate the linear velocities used by the controller thus dispensing with the need for costly sensor suites. The results obtained with computer simulations show that the controlled system exhibits good performance about different operating conditions when subjected to sea-wave driven disturbances and in the presence of sensor noise. The system holds promise for application in oceanographic missions that require depth tracking or bottom-following combined with precise vehicle attitude control.  相似文献   

Guiding ecological principles for marine spatial planning     

Melissa M. Foley  Benjamin S. Halpern  Fiorenza Micheli  Matthew H. Armsby  Margaret R. Caldwell  Caitlin M. Crain  Erin Prahler  Nicole Rohr  Deborah Sivas  Michael W. Beck  Mark H. Carr  Larry B. Crowder  J. Emmett Duffy  Sally D. Hacker  Karen L. McLeod  Stephen R. Palumbi  Charles H. Peterson  Helen M. Regan  Mary H. Ruckelshaus  Paul A. Sandifer  Robert S. Steneck 《Marine Policy》2010

The declining health of marine ecosystems around the world is evidence that current piecemeal governance is inadequate to successfully support healthy coastal and ocean ecosystems and sustain human uses of the ocean. One proposed solution to this problem is ecosystem-based marine spatial planning (MSP), which is a process that informs the spatial distribution of activities in the ocean so that existing and emerging uses can be maintained, use conflicts reduced, and ecosystem health and services protected and sustained for future generations. Because a key goal of ecosystem-based MSP is to maintain the delivery of ecosystem services that humans want and need, it must be based on ecological principles that articulate the scientifically recognized attributes of healthy, functioning ecosystems. These principles should be incorporated into a decision-making framework with clearly defined targets for these ecological attributes. This paper identifies ecological principles for MSP based on a synthesis of previously suggested and/or operationalized principles, along with recommendations generated by a group of twenty ecologists and marine scientists with diverse backgrounds and perspectives on MSP. The proposed four main ecological principles to guide MSP—maintaining or restoring: native species diversity, habitat diversity and heterogeneity, key species, and connectivity—and two additional guidelines, the need to account for context and uncertainty, must be explicitly taken into account in the planning process. When applied in concert with social, economic, and governance principles, these ecological principles can inform the designation and siting of ocean uses and the management of activities in the ocean to maintain or restore healthy ecosystems, allow delivery of marine ecosystem services, and ensure sustainable economic and social benefits.  相似文献   

乡镇规划制图的探讨     

刘艳芳 《武汉大学学报(信息科学版)》1988,(1)

本文对地图制图如何为城乡规划与建设服务进行了初步探讨。重点放在乡镇规划图的选题上,应从点和面两个不同方面进行考虑。  相似文献   

A comprehensive approach to drought and desertification in Northern Nigeria     

E. O. Oladipo 《Natural Hazards》1993,8(3):235-261

Drought has been a recurring feature of the arid and semi-arid areas of Nigeria. This paper reviews the extent, severity, and consequences of drought and desertification in Nigeria with particular emphasis on the northern part of the country. The haphazard manner in which these environmental hazards have been tackled is examined and a systematic approach for the formulation of a national policy is proposed. It is recommended that a detailed formulation and implementation of the proposed policy plan is imperative to mitigate the often devastating impacts of drought and desertification in the very prone areas of Nigeria. Until such is done, some areas of Nigeria will always be vulnerable to the whims of an inevitable climatic hazard of drought and associated land degradation in the form of desertification.  相似文献   

中国水质站网规划中几个问题的探讨          下载免费PDF全文

赵海瑞  秦福兴 《水科学进展》1993,4(1):63-68

在完成中国水质站网规划工作的基础上,对下列问题作了进一步探讨:(1)水质站网规划单元的划分;(2)聚类分析在水质站网规划中的应用;(3)站网密度与人口和经济发展的关系;(4)中国水质站网的分区特征。  相似文献   

地理信息系统支持区域土地利用决策的研究   总被引：31，自引：1，他引：31  

黄杏元  倪绍祥 《地理学报》1993,48(2):114-121

本文以江苏省溧阳县为例,研究地理信息系统技术在区域土地利用多目标规划中的应用,着重探讨地理信息系统支持的区域土地利用决策原理和方法。研究表明,在地理信息系统的支持下,通过单项适宜性评价模型和生产布局决策模型的建立与运行,可以有效地进行研究区合理的土地利用布局和为区域土地管理提供依据。  相似文献   

对我国国土规划几个主要问题的重新认识   总被引：4，自引：2，他引：4  

凡杰 《地理研究》1993,12(1):56-63

本文基于对我国国土规划近十年实践中所反映的问题的分析,阐述了应改变国土规划的基本性质、以空间结构布局为其核心内容,以及国土规划一般不宜在市域或地区及以下地域层次开展的观点,进而就国土规划特性新的内涵、国土规划的内容重点等问题进行了初步探讨。  相似文献   

巴黎大都市区商业的发展及其新近的变化   总被引：1，自引：1，他引：1  

Metton  A 江洪良 《地理研究》1993,12(3):114-118

阐述了近二十年来巴黎大都市区商业所经历的巨大增长和迅速变化。  相似文献   

近代回归分析在交通调查分析建模中的应用     

杨仁  王冬根 《武汉大学学报(信息科学版)》1990,(3)

本文以出行发生量模型的建立为例,较为系统地讨论了近代回归分析中的自变量选择及回归诊断方法在交通调查分析建模中的应用。分析了在获取调查数据后,如何借助回归自变量选择方法来选择最佳自变量子集,以确定简捷的回归模型;文中应用回归诊断方法,讨论了修正回归模型、探测错误的调查数据的方法,从而为建立简捷、高精度的交通模型打下了基础。最后,作者提出了应用自变量选择及回归诊断方法建立出行发行量模型的一般步骤。  相似文献   

Mine ventilation planning in the 1980s   总被引：1，自引：0，他引：1  

Malcolm J. Mcpherson 《Geotechnical and Geological Engineering》1984,2(3):185-227

Conclusions In this paper, the author has attempted to trace the development of mine ventilation planning from the traditional, manual and largely empirical methods of the past to the numerate computer-based techniques of the 1980s.The computer revolution has changed the face of many engineering disciplines, not least mine environmental engineering. Nevertheless, the mining industries of the world have not all been equally progressive in adapting to the flexibility, power and practical utilization of the new methodologies. It is, for example, incongruous that current textbooks on mine ventilation separate completely the topics of network analysis and ventilation planning with very little cross-referencing. Many of the current generation of mine ventilation engineers recognize the need to know about computers but find difficulty in translating this into their daily work. The growing availability of self-teaching, friendly software for personal microcomputers, coupled with interactive graphics, will assist greatly in promoting uncomplicated but powerful usage of computers.Young engineers now graduating from universities and colleges have been brought up in a computer-oriented environment and are competent in interacting with these machines. Indeed, they wonder how the job was ever done without magnetic data bases and high-speed computation aid.  相似文献