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   

Lightning optical pulse statistics from storm overflights during the Altus Cumulus Electrification Study   总被引：2，自引：0，他引：2  

D.M. Mach  R.J. Blakeslee  J.C. Bailey  W.M. Farrell  R.A. Goldberg  M.D. Desch  J.G. Houser 《Atmospheric Research》2005,76(1-4):386

The Altus Cumulus Electrification Study (ACES) was conducted during the month of August 2002 in an area near Key West, Florida. One of the goals of this uninhabited aerial vehicle (UAV) study was to collect time resolved optical pulse data from thunderstorms. During the month long campaign, we acquired 5256 lightning generated optical pulses. Most of these observations were made while quite close to the top of the storms. We divided our data into two amplitude groups based on prior NASA U2 aircraft optical data and the pulse characteristics. The group of strong pulses with radiance greater than 2.1 mW m^{− 2} sr^{− 1} had mean and median 10–10% optical pulse widths of 770 and 740 μs, respectively, 50–50% pulse widths of 399 and 355 μs, respectively, and 10–90% risetimes of 292 and 260 μs. These values are very similar to the previous U2 based optical results The other group of pulses consisting of slightly more than a quarter of the total pulses observed had radiances less than the minimum values detected in the U2 study. These weak pulses were narrower than the strong pulses with 50–50% mean and median values of 199 and 160 μs, respectively. Only 12% of the flashes observed contained only weak pulses. The source of these weak pulses is unknown, but we suspect that some are artifacts of the close proximity of the aircraft to cloud top.  相似文献   

内蒙古乌达地区地球物理场特征与地下煤火分布     

王卫平  于长春  方迎尧  万建华  肖刚毅  吴成平 《物探与化探》2007,31(6):551-555

以2004年内蒙古乌达地区1:5000大比例尺的直升机航空电磁、磁综合测量资料为基础,结合地面煤田地质、物探、遥感等资料,对内蒙古乌达地区的航空磁场特征、航空电磁场特征与地下煤火分布的关系进行了分析与研究,在综合分析的基础上,建立了该区的地下煤火划分标志,并对该区的地下煤火分布和燃烧状况进行了分析和圈定.  相似文献   

Elastic waves in visco-elastic half-space generated by various vehicle loads   总被引：2，自引：0，他引：2  

H. -H. Hung  Y. -B. Yang   《Soil Dynamics and Earthquake Engineering》2001,21(1):1

In this paper, the response of a visco-elastic half-space subjected to moving loads with static and dynamic components is investigated. Four types of vehicle loads are considered, including the moving point load, uniformly distributed wheel load, elastically distributed wheel load, and a train load simulated as a sequence of elastically distributed wheel loads. In each case, the influence of the moving loads traveling in the subsonic, transonic and supersonic ranges on the dynamic responses of the half-space is studied. The parametric study conducted herein enables us to grasp insight into the mechanism of wave propagation for a visco-elastic half-space under moving loads.  相似文献   

机车车辆滚动振动试验台的精密测量     

岑敏仪  唐恩利 《四川测绘》1995,18(1):34-38

本文针对国家重点牵引力动力实验室的机车车辆整车滚动振动试验台的特点，探讨了一套适合试验台安装和养护的精密测量方法，实践证明，这套方法能满足试验台安装所需的精度要求。  相似文献   

Using unmanned underwater vehicles as research platforms in coastal ocean studies     

Kendall L.Carder  David K.Costello 《中国海洋大学学报(英文版)》2003,2(2):211-217

The advantages of using unmanned underwater vehicles in coastal ocean studies are emphasized. Two types of representative vehicles, remotely operated vehicle (ROV) and autonomous underwater vehicle (AUV) from University of South Florida, are discussed. Two individual modular sensor packages designed and tested for these platforms and field measurement results are also presented. The bottom classification and albedo package, BCAP, provides fast and accurate estimates of bottom albedos, along with other parameters such as in-water remote sensing reflectance. The real-time ocean bottom optical topographer, ROBOT, reveals high-resolution 3-dimentional bottom topography for target identification. Field data and results from recent Coastal Benthic Optical Properties field campaign, 1999 and 2000, are presented. Advantages and limitations of these vehicles and applications of modular sensor packages are compared and discussed.  相似文献   

GPS车载导航的交互式多模型算法     

王忠军 《测绘学院学报》2009,(3)

GPS动态定位数据的处理广泛采用卡尔曼滤波技术,而应用卡尔曼滤波要求运动模型准确可靠,但由于载体真实运动的复杂多变,任何单一模型都难以全面描述,致使单一模型的滤波都容易出现模型误差。针对这一问题,将机动目标跟踪领域广泛应用的交互式多模型算法引入到车载导航中。通过分析车辆的运动特点,选取匀速直线模型和当前统计模型进行交互;同时考虑到车载终端计算能力有限,将状态变量在各方向解耦。仿真显示,在机动时改进的算法和单一模型的自适应算法基本相当,但在非机动时改进的算法明显占优。  相似文献   

In-situ survey of nanomolar manganese in seawater using an autonomous underwater vehicle around a volcanic crater at Teishi Knoll,Sagami Bay,Japan     

Takashi Doi  Michiaki Takano  Kei Okamura  Tamaki Ura  Toshitaka Gamo 《Journal of Oceanography》2008,64(3):471-477

We present the results of a chemical survey at a submarine volcano, Teishi Knoll, obtained using a submersible in-situ Mn analyzer (GAMOS) mounted on an autonomous underwater vehicle (AUV) platform. During this survey, high-resolution data of dissolved Mn were obtained in three dimensions in nearly real time. The AUV enabled continuous detailed observations along a preprogrammed pathway, which could not have been performed with conventional CTD hydrocasts. During this observation, anomalously high dissolved Mn concentrations were obtained within the crater, corresponding to high water temperatures. The anomalies might be a hydrothermal signature due to volcanic activity from the crater.  相似文献   

Vision-based tracking with projective mapping for parameter identification of remotely operated vehicles     

Hsin-Hung Chen   《Ocean Engineering》2008,35(10):983-994

Parameter identification of a remotely operated vehicle (ROV) is often based on the dynamic responses collected by its onboard sensors. However, for commercial ROVs, the required data for identification may not be available due to the absence of suitable sensors or limitations in accessing onboard sensor data. Therefore, this study proposes a vision-based tracking system to measure the dynamic response of an ROV. The tracking system is independent of the ROV, and is able to localize an ROV to a high degree of precision by means of projective mapping. The validity of the proposed tracking system is demonstrated through identification of a commercial ROV. A simplified nonlinear ROV dynamic model with six degrees of freedom (DOF) is used for identification. Uncoupled motions, including surge, sway, and yaw, are obtained from the ROV dynamic model, and the corresponding experiments are carried out for each DOF. Hydrodynamic parameters are then estimated with numerical optimizations by comparing the measured ROV responses with the output of the mathematical model. The experimental results show that the vision-based tracking system can accurately measure the transient and steady-state responses of an ROV. Additionally, the simulations of the ROV dynamic model, with the optimal parameter estimates, give results in agreement with the measured data.  相似文献   

深海潜器耐压圆柱壳结构计算和校核方法研究   总被引：1，自引：0，他引：1  

潘治 《海洋技术学报》2008,27(2):83-87

文中比较了中美两国潜器规范中各特征量的计算方法和校核准则,分析了异同点,并给出数值算例。针对潜器特性,对目前我国潜器规范中可能需要修改的地方进行了初步分析。  相似文献