Experimental Study of a Command Governor Adaptive Depth Controller for an Unmanned Underwater Vehicle     

《Applied Ocean Research》2019

Unmanned Underwater Vehicles (UUVs) are increasingly being used in advanced applications that require them to operate in tandem with human divers and around underwater infrastructure and other vehicles. These applications require precise control of the UUVs which is challenging due to the non-linear and time varying nature of the hydrodynamic forces, presence of external disturbances, uncertainties and unexpected changes that can occur within the UUV’s operating environment. Adaptive control has been identified as a promising solution to achieve desired control within such dynamic environments. Nevertheless, adaptive control in its basic form, such as Model Reference Adaptive Control (MRAC) has a trade-off between the adaptation rate and transient performance. Even though, higher adaptation rates produce better performance they can lead to instabilities and actuator fatigue due to high frequency oscillations in the control signal. Command Governor Adaptive Control (CGAC) is a possible solution to achieve better transient performance at low adaptation rates. In this study CGAC has been experimentally validated for depth control of a UUV, which is a unique challenge due to the unavailability of full state measurement and a greater thrust requirement. These in turn leads to additional noise from state estimation, time-delays from input noise filters, higher energy expenditure and susceptibility to saturation. Experimental results show that CGAC is more robust against noise and time-delays and has lower energy expenditure and thruster saturation. In addition, CGAC offers better tracking, disturbance rejection and tolerance to partial thruster failure compared to the MRAC.  相似文献   

Revisiting the existence of an effective stress for wet granular soils with micromechanics          下载免费PDF全文

Jérôme Duriez  Richard Wan  Mehdi Pouragha  Félix Darve 《国际地质力学数值与分析法杂志》2018,42(8):959-978

A possible effective stress variable for wet granular materials is numerically investigated based on an adapted discrete element method (DEM) model for an ideal three‐phase system. The DEM simulations consider granular materials made of nearly monodisperse spherical particles, in the pendular regime with the pore fluid mixture consisting of distinct water menisci bridging particle pairs. The contact force‐related stress contribution to the total stresses is isolated and tested as the effective stress candidate for dense or loose systems. It is first recalled that this contact stress tensor is indeed an adequate effective stress that describes stress limit states of wet samples with the same Mohr‐Coulomb criterion associated with their dry counterparts. As for constitutive relationships, it is demonstrated that the contact stress tensor used in conjunction with dry constitutive relations does describe the strains of wet samples during an initial strain regime but not beyond. Outside this so‐called quasi‐static strain regime, whose extent is much greater for dense than loose materials, dramatic changes in the contact network prevent macroscale contact stress‐strain relationships to apply in the same manner to dry and unsaturated conditions. The presented numerical results also reveal unexpected constitutive bifurcations for the loose material, related to stick‐slip macrobehavior.  相似文献   

Dynamic modelling of retrogressive landslides with emphasis on the role of clay sensitivity          下载免费PDF全文

Xue Zhang  Scott W. Sloan  Eugenio Oñate 《国际地质力学数值与分析法杂志》2018,42(15):1806-1822

This paper presents a detailed numerical study of the retrogressive failure of landslides in sensitive clays. The dynamic modelling of the landslides is carried out using a novel continuum approach, the particle finite element method, complemented with an elastoviscoplastic constitutive model. The multiwedge failure mode in the collapse is captured successfully, and the multiple retrogressive failures that have been widely observed in landslides in sensitive clays are reproduced with the failure mechanism, the kinematics, and the deposition being discussed in detail. Special attention has been paid to the role of the clay sensitivity on each retrogressive failure as well as on the final retrogression distance and the final run‐out distance via parametric studies. Moreover, the effects of the viscosity of sensitive clays on the failure are also investigated for different clay sensitivities.  相似文献   

全球气候变化下南海诸岛保护优先区识别分析   总被引：3，自引：1，他引：2  

左秀玲  苏奋振  张宇  吴文周  吴迪 《地理学报》2020,75(3):647-661

全球变化下,珊瑚礁保护区是保护生物多样性、增强珊瑚礁对气候变暖抵抗力的有效方式,而维持珊瑚礁弹性是其核心内容。针对珊瑚礁最具有威胁性的热压力因子,基于南海1982—2009年卫星观测海表面温度（SST）数据和CMIP5加拿大地球系统模式CanESM2模型预估的2006—2100年南海SST数据构建热压力强度模型,从维持珊瑚礁弹性的角度识别IPCC RCP 4.5和RCP 8.5情景下南海诸岛保护优先区。结果表明：RCP 4.5和RCP 8.5情景下13%左右的南海诸岛珊瑚礁识别为保护优先区。根据热压力强度与珊瑚抵抗力及避难所关系,西沙群岛七连屿和晋卿岛近年观测与未来预估的热压力强度均比较低,在保障其服务功能的基础上建议实施完全保护;东沙群岛东沙环礁和中沙环礁排洪滩近年观测急性热压力强度较高但未来预估热压力强度较低,建议实施50%禁止利用保护;中沙群岛黄岩岛近年观测和未来预估的急性热压力强度均比较低,建议实施50%多用途保护。南沙群岛有14%左右的珊瑚礁识别为保护优先区,根据其热压力强度可实施30%~100%禁止利用保护或30%~50%多用途保护。RCP 4.5和RCP 8.5情景下的南海诸岛保护优先区及保护对策,可为维持珊瑚礁生态弹性及应对全球气候变化提供重要的参考价值。  相似文献   

The Upper Devonian Kellwasser event recorded in a regressive sequence from inner shelf to lagoonal pond,Catalan Coastal Ranges,Spain     

《Sedimentology》2018,65(6):2055-2087

This study, conducted in the Catalan Coastal Ranges, north‐east Spain, describes the Upper Devonian Kellwasser event in a shallowing‐upward sequence of black shales, siltstones and quartz arenites. This sequence was deposited in a progradational and regressive coastal system where the sedimentary environment evolved from the inner shelf to a lagoonal pond located landward of the shoreline. Three anomalous succeeding steps have been identified by geochemical analysis. The first one, detected on the inner shelf, was characterized by oxygen depletion and high organic productivity. The second, detected in the nearshore, was caused by hydrothermal activity occurring under normal oxic conditions. The third and most intense step was identified in the muds of the lagoonal pond and has been linked to strong anoxic conditions, elevated clastic input derived from changes in the weathering regime at the source area and moderate hydrothermal activity. The Kellwasser event is thus defined in the study area as stepwise and multi‐causal. This is the first time that the Kellwasser event has been identified in a sedimentary environment behind the shoreline. It is also the first time that it has been reported in the Catalan Coastal Ranges.  相似文献   

A multiscale work-analysis approach for geotechnical structures     

Hao Xiong  Zhen-Yu Yin  François Nicot 《国际地质力学数值与分析法杂志》2019,43(6):1230-1250

This paper presents a second-order work analysis in application to geotechnical problems by using a novel effective multiscale approach. To abandon complicated equations involved in conventional phenomenological models, this multiscale approach employs a micromechanically-based formulation, in which only four parameters are involved. The multiscale approach makes it possible a coupling of the finite element method (FEM) and the micromechanically-based model. The FEM is used to solve the boundary value problem (BVP) while the micromechanically-based model is utilized at the Gauss point of the FEM. Then, the multiscale approach is used to simulate a three-dimensional triaxial test and a plain-strain footing. On the basis of the simulations, material instabilities are analyzed at both mesoscale and global scale. The second-order work criterion is then used to analyze the numerical results. It opens a road to interpret and understand the micromechanisms hiding behind the occurrence of failure in geotechnical issues.  相似文献   

EFFECTS OF FISH OIL,DHA OIL AND LECITIHIN IN MICROPARTICULATE DIETS ON STRESS TOLERANCE OF LARVAL GILTHEAD SEABREAM（SPARUS AURATA）     

刘镜恪王文琪  李岿然雷霁霖 《中国海洋湖沼学报》2002,20(4):338-343

The effects of natural fish oil,DHA oil and soybean lecithin in microparticulate diets on stress tolerance of larval gilthead seabream(Sparus aurata)were investigated after 15 days feeding trials.The tolerance of larval gilthead seabream to various stress factors such as exposure to air(lack of dissolved oxygen),changes in water temperature(low)and salinity(high) were determined.This study showed that microparticulate diet with natural fish oil and soybean lecithin was the most effective for in-creasing the tolerance of larval gilthead seabream to various stresses,and that microparticulate diet with natural fish oil and palmitic acid(16:0)was more effective than microparticulate diet with DHA oil and soybean lecithin.  相似文献   

Heat-shock protein 70 expression in shrimp Fenneropenaeus chinensis during thermal and immune-challenged stress   总被引：4，自引：0，他引：4  

郭振宇焦传珍  相建海 《中国海洋湖沼学报》2004,22(4):386-391

Using western immunoblotting, we obtained heat-shock protein 70 (HSP70) induction data and distribution in different tissues from shrimp Fenneropenaeus chinensis during thermal and immune-challenged stresses. This is probably the first report of the effects of various stressors on the expression of HSP70 in shrimp.HSP70 was prominently induced in hepatopancreas and gills, but not in muscle, eyestalk and hemolymph, when the shrimp were exposed to heat shock and Vibrio anguillavium-challenged stresses. Cold shock and WSSV treatment had no significant effects on the levels of HSP70 expression in all tissues examined. HSP70 induction was greatest after 2 h exposure to heat shock stress, which was elevated after acute heat shock exposure of 10℃ above ambient temperature.  相似文献   

Application of micropolar plasticity to post failure analysis in geomechanics     

Majid T. Manzari 《国际地质力学数值与分析法杂志》2004,28(10):1011-1032

A micropolar elastoplastic model for soils is formulated and a series of finite element analyses are employed to demonstrate the use of a micropolar continuum in overcoming the numerical difficulties encountered in application of finite element method in standard Cauchy–Boltzmann continuum. Three examples of failure analysis involving a deep excavation, shallow foundation, and a retaining wall are presented. In all these cases, it is observed that the length scale introduced in the polar continuum regularizes the incremental boundary value problem and allows the numerical simulation to be continued until a clear collapse mechanism is achieved. The issue of grain size effect is also discussed. Copyright © 2004 John Wiley & Sons, Ltd.  相似文献   

浅谈项目投资失败的原因及对策     

梁宗念 《南方国土资源》2002,15(2):69-72

地勘单位在向企业化经营转变的过程中 ,投资兴办了许多企业 ,但不少项目以失败告终。文章分析探讨了失败的原因 ,并提出相应的对策  相似文献