Formation control of multiple underwater vehicles subject to communication faults and uncertainties     

《Applied Ocean Research》2019

This paper proposes a novel approach to analyze and design the formation keeping control protocols for multiple underwater vehicles in the presence of communication faults and possible uncertainties. First, we formulate the considered vehicle model as the Port-controlled Hamiltonian form, and introduce the spring-damping system based formation control. Next, the dynamics of multiple underwater vehicles under uncertain relative information is reformulated as a network of Lur’e systems. Moreover, the agents under unknown disturbances generated by an external system are considered, where the internal model is applied to tackle the uncertainties, which still can be regulated as the Lur’e systems. In each case, the formation control is derived from solving LMI problems. Finally, a numerical example is introduced to illustrate the effectiveness of the proposed theoretical approach.  相似文献   

南海东北部内潮的模态结构和传播     

刘倩  谢晓辉  尚晓东  陈桂英  汪宏 《海洋学报(英文版)》2019,38(9):12-23

The evolution of energy, energy flux and modal structure of the internal tides(ITs) in the northeastern South China Sea is examined using the measurements at two moorings along a cross-slope section from the deep continental slope to the shallow continental shelf. The energy of both diurnal and semidiurnal ITs clearly shows a～14-day spring-neap cycle, but their phases lag that of barotropic tides, indicating that ITs are not generated on the continental slope. Observations of internal tidal energy flux suggest that they may be generated at the Luzon Strait and propagate west-northwest to the continental slope in the northwestern SCS. Because the continental slope is critical-supercritical with respect to diurnal ITs, about 4.6 kJ/m~2 of the incident energy and 8.7 kW/m of energy flux of diurnal ITs are reduced from the continental slope to the continental shelf. In contrast, the semidiurnal internal tides enter the shelf because of the sub-critical topography with respect to semidiurnal ITs.From the continental slope to the shelf, the vertical structure of diurnal ITs shows significant variation, with dominant Mode 1 on the deep slope and dominant higher modes on the shelf. On the contrary, the vertical structure of the semidiurnal ITs is stable, with dominant Mode 1.  相似文献   

Limitations of suction‐controlled triaxial tests in the characterization of unsaturated soils          下载免费PDF全文

X. Zhang 《国际地质力学数值与分析法杂志》2016,40(2):269-296

Behavior of unsaturated soils is influenced by many factors, and the influences of these factors are usually coupled together. Suction‐controlled triaxial (SCTX) tests are considered to allow researchers to investigate influences of individual variables on unsaturated soils under specified stress path with controls of stresses, pore water, and air pressures. In the past 50 years, SCTX testing method has been established as a standard approach to characterize constitutive behavior of unsaturated soils. Most important concepts for modern unsaturated soil mechanics were developed upon results from the SCTX tests. Among these, one of the most important contributions in the constitutive modeling of elasto‐plastic behavior for unsaturated soils is the Barcelona basic model (BBM) proposed by Alonso et al. in 1990. The BBM successfully explained many features of unsaturated soils and received extensive acceptance. However, the SCTX tests are designed based upon the divide‐and‐conquer approach in which an implicit assumption is used: soil behavior is stress‐path independent. However, it is well‐established that unsaturated soil behavior is elasto‐plastic and stress‐path dependent. It is found that the SCTX tests in fact cannot control the stress path of an unsaturated soil during loading. This incapability, in combination with complicated loading/collapse behavior of unsaturated soils, makes the SCTX tests for characterizing unsaturated soil questionable. This paper discusses the limitations of the SCTX tests in the characterization of unsaturated soils. A possible solution to the problem was proposed based on a newly developed modified state surface approach. The discussions are limited for isotropic conditions. Copyright © 2015 John Wiley & Sons, Ltd.  相似文献   

Drainage conditions around monopiles in sand     

《Applied Ocean Research》2019

Large diameter monopiles are typical foundation solutions for offshore wind turbines. In design of the monopile foundations in sand, it is necessary to understand the drainage conditions of the foundation soil under the design loading conditions as the soil performance (strength and stiffness) is highly dependent on the drainage conditions. This paper presents a numerical investigation into this issue, with a purpose to develop a simple design criterion for assessing the soil drainage conditions around a monopile in sand. It is found that for typical monopile foundations in sand, the drainage condition during a single load cycle is generally expected to be undrained. However, the current state-of-practice uses p-y springs derived for drained soil responses for monopile design. The impact of this discrepancy on monopile foundation design was evaluated and found to be insignificant due to the relatively low level of loading as compared to the capacity of the soil.  相似文献   

联合GPS和GRACE数据分析陕甘宁地区地表垂直形变     

郭飞霄  谷延超  崔阳  孙中苗 《大地测量与地球动力学》2020,40(7):697-703

采用甘肃省CORS网和中国大陆构造环境监测网络中共48个台站的GPS观测数据，解算得到观测台站的垂直位移，并与GRACE时变重力场Mascon模型解CSR RL05M数据计算得到的垂直形变进行比较，分析区域地表垂直形变特征。结果表明，研究区内台站垂直形变存在局部特征，甘肃庆阳和平凉地区垂直形变与其他地区存在明显差异，相关系数、均方根减少量和周年信号减少量均高于其他地区；扣除趋势项后，观测台站GPS垂直位移与GRACE垂直形变时间序列相关系数均值为0.72，GPS和GRACE周年信号振幅均值分别为6.00 mm和3.70 mm，周年信号减少量和均方根误差减少量均值分别为0.51和0.29；研究区内GPS垂直位移和GRACE垂直形变时间序列一致性较强，GRACE垂直形变能有效解释50%以上的GPS垂直位移周年信号，GPS垂直位移时间序列包含的非构造形变中平均约29%来源于环境负载变化所引起的负荷形变。  相似文献   

基于多源卫星遥感数据的安达曼海及其邻近海域内波分布特征分析          下载免费PDF全文

王隽  杨劲松  周礼英  贺双颜  贺治国  肖清梅  刘安国  许明光 《海洋学研究》2019,37(3):1-11

安达曼海是内波频繁发生的海区之一,对其内波的研究是当今海洋研究的热点。本文利用2013—2016年间覆盖整个安达曼海的3 000多幅Terra/Aqua MODIS、GF-1、Landsat-8、Sentinel-1 等卫星遥感图像,从中提取和解译了内波波列线和波向信息,得到安达曼海海洋内波的时间分布特征,并绘制了内波空间分布图。结果表明,安达曼海及其邻近海域内波主要出现在4个区域:苏门答腊岛以北海域、安达曼海中部海域、安达曼海北部海域以及尼科巴群岛以西海域,尺度较大的内波主要分布在苏门答腊岛以北海域和安达曼海中部海域。在时间分布上,2013—2016年间安达曼海内波的年发生次数相近;在热季、雨季及冬季遥感都能观测到内波的发生;2-4月遥感观测到的内波最多,其次为8、9月,7月遥感观测到的内波较少,这可能是由于雨季光学影像受云影响,安达曼海海域晴空影像过少造成,还需要借助更多的遥感影像进一步证明。在波向上,安达曼海多数内波向岸传播,在苏门答腊岛北部、安达曼海中部海域,内波向东或向东南传播;在安达曼群岛东部,内波向东传播,传播一定距离后与海底地形交互作用,一部分继续向前传播,一部分产生反射,向西南方向传播至安达曼群岛;在尼科巴群岛以西海域,内波由尼科巴群岛向孟加拉湾传播。  相似文献   

A hydropedological approach to simulate streamflow and soil water contents with SWAT+     

Johan van Tol  Katrin Bieger  Jeffrey G. Arnold 《水文研究》2021,35(6):e14242

Reflecting internal catchment hydrological processes in hydrological models is important for accurate predictions of the impact of climate and land-use change on water resources. Characterizing these processes is however difficult and expensive due to their dynamic nature and spatio-temporal variability. Hydropedology is a relatively new discipline focusing on the synergistic integration of hydrology, soil physics and pedology. Hydropedological interpretations of soils and soil distribution can be used to characterize key hydrological processes, especially in areas with no or limited hydrometric measurements. Here we applied a hydropedological approach to reflect flowpaths through detailed routing in SWAT+ for a 157 ha catchment (Weatherley) in South Africa. We compared the hydropedological approach and a standard (no routing) approach against measured streamflow (two weirs) and soil water contents (13 locations). The catchment was treated as ‘ungauged’ and the model was not calibrated against hydrometric measurements in order to determine the direct contribution of hydropedology on modelling efficiency. Streamflow was predicted well without calibration (NSE > 0.8; R² > 0.82) for both approaches at both weirs. The standard approach yielded slightly better streamflow predictions. The hydropedological approach resulted in considerable improvements in the simulation of soil water contents (R² increased from 0.40 to 0.49 and PBIAS decreased from 40% to 20%). The routing capacity of SWAT+ as employed in the hydropedological approach reduced the underestimation of wetland water regimes drastically and resulted in a more accurate representation of the dominant hydrological processes in this catchment. We concluded that hydropedology can be a valuable source of ‘soft data’ to reflect internal catchment structure and processes and, potentially, for realistic calibrations in other studies, especially those conducted in areas with limited hydrometric measurements.  相似文献   

利用多源高度计资料提取南海低模态内潮能量     

马静怡  徐永生 《海洋与湖沼》2018,49(6):1169-1177

吕宋海峡由于剧烈变化的地形成为内潮产生的源地,内潮是海洋混合的重要原因。为了认知南海的内潮能通量分布,对南海的内潮有更好的理解,本文利用21世纪以来发射的多颗高度计卫星:J2、J1T、GFO以及EN,提取了吕宋海峡附近内潮的能通量。研究使用了调和分析和高通滤波等方法来提取第一模态内潮,主要提取K_1,K_2,M_2,N_2,O_1,P_1,Q_1和S_2八个分潮。同时结合WOA数据对能通量进行计算。结果表明,目标区域潮汐以全日分潮为主,所选区域的全日分潮中K_1所占比例最大;半日分潮中M_2分潮最强,而内潮的能通量则是M_2分潮所占最大,在吕宋海峡区域M_2能通量为6.45GW。内潮主要产生在地形变化剧烈的地方,海域的大部分地区内潮能量很小。在吕宋海峡中部,全日分潮能通量要小于南部地区,而半日分潮则有较大值。  相似文献   

Sensitive and rapid detection of two toxic microalgae Alexandrium by loop-mediated isothermal amplification     

ZHANG Fengying  SHI Yanhong  JIANG Keji  XU Zhaoli  MA Lingbo 《海洋学报(英文版)》2018,37(2):139-146

A loop-mediated isothermal amplification (LAMP) assay was designed and evaluated for rapid detection of the toxic microalgae Alexandrium catenella and A. minutum, which can produce paralytic shellfish poisoning (PSP). Two sets of four specific primers targeting these two species were derived from the sequence of internal transcribed spacer (ITS) of ribosomal DNA. The method worked well in less than an hour under isothermal conditions of 65℃. LAMP specificity was validated in closely related algae as a comparison, suggesting the strict specificity of the LAMP primers. Two visual inspection approaches were feasible to interpret the positive or negative results. The detection limits of A. catenella and A. minutum samples using the LAMP assay were found to be 5.6 and 4.5 pg DNA, respectively. The sensitivity of this LAMP assay was 10 or 100-fold higher than Polymerase Chain Reaction (PCR) method in detecting the two microalgae. These characteristics of species specificity, sensitivity, and rapidity suggest that this method has the potentiality in the monitoring of red tide caused by A. catenella and A. minutum.  相似文献   

HHT-EEMD用于IGS站高程时间序列分析     

施闯  牛玉娇  魏娜  楼益栋  张双成 《大地测量与地球动力学》2018,38(7):661-667

利用经验模态分解（EMD）和整体经验模态分解（EEMD）方法，将BJFS站2000~2015年高程时间序列进行分解，发现其不仅存在1 a、0.5 a、0.25 a、2个月、1个月以及长周期等周期项，还存在以往方法很难探测出来的近似2 a周期信号。与EMD分解结果对比，整体经验模态分解可以明显减弱模式混叠现象。对各分量进行Hilbert 变换（HHT），得到时间-频率-能量的Hilbert 频谱图。结果表明，年周期和2 a周期变化是高程运动的主要贡献项。利用小波变换方法对比验证EEMD的分解结果表明，与小波分析相比，EEMD重构信号与高程序列差异的RMS更小，证明了HHT-EEMD方法在数据资料分析过程中的有效性。对环境负载及GRACE负载造成的测站位移进行功率谱分析得出，环境负载确实会造成IGS站高程时间序列的1 a、0.5 a以及季节性运动，GRACE负载还验证了2 a信号的存在。  相似文献