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   

Effects of the geometry of two‐dimensional fractures on their hydraulic aperture and on the validity of the local cubic law          下载免费PDF全文

Ahmad Hajjar  Luc Scholtès  Constantin Oltéan  Michel Antoine Buès 《水文研究》2018,32(16):2510-2525

Flow through rough fractures is investigated numerically in order to assess the validity of the local cubic law for different fracture geometries. Two‐dimensional channels with sinusoidal walls having different geometrical properties defined by the aperture, the amplitude, and the wavelength of the walls' corrugations, the corrugations asymmetry, and the phase shift between the two walls are considered to represent different fracture geometries. First, it is analytically shown that the hydraulic aperture clearly deviates from the mean aperture when the walls' roughness, the phase shift, and/or the asymmetry between the fracture walls are relatively high. The continuity and the Navier–Stokes equations are then solved by means of the finite element method and the numerical solutions compared to the theoretical predictions of the local cubic law. Reynolds numbers ranging from 0.066 to 66.66 are investigated so as to focus more particularly on the effect of flow inertial effects on the validity of the local cubic law. For low Reynolds number, typically less than 15, the local cubic law properly describes the fracture flow, especially when the fracture walls have small corrugation amplitudes. For Reynolds numbers higher than 15, the local cubic law is valid under the conditions that the fracture presents a low aspect ratio, small corrugation amplitudes, and a moderate phase lag between its walls.  相似文献   

Secular dynamics of multiplanetary circumbinary systems: stationary solutions and binary-planet secular resonance     

Eduardo Andrade-Ines  Philippe Robutel 《Celestial Mechanics and Dynamical Astronomy》2018,130(1):6

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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   

Understanding the Role of Mass-Unloading in a Filament Eruption     

J. M. Jenkins  D. M. Long  L. van Driel-Gesztelyi  J. Carlyle 《Solar physics》2018,293(1):7

We describe a partial filament eruption on 11 December 2011 that demonstrates that the inclusion of mass is an important next step for understanding solar eruptions. Observations from the Solar Terrestrial Relations Observatory-Behind (STEREO-B) and the Solar Dynamics Observatory (SDO) spacecraft were used to remove line-of-sight projection effects in filament motion and correlate the effect of plasma dynamics with the evolution of the filament height. Flux cancellation and nearby flux emergence are shown to have played a role in increasing the height of the filament prior to eruption. The two viewpoints allow the quantitative estimation of a large mass-unloading, the subsequent radial expansion, and the eruption of the filament to be investigated. A 1.8 to 4.1 lower-limit ratio between gravitational and magnetic-tension forces was found. We therefore conclude that following the loss-of-equilibrium of the flux-rope, the radial expansion of the flux-rope was restrained by the filamentary material until 70% of the mass had evacuated the structure through mass-unloading.  相似文献   

Note on the Interpretation of Proper Mass as a Constant Lagrange Multiplier     

R. A. Krikorian 《Astrophysics》2018,61(3):370-374

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Two generations of Variscan garnet: Implications from a petrochronological study of a high-grade Avalonia-derived paragneiss from the Drosendorf unit,Bohemian Massif     

《Gondwana Research》2020

Garnets in metapelitic paragneisses from the southern Drosendorf unit in the Austrian part of the Bohemian Massif exhibit two episodes of growth during the Variscan orogeny, which can be distinguished on textural and chemical grounds. The first garnet (grt1) records evidence of high-grade metamorphism in the Late Devonian (Frasnian–Famennian), while the second garnet (grt2) formed by a second high-grade event in the Early Carboniferous (Visean). Both garnet generations contain abundant inclusions, of which monazite, rutile and crystallised melt droplets are particularly useful for reconstructing P–T–t conditions. The Late Devonian age (373 ± 9 Ma) for the first episode of garnet growth was obtained from chemical dating of monazite inclusions in grt1. Metamorphic conditions during the first episode of garnet growth are estimated to have been between 0.7 and 0.8 GPa at 680–700 °C and 0.95–1.10 GPa at 745–785 °C. There followed a phase of cooling and exhumation, after which the second garnet (grt2) were formed beginning under amphibolite facies conditions and continuing prograde to peak conditions of 0.95–1.10 GPa and 745–785 °C, which are similar to those of the first garnet forming event. Subsequently, the rocks experienced near isothermal decompression to 0.5–0.8 GPa. Chemical dating of both monazite inclusions in grt2 and the matrix provide a Visean age (343 ± 3 Ma).A study of detrital zircons in these paragneisses revealed zircon forming events at around 1.2, 1.5 and 1.8 Ga, suggesting an Avalonian provenance. The lack of zircons younger than 1 Ga and the presence of Cadomian metamorphic monazite relics (652 ± 15 Ma) indicates an Early Neoproterozoic deposition age for the sedimentary protolith likely. Our documentation of a Late Devonian high-grade metamorphic event in rocks derived from Avalonian corroborates tectonic models which assume that frontal parts of the Armorican terrane had already docked with Avalonia by this time.  相似文献   

On the coplanar eccentric non-restricted co-orbital dynamics     

A. Leleu  P. Robutel  A. C. M. Correia 《Celestial Mechanics and Dynamical Astronomy》2018,130(3):24

We study the phase space of eccentric coplanar co-orbitals in the non-restricted case. Departing from the quasi-circular case, we describe the evolution of the phase space as the eccentricities increase. We find that over a given value of the eccentricity, around 0.5 for equal mass co-orbitals, important topological changes occur in the phase space. These changes lead to the emergence of new co-orbital configurations and open a continuous path between the previously distinct trojan domains near the \(L_4\) and \(L_5\) eccentric Lagrangian equilibria. These topological changes are shown to be linked with the reconnection of families of quasi-periodic orbits of non-maximal dimension.  相似文献   

Long Term Evolution of Solar Meridional Circulation and Phase Synchronization Viewed Through a Symmetrical Kuramoto Model     

Elena Blanter  Jean-Louis Le Mouël  Mikhail Shnirman  Vincent Courtillot 《Solar physics》2018,293(10):134

The solar-cycle oscillations of the toroidal and poloidal components of the solar magnetic field in the northern solar hemisphere have a persistent phase difference of about \(\pi \). We propose a symmetrical Kuramoto model with three coupled oscillators as a simple way to understand this anti-synchronization. We solve an inverse problem and reconstruct natural frequencies of the top and bottom oscillators under the conditions of a constant coupling strength and a non-delayed coupling. These natural frequencies are associated with angular velocities of the meridional flow circulation near the solar surface and in the deep layer of the solar convection zone. A relationship between our reconstructions of the shallow and the deep meridional flow speed during recent Solar Cycles 21?–?23 is in agreement with estimates obtained in helioseismology and flux-transport dynamo modeling. The reconstructed top oscillator speed presents significant solar-cycle like variations that agree with recent helioseismical reconstructions. The evolution of reconstructed natural frequencies strongly depends on the coupling strength. We find two stable regimes in the case of strong coupling with a change of regime during anomalous solar cycles. We see the onset of a new transition in Solar Cycle 24. We estimate the admitted range of coupling values and find evidence of cross-equatorial coupling between solar hemispheres not accounted for by the model.  相似文献   

Compression reference of soil structure evaluation with reconstituted clays at different initial water contents     

Ling-Ling Zeng  Zhen-Shun Hong  Yu-Jun Cui  Martin D. Liu 《Marine Georesources & Geotechnology》2018,36(7):759-767

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