Adaptive optimal control of an autonomous underwater vehicle in the dive plane using dorsal fins   总被引：1，自引：0，他引：1  

Mukund Narasimhan  Sahjendra N. Singh   《Ocean Engineering》2006,33(3-4):404-416

In this paper, adaptive control of low speed bio-robotic autonomous underwater vehicles (BAUVs) in the dive plane using dorsal fins is considered. It is assumed that the model parameters are completely unknown and only the depth of the vehicle is measured for feedback. Two dorsal fins are mounted in the horizontal plane on either side of the BAUV. The normal force produced by the fins, when cambered, is used for the maneuvering. The BAUV model considered here is non-minimum phase. An indirect adaptive control system is designed for the depth control using the dorsal fins. The control system consists of a gradient based identifier for online parameter estimation, an observer for state estimation, and an optimal controller. Simulation results are presented which show that the adaptive control system accomplishes precise depth control of the BAUV using dorsal fins in spite of large uncertainties in the system parameters.  相似文献   

Experimental study on the hydrological performance of green roofs in the application of novel biochar     

Shan Huang  Ankit Garg  Guoxiong Mei  Disheng Huang  Rahul Balaji Chandra  Shaji Gayathri Sadasiv 《水文研究》2020,34(23):4512-4525

Biochar has the potential to be a soil amendment in green roofs owing to its water retention, nutrient supply, and carbon sequestration application. The combined effects of biochar and vegetated soil on hydraulic performance (e.g., saturated hydraulic conductivity, retention and detention, and runoff delay) are the crucial factor for the application of the novel biochar in green roofs. Recent studies investigated soil water potential (i.e., suction) either on vegetated soil or on biochar-amended soil but rarely focused on their integrated application. With the purpose of investigating the hydraulic performance of green roofs in the application of biochar, the combined effect of biochar and vegetated soil on hydrological processes was explored. Artificial rainfall experiments were conducted on the four types of experimental soil columns, including natural soil, biochar-amended soil, vegetated natural soil, and vegetated biochar-amended soil. The surface ponding, bottom drainage and the volumetric water content were measured during the rainfall test. Simulation method by using HYDRUS-1D was adopted for estimating hydraulic parameters and developing modelling analysis. The results indicated that the saturated hydraulic conductivity of vegetated soil columns were higher than bare soil columns. The addition of biochar decreased the saturated hydraulic conductivity, and the magnitude of decrease was much significant in the case of vegetated soil. The influence of vegetation on permeability is more prominent than biochar. The vegetated biochar-amended soil has the highest retention and detention capacity, and shows a preferable runoff delay effect under heavy rain among the four soil columns. The results from the present study help to understand the hydrological processes in the green roof in the application of biochar, and imply that biochar can be an alternative soil amendment to improve the hydraulic performance.  相似文献   

Earthquake triggered soft sediment deformational structures (seismites) in the Karewa formations of Kashmir valley–An indicator for palaeo-seismicity     

Gulam Rasool Bhat  Bikram S. Bali  S. Balaji  Vazeem Iqbal  Balakrishna 《Journal of the Geological Society of India》2016,87(4):439-452

The intermontane Karewa basin contains a wide variety of seismically induced soft sediment deformation structures, interpreted as seismites and occurs in 1300 m thick succession of upper and lower Karewas. The Karewa Formation of Kashmir valley are glacio- fluvial-lacustrine and aeolian loess of Plio-Pleistocene age. The soft sediment deformational structures occurs in various formations and members of Karewas and vary greatly in terms of morphology and pattern. The Karewa Formations were frequently confronted with recurrent seismic activities during differential upliftment of Pir Panjal and Zanaskar ranges which resulted in various deformation structures during their evolution and development. In the present study, an attempt has been made to relate the palaeo-seismicity events in Karewa formations with the deformed structures of various formations. The origin of these deformational structures have been interpreted and analyzed from the field evidences by applying paleo-seismological approach. During and after the deposition of Karewas different soft sediment deformation structures (seismites) like load cast, convolute lamination, pseudonodules, recumbent folds, sand dykes etc. were formed during liquefaction and triggered by tectonic impulsive events. The deformational structures are evidenced by their unique nature, distribution, association, behaviour and deformation, and can be used as vital indicators for palaeo-seismicity.  相似文献   

Competing impact of anthropogenic emissions and meteorology on the distribution of trace gases over Indian region     

Tabish U. Ansari  N. Ojha  R. Chandrasekar  C. Balaji  Narendra Singh  Sachin S. Gunthe 《Journal of Atmospheric Chemistry》2016,73(4):363-380

The spatial distribution of trace gases exhibit large spatial heterogeneity over the Indian region with an elevated pollution loading over densely populated Gangetic Plains (IGP). The contending role and importance of anthropogenic emissions and meteorology in deciding the trace gases level and distribution over Indian region, however, is poorly investigated. In this paper, we use an online regional chemistry transport model (WRF/Chem) to simulate the spatial distribution of trace gases over Indian region during one representative month of only three meteorological seasons namely winter, spring/summer and monsoon. The base simulation, using anthropogenic emissions from SEAC⁴RS inventory, is used to simulate the general meteorological conditions and the realistic spatial distribution of trace gases. A sensitivity simulation is conducted after removing the spatial heterogeneity in the anthropogenic emissions, i.e., with spatially uniform emissions to decouple the role of anthropogenic emissions and meteorology and their role in controlling the distribution of trace gases over India. The concentration levels of Ozone, CO, SO₂ and NO₂ were found to be lower over IGP when the emissions are uniform over India. A comparison of the base run with the sensitivity run highlights that meteorology plays a dominant role in controlling the spatial distribution of relatively longer-lived species like CO and secondary species like Ozone while short-lived species like NO_X and SO₂ are predominantly controlled by the spatial variability in anthropogenic emissions over the Indian region.  相似文献   

A technique to assess dispersion     

P.S.R. Reddy  D.K. Sengupta  S.R.S. Sastri  K.S. Narasimhan 《International Journal of Mineral Processing》1984,13(4):259-269

A technique to arrive at conditions congenial to maintaining a stable suspension of fine particles has been described. The technique involves continuous monitoring of apparent loss of weight of a body suspended in settling slurries. Such a technique is useful in fixing the best conditions for gravity separation of fine particles involving Bartles-Mozley concentrators or hydrocyclones.  相似文献   

A perspective on numerical analysis of the diffusion equation     

T.N. Narasimhan 《Advances in water resources》1978,1(3):147-155

The equation of transient groundwater motion is founded on the principle of mass conservation and can be mathematically described by the diffusion equation. Recently, powerful integral formulations have been developed for numerically solving the diffusion equation under complex conditions. In the literature, it is customary to formulate the integral equations by integrating point differential equations. Instead, in this paper, we shall employ a direct method of formulation, starting from the concepts of set and measure, the notion of partitions and the definition of set-averages.When the direct approach is applied to formulate the well-known finite element (FEM) equations, it is seen that the ‘Galerkin’ weighting function, which is mathematically treated as an artifice for weighting residuals, is but an appropriate spatial partition function. The logical framework of the direct approach is then applied to study the properties of ‘lumped’ and ‘consistent’ matrices arising in the use of the FEM. The lumped matrix, stemming naturally from the direct approach, seeks to conserve mass locally as well as globally, while the consistent matrix, which results only when the differential equation is integrated in a specific fashion, attempts only to preserve global mass balance.It is concluded that the direct approach is simple and complete and, in so far as the integral formulation is concerned, there is little to be gained in starting with the differential equation. Further, in formulating integral equations, it is common practice to evaluate only the time-dependent changes in the mass content of the system and ignore the evaluation of the mass content of the system at any given instant of time. In order to be complete in itself, a true integral approach should evaluate both the time-dependent changes in the mass content of the system as well as the instantaneous mass content at any given time.  相似文献   

Heavy metals in nearshore sediments of Kalpakkam,southeast coast of India   总被引：1，自引：1，他引：0  

K. Deepthi  Usha Natesan  A. L. Muthulakshmi  Vincent A. Ferrer  V. P. Venugopalan  S. V. Narasimhan 《Environmental Earth Sciences》2014,72(3):717-729

Kalpakkam, a tiny fishing hamlet dotting the east coast, halfway between Chennai and Pondicherry has become prominent due to the Madras Atomic Power Station. The present study aims at assessing the spatial and temporal distribution pattern of heavy metals (Cd, Pb, Zn, Cu, Ni, Cr, and Fe) from 12 stations along the inner shelf of Bay of Bengal, India, during pre-monsoon (PRM), monsoon, and post-monsoon (POM) seasons. The order of occurrence of the metals in sediments of Kalpakkam is Cr > Zn > Ni > Cu > Pb > Cd (excluding Fe since unit is in %) and exhibits a unique seasonal pattern with the highest values (average) during POM except for Cd which shows highest (average) concentration during PRM. In order to determine the sample association according to their geochemical composition and their granulometric characteristics, a correlation matrix was generated and sediment pollution indices viz., sediment enrichment factor and geoaccumulation index were computed. The results confirm anthropogenic input of Cd to nearshore sediments of Kalpakkam. Sources of Cd can be attributed to dredging activities at Edaiyur, direct dumping and sewage sludge from anthropogenic activities, which reach the study area through the Buckingham Canal opening at the backwaters—Sadras and Edaiyur, and extreme use of antifouling paints by fishing trawlers.  相似文献   

Early In-orbit Performance of Scanning Sky Monitor Onboard AstroSat     

M. C. Ramadevi  B. T. Ravishankar  N. Sitaramamurthy  G. Meena  Brajpal Singh  Anand Jain  Reena Yadav  Anil Agarwal  V. Chandra Babu  Kumar  Ankur Kushwaha  S. Vaishali  Nirmal Kumar Iyer  Anuj Nandi  Girish V.  Vivek Kumar Agarwal  S. Seetha  Dipankar Bhattacharya  K. Balaji  Manoj Kumar  Prashanth Kulshresta 《Journal of Astrophysics and Astronomy》2017,38(2):32

We report the in-orbit performance of Scanning Sky Monitor (SSM) onboard AstroSat. The SSM operates in the energy range 2.5 to 10 keV and scans the sky to detect and locate transient X-ray sources. This information of any interesting phenomenon in the X-ray sky as observed by SSM is provided to the astronomical community for follow-up observations. Following the launch of AstroSat on 28th September, 2015, SSM was commissioned on October 12th, 2015. The first power ON of the instrument was with the standard X-ray source, Crab in the field-of-view. The first orbit data revealed the basic expected performance of one of the detectors of SSM, SSM1. Following this in the subsequent orbits, the other detectors were also powered ON to find them perform in good health. Quick checks of the data from the first few orbits revealed that the instrument performed with the expected angular resolution of 12’ \(\times \) 2.5\(^\circ \) and effective area in the energy range of interest. This paper discusses the instrument aspects along with few on-board results immediately after power ON.  相似文献   

Tidal disruption model for the interacting pair of galaxies VV 117 (NGC 2444/45)     

K.S.V.S. Narasimhan  P.M.S. Namboodiri  S.M. Alladin 《Astrophysics and Space Science》2003,286(3-4):381-395

A series of N-body simulations have been performed to interpret the interacting pair of galaxies VV 117 (NGC 2444/45). The galaxies have been modelled assuming a mass ratio two. The simulations use various values for the distance of closest approach and the eccentricity of the relative orbit of the pair. A plausible scenario for the tidal disruption of the less massive galaxy is proposed. NGC2444, having double the mass of NGC 2445, has undergone penetrating collision with the latter in a hyperbolic or a parabolic orbit. After the first collision, the orbit has become bound. Our results show that VV 117 has either just emerged from the first collision or are on the verge of a second collision. NGC 2445suffers considerable disruption and mass loss. NGC 2444 is not affected much. The second collision is expected to culminate in the merger of the two galaxies. This revised version was published online in July 2006 with corrections to the Cover Date.  相似文献   

DISCUSSION OF "Aquifer Tests in Large-Diameter Wells in India," by Edward A. Sammel, September-October 1974 issue, pp. 265-272     

T. N. Narasimhan 《Ground water》1974,12(6):460-460

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