Design and implementation of time efficient trajectories for autonomous underwater vehicles   总被引：1，自引：0，他引：1  

M. Chyba  T. Haberkorn  R.N. Smith  S.K. Choi 《Ocean Engineering》2008,35(1):63-76

This paper discusses control strategies adapted for practical implementation and efficient motion of autonomous underwater vehicles (AUVs). For AUVs we would like efficiency in both the measured time and the energy consumption, the mission dictating the weight to put on each of these cost. As a first approach to this problem, we focus in this paper on time minimization. Based on the structure of the time optimal trajectories and of the pure motions, we develop an algorithm to design time efficient trajectories corresponding to piecewise constant thrust arcs with few actuator switchings. We do that by solving a new optimization problem where the unknowns are the time period between two actuator switchings as well as the values of the constant thrust arcs. We apply a direct method to compute the solutions numerically. With our algorithm, we gain considerable computational time. Moreover, with as few as three actuator switchings, the duration of our trajectories is within 10% of the optimal trajectories. Since our control strategies have a simple structure they can be implemented on a test-bed vehicle. For the experiments displayed in this paper we use a spherical underwater vehicle which exhibits with almost no preference of direction or orientation for movement; this gives us a very controllable and versatile vehicle.  相似文献   

Relationship between valve activity, microalgae concentration in the water and toxin accumulation in the digestive gland of the Pacific oyster Crassostrea gigas exposed to Alexandrium minutum     

Haberkorn H  Tran D  Massabuau JC  Ciret P  Savar V  Soudant P 《Marine pollution bulletin》2011,62(6):1191-1197

The complexity of the relationships between Alexandrium minutum (A.m.) concentration in the water ([A.m.]_w), Paralytic Shellfish Poisoning contamination in the digestive gland ([PSP]_dg) and valve behavior was explored in oysters Crassostrea gigas. Two experiments were conducted, during which oysters’ valve behaviour were analyzed. Oysters, first acclimated for 10-days with the non harmful microalgae Heterocapsa triquetra (H.t.), were exposed to four microalgae mixtures at constant total concentrations of 10 × 10³ cells ml⁻¹ (experiment-1) and 5 × 10³ cells ml⁻¹ (experiment-2): 100% A.m.; 50% A.m.-50% H.t.; 25% A.m.-75% H.t.; 100% H.t. At the end of experiment-2, [PSP]_dg were measured.At 10 × 10³ cells ml⁻¹, the microalgal ingestion decreased (p < 0.05) with increasing [A.m.]_w but not at 5 × 10³ cells ml⁻¹ (p > 0.05). The frequency of microclosures specifically increased with [A.m.]_w (p < 0.05) and the opening duration with [PSP]_dg (p < 0.0001). Oysters exhibiting the maximum increase in opening duration also exhibited the highest [PSP]_dg. The results are discussed in terms of oyster physiology and origin of the behavioral response.  相似文献   

Thermal Regime of Rock and its Relation to Snow Cover in Steep Alpine Rock Walls: Gemsstock,Central Swiss Alps          下载免费PDF全文

Anna Haberkorn  Marcia Phillips  Robert Kenner  Hansueli Rhyner  Mathias Bavay  STEPHAN P. Galos  Martin Hoelzle 《Geografiska Annaler: Series A, Physical Geography》2015,97(3):579-597

Snow cover influences the thermal regime and stability of frozen rock walls. In this study, we investigate and model the impact of the spatially variable snow cover on the thermal regime of steep permafrost rock walls. This is necessary for a more detailed understanding of the thermal and mechanical processes causing changes in rock temperature and in the ice and water contents of frozen rock, which possibly lead to rock wall instability. To assess the temporal and spatial evolution and influence of the snow, detailed measurements have been carried out at two selected points in steep north‐ and south‐facing rock walls since 2012. In parallel, the one‐dimensional energy balance model SNOWPACK is used to simulate the effects of snow cover on the thermal regime of the rock walls. For this, a multi‐method approach with high temporal resolution is applied, combining meteorological, borehole rock temperature and terrain parameter measurements. To validate the results obtained for the ground thermal regime and the seasonally varying snowpack, the model output is compared with near‐surface rock temperature measurements and remote snow cover observations. No decrease of snow depth at slope angles up to 70° was observed in rough terrain due to micro‐topographic structures. Strong contrasts in rock temperatures between north‐ and south‐facing slopes are due to differences in solar radiation, slope angle and the timing and depth of the snow cover. SNOWPACK proved to be useful for modelling snow cover–rock interactions in smooth, homogenous rock slopes.  相似文献