Planar trajectory planning and tracking control design for underactuated AUVs   总被引：4，自引：0，他引：4  

Filoktimon Repoulias  Evangelos Papadopoulos   《Ocean Engineering》2007,34(11-12):1650-1667

This paper addresses the combined problem of trajectory planning and tracking control for underactuated autonomous underwater vehicles (AUVs) on the horizontal plane. Given a smooth, inertial, 2D reference trajectory, the planning algorithm uses vehicle dynamics to compute the reference orientation and body-fixed velocities. Using these, the error dynamics are obtained. These are stabilized using backstepping techniques, forcing the tracking error to an arbitrarily small neighborhood of zero. Simulation results for a constant velocity trajectory, i.e. a circle, and a time-varying velocity one, i.e. a sinusoidal path, are presented. The parametric robustness is considered and it is shown that tracking remains satisfactory.  相似文献   

Effects of onshore and offshore topography on sea breeze circulation: An observational study at eastern Attica,Greece     

M. Varvayanni  C. G. Helmis  G. T. Amanatidis  D. N. Asimakopoulos  J. G. Bartzis  A. Soilemes  K. H. Papadopoulos  H. D. Kambezidis 《Pure and Applied Geophysics》1993,140(4):681-720

Field measurements of wind, air temperature and humidity were taken at the eastern part of the Attika district in June 1991, to examine the topographic influences exerted on the local sea breezes. These influences are due either to the elongated Evia island, faced by the northern half of Attica coastline some tens of kilometers offshore, or to the coast-parallel range of Hymettos mountain, rising steeply 12 km onshore. The instrumentation consisted mainly of three tethered meteorological balloons released at characteristic sires (i.e., the coast, a location between shoreline and mountain foot and the mountain top) and three autographic ground-based anemometers operating at selected locations. Data from the ground-based and upper air stations of the Hellenic National Meteorological Service, as well as the diurnal weather maps were also obtained and analyzed. Observations were made under different synoptic wind and the latter was found to determine remarkably the significance of the topographic effects. A preliminary two-dimensional numerical approach was also made concerning the sea breeze capability to reach the Hymettos mountain top in the case of a weak opposing geostrophic flow.  相似文献   

Hydrology, circulation and distribution of particulate matter in Thermaikos Gulf (NW Aegean Sea), during September 2001–October 2001 and February 2002     

V. Zervakis  A.P. Karageorgis  H. Kontoyiannis  V. Papadopoulos  V. Lykousis 《Continental Shelf Research》2005,25(19-20):2332

The hydrography, circulation and distribution of particulate matter in Thermaikos Gulf (NW Aegean Sea) are described, for September 2001 and October 2001 and February 2002. The observations were obtained to assess the impact of anthropogenic and natural resuspension processes on the coastal ecosystem. The first two periods represent highly stratified conditions and mild weather conditions; in September trawling is prohibited, whilst the October cruise took place following the commencement of the activity. The sampling in February was undertaken to record the contribution of natural resuspension to the system, in a stormy period.The water circulation was mainly baroclinic during autumn and barotropic in winter; this was due to vertical homogenisation of the water column, during the latter period. The distribution of the bottom nepheloid layer (BNL) was very different in the winter than in the autumn.Microstructure measurements were undertaken, which allowed the vertical eddy diffusivity to be estimated, together with the near-bed shear stresses. Computation of the diffusive flux of particulate matter (PM), from the BNL into the intermediate water column in response to turbulent motions, reveals that the PM flux was much higher in October than in September; this is despite the fact that the friction velocities were similar. This observation could explain partly the observed higher PM concentrations (PMC) in the intermediate layer, in October. Likewise suggest that the higher PMC in October could be attributed to trawling. The limited shear stress and friction velocity values obtained during the September and October cruises were always low; these were possibly capable of resuspending only recently deposited, “fluffy” material. Thus, the observed nepheloid layers are likely to be maintained by advection from the shallow water regions and trawled areas.  相似文献   

Geochemistry of beach sands from Sithonia Peninsula (Chalkidiki,Northern Greece)     

A. Papadopoulos  G. Christofides  G. Pe-Piper  A. Koroneos  L. Papadopoulou 《Mineralogy and Petrology》2015,109(1):53-66

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Three-dimensional numerical simulation of wind-induced barotropic circulation in the Gulf of Patras   总被引：1，自引：0，他引：1  

Nikolaos Th. Fourniotis 《Ocean Engineering》2010,37(4):355-364

The barotropic, wind-induced circulation, which develops in the Gulf of Patras in Western Greece during the winter, is studied using three-dimensional numerical simulations. The simulations are performed using the numerical code MIKE 3 FM (HD). The Gulf's basin is bracketed between two sills, one on the west at the opening with the Ionian Sea and the other on the east at the Straits of Rio-Antirio at the opening with the Gulf of Corinth. The simulations show that the wind-induced flow creates strong currents near the coasts, which determine the sense of rotation of the gyres that develop in the Gulf. Strong currents are also created at the Rio-Antirio Straits. The wind-induced, barotropic currents do not seem to contribute to the direct replenishment of bottom waters, which recirculate between the two sills. Depending on the wind-speed forcing of the flow, the residence time of the waters in the Gulf of Patras is estimated to range from one week to one month.  相似文献   

Detection of water leaks in supply pipes using continuous wave sensor operating at 2.45 GHz     

Matthaios Bimpas  Angelos Amditis  Nikolaos Uzunoglu 《Journal of Applied Geophysics》2010,70(3):226-236

An innovative sensor technique has been developed to detect water leaks in supply pipes, especially in cases where the existing prevailing methods do not offer reliable solution, such as in PVC pipelines or for minor leaks. The presented system uses a Continuous Wave (CW) Doppler sensing unit operating at 2.45 GHz, consisting of a low power transmitter, a homodyne receiver and a digital signal processing unit. The operation principle is the detection of the Doppler frequency shift of the reflected electromagnetic wave by slightly moving water that leaks out of a pipe. A first prototype has already been developed and tested in test sites as well as in real water leaking conditions. The system has additionally been compared to the commercially available water leaking methods, verifying its reliability and accuracy in the detection of water leaks.  相似文献   

Land classification of part of Thrace (East Rhodope) by visual interpretation of MSS images of first and second generation landsat images     

Theodore Astaras Dr.  Nikolaos Lambrinos 《GeoJournal》1988,17(3):357-363

The aim of this investigation was the classification of East Rhodope mountain ridge area and the surrounding hills and plains into mapping units by visual interpretation of 1:500,000 paper print enlargements of MSS false colour composites (bands 1, 2 and 4) of LANDSAT-4 and MSS (band 7) of LANDSAT-1, supported by limited field observation and background information available from earlier surveys and maps. The basic mapping units used in the present study was the land systems (developed by CSIRO in Australia) because they are easily recognizable on LANDSAT images by their destinctive combination of physiography, soils and vegetation.The twenty various land systems occurring in the study area, such as high/low mountains with smooth/sharp summits, nearly flat/undulated plains, slightly/strongly dissected hilles etc., were defined and mapped on small scale of 1:500,000. They are of considerable interest because they provide the framework for production of the same scale geological and geo-morphological maps, erosion studies, soil, vegetation and other thematic mapping for natural resources surveys, because LANDSAT images reveal details of terrain and microrelief that can never be reproduced on a topographic map. Also this land system map may modify or add to earlier small scale thematic maps (geology, soils and vegetation/forestry maps) produced in the past by other techniques.  相似文献   

On some problems about testing stochastic models of the earthquake time series     

Gerassimos A. Papadopoulos 《Natural Hazards》1993,7(2):99-108

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Coseismic crustal deformation from microseismicity in the Patras area, western Greece     

Nikolaos S. Melis  Paul W. Burton  Mike Brooks 《Geophysical Journal International》1995,122(3):815-836

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Assessment of episodic acidification in Sierra Nevada,California     

Nikolaos P. Nikolaidis  Vicki S. Nikolaidis  Jerald L. Schnoor 《Aquatic Sciences - Research Across Boundaries》1991,53(4):330-345

Monte-Carlo simulations were used to assess the extent of shortterm alkalinity depressions occuring in Sierra Nevada lakes due to acidic deposition events. The Episodic Event Model (EEM) was used to simulate spring snowmelt events. Snow course data, precipitation data and lake acidification surveys were used to derive values for the EEM parameters. Spring snowmelt events were shown to have great impacts on the water quality of Sierran lakes. Lakes are likely to be most affected by the early-spring snowmelt event because the epilimnion depth is at a minimum, which indicates minimum dilution. Under annual average loading conditions, no Sierran lake has been reported as acidic although 29% of the lakes have alkalinities less than 40 µeq/L indicating a sensitivity to acidification. In simulations of early-spring snowmelt events, using present-day acidic loading conditions, it was estimated 79% ± 9% of the lakes would experience shortterm lake alkalinity depressions to levels less than 40 µeq/L. The results provided by the model simulations are valuable in establishing upper and lower limits on the extent of possible episodic acidification to lake-resources-at-risk. The most critical parameters controlling the magnitude of lake alkalinity depressions during snowmelt episodic events are a) the lake area to watershed area ratio — a measure of input loading, and b) the epilimnion volume — a measure of dilution and mixing.  相似文献