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   

基于噪声谱比法的内蒙古西部地区台站场地响应研究     

张珂  王鑫  王树波  张红才  宋晓燕 《大地测量与地球动力学》2020,40(6):646-651

利用内蒙古西部12个台站的地脉动噪声数据，采用噪声谱比法研究台站的场地响应情况。分析表明，台站场地响应按曲线形态可分为3类，且可能受地形地貌、局部构造和台基状况等条件影响。对比分析噪声谱比法与Moya方法的场地响应结果发现，场地响应曲线形态基本一致，只有极少数台站存在明显差异。结果表明，内蒙古西部区域大部分台站的台基状况总体较好，场地响应曲线较为平坦，无明显频率放大点。  相似文献   

亚毫米波射电天文用超导SIS接收机的研制(英文)     

史生才 《紫金山天文台台刊》2003,(1)

为了研制亚毫米波射电天文用超导SIS(超导 -绝缘体 -超导 )接收机 ,我们重点开展了如下研究 ,1 )Nb超导SIS结在其能隙频率附近的量子混频特性 ,及其结合高能隙超导薄膜 (NbTiN)和高电导率金属薄膜 (Al)分布结阵在 780 - 950GHz频率区间的量子混频特性 ;2 )亚毫米波超导混频器嵌入阻抗的数值和实验表征 ;3)高电流密度小面积Nb超导SIS结的制备和特性表征 ;4)一个 60 0 - 72 0GHz超导SIS混频器的研制和特性表征。本文详细介绍了相关的数值分析和实验测量结果。  相似文献   

Optimal Filtering Algorithm for Stochastic 2-D FMM Ⅱ with Multiplicative Noise     

CHUDongsheng LIANGMeng SHIXin ZHANGLing 《中国海洋大学学报(英文版)》2004,3(1):106-110

1　Introduction　Inrecentyearstherehasbeengrowingresearchin terestinthetwo dimensional (2 D )systemtheory .The 2 Dsystemsmayfindapplicationsinareassuchasmarineseismicdataprocessingandimageprocessing .Althoughmoreandmorevaluableresultshavebeengained ,mos…  相似文献   

Readout Techniques for Drift and Low Frequency Noise Rejection in Infrared Arrays     

Gert Finger  Reinhold J. Dorn  Alan W. Hoffman  Hamid Mehrgan  Manfred Meyer  Alan F. M. Moorwood  Joerg Stegmeier 《Experimental Astronomy》2002,14(2):117-127

Three different methods are presented to subtract thermal drifts and low-frequency noise from the signal of infrared array. The first is dead pixels with open Indium bumps, the second is reference output as implemented on the Hawaii2 multiplexer, and the third is dark pixels to emulate reference cells having a capacity connected to the gate of the unit cell field-effect transistor (FET). The third method is the most effective and yields a reduction in readout noise from15.4–9.4 erms. A novel method will be described to extend this readout technique to the Aladdin 1 K × 1 K InSb array. This revised version was published online in July 2006 with corrections to the Cover Date.  相似文献   

小杂鱼脱脂技术的研究     

陈培基  李来好  李刘冬  刁石强 《广东海洋大学学报》2003,23(6):21-26

以小杂鱼或低值鱼为原料 ,采用常温溶剂萃取法进行脱脂 ,研究了不同溶剂、溶剂混合比、流速和萃取时间对鱼类脱脂的影响。结果表明 ,在常温下用等体积的异丙醇和乙酸乙酯混合溶剂 ,以流速 4～ 8mL/min连续萃取 4～ 6h ,脱脂鱼肉的脂肪平均含量w为 0 .19%,脱脂率高达96 .2 6 %。该方法的溶剂损耗量为加热溶剂萃取法的 1/3倍。  相似文献   

Applications of seismic travel-time tomography     

R. Phillip Bording  Adam Gersztenkorn  Larry R. Lines  John A. Scales  Sven Treitel 《Geophysical Journal International》1987,90(2):285-303

  相似文献   

密度和压缩系数的散射层析成像法   总被引：1，自引：1，他引：0  

袁晓晖  王妙月 《地球物理学报》1991,34(6):753-761

本文在速度成像的基础上研究了同时对密度和压缩系数成像的散射波层析成像法.对不同散射角度的计算可以得到一系列反演图像,拟合这些图像,从而可以有效地达到对密度和压缩系数（或速度）成像的目的.与单纯的速度成像相比,增加了反演的难度.首先是对资料的方位性要求增加;其次是对资料的利用率下降.即便如此,从对较少量的炮点和检波点资料的数值计算来看,仍取得了满意的成像结果.我们对组成字母“A”的散射体结构进行了成像计算,结果能够同时再现密度和压缩系数,成像清晰,表明了方法的可行性,并能应用于复杂结构的成像问题.  相似文献   

Controls on porphyroblast size along a regional metamorphic field gradient     

David M. Hirsch 《Contributions to Mineralogy and Petrology》2008,155(4):401-415

Garnet-bearing schists from the Waterville Formation of south-central Maine provide an opportunity to examine the factors governing porphyroblast size over a range of metamorphic grade. Three-dimensional sizes and locations for all garnet porphyroblasts were determined for three samples along the metamorphic field gradient spanning lowest garnet through sillimanite grade, using high-resolution X-ray computed tomography. Comparison of crystal size distributions to previous data sets obtained by stereological methods for the same samples reveals significant differences in mode, mean, and shape of the distributions. Quantitative textural analysis shows that the garnets in each rock crystallized in a diffusion-controlled nucleation and growth regime. In contrast to the typical observation of a correlation between porphyroblast size and position along a metamorphic field gradient, porphyroblast size of the lowest-grade specimen is intermediate between the high- and middle-grade specimens’ sizes. Mean porphyroblast size does not correlate with peak temperatures from garnet-biotite Fe-Mg exchange thermometry, nor is post-crystallization annealing (Ostwald Ripening) required to produce the observed textures, as was previously proposed for these rocks. Robust pseudosection calculations fail to reproduce the observed garnet core compositions for two specimens, suggesting that these calc-pelites experienced metasomatism. For each of these two specimens, Monte Carlo calculations suggest potential pre-metasomatism bulk compositions that replicate garnet core compositions. Pseudosection analyses allow the estimation of the critical temperatures for garnet growth: ∼481, ∼477, and ∼485°C for the lowest-garnet-zone, middle-garnet-zone, and sillimanite-zone specimens, respectively. Porphyroblast size appears to be determined in this case by a combination of the heating rate during garnet crystallization, the critical temperature for the garnet-forming reaction and the kinetics of nucleation. Numerical simulations of thermally accelerated, diffusion-controlled nucleation, and growth for the three samples closely match measured crystal size distributions. These observations and simulations suggest that previous hypotheses linking the garnet size primarily to the temperature at the onset of porphyroblast nucleation can only partially explain the observed textures. Also important in determining porphyroblast size are the heating rate and the distribution of favorable nucleation sites.  相似文献   

多传感器观测下带乘性噪声系统的逆向滤波与反褶积融合算法     

褚东升  李玉全  梁猛  张玲 《中国海洋大学学报(自然科学版)》2002,32(5):837-842

针对多传感器观测环境下带乘性噪声系统的逆向最优滤波与反褶积融合估计问题 ,本文提出了 1种基于极大似然准则的最优融合算法。该算法中各单传感器间并行计算 ,并且融合中心与单传感器处理中心间无反向通讯 ,因而执行效率较高。仿真表明 ,该融合算法产生的逆向滤波与反褶积比单传感器处理结果有较明显提高  相似文献