Robust adaptive control of underactuated ships on a linear course with comfort     

K. D. Do  J. Pan  Z. P. Jiang   《Ocean Engineering》2003,30(17):2201-2225

This paper addresses an important problem in ship control application—the robust stabilization of underactuated ships on a linear course with comfort. Specifically, we develop a multivariable controller to stabilize ocean surface ships without a sway actuator on a linear course and to reduce roll and pitch simultaneously. The controller adapts to unknown parameters of the ship and constant environmental disturbances induced by wave, ocean current and wind. It is also robust to time-varying environmental disturbances, time-varying change in ship parameters and other motions of the ship such as surge and heave. The roll and pitch can be made arbitrarily small while the heading angle and sway are kept to be in reasonably small bounds. The controller development is based on Lyapunov’s direct method and backstepping technique. A Lipschitz continuous projection algorithm is used to update the estimate of the unknown parameters to avoid the parameters’ drift due to time-varying environmental disturbances. Simulations on a full-scale catamaran illustrate the effectiveness of our proposed controller.  相似文献   

Optimizing interpolation of shoot density data from a Posidonia oceanica seagrass bed   总被引：1，自引：0，他引：1  

Michele Scardi  Lorenzo A. Chessa  Eugenio Fresi  Antonio Pais  & Simone Serra 《Marine Ecology》2006,27(4):339-349

A case study on the optimization of Posidonia oceanica density interpolation, using a data set from a large meadow at Porto Conte Bay (NW Sardinia, Italy), is presented. Ordinary point kriging, cokriging and a weighted average based on inverse square distance were used to interpolate density data measured in 36 sampling stations. The results obtained from different methods were then compared by means of a leave‐one‐out cross‐validation procedure. The scale at which interpolation was carried out was defined on the basis of the Hausdorff dimension of the variogram. Optimizing spatial scale and data points search strategy allowed obtaining more accurate density estimates independently of the interpolation method.  相似文献   

On the geologic structure of the Explora Escarpment (Weddell Sea,Antarctica) revealed by satellite and Shipboard data evaluation     

Ute Christina Herzfeld  Arnold L. Brodscholl 《Marine Geophysical Researches》1994,16(5):325-345

Bathymetric, gravity, and magnetic data from Antarctic expeditions with RV POLARSTERN and satellite altimeter data from the Geosat Geodetic Mission are analysed using methods from geostatistics and geophysical inverse theory.The Explora Escarpment represents the edge between the Antarctic Continental Shelf and the Weddell Abyssal Plain. It is an important link in the reconstruction of Gondwana breakup, but a feature as large as the 2000 m deep Wegener Canyon was only discovered in 1984, when extensive bathymetric, gravimetric, and magnetic surveys with RV POLARSTERN began.Geostatistics, the theory of regionalized variables, is applied to integrate dense surveys of Wegener Canyon and sparse observations in adjacent areas into maps with full coverage of the 230 km by 330 km area at 10°–20° W/70°–72° S. The resultant highresolution bathymetric and gravity maps reveal detailed structures of the Explora Escarpment. Using geophysical inversion, the gravity terrain effect is calculated. Satellite data are used for their better coverage, but have much lower resolution. Nevertheless, the structures of Wegener Canyon and other more prominent features appear with surprisingly good correlation also in the Geosat altimeter data. While it was initially supposed that Wegener Canyon is purely an erosional structure, the magnetic map now provides evidence of the canyon's tectonic origin.  相似文献   

Modelling Positional Uncertainty of Line Features by Accounting for Stochastic Deviations from Straight Line Segments   总被引：1，自引：0，他引：1  

Sytze de Bruin 《Transactions in GIS》2008,12(2):165-177

The assessment of positional uncertainty in line and area features is often based on uncertainty in the coordinates of their elementary vertices which are assumed to be connected by straight lines. Such an approach disregards uncertainty caused by sampling and approximation of a curvilinear feature by a sequence of straight line segments. In this article, a method is proposed that also allows for the latter type of uncertainty by modelling random rectangular deviations from the conventional straight line segments. Using the model on a dense network of sub‐vertices, the contribution of uncertainty due to approximation is emphasised; the sampling effect can be assessed by applying it on a small set of randomly inserted sub‐vertices. A case study demonstrates a feasible way of parameterisation based on assumptions of joint normal distributions for positional errors of the vertices and the rectangular deviations and a uniform distribution of missed sub‐vertices along line segments. Depending on the magnitudes of the different sources of uncertainty, not accounting for potential deviations from straight line segments may drastically underestimate the positional uncertainty of line features.  相似文献   

Change of Support for Estimating Local Block Grade Distributions     

Xavier Emery 《Mathematical Geosciences》2008,40(6):671-688

An important aspect in mineral resource evaluation is the reduction of variance when post-processing the grade distributions defined on the support (volume) of the available data into distributions defined on the support of the proposed selective mining units. Although the volume-variance relationship is well understood for the estimation of global grade distributions, it is still an unsolved issue for local estimation studies based on non-parametric geostatistical methods, such as indicator kriging, for which the support correction is not inherent to the method. To clarify this relationship, the local change of support problem is examined in the scope of two parametric models (multi-Gaussian and discrete Gaussian models). It is shown that the variance reduction factor between point and block-support local distributions depends on the block being considered and is less than the global variance reduction factor. As a consequence, post-processing the local point-support grade distributions on the basis of the latter systematically understates the importance of the change of support at the local scale and makes selective mining appear more economically attractive than it really is. In the light of these results, a methodology is proposed to post-process the local point-support distributions obtained via non-parametric (indicator) methods into block-support distributions. An application to simulated data indicates that this methodology provides an accurate estimation at the block support when dealing with diffusion-type random fields.  相似文献   

Some Results on the Spatial Breakdown Point of Robust Point Estimates of the Variogram     

R. M. Lark 《Mathematical Geosciences》2008,40(7):729-751

The effect of outliers on estimates of the variogram depends on how they are distributed in space. The ‘spatial breakdown point’ is the largest proportion of observations which can be drawn from some arbitrary contaminating process without destroying a robust variogram estimator, when they are arranged in the most damaging spatial pattern. A numerical method is presented to find the spatial breakdown point for any sample array in two dimensions or more. It is shown by means of some examples that such a numerical approach is needed to determine the spatial breakdown point for two or more dimensions, even on a regular square sample grid, since previous conjectures about the spatial breakdown point in two dimensions do not hold. The ‘average spatial breakdown point’ has been used as a basis for practical guidelines on the intensity of contaminating processes that can be tolerated by robust variogram estimators. It is the largest proportion of contaminating observations in a data set such that the breakdown point of the variance estimator used to obtain point estimates of the variogram is not exceeded by the expected proportion of contaminated pairs of observations over any lag. In this paper the behaviour of the average spatial breakdown point is investigated for cases where the contaminating process is spatially dependent. It is shown that in two dimensions the average spatial breakdown point is 0.25. Finally, the ‘empirical spatial breakdown point’, a tool for the exploratory analysis of spatial data thought to contain outliers, is introduced and demonstrated using data on metal content in the soils of Sheffield, England. The empirical spatial breakdown point of a particular data set can be used to indicate whether the distribution of possible contaminants is likely to undermine a robust variogram estimator.  相似文献   

Hierarchical decomposition of variance with applications in environmental mapping based on satellite images     

Ferenc Csillag  Sándor Kabos 《Mathematical Geology》1996,28(4):385-405

A quadtree-based image segmentation procedure (HQ) is presented to map complex environmental conditions. It applies a hierarchical nested analysis of variance within the framework of multiresolution wavelet approximation. The procedure leads to an optimal solution for determining mapping units based on spatial variability with constraints on the arrangement and shape of the units. Linkages to geostatisiics are pointed out, but the HQ decomposition algorithm does not require any homogeneity criteria. The computer implementation can be parameterized by either the number of required mapping units or the maximum within-unit variance, or it can provide a spectrum of significances of nested ANOVA. The detailed mathematical background and methodology is illustrated by a salt-affected grassland mapping study (Hortobágy, Hungary), where heterogeneous environmental characteristics have been sampled and predicted based on remotely sensed images using these principles.  相似文献   

杠杆点评估及设计空间抗差     

黄幼才 《测绘学报》1993,22(4):289-293

本分析了杠杆点的几何含义和统计特征,从杠杆点的保差性,矩阵的摄动和参数估值可靠性的观点出发讨论了杠杆点的不利和有利的两个方面,提出了一个全面的设计空间抗差方案。  相似文献   

Efficient generation of conditional simulations by chebyshev matrix polynomial approximations to the symmetric square root of the covariance matrix     

C. R. Dietrich  G. N. Newsam 《Mathematical Geology》1995,27(2):207-228

Consider the problem of generating a realization y₁ of a Gaussian random field on a dense grid of points ₁ conditioned on field observations y₂ collected on a sparse grid of points ₂. An approach to this is to generate first an unconditional realization y over the grid =_{1 2}, and then to produce y₁ by conditioning y on the data y₂. As standard methods for generating y, such as the turning bands, spectral or Cholesky approaches can have various limitations, it has been proposed by M. W. Davis to generate realizations from a matrix polynomial approximations to the square root of the covariance matrix. In this paper we describe how to generate a direct approximation to the conditional realization y₁, on ₁ using a variant of Davis' approach based on approximation by Chebyshev polynomials. The resulting algorithm is simple to implement, numerically stable, and bounds on the approximation error are readily available. Furthermore we show that the conditional realization y₁ can be generated directly with a lower order polynomial than the unconditional realization y, and that further reductions can be achieved by exploiting a nugget effect if one is present. A pseudocode version of the algorithm is provided that can be implemented using the fast Fourier transform if the field is stationary and the grid ₁ is rectangular. Finally, numerical illustrations are given of the algorithm's performance in generating various 2-D realizations of conditional processes on large sampling grids.  相似文献   

成都城市发展对热岛强度影响的主成份回归分析     

石凤云  唐佑民 《成都信息工程学院学报》1991,(Z1)

本文对成都市总人口、建成区面积等11个因子、作了主成份回归L-S估计和M-估计,讨论了成都城市发展对“热岛”强度的主要影响因子。结果表明,城区房屋建筑面积及总人口数是影响城市气候(气温)的主要因子,其次为城市人口总户数、建成面积等。 文中,对回归方程进行了拟合计算,回归效果比较满意(尤其是稳健回归)。  相似文献