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   

饵料中添加自然产物对豹纹鳃棘鲈生长和体色的影响          下载免费PDF全文

关献涛  吴洪喜  马建忠  单乐州  林少珍 《海洋学研究》2018,36(2):80-91

为探究自然成分添加剂对东星斑Plectropomus Leopardus的影响,选择了虾青素、叶黄素、螺旋藻和玉米蛋白粉4种自然产物,以不同量分别添加到石斑鱼配合饵料中制成实验饵料,在循环水养殖系统中喂养东星斑75 d,测定了实验前后东星斑的生长率、特定生长率、饵料系数3个主要生长指标和鱼体代表部位的体色指标。结果显示,4种添加物对东星斑的增重率、特定生长率和饵料系数均无显著影响(P<0.05,下同);4种添加物均使东星斑的体色亮度L^*值略变小,且部分体色L^*值影响显著;4种添加物均能使东星斑的a^*值和b^*值升高,且与空白对照组比差异显著,尤其是虾青素,对东星斑体色整体变红、变黄效果最为显著。  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   

基于遥感技术对黄河口水色与岸线季相变化特征研究     

马安青  胡泓  袁道伟  胡婷 《中国海洋大学学报(自然科学版)》2008,38(1):151-156

使用Landsat-5 TM 2004年11月24日与2005年5月13日黄河口遥感影像,配合准同期外业实测资料,进行黄河口水体水色物质叶绿素a与悬浮泥沙的动态反演与河口岸线解译.研究表明由于秋末与春初黄河上游来水物质含量的差异,上述悬浮指标值存在显著的季相差异.根据样值与光谱特征建立的反演模型得出的反演值与实测值有平均在0.85以上的相关关系,具有很好的反演效果.岸线解译成果表明,黄河口岸线演变迅速,在河流平枯水量时期仍然具有较强的变化,岸线推进尤以新河口附近显著.这表明,使用遥感手段是进行河口生态环境质量监测的有效手段,是进行岸线动态变化研究的一种基本技术支撑手段.  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   

Studies on color type variants from mutagenized protoplasts ofPorphyra haitanensis Chang et Zheng &P. Yezoensis ueda (rhodophycease)     

Yan Xinghong 《中国海洋湖沼学报》1993,11(3):235-244

Isolated protoplasts from thalli ofPorphyra haitanensis andPorphyra yezoensis were treated with colchicine or irradiated by ultraviolet (UV). Several types of color variants were observed among the protoplast offspring. After treatment with colchicine: (1) 0.04–0.09% of red type variants inP. haitanensis were obtained; (2) The rate of red type variants and the variegated chimeral thalli composed of red type and wild type of sectors were 0.31–1.11% inP. yezoensis. After irradiation with UV: (1) 3.5–10.5% of red type variants inP. yezoensis were obtained: (2) 0.5–2.0% of red type variants and the variegated chimeral thalli composed of red type and wild type of sectors were obtained inP. haitanensis. Colchicine and UV’s mutangenic effects onP. yezoensis protoplasts were stronger than those onP. haitanensis protoplasts. The most efficient concentration of colchicine was 0.05%. The optimal length of UV-radiation was 1/2 min (radiation distance 5 cm). The red type variants induced by colchicine treatment grew faster than the wild type thalli. The clones of vegetative propagation from protoplasts of red type variants were still red type thalli. The red type variants will be good materials for genetic studies and improvement ofPorphyra strains.  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   

基于EOF分析对南海西北海域水体光谱特性的研究   总被引：1，自引：0，他引：1  

付东洋  黄宇业  刘大召  廖珊  余果  张小龙 《海洋学报(英文版)》2020,39(7):107-114

This study presents an analysis of the spectral characteristics of remote sensing reflectance(R_(rs)) in northwestern South China Sea based on the in situ optical and water quality data for August 2018.R_(rs)was initially divided into four classes,classes A to D,using the max-classification algorithm,and the spectral properties of whole R_(rs) were characterized using the empirical orthogonal function(EOF) analysis.Subsequently,the dominant factors in each EOF mode were determined.The results indicated that more than 95% of the variances of R_(rs) are partly driven by the back-scattering characteristics of the suspended matter.The initial two EOF modes were well correlated with the total suspended matter and back-scattering coefficient.Furthermore,the first EOF modes of the four classes of R_(rs)(A-D R_(rs)-EOF_1) significantly contributed to the total variances of each R_(rs) class.In addition,the correlation coefficients between the amplitude factors of class A-D R_(rs)-EOF_1 and the variances of the relevant water quality and optical parameters were better than those of the unclassified ones.The spectral shape of class AR_(rs)-EOF_1 was governed by the absorption characteristic of chlorophyll a and colored dissolved organic matter(CDOM).The spectral shape of class B R_(rs)-EOF_1 was governed by the absorption characteristic of CDOM since it exhibited a high correlation with the absorption coefficient of CDOM(a_g(λ)),whereas the spectral shape of class C R_(rs)-EOF_1 was governed by the back-scattering characteristics but not affected by the suspended matter.The spectral shape of class D R_(rs)-EOF_1 exhibited a relatively good correlation with all the water quality parameters,which played a significant role in deciding its spectral shape.  相似文献