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   

An evaluation of Guided Regularized Random Forest for classification and regression tasks in remote sensing     

《International Journal of Applied Earth Observation and Geoinformation》2020

New Earth observation missions and technologies are delivering large amounts of data. Processing this data requires developing and evaluating novel dimensionality reduction approaches to identify the most informative features for classification and regression tasks. Here we present an exhaustive evaluation of Guided Regularized Random Forest (GRRF), a feature selection method based on Random Forest. GRRF does not require fixing a priori the number of features to be selected or setting a threshold of the feature importance. Moreover, the use of regularization ensures that features selected by GRRF are non-redundant and representative. Our experiments based on various kinds of remote sensing images, show that GRRF selected features provides similar results to those obtained when using all the available features. However, the comparison between GRRF and standard random forest features shows substantial differences: in classification, the mean overall accuracy increases by almost 6% and, in regression, the decrease in RMSE almost reaches 2%. These results demonstrate the potential of GRRF for remote sensing image classification and regression. Especially in the context of increasingly large geodatabases that challenge the application of traditional methods.  相似文献   

The bivalve Lembulus bicuspidatus may enhance denitrification in shelf sediment at the Angola–Benguela Frontal Zone     

A Neumann  A Flohr 《African Journal of Marine Science》2018,40(1):91-96

We collected living individuals of the bivalve Lembulus bicuspidatus, which shows an unusual preference for the oxygen-deficient habitat found at the Angola–Benguela Frontal Zone of the southeastern Atlantic. With a series of incubation experiments with ¹⁵N-labelled nitrate as a tracer in combination with membrane-inlet mass spectrometry, we studied the potential contribution of L. bicuspidatus to nitrate reduction in the upper sediment layer. Our preliminary results suggest that L. bicuspidatus enhances nitrate reduction if the oxygen concentration is sufficiently low. The Lembulus-mediated nitrate reduction rate is then similar to the rate of microbial nitrate reduction in the surrounding sediment.  相似文献   

GDJ人卫目视观测数据采集和处理系统的研制     

何妙婵 《天文研究与技术》1996,(1)

本文介绍了ＧＤＪ跟踪打印经纬仪在人造卫星的观测中如何应用计算机对多圈卫星的目视观测资料进行实时采集、处理等工作过程的原理和方法。  相似文献   

Phasing of segmented mirrors: a new algorithm for piston detection     

J.M. Rodríguez-Ramos  J.J. Fuensalida 《Monthly notices of the Royal Astronomical Society》2001,328(1):167-173

The point spread function of a segmented-mirror telescope is severely affected by segment misalignment, which can nullify the performance of adaptive optics systems. The piston and tilt of each segment must be precisely adjusted in relation to the other segments. Furthermore, the direct detection of the alignment error with natural stars would be desirable in order to monitor the errors during astronomical observation.
We have studied the lost information of the piston error caused by the presence of atmospheric turbulence in the measurements of curvature, and present a new algorithm for obtaining the local piston using the curvature sensor. A phase-wrapping effect is shown as responsible for the loss of curvature information and so the piston errors can no longer adequately be mapped; this happens not only in the presence of atmospheric turbulence, but also in its absence.
Good results are obtained using a new iterative method for obtaining the local piston error map. In the presence of atmospheric perturbation, the turbulent phase information obtained from a Shack–Hartmann sensor is introduced in our new iterative method. We propose a hybrid sensor composed of a curvature sensor and a Shack–Hartmann sensor, in order to complete all the information for the phasing. This design takes a short computation time and could be used in real time inside an adaptive optics system, where tilt and piston errors must be corrected.  相似文献   

Optimal Compensation and Implementation for Adaptive Optics Systems     

Douglas P. Looze  Markus Kasper  Stefan Hippler  Orhan Beker  Robert Weiss 《Experimental Astronomy》2003,15(2):67-88

This paper develops a compensation algorithm based on Linear–Quadratic–Gaussian (LQG) control system design whose parameters are determined (in part) by a model of the atmosphere. The model for the atmosphere is based on the open-loop statistics of the atmosphere as observed by the wavefront sensor, and is identified from these using an auto-regressive, moving average (ARMA) model. The (LQG) control design is compared with an existing compensation algorithm for a simulation developed at ESO that represents the operation of MACAO adaptive optics system on the 8.2 m telescopes at Paranal, Chile. This revised version was published online in July 2006 with corrections to the Cover Date.  相似文献   

Estimation of anisoplanatism in adaptive optics by generalized SCIDAR profiling     

R. W. Wilson  N. J. Wooder  F. Rigal  J. C. Dainty 《Monthly notices of the Royal Astronomical Society》2003,339(2):491-494

  相似文献   

Anhydrite pseudomorphs and the origin of stratiform Cu–Co ores in the Katangan Copperbelt (Democratic Republic of Congo)   总被引：1，自引：1，他引：0  

Ph. Muchez  P. Vanderhaeghen  H. El Desouky  J. Schneider  A. Boyce  S. Dewaele  J. Cailteux 《Mineralium Deposita》2008,43(5):575-589

The stratiform Cu–Co ore mineralisation in the Katangan Copperbelt consists of dispersed sulphides and sulphides in nodules and lenses, which are often pseudomorphs after evaporites. Two types of pseudomorphs can be distinguished in the nodules and lenses. In type 1 examples, dolomite precipitated first and was subsequently replaced by Cu–Co sulphides and authigenic quartz, whereas in type 2 examples, authigenic quartz and Cu–Co sulphides precipitated prior to dolomite and are coarse-grained. The sulphur isotopic composition of the copper–cobalt sulphides in the type 1 pseudomorphs is between −10.3 and 3.1‰ relative to the Vienna Canyon Diablo Troilite, indicating that the sulphide component was derived from bacterial sulphate reduction (BSR). The generation of during this process caused the precipitation and replacement of anhydrite by dolomite. A second product of BSR is the generation of H₂S, resulting in the precipitation of Cu–Co sulphides from the mineralising fluids. Initial sulphide precipitation occurred along the rim of the pseudomorphs and continued towards the core. Precipitation of authigenic quartz was most likely induced by a pH decrease during sulphide precipitation. Fluid inclusion data from quartz indicate the presence of a high-salinity (8–18 eq. wt.% NaCl) fluid, possibly derived from evaporated seawater which migrated through the deep subsurface. ⁸⁷Sr/⁸⁶Sr ratios of dolomite in type 1 nodules range between 0.71012 and 0.73576, significantly more radiogenic than the strontium isotopic composition of Neoproterozoic marine carbonates (⁸⁷Sr/⁸⁶Sr = 0.7056–0.7087). This suggests intense interaction with siliciclastic sedimentary rocks and/or the granitic basement. The low carbon isotopic composition of the dolomite in the pseudomorphs (−7.02 and −9.93‰ relative to the Vienna Pee Dee Belemnite, V-PDB) compared to the host rock dolomite (−4.90 and +1.31‰ V-PDB) resulted from the oxidation of organic matter during BSR.  相似文献   

An operational multiscale system for hazards prediction, mapping, and response     

David P. Bacon  Nash’at N. Ahmad  Thomas J. Dunn  Michael C. Monteith  Ananthakrishna Sarma 《Natural Hazards》2008,44(3):317-327

By definition, a crisis is a situation that requires assistance to be managed. Hence, response to a crisis involves the merging of local and non-local emergency response personnel. In this situation, it is critical that each participant: (1) know the roles and responsibilities of each of the other participants; (2) know the capabilities of each of the participants; and (3) have a common basis for action. For many types of natural disasters, this entails having a common operational picture of the unfolding events, including detailed information on the weather, both current and forecasted, that may impact on either the emergency itself or on response activities. The Consequences Assessment Tool Set (CATS) is a comprehensive package of hazard prediction models and casualty and damage assessment tools that provides a linkage between a modeled or observed effect and the attendant consequences for populations, infrastructure, and resources, and, hence, provides the common operational picture for emergency response. The Operational Multiscale Environment model with Grid Adaptivity (OMEGA) is an atmospheric simulation system that links the latest methods in computational fluid dynamics and high-resolution gridding technologies with numerical weather prediction to provide specific weather analysis and forecast capability that can be merged into the geographic information system framework of CATS. This paper documents the problem of emergency response as an end-to-end system and presents the integrated CATS–OMEGA system as a prototype of such a system that has been used successfully in a number of different situations.  相似文献   

Implementing low-cost landslide risk reduction: a pilot study in unplanned housing areas of the Caribbean     

Malcolm Anderson  Liz Holcombe  Rob Flory  Jean-Philippe Renaud 《Natural Hazards》2008,47(3):297-315

Landslides pose a serious physical and environmental threat to vulnerable communities living in areas of unplanned housing on steep slopes in the Caribbean. Some of these communities have, in the past, had to be relocated, at costs of millions of dollars, because of major slides triggered by tropical storm rainfall. Even so, evidence shows that: (1) risk reduction is a marginal activity; (2) there has been minimal uptake of hazard maps and vulnerability assessments and (3) there is little on-the-ground delivery of construction for risk reduction. This article directly addresses these issues by developing a low-cost approach to the identification of the potential pore pressure changes that trigger such slides we seek to address these three commentaries directly. A complex 45–60° slope site in St Lucia, West Indies was selected as a pilot for a modelling approach that uses numerical models (FLAC and CHASM) to verify the need for surface water management to effectively reduce landslide risk. Following the model confirmation, a series of drains were designed and constructed at the site. Post-construction evidence indicates the methodology to be sound, in that the site was stable in subsequent 1-in-1 to 1-in-4 year rainfall events. A critical feature of the approach is that it is community-based from data acquisition through to community members participating in construction.  相似文献