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1.
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
2.
FEASIBLE STUDY ON THE INTEGRATION SYSTEM FOR THE SPACE MONITORING OF MAJOR EARTHQUAKES AND VOLCANOES IN TERRESTRIAL LAND 总被引:1,自引:1,他引:0
BOLi-qun 《中国地理科学(英文版)》2002,12(4):350-353
With the rapid development of space technology, earth observation technology and sky observatory technolo-gy, they have played a more and more important part in monitoring and predicting of earthquakes and volcanoes in the terres-trial land. In recent years, the related agencies have done the experiments and researches on monitoring and predicting ofearthquakes and volcanoes in the forewarning period by means of many approaches, such as satellite thermal infrared re-mote sensing (TIRS), Global Positioning System (GPS), differential interferometric synthesis aperture radar (D-INSAR),astronomical time-latitude residual anomaly, and Geographic Information Systems (GIS), etc. A quite large number of re-search foundation has been built in the fundamental theories and application methods. The experiments and researcheshave shown that these technology is efficient methods for high frequency crust movement. If the existed separate scientificforces and results are possibly assembled together to form a more complete integration monitoring system with the combina-tion of space, sky observation, ground, deep geology and macro anomaly, it will come into a new stage of monitoring andpredicting of earthquakes and volcanic eruptions. 相似文献
3.
形变大地测量学的进展、问题与地震预报 总被引:12,自引:7,他引:5
简要概括了形变大地测量学的革命性进展,研讨了它的科学特色、功能和定义以及对地球科学和防灾减灾的推动。形变大地测量学有助于从根本上击破多年来制约地震预报的“瓶颈”,但也存在不少急待解决的问题。着重研讨了在21世纪前10年,形变大地测量学如何依托多年的学科积累并充分受益于人造卫星和数字化等新技术,开展创新性研究和试验以推进地震预报。为此,对当前的研究工作提出了12条科学技术途径。最后对学科名称提出了建议。 相似文献
4.
5.
王大新 《地球信息科学学报》2001,3(2):25-28
计算机制图(CAC)和电子出版系统的普及和推广,从根本上改变了传统的地图生产工艺。本文结合制图实践,讨论了应用Coreldraw图形软件编辑出版专题地图的适应性、系统条件和工艺流程,并总结了一些制图经验和应该注意的若干问题。 相似文献
6.
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
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
7.
BIAN Jian-min LIN Nian-feng TANG Jie College of Environment Resources Jilin University Changchun Jilin China 《东北亚地学研究》2005,(Z1)
Desertification is an environmental issue in the world. The salt-alkalization desertification land area formed by both primary and secondary salt-alkalization has extended in a large scale, which has become a significant eco-environmental problem. Based on the characteristics of eco-environment and the situation of desertification in western Songnen plain, this paper reports the analyzes of its formation in background and cause. An early warning system on the salt-alkalization desertification is established and the GIS technology is used to abstract the information of desertification evaluation index. Supported by the integrated technology of the GIS and ANN, the orientation and quantitative result of desertification are gained, which is helpful to the eco-environment protection and resource development in western Songnen Plain. 相似文献
8.
Chen Zhangli 《中国地震研究》2001,15(4):329-345
In the article the author looks back the hard development course and great progress in earth quake science and technology in China during the last near a half of century and expounds the following 3 aspects: (1) The strong desire of the whole society to mitigate seismic disasters and reduce the effect of earthquakes on social-economic live is a great driving force to push forward the development of earthquake science and technology in China; (2) To better ensure people‘ s life and property, sustainable economic development, and social stability is an essential purpose to drive the development of earthquake science and technology in China; and (3) To insist on the dialectical connection of setup of technical system for seismic monitoring with the scientific research of earthquakes and to better handle the relation between crucial task, current scientif ic level, and the feasibility are the important principles to advance the earthquake science and technology in China. Some success and many setbacks in earthquake disaster mitigation consistently enrich our knowledge regarding the complexity of the conditions for earthquake occurrence and the process of earthquake preparation, promote the reconstruction and modernization of technical system for earthquake monitoring, and deepen the scientific research of earthquakes. During the last 5 years, the improvement and modernization of technical system for earthquake monitoring have clearly provided the technical support to study and practice of earthquake prediction and pre caution, give prominence to key problems and broaden the field of scientific research of earth quakes. These have enabled us to get some new recognition of the conditions for earthquake oc currence and process of earthquake preparation, characteristics of seismic disaster, and mecha nism for earthquake generation in China‘s continent. The progress we have made not only en courages us to enhance the effectiveness of earthquake disaster mitigation, but also provides a basis for accelerating further development of earthquake science and technology in China in the new century, especially in the 10th five-year plan. Based on the history reviewed, the author sets forth a general requirement for develop ment of earthquake science and technology in China and brings out 10 aspects to be stressed and strengthened at present and in the future. These are: upgrade and setup of the network of digitized seismic observation; upgrade and setup of the network for observation of seismic pre cursors; setup of the network for observation of strong motion; setup of the laboratories for ex periment on seismic regime; establishment of technical system for seismic information, emer gency command and urgent rescue; research on short-term and imminent earthquake predic tion; research on intermediate- and long-term earthquake prediction; research on attenuation of seismic ground motion, mechanism for seismic disaster, and control on seismic disaster; ba sic research fields related to seismology and geoscience. We expect that these efforts will signifi cantly elevate the level of earthquake science and technology in China to the advanced interna tional level, improve theories, techniques, and methods for earthquake precaution and predic tion, and enhance the effectiveness of earthquake disaster mitigation. 相似文献
9.
邓礼标 《广东海洋大学学报》2004,24(5):126-130
针对航海技术的现状和发展趋势 ,提出了高等航海教育应向国际化、高素质化、现代化、技能化、规范化发展 ,以培养高素质的国际航运人才。 相似文献
10.