基于分布式控制力矩陀螺的水下航行器轨迹跟踪控制   总被引：2，自引：0，他引：2  

黄道敏  徐瑞昆  唐国元  冯雷  刘智  徐国华 《海洋工程》2018,36(6):69-76

基于控制力矩陀螺群(CMGs)的水下航行器具有低速或零速机动的能力。采用基于分布式CMGs的水下航行器方案,并研究其水平面的轨迹跟踪控制问题。通过全局微分同胚变换将非完全对称的动力学模型解耦成标准欠驱动控制模型,并根据简化的模型构建其轨迹跟踪的误差动力学模型,将轨迹跟踪控制问题转化为误差模型镇定问题。基于一种分流神经元模型和反步法设计了系统的轨迹跟踪控制律,该控制器不需要对任何虚拟控制输入进行求导计算,且能确保跟踪误差的最终一致有界性。仿真结果表明该控制器能够实现在不依赖动力学参数先验知识的情况下对光滑轨迹的有效跟踪。  相似文献   

平衡剖面的制作流程及其地质意义   总被引：9，自引：0，他引：9  

王运所  刘亚洲  张孝义  张剑峰  尹哲 《地球科学与环境学报》2003,25(1):28-32

平衡剖面技术是地质思维和计算机技术的结晶,使对断层构造的研究提高到定量阶段,其依据是在垂直构造走向的剖面上,地层长度和面积(2D)或体积(3D)是均衡的。在此原理基础上利用数学手段对盆地的构造发育史进行正演和反演模拟,直观地再现地下构造的原始几何形态,迅速提供地震剖面的构造解释方案,并对解释结果进行检验(不平衡的剖面其解释一般有问题),为深刻认识构造发育史、分析油气运移及聚集规律提供依据,提高了工作效率。其结果也为盆地模拟、油藏模拟、定量计算构造伸缩量等地质研究打下了坚实的基础[1]。  相似文献   

Gamma-Hadron Separation using Čerenkov Photon Density Fluctuations     

V. R. Chitnis  P. N. Bhat 《Experimental Astronomy》2002,13(2):77-100

In the atmospheric Čerenkov technique γ-rays are detected against the abundant background produced by hadronic showers. In order to improve the signal to noise ratio of theexperiment, it is necessary to reject a significant fraction of hadronic showers. Traditional background rejection methods based on image shape parameters have been extensively used for the data from imaging telescopes. However, non-imaging Čerenkov telescopes have to develop very different means of statistically identifying and removing cosmic ray events. Some of the parameters, which could be potentially important for non-imaging arrays, are the temporal and spectral differences, the lateral distributions and density fluctuations of Čerenkov photons generated by γ-ray and hadron primaries. Here we study the differences in fluctuations of Čerenkov photon density in the light pool at the observation level from showers initiated by photons and those initiated by protons or heavier nuclei. The database of simulated events for the PACT array has been used to evaluate the efficiency of the new technique. Various types of density fluctuations like the short range and medium range fluctuations as well as flatness parameter are studied. The estimated quality factors reflect the efficiencies with which the hadrons can be rejected from the data. Since some of these parameters are independent, the cuts may be applied in tandem and we demonstrate that the proton rejection efficiency of ∼90% can be achieved. Use of density fluctuations is particularly suited for wavefront sampling observations and it seems to be a good technique to improve the signal to noise ratio. This revised version was published online in July 2006 with corrections to the Cover Date.  相似文献   

低轨道人造卫星(CHAMP、GRACE、GOCE)与高精度地球重力场——卫星重力大地测量的最新发展及其对地球科学的重大影响   总被引：33，自引：26，他引：7  

孙文科 《大地测量与地球动力学》2002,22(1):92-100

评述了卫星重力大地测量的最新发展及其对地球科学的重大影响。为了更好地理解地球内部物理构造与海洋动力学，以及大陆，冰川和海洋的相互作用，改善现有地球重力场模型（包括精度和空间解析度）是非常重要的。IUGG等国际组织对此已经强调了很多年。最近，由德国的GFZ（GeoForschungsZentrum)，美国的NASA（National Aeronautics and Space Adminitration)以及欧洲宇航局ESA（European Space Agency)开发研制了最先进的地球监测技术－SST（Satellite-to-Sateilite Tracking)。其主要特点是利用现有的GPS连续追踪新发射低轨道卫星，并由低轨道卫星对地球重力场作精密观测。已经发射和即将发射的卫星有3颗：GHAMP（Challenging Mini-Satellite Payload for Geophysical Research an Application)已经于2000年发射；GRACE（Gravity Recovery and Climate Experimert)定于2002年发射；GOCE（Gravity Field and Steady-state Ocean Cirulation Explorer)计划2004年发射，它们可以统称为重力卫星。载有SST技术的人造卫星的主要目的是获得具有前所未有的高精度和高空间解析度的全球重力场和大地水准面模型，加强人们对地球内部构造的理解并为海洋和气象研究提供更好地参考。上述3个重力卫星工作在有明显区别的不同波谱内，它们有不同的科学应用，仅有一小部分重合。所以，就应用而言它们是完全互补的。它们在地球科学中的应用将是广泛的，特别对于固体地球物理学，海洋学以及大地测量学等领域，它们将会带来革命性的变化，其意义不亚于GPS。  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   

图像目标形状匹配与视频过滤技术研究   总被引：1，自引：0，他引：1  

吴四九 《成都信息工程学院学报》2002,17(2):97-100

通过研究图像目标形状特征的提取、匹配，运用随机过程，投影理论，提出用于识别目标形状统计特性的波动度特征，建立目标形状匹配函数，给出实际图像目标的匹配实现算法，实际系统测试表明该算法能准确、快速完成实际图像目标形状的匹配、过滤，为图像跟踪、识别及视频过滤等应用领域提供了新的可借鉴方法。  相似文献   

Smeared crack approach: back to the original track     

M. Cervera  M. Chiumenti 《国际地质力学数值与分析法杂志》2006,30(12):1173-1199

This paper briefly reviews the formulations used over the last 40 years for the solution of problems involving tensile cracking, with both the discrete and the smeared crack approaches. The paper focuses on the smeared approach, identifying as its main drawbacks the observed mesh‐size and mesh‐bias spurious dependence when the method is applied ‘straightly’. A simple isotropic local damage constitutive model is considered, and the (exponential) softening modulus is regularized according to the material fracture energy and the element size. The continuum and discrete mechanical problems corresponding to both the weak discontinuity (smeared cracks) and the strong discontinuity (discrete cracks) approaches are analysed and the question of propagation of the strain localization band (crack) is identified as the main difficulty to be overcome in the numerical procedure. A tracking technique is used to ensure stability of the solution, attaining the necessary convergence properties of the corresponding discrete finite element formulation. Numerical examples show that the formulation derived is stable and remarkably robust. As a consequence, the results obtained do not suffer from spurious mesh‐size or mesh‐bias dependence, comparing very favourably with those obtained with other fracture and continuum mechanics approaches. Copyright © 2006 John Wiley & Sons, Ltd.  相似文献   

CARBON DYNAMICS OF WETLAND IN THE SANJIANG PLAIN   总被引：2，自引：0，他引：2  

SONG Chang-chun    WANG Yi-yong  WANG Yue-si  YAN Bai-xing WANG De-xuan  ZHAO Zhi-chun  LOU Yan-jing 《中国地理科学(英文版)》2003,13(3):228-231

1INTRODUCTIONWetlandsplayanimportant roleintheprocessofcar-bonstorage.Thetotalcarbonstoredindifferentkindsofwetlandsisabout15%-35%ofthetotalcarboninthegloballandsoils(POSTetal.,1982;GORHAM,1991).Inaddition,wetlandsaresignificantnaturalsources fortheatmospheric CH4 (MOORE,1994).It isestimatedthatabout110×1012gCH4 originates fromanaerobicdecompositioninthenaturalwetlands,CH4 emission fromthenaturalwetlandsis15%-30%oftheglobalCH4 emission andtheCH4 emission from thepeat land at hi…  相似文献   

应用ATA的对数周期馈源方案于FAST的可能性探讨     

吴盛殷  熊继衮  吕善伟  张江林  徐祥  南仁东  金乘进 《天文学进展》2004,22(2):179-187

介绍应用于美国凤凰计划的Allen望远镜阵(ATA)的对数周期馈源(LPA)概况，初步给出此种馈源的基本参数及性能，仿真估算了其驻波比和方向图，并结合正在进行中的我国500m孔径球面射电望远镜(FAST)计划，探讨了应用这种宽带馈源的可能性及其限制。  相似文献   

A multi‐level parallelized substructuring‐frontal solution for coupled thermo/hydro/mechanical problems in unsaturated soil     

H.R. Thomas  H.T. Yang  Y. He  P.J. Cleall 《国际地质力学数值与分析法杂志》2003,27(11):951-965

This paper proposes a multi‐level parallelized substructuring–frontal combined algorithm for the analysis of the problem of thermo/hydraulic/mechanical behaviour of unsaturated soil. Temperature, displacement, pore water pressure and pore air pressure are treated as the primary variables in a non‐linear analysis. Details are given firstly of the substructuring–frontal combined approach. The incorporation of the algorithm in a multi‐level parallel strategy is then discussed. The parallel processing can thus be carried out at different substructural levels. The method thus developed impacts, in a positive way, on both computer storage requirement and execution time. Copyright © 2003 John Wiley & Sons, Ltd.  相似文献