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   

南海风暴潮对风场和外围海水敏感性研究     

李健  刘清容  阮成卿  訚忠辉  冀承振 《海洋科学》2018,42(2):99-107

为探索来自西北太平洋台风风暴潮与南海局地生成台风风暴潮不同,本研究在假设两种台风气象条件相同情况下,研究随台风而来外围海水所形成增水对南海沿岸的影响。以0814"黑格比"强台风风暴潮为基础,使用ROMS(regional ocean modeling system)模式进行数值模拟并通过设计对比试验方法进行研究,研究发现在台风登陆时引起的增水最大,最大增水出现在台风路径右侧,其中在沿岸区域,外围海水形成增水约占总增水10%,且大约3 h后出现增水回震现象。同时,设计对比试验,研究来自西北太平洋台风风暴潮对台风路径、台风强度、台风移动速度和流入角等气象条件敏感性,并获得与前人一致的结果。  相似文献   

解郁安神法联合体外反搏对PCI术后气滞血瘀型胸痹患者的临床疗效观察          下载免费PDF全文

王敏  徐新利  姜光萍 《应用海洋学学报》2020,36(12):1

目的：观察解郁安神法联合体外反搏（EECP）对经皮冠状动脉介入治疗（PCI）术后气滞血瘀型胸痹患者的临床疗效。方法：将80例冠心病PCI术后气滞血瘀型胸痹患者随机分为治疗组和对照组,每组各40例。对照组采用PCI术后规范化治疗,同时联合EECP治疗;治疗组在对照组基础上加服解郁安神方治疗,随访观察7周,比较2组临床证候疗效、Zung焦虑自评量表（SAS）评分、抑郁自评量表（SDS）评分、西雅图心绞痛调查量表（SAQ）评分。结果：总有效率治疗组为82.5%（33/40）,高于对照组的60.0%（24/40）,2组比较,差异有统计学意义（P<0.05）;2组SAS、SDS、SAQ评分治疗前后组内比较及治疗后组间比较,差异均有统计学意义（P<0.05）。结论：解郁安神法联合EECP治疗可明显改善PCI术后气滞血瘀型胸痹患者的临床症状,缓解焦虑抑郁程度,提高患者生活质量,值得临床推广应用。  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   

THERMAL EFFECTS OF BUILDING′S EXTERNAL SURFACES IN CITY——Characteristics of Heat Flux into and out of External Wall Surfaces     

ZHANG Yi-ping  HE Yun-ling    LIU Yu-hong  MA You-xin  LI You-rong  DOU Jun-xia     《中国地理科学(英文版)》2004,(4)

1INTRODUCTIONWiththerecentmodernizationandurbanizationofChi-na,urbanareashavegreatlyincreased, andgiantbuild-ings,especiallythosetallerthan100m,havebeendomi-nantincities,whichhave resultedinthegreatincreaseintheproportionofbuilding'sexternalsurfacetototalurbanarea.Thedifferencesofthermalpropertiesmain-lyinducedbysolarradiationbetweenbuilding'sexter-nalsurfacesareobviousfordifferentexposures,whichcaninevitablyinfluencethedistributionsofairtempera-turenearby,eventheverticaldistributionsofurb…  相似文献   

Tidal effects on temperature front in the Yellow Sea   总被引：5，自引：0，他引：5  

Ma Jian  Qiao Fangli  Xia Changshui  Yang Yongzeng 《中国海洋湖沼学报》2004,22(3):314-321

Temperature front (TF) is one of the important features in the Yellow Sea, which forms in spring, thrives in summer, and fades in autumn as thermocline declines. TF intensity ⋎S _T ⋎ is defined to describe the distribution of TF. Based on the MASNUM wave-tide-circulation coupled model, temperature distribution in the Yellow Sea was simulated with and without tidal effects. Along 36°N, distribution of TF from the simulated results are compared with the observations, and a quantitative analysis is introduced to evaluate the tidal effects on the forming and maintaining processes of the TF. Tidal mixing and the circulation structure adapting to it are the main causes of the TF. Supported by the National Basic Research Program of China (No. G1999043809) and the National Science Foundation of China (No. 49736190).  相似文献   

Investigating the mechanisms leading to the deglaciation of past continental northern hemisphere ice sheets with the CLIMBER–GREMLINS coupled model     

Sylvie Charbit  Masa Kageyama  Didier Roche  Catherine Ritz  Gilles Ramstein 《Global and Planetary Change》2005,48(4):1887

A coupling procedure between a climate model of intermediate complexity (CLIMBER-2.3) and a 3-dimensional thermo-mechanical ice-sheet model (GREMLINS) has been elaborated. The resulting coupled model describes the evolution of atmosphere, ocean, biosphere, cryosphere and their mutual interactions. It is used to perform several simulations of the Last Deglaciation period to identify the physical mechanisms at the origin of the deglaciation process. Our baseline experiment, forced by insolation and atmospheric CO₂, produces almost complete deglaciation of past northern hemisphere continental ice sheets, although ice remains over the Cordilleran region at the end of the simulation and also in Alaska and Eastern Siberia. Results clearly demonstrate that, in this study, the melting of the North American ice sheet is critically dependent on the deglaciation of Fennoscandia through processes involving switches of the thermohaline circulation from a glacial mode to a modern one and associated warming of the northern hemisphere. A set of sensitivity experiments has been carried out to test the relative importance of both forcing factors and internal processes in the deglaciation mechanism. It appears that the deglaciation is primarily driven by insolation. However, the atmospheric CO₂ modulates the timing of the melting of the Fennoscandian ice sheet, and results relative to Laurentide illustrate the existence of threshold CO₂ values, that can be translated in terms of critical temperature, below which the deglaciation is impeded. Finally, we show that the beginning of the deglaciation process of the Laurentide ice sheet may be influenced by the time at which the shift of the thermohaline circulation from one mode to the other occurs.  相似文献   

The Latest Research Progress on El Nino     

CHEN Dianyou  WANG Ruiting  WANG Xudong 《世界地质(英文版)》2002,5(1)

Cold water in the deep Pacific can be drawn up to the surface (or west warm water drifts eastwards ) because strong tide increases the mixing of seawater both in vertical and horizontal. In this way greenhouse effect is decreased or increased by means of absorbing (or releasing) CO2. Therefore, La Nina cold event (or El Nino warm event) may occur,which is caused by wanning - up or cooling - down air above the ocean. Volcanic action at sea bottom is also controlled by strong tide.  相似文献   

A global wave parameter database for geophysical applications. Part 1: Wave-current–turbulence interaction parameters for the open ocean based on traditional parameterizations     

Nicolas Rascle  Fabrice Ardhuin  Pierre Queffeulou  Denis Croiz-Fillon 《Ocean Modelling》2008,25(3-4):154-171

Ocean surface mixing and drift are influenced by the mixed layer depth, buoyancy fluxes and currents below the mixed layer. Drift and mixing are also functions of the surface Stokes drift U_ss, volume Stokes transport T_S, a wave breaking height scale H_swg, and the flux of energy from waves to ocean turbulence Φ_oc. Here we describe a global database of these parameters, estimated from a well-validated numerical wave model, that uses traditional forms of the wave generation and dissipation parameterizations, and covers the years 2003–2007. Compared to previous studies, the present work has the advantage of being consistent with the known physical processes that regulate the wave field and the air–sea fluxes, and also consistent with a very large number of in situ and satellite observations of wave parameters. Consequently, some of our estimates differ significantly from previous estimates. In particular, we find that the mean global integral of Φ_oc is 68 TW, and the yearly mean value of T_S is typically 10–30% of the Ekman transport, except in well-defined regions where it can reach 60%. We also have refined our previous estimates of U_ss by using a better treatment of the high frequency part of the wave spectrum. In the open ocean, U_ss  0.013U₁₀, where U₁₀ is the wind speed at 10 m height.  相似文献   

Studying Hydrodynamic Instability Using Shock-Tube Experiments     

O. Sadot  K. Levy  A. Yosef-Hai  D. Cartoon  Y. Elbaz  Y. Srebro  G. Ben-Dor  D. Shvarts 《Astrophysics and Space Science》2005,298(1-2):305-312

The hydrodynamic instability, which develops on the contact surface between two fluids, has great importance in astrophysical phenomena such as the inhomogeneous density distribution following a supernova event. In this event acceleration waves pass across a material interface and initiate and enhance unstable conditions in which small perturbations grow dramatically. In the present study, an experimental technique aimed at investigating the above-mentioned hydrodynamic instability is presented. The experimental investigation is based on a shock-tube apparatus by which a shock wave is generated and initiates the instability that develops on the contact surface between two gases. The flexibility of the system enables one to vary the initial shape of the contact surface, the shock-wave Mach number, and the density ratio across the contact surface. Three selected sets of shock-tube experiments are presented in order to demonstrate the system capabilities: (1) large-initial amplitudes with low-Mach-number incident shock waves; (2) small-initial amplitudes with moderate-Mach-number incident shock waves; and (3) shock bubble interaction. In the large-amplitude experiments a reduction of the initial velocity with respect to the linear growth prediction was measured. The results were compared to those predicted by a vorticity-deposition model and to previous experiments with moderate- and high-Mach number incident shock waves that were conducted by others. In this case, a reduction of the initial velocity was noted. However, at late times the growth rate had a 1/t behavior as in the small-amplitude low-Mach number case. In the small-amplitude moderate-Mach number shock experiments a reduction from the impulsive theory was noted at the late stages. The passage of a shock wave through a spherical bubble results in the formation of a vortex ring. Simple dimensional analysis shows that the circulation depends linearly on the speed of sound of the surrounding material and on the initial bubble radius.  相似文献