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 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   

黄山高速滑移弯曲边坡变形机理分析及应急治理对策     

巨能攀  赵建军  邓辉  黄润秋  段海澎 《地球科学进展》2008,23(5):474-481

黄山高速公路穿行于皖南山区,公路建设过程中,汤口互通A匝道高边坡产生了大范围变形,严重威胁已有构筑物和施工安全。为保证边坡稳定,成立“应急指挥小组”,建立快速反应机制,并采用工程地质测绘、勘探、监测等手段,快速查明边坡结构特征,分析边坡变形机理和稳定性,提出应急治理方案。分析表明,该边坡为层间软弱夹层[JP2]发育的砂泥岩互层型顺向边坡,地质历史上边坡曾发生滑移—弯曲变形,公路施工时对弯曲隆起部位岩体进行开挖,引起坡体产生快速变形,在降雨、开挖等条件下,边坡产生整体失稳的可能性极大。在分析边坡变形机制基础上,应用变形控制理论,确定对边坡采取桩锚结合、综合排水的应急治理措施,并根据变形特点提出了应急治理施工步骤。应急治理措施实施后,边坡变形得到了有效控制,稳定性达到了高速公路的安全要求  相似文献   

基于WiMAX的地质灾害应急无线通信系统探索     

达格  张丽君 《国土资源信息化》2008,(4):15-19

基于OFDM核心技术的WiMAX(全球微波接入互操作性)具有4G技术的特点。与3G和WiFi无线通讯技术相比具有明显的高速率、大容量数据传输优势。本文就基于WiMAX的地质灾害应急通讯系统的几种技术方案加以详细论述,说明WiMAX在地质灾害应急指挥中具有广阔前景。  相似文献   

长治市防雹作业新体系     

王宗仁  杨泽荣  王正旺 《山西气象》2003,(3):20-21

本文根据长治市多年冰雹发生情况，经过分析统计，找出了冰雹多发源地、雹云发晨方向、路径和影响范围，提出了合理布局，联防作业，建立现代化作业指挥系统的防雹新思路。  相似文献   

论城市应急避险场所建设   总被引：1，自引：0，他引：1  

王强  周正 《地震工程学报》2005,27(4):374-376

做好减灾工作,加强应急避险场所建设是一项重要的任务,是落实以人为本,构建和谐社会的具体体现之一。1城市应急避险场所的性质笔者认为,城市避险场所的定义为:城市应急避险场所是为城市或城镇受到各种灾害侵袭而暂时离开居所的人群临时提供的、利用各种空旷场地和大型馆所预先设立的躲避灾难、居留和生活的公共场所。各种灾害包括自然灾害、事故灾难、突发公共卫生灾害、突发社会安全事件等。受助人群包括当地居民以及受灾当地的外来人群。避险场所提供的是临时性的居留场所,其基本服务是政府免费提供的,一旦灾难结束或受灾家园得到重建,停…  相似文献   

云南宁蒗地震应急对策与探讨     

王学仁 《地震工程学报》2005,27(4):377-379

0引言1998年8月至2000年1月在云南省丽江地区宁蒗县境内先后发生13次4~6.2级地震。这一组强震事件前,丽江行署地震局前方工作组、宁蒗县地震局根据多年的预报经验两次向中国地震局和省地震局填报了临震预报卡,准确判定了各个阶段的震情发展趋势,较成功地实现了对这组地震事件的临震预报。与此同时,向丽江地委、行署、宁蒗县委、县政府等明确提出了地震应急对策措施和建议。震前行署地震局前方工作组到极震区的烂泥箐乡开展了防震减灾科普知识宣传活动,为地方政府和震区的人民群众在震前及时实施各项有效的防震减灾措施奠定了基础,对减少灾区…  相似文献   

国家应急测绘调度系统设计     

刘磊  刘津  翟永  邢绪超 《测绘通报》2019,(9):135-138,146

通过分析应急测绘指挥调度的基本特点与实际需求，结合国家应急标准规范，采用基于多通道多协议的数据通信与传输技术、基于MPP架构的分布式数据库管理技术、基于UML模型化的任务规划技术，根据无人机、多功能方舱等应急装备实时回传的位置、状态和应急测绘地理信息，以及快速处理与共享系统等产生的数据成果与作业信息，设计完成了具有应急调度方案制定、指令快速下达、测绘装备动态调度与实时跟踪、测绘任务进度监控及应急任务演练等功能的应急测绘调度系统。  相似文献   

Marine riser emergency disconnection analysis using scalar elements for tensioner modelling     

《Applied Ocean Research》2016

This work proposes nonlinear parallel spring-damper scalar elements in series with a rigid beam element to represent drilling riser tensioner behavior during an emergency disconnection scenario in global riser analysis. The software package used was Orcaflex. This is a simpler approach than the more complex, full hydraulic-pneumatic-mechanic dynamic simulation modelling of the tensioning system, commonly used in literature, which can be time consuming and numerically more sensitive. The model can also be used to represent top tension variation in global riser analysis, allowing for more complex and precise simulations, especially for fatigue life and overpull estimations. The results show adequate agreement with the researched bibliography.  相似文献   

安全射界技术在人工影响天气对空作业中的应用     

罗俊颉  贺文彬  李延成  王兆国 《气象科技》2019,47(2):355-360

本文根据人工影响天气(以下简称人影)作业安全射界管理需求,讨论分析了影响人影作业安全射界因素包括装备性能、弹药稳定性、高空气流、站点海拔和人员操作水平等,提出一种人影作业安全射界精细化绘制思路和方法,设计开发了基于高分辨率卫星影像数据和数字高程模型数据(以下简称DEM数据)人工标识技术的人影安全射界绘制系统。经实践应用,该系统输出的人影作业安全射界图,可解决传统射界图安全标记要素不全、绘制分辨率不高、信息化程度低等问题,对提升作业效益和安全管理水平具有一定的实用价值,可以向开展人影作业的各级单位推广使用。  相似文献