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   

A machine learning approach for predicting computational intensity and domain decomposition in parallel geoprocessing     

Peng Yue  Fan Gao  Boyi Shangguan  Zheren Yan 《International journal of geographical information science》2020,34(11):2243-2274

ABSTRACT

High performance computing is required for fast geoprocessing of geospatial big data. Using spatial domains to represent computational intensity (CIT) and domain decomposition for parallelism are prominent strategies when designing parallel geoprocessing applications. Traditional domain decomposition is limited in evaluating the computational intensity, which often results in load imbalance and poor parallel performance. From the data science perspective, machine learning from Artificial Intelligence (AI) shows promise for better CIT evaluation. This paper proposes a machine learning approach for predicting computational intensity, followed by an optimized domain decomposition, which divides the spatial domain into balanced subdivisions based on the predicted CIT to achieve better parallel performance. The approach provides a reference framework on how various machine learning methods including feature selection and model training can be used in predicting computational intensity and optimizing parallel geoprocessing against different cases. Some comparative experiments between the approach and traditional methods were performed using the two cases, DEM generation from point clouds and spatial intersection on vector data. The results not only demonstrate the advantage of the approach, but also provide hints on how traditional GIS computation can be improved by the AI machine learning.  相似文献   

Application of micropolar plasticity to post failure analysis in geomechanics     

Majid T. Manzari 《国际地质力学数值与分析法杂志》2004,28(10):1011-1032

A micropolar elastoplastic model for soils is formulated and a series of finite element analyses are employed to demonstrate the use of a micropolar continuum in overcoming the numerical difficulties encountered in application of finite element method in standard Cauchy–Boltzmann continuum. Three examples of failure analysis involving a deep excavation, shallow foundation, and a retaining wall are presented. In all these cases, it is observed that the length scale introduced in the polar continuum regularizes the incremental boundary value problem and allows the numerical simulation to be continued until a clear collapse mechanism is achieved. The issue of grain size effect is also discussed. Copyright © 2004 John Wiley & Sons, Ltd.  相似文献   

An explicit representation of steady state response of a beam on an elastic foundation to moving harmonic line loads     

Lu Sun 《国际地质力学数值与分析法杂志》2003,27(1):69-84

A closed‐form deflection response of a beam rest is presented in this paper using the integral transform method. The theory of linear partial differential equations is used to represent the deflection of beam subjected to a moving harmonic line load in integration form. The solution is finally carried out using the inverse Fourier transform. To evaluate the integration analytically, poles of the integrand are identified with the help of algebraic equation theory. Residue theorem is then utilized to represent the integration as a contour integral in the complex plane. Closed‐form deflections and numerical results are provided for different combinations of load frequency and velocity. Copyright © 2002 John Wiley & Sons, Ltd.  相似文献   

一种基于特征信息的车牌识别方法   总被引：3，自引：0，他引：3  

胡强  楼新远  段国兵 《成都信息工程学院学报》2004,19(3):345-348

根据中国车辆牌照本身的现有特征信息,提出一种车牌识别方法.采用全局动态阈值法进行二值化处理图像,牌照定位算法简单迅速,字符分割参考垂直投影间隔和字符的纵横比.实验结果表明,这种方法具有良好的环境适应性和鲁棒性.  相似文献   

THE CHARACTERISTIC OF MARINE ENVIRONMENT IN LINGDINGYANG ESTUARY     

CHEN Bing-lu  ZHANG Yun-ni  CHEN Xin-geng  WANG Zhi-gang  YANG Guang-xing 《中国地理科学(英文版)》2001,11(2):155-162

1 HYDROLOGIC FEATURES Lingdingyang Estuary, located at the middle south of Guangdong Province, is a bell-shaped estuary with a north-south direction. Its area is about 2100km2. The north of Qi′ao Island and Inner-Lingding Island, and the south of Humen are grouped as Neilingdingyang Estuary, having an area of 1041km2. Affected by topography, runoff and tide, its dynamic condition is very complicated. Different water areas have different hydrologic features. The topography under …  相似文献   

基于统一强度理论的地基临界荷载公式   总被引：1，自引：0，他引：1  

范文  林永亮  秦玉虎 《地球科学与环境学报》2003,25(3):48-51

基于统一强度理论,按照临界荷载公式的推导方法,得到地基临界荷载的统一解公式。Mohr-Coulomb强度理论计算的结果为其特例。把计算结果与《建筑地基基础设计规范》中的结果进行了对比分析,认为当不同程度地考虑中间主应力σ2的影响时,可以有效地发挥地基的强度潜能。并通过实例计算了统一强度理论参数b取不同值时地基承载力特征值,并进行了对比分析。  相似文献   

基于负反馈的网络负载调度算法     

付国为  刘心松  冯玮 《成都信息工程学院学报》2006,21(6):779-782

提出一种基于负反馈权值的动态网络负载调度算法。算法主要用在多出口路由器上，其执行效率高，开销小。基于算法的多出口路由器不仅能够很好的保持出口间的负载均衡。还具有良好的出口容错性能。  相似文献   

Discriminating between pore‐filling load and bed‐structure load: a new porosity‐based method,exemplified for the river Rhine     

ROY M. FRINGS  MAARTEN G. KLEINHANS  STEFAN VOLLMER 《Sedimentology》2008,55(6):1571-1593

Sediments contained in the river bed do not necessarily contribute to morphological change. The finest part of the sediment mixture often fills the pores between the larger grains and can be removed without causing a drop in bed level. The discrimination between pore‐filling load and bed‐structure load, therefore, is of practical importance for morphological predictions. In this study, a new method is proposed to estimate the cut‐off grain size that forms the boundary between pore‐filling load and bed‐structure load. The method evaluates the pore structure of the river bed geometrically. Only detailed grain‐size distributions of the river bed are required as input to the method. A preliminary validation shows that the calculated porosity and cut‐off size values agree well with experimental data. Application of the new cut‐off size method to the river Rhine demonstrates that the estimated cut‐off size decreases in a downstream direction from about 2 to 0·05 mm, covariant with the downstream fining of bed sediments. Grain size fractions that are pore‐filling load in the upstream part of the river thus gradually become bed‐structure load in the downstream part. The estimated (mass) percentage of pore‐filling load in the river bed ranges from 0% in areas with a unimodal river bed, to about 22% in reaches with a bimodal sand‐gravel bed. The estimated bed porosity varies between 0·15 and 0·35, which is considerably less than the often‐used standard value of 0·40. The predicted cut‐off size between pore‐filling load and bed‐structure load (D_c,p) is fundamentally different from the cut‐off size between wash‐load and bed‐material load (D_c,w), irrespective of the method used to determine D_c,p or D_c,w. D_c,w values are in the order of 10^?1 mm and mainly dependent on the flow characteristics, whereas D_c,p values are generally much larger (about 10⁰ mm in gravel‐bed rivers) and dependent on the bed composition. Knowledge of D_c,w is important for the prediction of the total sediment transport in a river (including suspended fines that do not interact with the bed), whereas knowledge of D_c,p helps to improve morphological predictions, especially if spatial variations in D_c,p are taken into account. An alternative to using a spatially variable value of D_c,p in morphological models is to use a spatially variable bed porosity, which can also be predicted with the new method. In addition to the morphological benefits, the new method also has sedimentological applications. The possibility to determine quickly whether a sediment mixture is clast‐supported or matrix‐supported may help to better understand downstream fining trends, sediment entrainment thresholds and variations in hydraulic conductivity.  相似文献   

新疆境内塔拉斯 费尔干纳断裂早侏罗世走滑的古地震证据     

乔秀夫  李海兵  王思恩  郭宪璞  司家亮  宗文明 《地质学报》2008,82(6):722-730

在野外考察过程中,于新疆乌恰地区早侏罗世康苏组沼泽相砂岩层中,发现并识别出软沉积物液化变形层,变形包括负载构造,球枕构造及卷曲变形构造。通过模拟试验的对比研究认为,该软沉积物变形机制与液化作用有关,触发沉积物液化的动力是古地震,并且根据地震震级与液化最大震中距的关系,推测出造成早侏罗世软沉积物变形的里氏地震震级为6相似文献