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   

日照市土壤地球化学元素分布规律及成因探讨          下载免费PDF全文

庞绪贵  宋娟娟  代杰瑞  喻超  张华平  陈磊  任天龙  王红晋 《山东国土资源》2018,34(4)

在日照市开展多目标区域地球化学调查，获取了表层土壤和深层土壤地球化学数据，通过对获得的地球化学参数进行统计分析，确定了日照市土壤地球化学基准值和背景值，认为日照市除部分元素或指标外，大部分元素或指标土壤地球化学基准值和背景值与全省土壤地球化学基准值和背景值接近。研究发现，日照市As，Cd，Cr，Cu，Hg，Ni，Pb，Zn等8种重金属元素背景值含量低于国家土壤环境质量标准的土壤一级标准限值，日照市土壤质量基本保持自然背景水平；而受工业化生产和城市化建设等后期人为活动影响，日照市表层土壤中Cd，C，Hg，N，P，S，Se，Corg等元素或指标出现明显富集，应引起重视。  相似文献   

基于噪声谱比法的内蒙古西部地区台站场地响应研究     

张珂  王鑫  王树波  张红才  宋晓燕 《大地测量与地球动力学》2020,40(6):646-651

利用内蒙古西部12个台站的地脉动噪声数据，采用噪声谱比法研究台站的场地响应情况。分析表明，台站场地响应按曲线形态可分为3类，且可能受地形地貌、局部构造和台基状况等条件影响。对比分析噪声谱比法与Moya方法的场地响应结果发现，场地响应曲线形态基本一致，只有极少数台站存在明显差异。结果表明，内蒙古西部区域大部分台站的台基状况总体较好，场地响应曲线较为平坦，无明显频率放大点。  相似文献   

青藏块体东北缘断层形变与中强地震   总被引：7，自引：4，他引：3  

陈兵  江在森  马文静  黎凯武  薛富平 《大地测量与地球动力学》2002,22(4):49-55

对祁连山－海原断裂带近期断层形变特征进行了初步研究，发现多场地，大范围的断层活动异常是中等强度地震发生的显著背景，并且往往与大陆地震活动的阶段性总体状况相呼应；区域形变存在明显的特征量，包括特征形态和特征时间，同一场地在不同地震前的异常特征具有重复性，但会受到背景差异显著的不同地震的影响，目前形变状况表明研究区仍具有发生中强地震的地壳运动背景。  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   

The cosmic microwave background power spectrum out to ℓ= 1400 measured by the Very Small Array     

《Monthly notices of the Royal Astronomical Society》2003,341(4):L23-L28

  相似文献   

Optimal Filtering Algorithm for Stochastic 2-D FMM Ⅱ with Multiplicative Noise     

CHUDongsheng LIANGMeng SHIXin ZHANGLing 《中国海洋大学学报(英文版)》2004,3(1):106-110

1　Introduction　Inrecentyearstherehasbeengrowingresearchin terestinthetwo dimensional (2 D )systemtheory .The 2 Dsystemsmayfindapplicationsinareassuchasmarineseismicdataprocessingandimageprocessing .Althoughmoreandmorevaluableresultshavebeengained ,mos…  相似文献   

Relativist ic Corrections to the Thermal Sunyaev-Zel''''dovich Power Spectrum     

Hai-Ning LiNational Astronomical Observatories  Chinese Academy of Sciences  Beijing  lhnDepartment of Astronomy  Beijing Normal University  Beijing 《中国天文和天体物理学报》2003,3(5)

We present a quantitative estimate of the relativistic corrections to the thermal SZ power spectrum produced by the energetic electrons in massive clusters. The corrections are well within 10% for current experiments with working frequencies below v < 100 GHz, but become non-negligible at high frequencies v > 350 GHz. Moreover, the corrections appear to be slightly smaller at higher l or smaller angular scales. We conclude that there is no need to include the relativistic corrections in the theoretical study of the SZ power spectrum especially at low frequencies unless the SZ power spectrum is used for precision cosmology.  相似文献   

Towards a free–free template for CMB foregrounds     

C. Dickinson  R. D. Davies  R. J. Davis 《Monthly notices of the Royal Astronomical Society》2003,341(2):369-384

A full-sky template map of the Galactic free–free foreground emission component is increasingly important for high-sensitivity cosmic microwave background (CMB) experiments. We use the recently published Hα data of both the northern and southern skies as the basis for such a template.
The first step is to correct the Hα maps for dust absorption using the 100-μm dust maps of Schlegel, Finkbeiner & Davis. We show that for a range of longitudes, the Galactic latitude distribution of absorption suggests that it is 33 per cent of the full extragalactic absorption. A reliable absorption-corrected Hα map can be produced for ∼95 per cent of the sky; the area for which a template cannot be recovered is the Galactic plane area  | b | < 5°, l = 260°–0°–160°  and some isolated dense dust clouds at intermediate latitudes.
The second step is to convert the dust-corrected Hα data into a predicted radio surface brightness. The free–free emission formula is revised to give an accurate expression (1 per cent) for the radio emission covering the frequency range 100 MHz–100 GHz and the electron temperature range 3000–20 000 K. The main uncertainty when applying this expression is the variation of electron temperature across the sky. The emission formula is verified in several extended H  ii regions using data in the range 408–2326 MHz.
A full-sky free–free template map is presented at 30 GHz; the scaling to other frequencies is given. The Haslam et al. all-sky 408-MHz map of the sky can be corrected for this free–free component, which amounts to a  ≈6  per cent correction at intermediate and high latitudes, to provide a pure synchrotron all-sky template. The implications for CMB experiments are discussed.  相似文献   

BACKGROUND STUDY ON NON-RESIDUAL PHASE OF ELEMENTS IN CHANGJIANG AND HUANGHE ESTUARINE SEDIMENTS     

刘新威  吴景阳  蔡月琴  林荣根  韩桂荣 《中国海洋湖沼学报》1996,14(3):282-290

Analysis of Zn, Cu, Pb, Co, Cr, Li, Ni, K, Al, Fe extracted by 1 mol/L HCl or 0.5 mol/LHCl/H_2O_2, showed concentrations of Zn, Cu, Pb, Co, Cr, Fe, Ni were significantly correlated with Li, Al,K, and clay. Two methods are used to indicate the background value of the non-residual phase of elementsin sediments, and are the same as the methods used to indicate the background value of totalconcentrations in sediments. The first method uses correlograms and regression equations,the second usesthe mean element concentrations normalized with grain size. Li, Al, K can be used as reference elements to determine the background value of Zn, Cu, Pb, Co,Cr, Ni, Fe, while the clay concentration's correlation with some extractable concentrations can be used tocalculate the background value of the non-residual phase of elements as a percentage of clay concentrationin the sediments. Based on this study, the concept of using the background value of the non-residualphase of elements to compare the pollution level in differ  相似文献