Experimental Study of a Command Governor Adaptive Depth Controller for an Unmanned Underwater Vehicle

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.     

波段选择协同表达高光谱异常探测算法

高光谱遥感影像具有光谱分辨率极高的特点,承载了大量可区分不同类型地物的诊断性光谱信息以及区分亚类相似地物之间细微差别的光谱信息,在目标探测领域具有独特的优势。与此同时,高光谱遥感影像也带来了数据维数高、邻近波段之间存在大量冗余信息的问题,高维度的数据结构往往使得高光谱影像异常目标类和背景类之间的可分性降低。为了缓解上述问题,本文提出了一种基于波段选择的协同表达高光谱异常探测算法。首先,使用最优聚类框架对高光谱波段进行选择,获得一组波段子集来表示原有的全部波段,使得高光谱影像异常目标类与背景类之间的可分性增强。然后使用协同表达对影像上的像元进行重建,由于异常目标类和背景类之间的可分性增强,对异常目标像元进行协同表达时将会得到更大的残差,异常目标像元的输出值增大,可以更好地实现异常目标和背景类的分离。本文使用了3组高光谱影像数据进行异常目标探测实验,实验结果表明,该方法与其他现有高光谱异常目标探测算法对比,曲线下面积AUC(Area Under Curve)值更高,可以更好地实现异常目标与背景分离,能够更有效地对高光谱影像进行异常目标探测。     

TEMPORAL TRENDS IN SOIL PRODUCTIVITY EVALUATIONS*

Studies of soil productivity must compensate for the effects of temporal trends in order to examine the pattern of crop yields along spatial gradients. An analysis of the published yield estimates for 30 soils in 233 counties, however, did not find consistent yield increases over the past three decades. On the contrary, the yield estimates for many soils were markedly uniform since 1972. The uniformity appears to have two causes: the acknowledged difficulty of making yield estimates in a time of increasing variability in soil and crop management, both within and between regions, and surveyors' awareness of data stored in a national soils data base. The effect is to cast doubt on soil productivity data reported in county soil surveys published between 1973 and 1988.     

A unique Galactic planetary nebula with a [WN] central star

We report the discovery of the first probable Galactic [WN] central star of a planetary nebula (CSPN). The planetary nebula candidate was found during our systematic scans of the AAO/UKST Hα Survey of the Milky Way. Subsequent confirmatory spectroscopy of the nebula and central star reveals the remarkable nature of this object. The nebular spectrum shows emission lines with large expansion velocities exceeding 150 km s⁻¹, suggesting that perhaps the object is not a conventional planetary nebula. The central star itself is very red and is identified as being of the [WN] class, which makes it unique in the Galaxy. A large body of supplementary observational data supports the hypothesis that this object is indeed a planetary nebula and not a Population I Wolf–Rayet star with a ring nebula.     

North European last glacial–interglacial transition (LGIT; 15–9 ka) tephrochronology: extended limits and new events

High‐precision correlation of palaeoclimatic and palaeoenvironmental records is crucial for testing hypotheses of synchronous change. Although radiocarbon is the traditional method for dating late Quaternary sedimentary sequences, particularly during the last glacial–interglacial transition (LGIT; 15–9 ka), there are inherent problems with the method, particularly during periods of climate change which are often accompanied by major perturbations in atmospheric radiocarbon content. An alternative method is the use of tephras that act as time‐parallel marker horizons. Within Europe, numerous volcanic centres are known to have erupted during the LGIT, providing considerable potential for high‐precision correlation independent of past radiocarbon fluctuations. Here we report the first identification of the Vedde Ash and Askja Tephra in Ireland, significantly extending the known provenance of these events. We have also identified two new horizons (the Roddans Port Tephras A and B) and tentatively recognise an additional horizon from Vallensgård Mose (Denmark) that provide crucial additional chronological control for the LGIT. Two phases of the Laacher See Tephra (LST) are reported, the lower Laacher See Tephra (LLST) and probably the C2 phase of the Middle Laacher See Tephra (MLST‐C2) indicating a more northeasterly distribution of this fan than reported previously. Copyright © 2006 John Wiley & Sons, Ltd.     

Decoupling of stalagmite-derived Asian summer monsoon records from North Atlantic temperature change during marine oxygen isotope stage 5d

The Asian monsoon is an important component of the global climate system. Seasonal variations in wind, rainfall, and temperature associated with the Asian monsoon systems affect a vast expanse of tropical and subtropical Asia. Speleothem-derived summer monsoon variation in East Asia was previously found to be closely associated with millennial-scale change in temperature in the North Atlantic region between 75 and 10 ka. New evidence recovered from East Asia, however, suggests that the teleconnection between summer monsoon in East Asia and temperature change in the North Atlantic region may have significantly reduced during 120 to ~ 110 ka, a period directly after the full last interglaciation and corresponding roughly to marine oxygen isotope stage 5d. This reduction may be due to the low ice volume in the North Hemisphere at that time, which makes the millennial-scale change in temperature in the North Atlantic region less effective in influencing the Asian summer monsoon. This is important for investigating the mechanisms controlling the Asian summer monsoon and the paleoclimatic teleconnection between East Asia and the North Atlantic region, and for predicting monsoon-associated precipitation in East Asia under a global-warming trend.     

Stability at high-pressure,elastic behaviour and pressure-induced structural evolution of CsAlSi<Subscript>5</Subscript>O<Subscript>12</Subscript>, a potential host for nuclear waste

The elastic and structural behaviour of the synthetic zeolite CsAlSi₅O₁₂ (a = 16.753(4), b = 13.797(3) and c = 5.0235(17) Å, space group Ama2, Z = 2) were investigated up to 8.5 GPa by in situ single-crystal X-ray diffraction with a diamond anvil cell under hydrostatic conditions. No phase-transition occurs within the P-range investigated. Fitting the volume data with a third-order Birch–Murnaghan equation-of-state gives: V ₀ = 1,155(4) ų, K _T0 = 20(1) GPa and K′ = 6.5(7). The “axial moduli” were calculated with a third-order “linearized” BM-EoS, substituting the cube of the individual lattice parameter (a ³, b ³, c ³) for the volume. The refined axial-EoS parameters are: a ₀ = 16.701(44) Å, K _T0a = 14(2) GPa (β_a = 0.024(3) GPa^?1), K′ _a = 6.2(8) for the a-axis; b ₀ = 13.778(20) Å, K _T0b = 21(3) GPa (β_b = 0.016(2) GPa^?1), K′ _b = 10(2) for the b-axis; c ₀ = 5.018(7) Å, K _T0c = 33(3) GPa (β_c = 0.010(1) GPa^?1), K′ _c = 3.2(8) for the c-axis (K _T0a:K _T0b:K _T0c = 1:1.50:2.36). The HP-crystal structure evolution was studied on the basis of several structural refinements at different pressures: 0.0001 GPa (with crystal in DAC without any pressure medium), 1.58(3), 1.75(4), 1.94(6), 3.25(4), 4.69(5), 7.36(6), 8.45(5) and 0.0001 GPa (after decompression). The main deformation mechanisms at high-pressure are basically driven by tetrahedral tilting, the tetrahedra behaving as rigid-units. A change in the compressional mechanisms was observed at P ≤ 2 GPa. The P-induced structural rearrangement up to 8.5 GPa is completely reversible. The high thermo-elastic stability of CsAlSi₅O_12, the immobility of Cs at HT/HP-conditions, the preservation of crystallinity at least up to 8.5 GPa and 1,000°C in elastic regime and the extremely low leaching rate of Cs from CsAlSi₅O₁₂ allow to consider this open-framework silicate as functional material potentially usable for fixation and deposition of Cs radioisotopes.     

溴素的有机化学──Ⅴ.溴代脂肪酸—2,3,5,6—四溴—1,4—苯二酯的合成

以1，4—苯二酚和不同的短链脂肪酸为基本原料，经溴代、加成、形成酰卤和酰化等反应，合成了六种新的溴化脂肪酸—2，3，5，6—四溴—1，4—苯二酯。通过对产物的碳、氢、溴等元素的定量分析，以及红外吸收光谱和氢核磁共振谱的研究，验证了化合物的结构。