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.     

An evaluation of Guided Regularized Random Forest for classification and regression tasks in remote sensing

New Earth observation missions and technologies are delivering large amounts of data. Processing this data requires developing and evaluating novel dimensionality reduction approaches to identify the most informative features for classification and regression tasks. Here we present an exhaustive evaluation of Guided Regularized Random Forest (GRRF), a feature selection method based on Random Forest. GRRF does not require fixing a priori the number of features to be selected or setting a threshold of the feature importance. Moreover, the use of regularization ensures that features selected by GRRF are non-redundant and representative. Our experiments based on various kinds of remote sensing images, show that GRRF selected features provides similar results to those obtained when using all the available features. However, the comparison between GRRF and standard random forest features shows substantial differences: in classification, the mean overall accuracy increases by almost 6% and, in regression, the decrease in RMSE almost reaches 2%. These results demonstrate the potential of GRRF for remote sensing image classification and regression. Especially in the context of increasingly large geodatabases that challenge the application of traditional methods.     

The bivalve Lembulus bicuspidatus may enhance denitrification in shelf sediment at the Angola–Benguela Frontal Zone

We collected living individuals of the bivalve Lembulus bicuspidatus, which shows an unusual preference for the oxygen-deficient habitat found at the Angola–Benguela Frontal Zone of the southeastern Atlantic. With a series of incubation experiments with ¹⁵N-labelled nitrate as a tracer in combination with membrane-inlet mass spectrometry, we studied the potential contribution of L. bicuspidatus to nitrate reduction in the upper sediment layer. Our preliminary results suggest that L. bicuspidatus enhances nitrate reduction if the oxygen concentration is sufficiently low. The Lembulus-mediated nitrate reduction rate is then similar to the rate of microbial nitrate reduction in the surrounding sediment.     

基于噪声谱比法的内蒙古西部地区台站场地响应研究

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。     

GDJ人卫目视观测数据采集和处理系统的研制

本文介绍了ＧＤＪ跟踪打印经纬仪在人造卫星的观测中如何应用计算机对多圈卫星的目视观测资料进行实时采集、处理等工作过程的原理和方法。     

亚毫米波射电天文用超导SIS接收机的研制(英文)

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。     

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

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

Readout Techniques for Drift and Low Frequency Noise Rejection in Infrared Arrays

Three different methods are presented to subtract thermal drifts and low-frequency noise from the signal of infrared array. The first is dead pixels with open Indium bumps, the second is reference output as implemented on the Hawaii2 multiplexer, and the third is dark pixels to emulate reference cells having a capacity connected to the gate of the unit cell field-effect transistor (FET). The third method is the most effective and yields a reduction in readout noise from15.4–9.4 erms. A novel method will be described to extend this readout technique to the Aladdin 1 K × 1 K InSb array. This revised version was published online in July 2006 with corrections to the Cover Date.     

Anhydrite pseudomorphs and the origin of stratiform Cu–Co ores in the Katangan Copperbelt (Democratic Republic of Congo)

The stratiform Cu–Co ore mineralisation in the Katangan Copperbelt consists of dispersed sulphides and sulphides in nodules and lenses, which are often pseudomorphs after evaporites. Two types of pseudomorphs can be distinguished in the nodules and lenses. In type 1 examples, dolomite precipitated first and was subsequently replaced by Cu–Co sulphides and authigenic quartz, whereas in type 2 examples, authigenic quartz and Cu–Co sulphides precipitated prior to dolomite and are coarse-grained. The sulphur isotopic composition of the copper–cobalt sulphides in the type 1 pseudomorphs is between −10.3 and 3.1‰ relative to the Vienna Canyon Diablo Troilite, indicating that the sulphide component was derived from bacterial sulphate reduction (BSR). The generation of during this process caused the precipitation and replacement of anhydrite by dolomite. A second product of BSR is the generation of H₂S, resulting in the precipitation of Cu–Co sulphides from the mineralising fluids. Initial sulphide precipitation occurred along the rim of the pseudomorphs and continued towards the core. Precipitation of authigenic quartz was most likely induced by a pH decrease during sulphide precipitation. Fluid inclusion data from quartz indicate the presence of a high-salinity (8–18 eq. wt.% NaCl) fluid, possibly derived from evaporated seawater which migrated through the deep subsurface. ⁸⁷Sr/⁸⁶Sr ratios of dolomite in type 1 nodules range between 0.71012 and 0.73576, significantly more radiogenic than the strontium isotopic composition of Neoproterozoic marine carbonates (⁸⁷Sr/⁸⁶Sr = 0.7056–0.7087). This suggests intense interaction with siliciclastic sedimentary rocks and/or the granitic basement. The low carbon isotopic composition of the dolomite in the pseudomorphs (−7.02 and −9.93‰ relative to the Vienna Pee Dee Belemnite, V-PDB) compared to the host rock dolomite (−4.90 and +1.31‰ V-PDB) resulted from the oxidation of organic matter during BSR.     

Implementing low-cost landslide risk reduction: a pilot study in unplanned housing areas of the Caribbean

Landslides pose a serious physical and environmental threat to vulnerable communities living in areas of unplanned housing on steep slopes in the Caribbean. Some of these communities have, in the past, had to be relocated, at costs of millions of dollars, because of major slides triggered by tropical storm rainfall. Even so, evidence shows that: (1) risk reduction is a marginal activity; (2) there has been minimal uptake of hazard maps and vulnerability assessments and (3) there is little on-the-ground delivery of construction for risk reduction. This article directly addresses these issues by developing a low-cost approach to the identification of the potential pore pressure changes that trigger such slides we seek to address these three commentaries directly. A complex 45–60° slope site in St Lucia, West Indies was selected as a pilot for a modelling approach that uses numerical models (FLAC and CHASM) to verify the need for surface water management to effectively reduce landslide risk. Following the model confirmation, a series of drains were designed and constructed at the site. Post-construction evidence indicates the methodology to be sound, in that the site was stable in subsequent 1-in-1 to 1-in-4 year rainfall events. A critical feature of the approach is that it is community-based from data acquisition through to community members participating in construction.