Robust and adaptive path following for underactuated autonomous underwater vehicles

This paper proposes a nonlinear robust adaptive control strategy to force a six degrees of freedom underactuated underwater vehicle with only four actuators to follow a predefined path at a desired speed despite of the presence of environmental disturbances and vehicle’s unknown physical parameters. The proposed controller is designed using Lyapunov’s direct method, the popular backstepping and parameter projection techniques. The closed loop path following errors can be made arbitrarily small. Interestingly, it is shown that our developed control strategy is easily extendible to situations of practical importance such as parking and point-to-point navigation. Numerical simulations are provided to illustrate the effectiveness of the proposed methodology.     

HYDROPOWER RESOURCES IN UPPER YANGTZE

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基于高清工业相机的盾构隧道裂缝智能识别算法分析

裂缝一直是隧道病害的重点检测对象,但传统人工巡检仅能通过肉眼发现后记录,人工识别精准度与效率完全取决于个人经验判断,无信息化手段辅助,作业效率识别精度亟待提升。针对以上问题,本文借助高清工业相机成像分辨率高、采集速度快等特点,将高清工业相机部署于轨道车上获取隧道表面裂缝病害信息,大幅提高了隧道裂缝识别效率,将识别精度提升至0.2 mm,同时融入优化的Cascade R-CNN算法,在有监督情况下训练隧道裂缝样本,最终实现了隧道裂缝病害的高效提取,同时研发了一套包含硬件数据采集、数据处理软件、数据管理平台的裂缝病害识别路线,真正意义上破除了识别慢、精度低、靠经验、难管理的技术壁垒。     

A latest Pleistocene and Holocene glacial history and paleoclimate reconstruction at Three Sisters and Broken Top Volcanoes, Oregon, U.S.A.

At least three sets of moraines mark distinct glacial stands since the last glacial maximum (LGM) in the Three Sisters region of the Oregon Cascade Range. The oldest stand predates 8.1 ka (defined here as post-LGM), followed by a second between ∼ 2 and 8 ka (Neoglacial) and a third from the Little Ice Age (LIA) advance of the last 300 years. The post-LGM equilibrium line altitudes were 260 ± 100 m lower than that of modern glaciers, requiring 23 ± 9% increased winter snowfall and 1.4 ± 0.5°C cooler summer temperatures than at present. The LIA advance had equilibrium line altitudes 110 ± 40 m lower than at present, implying 10 ± 4% greater winter snowfall and 0.6 ± 0.2°C cooler summer temperatures.     

Risk analysis for clustered check dams due to heavy rainfall

Check dams are commonly constructed around the world for alleviating soil erosion and preventing sedimentation of downstream rivers and reservoirs.Check dams are more vulnerable to failure due to their less stringent flood control standards compared to other dams.Determining the critical precipitation that will result in overtopping of a dam is a useful approach to assessing the risk of failure on a probabilistic basis and for providing early warning in case of an emergency.However,many check dams are built in groups,spreading in several tributaries in cascade forms,comprising a complex network.Determining the critical precipitation for dam overtopping requires a knowledge of its upstream dams on whether they survived or were overtopped during the same storm,while these upstream dams in turn need the information for their upstream dams.The current paper presents an approach of decomposing the dam cluster into(1)the heading dam,(2)border dams,and(3)intermediate dams.The algorithm begins with the border dams that have no upstream dams and proceeds with upgraded maps without the previous border dams until all the dams have been checked.It is believed that this approach is applicable for small-scale check dam systems where the time lag of flood routing can be neglected.As a pilot study,the current paper presents the analytical results for the Wangmaogou Check Dam System that has 22 dams connected in series and parallel.The algorithm clearly identified 7 surviving dams,with the remaining ones being overtopped for a storm of 179.6 mm in 12 h,which is associated with a return period of one in 200 years.     

金沙江下游梯级水库运行后三峡水库高洪水期入库水沙特性

泥沙淤积问题直接影响着三峡水库的使用寿命及综合效益的发挥,研究其入库水沙特性对于解决水库泥沙淤积问题具有重要意义。根据水文站实测数据,分析了三峡水库入库水沙输移特性及来源组成变化,重点研究了金沙江下游梯级水库运行后的三峡水库高洪水期入库水沙特性。结果表明:2003—2021年,三峡水库入库泥沙集中于汛期的高洪水期,2013年以后该现象更为显著,泥沙来源也由金沙江为主转变为嘉陵江为主。寸滩站洪峰流量高于50000 m³/s的高洪水期三峡入库沙量显著大于30000～50000 m³/s区间的高洪水期,三峡水库泥沙调度关键在于上游发生编号洪水期间。三峡水库上游沱江或嘉陵江等支流发生流域性大洪水时,易引起高洪水期入库水沙出现“小水大沙”的特点。金沙江下游梯级水库运行后,三峡水库高洪水期入库泥沙大幅减少,中小洪水调度期间泥沙淤积量也大幅减小。研究结果可为三峡水库的泥沙精细化调度和长期高效使用提供基础数据支撑。     

Identification of geologic contrasts from landscape dissection pattern: An application to the Cascade Range, Oregon, USA

This paper demonstrates the plausibility of inferring the spatial variability of geology from topographically derived landscape dissection patterns. This enables surveying large regions for spatial variability in geology, for which direct remote sensing is not feasible, by studying variability in dissection pattern, a feature extracted straight off from digital elevation model data. Dissection pattern is obtained automatically by a novel algorithm, especially designed to delineate the valleys with high accuracy in order to reflect spatial variability in dissection density. The dissection pattern is encapsulated by a continuous map of drainage density, a raster variable best suited for showing spatial variability of dissection. Such a map, constructed for the study area in the Cascade Range, Oregon, USA, shows a sharp discontinuity in the dissection pattern, indicating change in underlying geology. Possible factors controlling the dissection pattern such as climate, local and regional slopes, vegetation, and geology are examined, and geology has been found to be the dominant controlling factor. The dissection contrast coincides with the boundary between the Western and High Cascades, two geologic provinces with different rock ages and types. The older and less permeable Western Cascades are associated with denser dissection pattern, whereas the younger and more permeable High Cascades correspond to less dissected pattern. This new mapping method can be applied to locations where topography is the only readily available data, and the generated map could be used to extract previously unknown geologic or environmental information.     

Late Eocene foraminifers and palaeoenvironment,Cascade Seamount,southwest Pacific Ocean: implications for seamount subsidence and Australia Antarctica Eocene correlation

A Late Eocene foraminiferal fauna of free specimens is recorded from Cascade Seamount, a feature of volcanic origin, whose age and fauna were previously studied only in thin section. The fauna is of Late Eocene (P15) age because of the presence of Globigerapsis index, Globigerapsis rubriformis, Subbotina linaperta, Subbotina angiporoides and Chiloguembelina cubensis. Many typical Eocene indicators, such as Hantkenina, Pseudohastigerina and key globorotaliids, are absent. The age is a little older than that estimated for previous samples from the seamount. The fauna is dominated (78%) by benthic species, especially species of Cibicides that have greater affinities with New Zealand faunas than with coeval southern Australian faunas. The sediment and its fauna accumulated near the lower limits of wave activity, off the coast of a volcano that probably stood at least 400 m above sea level. The location has subsided nearly 1000 m over the past 40 million years to its present water depth of 1000 m, suggesting that the entire East Tasman Plateau was approximately 1000 m above its current depth at the time. Conditions were cool temperate and the fauna lacks any warm water indices, consistent with a palaeolatitude of 55–60°S, but also with cool waters at a time of oscillating conditions in southern Australia and also in Antarctica. There is essentially no infauna and the waters were highly oxygenated in the turbulent zone.     

Reversal sequence in a multiple scale dynamo mechanism

We investigate the temporal evolution of the magnetic dipole field intensity of the Earth through a multiscale dynamo mechanism. On a large range of spatio-temporal scales, the helical motions of the fluid flow are given by a schematic model of a fully developed turbulence. The system construction is symmetric with respect to left-handed and right-handed cyclones. The multiscale cyclonic turbulence coupled with a differential rotation (schematic ω dynamo) or alone (schematic ² dynamo) is the ingredient of the loop through which poloidal and toroidal fields are built from one another. Two kinds of reaction of the magnetic field on the flow are considered: the presence of a magnetic field first favours a larger-scale organization of the flow, and, second, impedes this flow by the effect of growing Lorentz forces. We obtain the general features of the geomagnetic field intensity observed over geological times and describe a general mechanism for reversals, excursions and secular variation. The mechanism happens to keep a memory during the chrons and loose it during the events (excursions and inversions).     

Spatial Variation in Diameter Structures of Forests in Lassen Volcanic National Park,California*

Variation in seedling/sapling densities and stand diameter forms for six coniferous tree species is related to stand structural development and to elevation and topography in Lassen Volcanic National Park, California. Understory density patterns reflect differences in species tolerance; densities decrease with stand development for shade intolerant pines, but increase for shade tolerant firs and mountain hemlock. Pine species exhibit reverse-J diamter structures on recently disturbed sites, and decreaser and random forms elsewhere. More tolerant fir species show topographically mediated patterns of diameter structure, with reverse-J form common on northerly exposures and upland sites, but with decreaser and random forms on more xeric slopes. Interaction among species tolerance, environmental setting, and disturbance history yields a complex mosaic of stand diameter structures in the Lassen landscape.