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.     

Wetland hydroperiod classification in the western prairies using multitemporal synthetic aperture radar

Wetlands represent one of the world's most biodiverse and threatened ecosystem types and were diminished globally by about two‐thirds in the 20th century. There is continuing decline in wetland quantity and function due to infilling and other human activities. In addition, with climate change, warmer temperatures and changes in precipitation and evapotranspiration are reducing wetland surface and groundwater supplies, further altering wetland hydrology and vegetation. There is a need to automate inventory and monitoring of wetlands, and as a study system, we investigated the Shepard Slough wetlands complex, which includes numerous wetlands in urban, suburban, and agricultural zones in the prairie pothole region of southern Alberta, Canada. Here, wetlands are generally confined to depressions in the undulating terrain, challenging wetlands inventory and monitoring. This study applied threshold and frequency analysis routines for high‐resolution, single‐polarization (HH) RADARSAT‐2, synthetic aperture radar mapping. This enabled a growing season surface water extent hyroperiod‐based wetland classification, which can support water and wetland resource monitoring. This 3‐year study demonstrated synthetic aperture radar‐derived multitemporal open‐water masks provided an effective index of wetland permanence class, with overall accuracies of 89% to 95% compared with optical validation data, and RMSE between 0.2 and 0.7 m between model and field validation data. This allowed for characterizing the distribution and dynamics of 4 marsh wetlands hydroperiod classes, temporary, seasonal, semipermanent, and permanent, and mapping of the sequential vegetation bands that included emergent, obligate wetland, facultative wetland, and upland plant communities. Hydroperiod variation and surface water extent were found to be influenced by short‐term rainfall events in both wet and dry years. Seasonal hydroperiods in wetlands were particularly variable if there was a decrease in the temporary or semipermanent hydroperiod classes. In years with extreme rain events, the temporary wetlands especially increased relative to longer lasting wetlands (84% in 2015 with significant rainfall events, compared with 42% otherwise).     

杭州湾中部实测波浪特性分析

利用杭州湾中部一年实测波浪资料,分析该地区的波参数统计变化特性,采用最小二乘法拟合得出相关参数之间的关系式,并统计分析了频谱特性。结果表明:杭州湾中部以小浪和轻浪为主,在各月分布较为均匀,年平均周期为2.97 s;最大一次波浪过程为冷空气影响所致,影响强度大于台风莫拉克;常浪向分布在东北至东南向,其中又以小浪出现较多,对应的波周期以2~4 s为主;强浪向主要分布在西北和东北方向,对应的波周期主要分布在3~5 s;多数特征波参数之间相关关系较好;由谱分析得知风浪占多数,且以单峰为主。研究结果可为相关工程和理论研究提供基础资料。     

一种新的振幅滤波法在化磁极中的应用

本文针对低纬度地区频率域化磁极存在的问题，在频谱分析的基础上，提出了一种新的滤波方法即振幅滤波法。该方法能将低纬度地区化极磁场的频谱恢复到垂直磁化磁场的频谱，大大提高了低纬度地区化磁极的精度。     

Minimal Energy and Gravitation

Quantum theory in Robertson – Walker spacetime suggests the existence of a minimal energy ε of the order of 10⁻⁴⁵ erg. Reasonable forms for ε give the expansion factor R=R(t)(t= the cosmic time) with no need of gravitational field equations.Einstein's theory should be modified in gravitational fields of strength less than ε c/ħ ∼ 10⁻⁸ cm/s² where c is the speed of light and ħ is the reduced Planck constant. The cosmological term λ is expected to decrease as the universe expands.In the Appendix, ε is derived from a big bang – big crunch Newtonian cosmology.     

Virtual Huanghe River System： Framework and Technology

1 Introduction Huanghe (Yellow) River basin is located in 32°–42°N, 96°–119°E. The area of the catchment is more than 752,000km2. The river is 5464km long with a drop in elevation of 4830m. Among the whole area, the moun- tainous and stone area accounts for 29%, loess and hills area 46%, sandy area 11% and plain area 14%, respec- tively. Different natural landscapes exist in this area. The Huanghe River flows through the Loess Plateau, where the soil is eroded seriously (Wang, 2002;…     

Parameters of the intense X-ray and gamma-ray radiation from the solar flare of May 20, 2002, as observed from the Coronas-F spacecraft

We consider temporal, spectral, and polarization parameters of the hard X-ray and gamma-ray radiation observed during the solar flare of May 20, 2002, in the course of experiments with the SONG and SPR-N instruments onboard the Coronas-F spacecraft. This flare is one of the most intense gamma-ray events among all of the bursts of solar hard electromagnetic radiation detected since the beginning of the Coronas-F operation (since July 31, 2001) and one of the few gamma-ray events observed during solar cycle 23. A simultaneous analysis of the Coronas-F and GOES data on solar thermal X-ray radiation suggests that, apart from heating due to currents of matter in the the flare region, impulsive heating due to the injection of energetic electrons took place during the near-limb flare S21E65 of May 20, 2002. These electrons produced intense hard X-ray and gamma-ray radiation. The spectrum of this radiation extends up to energies ≥7 MeV. Intense gamma-ray lines are virtually unobservable against the background of the nonthermal continuum. The polarization of the hard X-ray (20–100 keV) radiation was estimated to be ≤15–20%. No significant increase in the flux of energetic protons from the flare under consideration was found. At the same time, according to ACE data, the fluxes of energetic electrons in interplanetary space increased shortly (～25 min) after the flare.     

板翅式换热器综合性能优化的设计方法

应用给定换热器结构材料而使换热量最大的两侧换热表面的最佳匹配准则和使可用能损失率最小的最佳运行参数准则。利用两个准则间的关系 ,采用迭代的方式完成换热器的优化设计 ,使换热器的设计达到材料省、换热效果好及运行费用低的目的 ,且能在设计阶段实现。     

Probing the physics of interacting galaxies

The morphological and velocity structures in the gaseous (HI and CO) and stellar components of two interacting systems are examined. Both Arp 140 and Arp 104 reveal extended tidal tails in the HI. The Hα and FIR fluxes of Arp 140 yield similar SFR of ∼ 0.8 M_⊙ yr^-1. In contrast the Hα flux of Arp 104 yields a SFR of ∼ 0.05 M_⊙ yr^-1, ∼ 20 times smaller than that obtained from the FIR flux. Spectra were used to examine the changing velocity of atomic and molecular gas in NGC 5218 (Arp 104). The atomic and molecular gas were found to be dynamically similar with comparable velocities and velocity widths across the galaxy; consistent with the two phases responding similarly to the interaction, or enhanced HI to CO conversion in the centre of the galaxy. This revised version was published online in August 2006 with corrections to the Cover Date.