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.     

一种云端一体化的土地督察遥感监测方法

针对目前土地遥感监测工作中存在的监测频次低和数据现势性差等问题，通过统筹获取国产卫星影像数据提升监测频次，设计了多源遥感影像的空间网格组织和调度方法，改变传统的影像切片发布模式，建立实时影像服务方法，大幅提升了土地督察遥感监测时效。通过在国家土地督察济南局试点应用，研发了云端一体化的土地督察遥感监测服务平台，实践证明基于空间网格的影像组织管理效率优于传统金字塔切片管理模式，有效支撑了违法用地、永久基本农田保护和城市开发边界突破等监测预警，应用成效显著。     

基于2 m格网点云数据的高精度DEM制作第三次国土调查坡度图

地形地貌随着时间的推移时刻发生变化，以高精度数字高程模型（EDE）数据制作坡度图，进而计算田坎系数，更精准地进行耕地面积计算及统计。以2 m格网点云数据生成的DEM数据为基础，按照第三次全国国土调查的相关技术要求，根据耕地坡度分级要求进行分级，生成坡度分级栅格数据图。对坡度分级栅格数据图进行矢量化，生成坡度分级矢量化数据。对矢量化数据进行图斑综合、界线平滑、拓扑重建、数据裁切等处理，制作完成调查区域坡度图及相关属性数据制作。并对生产的坡度图成果进行分析，找出不同尺度格网生产的坡度图的技术差异，并对高精度坡度的应用进行了展望。     

Phasing of segmented mirrors: a new algorithm for piston detection

The point spread function of a segmented-mirror telescope is severely affected by segment misalignment, which can nullify the performance of adaptive optics systems. The piston and tilt of each segment must be precisely adjusted in relation to the other segments. Furthermore, the direct detection of the alignment error with natural stars would be desirable in order to monitor the errors during astronomical observation.
We have studied the lost information of the piston error caused by the presence of atmospheric turbulence in the measurements of curvature, and present a new algorithm for obtaining the local piston using the curvature sensor. A phase-wrapping effect is shown as responsible for the loss of curvature information and so the piston errors can no longer adequately be mapped; this happens not only in the presence of atmospheric turbulence, but also in its absence.
Good results are obtained using a new iterative method for obtaining the local piston error map. In the presence of atmospheric perturbation, the turbulent phase information obtained from a Shack–Hartmann sensor is introduced in our new iterative method. We propose a hybrid sensor composed of a curvature sensor and a Shack–Hartmann sensor, in order to complete all the information for the phasing. This design takes a short computation time and could be used in real time inside an adaptive optics system, where tilt and piston errors must be corrected.     

Optimization of grid-drilling using computer simulation

A computer simulation method has been developed to find efficient drilling grids for mineral deposits. A well-known ore deposit is used as a model to develop an efficient pattern for undiscovered ore bodies in the same area or in other prospects where similar geometry is suspected. The model for this study is the Austinville, Virginia deposit, a Mississippi Valley-type deposit composed of 17 ore bodies totaling 34 million short tons (30 million metric tons). The method employs a computer program that simulates drilling the model deposit with different patterns, including various levels of follow-up drilling. Follow-up holes are drilled in fences at one half the original spacing around holes in the grid that show ore-grade mineralization. Each pattern is drilled 100 times from random starting locations to provide a range of outcomes of drilling, including the best, worst, and most likely. For this study, patterns of 100 drill holes were composed of 10 fences spaced 1000–5000 feet (305–1524 m) apart, each with 10 holes spaced 200–1000 feet (61–305 m) apart. In all, 25 grids were used with zero to three levels of follow-up drilling. The 600/2000 grid, with drill holes spaced 600 feet (183 m) apart in fences spaced 2000 feet (610 m) apart, was compared with the 200/5000 grid because they represented contrasting outcomes. The 600/2000 grid penetrated many ore bodies consistently but with few multiple hits to individual ore bodies; whereas the 200/5000 grid inconsistently penetrated few ore bodies with many multiple hits. The 600/2000 grid was more efficient than the 200/5000 grid at hitting large ore bodies of 1,000,000 short tons or greater (900,000 metric tons or greater) and was made more effective by adding one cycle of follow-up drilling. The 600/2000 grid had a 97% chance of hitting one or more large ore bodies with at least one drill hole per ore body, and the 200/5000 grid had a 64% chance. Once hit, there was an 82% chance that the largest ore body would be penetrated by three or more holes when using the 600/2000 grid and an 88% chance using the 200/5000 grid.     

Optimal Compensation and Implementation for Adaptive Optics Systems

This paper develops a compensation algorithm based on Linear–Quadratic–Gaussian (LQG) control system design whose parameters are determined (in part) by a model of the atmosphere. The model for the atmosphere is based on the open-loop statistics of the atmosphere as observed by the wavefront sensor, and is identified from these using an auto-regressive, moving average (ARMA) model. The (LQG) control design is compared with an existing compensation algorithm for a simulation developed at ESO that represents the operation of MACAO adaptive optics system on the 8.2 m telescopes at Paranal, Chile. This revised version was published online in July 2006 with corrections to the Cover Date.     

An operational multiscale system for hazards prediction, mapping, and response

By definition, a crisis is a situation that requires assistance to be managed. Hence, response to a crisis involves the merging of local and non-local emergency response personnel. In this situation, it is critical that each participant: (1) know the roles and responsibilities of each of the other participants; (2) know the capabilities of each of the participants; and (3) have a common basis for action. For many types of natural disasters, this entails having a common operational picture of the unfolding events, including detailed information on the weather, both current and forecasted, that may impact on either the emergency itself or on response activities. The Consequences Assessment Tool Set (CATS) is a comprehensive package of hazard prediction models and casualty and damage assessment tools that provides a linkage between a modeled or observed effect and the attendant consequences for populations, infrastructure, and resources, and, hence, provides the common operational picture for emergency response. The Operational Multiscale Environment model with Grid Adaptivity (OMEGA) is an atmospheric simulation system that links the latest methods in computational fluid dynamics and high-resolution gridding technologies with numerical weather prediction to provide specific weather analysis and forecast capability that can be merged into the geographic information system framework of CATS. This paper documents the problem of emergency response as an end-to-end system and presents the integrated CATS–OMEGA system as a prototype of such a system that has been used successfully in a number of different situations.     

Robust adaptive control of underactuated ships on a linear course with comfort

This paper addresses an important problem in ship control application—the robust stabilization of underactuated ships on a linear course with comfort. Specifically, we develop a multivariable controller to stabilize ocean surface ships without a sway actuator on a linear course and to reduce roll and pitch simultaneously. The controller adapts to unknown parameters of the ship and constant environmental disturbances induced by wave, ocean current and wind. It is also robust to time-varying environmental disturbances, time-varying change in ship parameters and other motions of the ship such as surge and heave. The roll and pitch can be made arbitrarily small while the heading angle and sway are kept to be in reasonably small bounds. The controller development is based on Lyapunov’s direct method and backstepping technique. A Lipschitz continuous projection algorithm is used to update the estimate of the unknown parameters to avoid the parameters’ drift due to time-varying environmental disturbances. Simulations on a full-scale catamaran illustrate the effectiveness of our proposed controller.