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.     

Effects of the geometry of two‐dimensional fractures on their hydraulic aperture and on the validity of the local cubic law

Flow through rough fractures is investigated numerically in order to assess the validity of the local cubic law for different fracture geometries. Two‐dimensional channels with sinusoidal walls having different geometrical properties defined by the aperture, the amplitude, and the wavelength of the walls' corrugations, the corrugations asymmetry, and the phase shift between the two walls are considered to represent different fracture geometries. First, it is analytically shown that the hydraulic aperture clearly deviates from the mean aperture when the walls' roughness, the phase shift, and/or the asymmetry between the fracture walls are relatively high. The continuity and the Navier–Stokes equations are then solved by means of the finite element method and the numerical solutions compared to the theoretical predictions of the local cubic law. Reynolds numbers ranging from 0.066 to 66.66 are investigated so as to focus more particularly on the effect of flow inertial effects on the validity of the local cubic law. For low Reynolds number, typically less than 15, the local cubic law properly describes the fracture flow, especially when the fracture walls have small corrugation amplitudes. For Reynolds numbers higher than 15, the local cubic law is valid under the conditions that the fracture presents a low aspect ratio, small corrugation amplitudes, and a moderate phase lag between its walls.     

局部大地水准面精化系统软件的设计与实现

给出了局部大地水准面精化系统的总体结构以及各分系统的详细设计与实现方法,开发了旨在对相关重力测量数据实现自动化处理的局部大地水准面精化系统工具软件,并应用于某区域实际大地水准面的精确计算。实践证明,该系统能有效提高相关数据的处理效率,有助于局部大地水准面精化过程的规范化。     

冰雹云雷达回波自动识别系统

利用CAPPI资料对立体风暴进行识别，计算并提供出实用的风暴结构参数，采用矩心踊跃法和矩不变量法相结合对单体风暴和混合性风暴回波进行跟踪；最小二第线性外推预报；根据WSD－88D的冰雹算法，在风暴结构基础上本文建立了Windows98操作平台上冰雹识别系统，经单站1年11次强对流天气过程的资料检验，结果表明：雹云识别精度达82％。系统建立了大量人机对话框以方便用户，增加实用性及推广性。     

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.     

一种基于Ohta-Okamoto签名的门限群签名方案

在修改的Ohta_Okamoto数字签名方案基础上,设计出了一个新的(t,n)门限签名方案。该方案具有可验证性和防止内部成员合谋攻击;而且验证者在验证群签名的有效性计算的复杂性与一般个人签名方案一样。该方案的安全性是基于大整数的因式分解,因此在计算上是安全的。     

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.     

CORROSION AND ADHERENCE AT SEA OIL-PLATFORM

Measurements of the adhesive corrosion and protective potentials of 3 Bohai Sea oilplatforms under different cathodic protection showed corrosion still occurred on these platforms undertheir designed protective potentials. Preliminary conclusions from indoor experiments on the relation betweenadhesive corrosion and cathodic protection showed adhering organisms caused the corrosion onthese platforms.     

区域GPS网实时计算可降水量的若干问题

目前地基GPS气象学测得的可降水量 (PWV )精度好于 2mm ,但在利用区域GPS网实时计算每个测站上空的PWV时 ,要涉及到很多常规GPS资料处理时所忽略的问题 ,如需考虑数据处理软件和计算方式的选择、站坐标的确定和约束、轨道的使用方法、网外辅助站最佳数量的确定、海潮对实时计算PWV的影响以及实时应用于气象服务时的端部效应等问题。利用上海GPS综合应用网获取的 2 0 0 2年 6、7月份长江三角洲地区入梅前后的数据 ,分析了利用区域性的GPS网实时计算高精度的PWV时要解决的各种问题 ,探讨了其数据处理方案