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.     

生物土壤结皮对风沙土和黄绵土膨胀特性的影响

作为重要的土壤物理性质，膨胀性在影响土壤导水性、持水性、抗蚀性以及土壤结构的形成和发育等方面发挥着重要作用。为了探讨生物土壤结皮（BSCs）土壤的膨胀特性及其主要影响因素，针对黄土高原风沙土和黄绵土两种典型土壤，利用膨胀仪测定并比较了有、无藓结皮及其在不同因素（初始含水量、干湿循环、冻融循环、温度）下膨胀率的差异，分析了BSCs对土壤膨胀性的影响及其与环境因素和BSCs性质的关系。结果显示：风沙土上藓结皮的膨胀率为1.93%，较无结皮增加了8.65倍；而黄绵土上藓结皮的膨胀率为2.05%，与无结皮相比降低了76.68%。藓结皮的生物量和厚度与其膨胀率在风沙土上均呈线性正相关关系（P < 0.05），在黄绵土上分别呈二次函数（P=0.02）和线性正相关关系（P=0.02）。初始含水量同时影响了土壤最大膨胀率和稳定膨胀时间，影响程度风沙土远大于黄绵土（包括藓结皮和无结皮）；干湿循环次数对无结皮土壤膨胀率的影响程度大于藓结皮土壤，其中风沙土和黄绵土上无结皮的膨胀率分别是50.00%~620.00%和-2.28%~10.81%，而两种土壤上藓结皮的膨胀率分别是-5.70%~10.88%和-10.24%~-21.46%；冻融循环下4种土壤的膨胀率均有不同程度的降低，降幅为0~18.54%。黄绵土无结皮的膨胀率受温度影响程度较大，50℃下黄绵土无结皮的膨胀率分别是25℃和35℃下的1.17倍和1.21倍。BSCs显著地改变了风沙土和黄绵土表层的膨胀性，其影响的程度和方向取决于土壤类型。同时，BSCs的膨胀性受含水量、温度、干湿以及冻融循环等关键因素影响。     

初轨计算中的病态分析

本文对现有初轨计算方法进行病态性分析与误差分析；研究结果表明：病态对现有初轨算法的影响，主要来源于法方程系数中包含观测误差．系数行列式愈大，定轨精度的损失愈多，当■被随机误差项△μ淹盖时，现有初轨算法将失效．此外，仿真结果还显示：■与△μ的大小还极大地依赖观测弧段的空间位置，当观测弧段包含近站点作为中点时，■最大，而■小，此时定轨精度较高；当观测弧段位于近站点的某一侧时，■小，而■大，此时定轨精度较低，观测弧段愈偏离近站点，病态影响愈大；因而在观测时，应尽量使观测弧段与近站点对称（此时μ值较大），这是提高短弧定轨的一种有效途径．     

INITIAL SEDIMENTATION OF WASTE PARTICLES DISCHARGED IN COASTAL WATERS

Based on a puff model . and together with the consideration of convection , dispersion and descent of suspended waste particles in marine environment , a numerical model is presented to predict the initial sedimentation of waste particles discharged from ocean outfalls in coastal waters and to compute the stable sedimentation rate in homogeneous trde current fields with water depth constant . When the time step selected is small enough , the results from this model agree well with that from the semi-analytical solution , and have sufficient precision for evaluating the impact on the environment caused by sedimentation of waste particles discharged from ocean outfalls. A numerical example is given for predicting the sedimentation of waste particles discharged in Heishijiao , Dalian .     

抗差估计的初值选择

对L1 范估计的平差值和LS估计的平差值作为抗差估计的初值进行了比较 ,指出在 ρ函数是严凸函数时 ,二者无明显的区别。因为LS估计简单且易于计算 ,因此建议用LS估计的平差值作为抗差估计的初值。     

广西芒场锡多金属矿田稳定同位素组成对矿床成因探讨

笔者曾对广西芒场锡多金属矿田的稳定同位素进行研究。本文根据硫、铅、氢、氧、碳等稳定同位素组成和锶的初始值提供的信息.探讨了矿床成因。并结合矿田矿床地质特征、控矿条件及有关统计参数,参考前人对矿床认识的基础上,修正提出了该矿田混合热液成矿模式,可供类似矿床研究和找矿的参考。     

冈底斯带东段鲁朗-墨脱地区中新世花岗岩的地球化学、年代学及成因

冈底斯东段的鲁朗-色季拉和墨脱-崩崩拉一带花岗岩的岩石类型主要为二长花岗岩、黑云母花岗岩、花岗闪长岩、石英闪长岩等。墨脱花岗岩的K—Ar年龄为19-22Ma;鲁朗花岗岩的^40Ar—^39Mr年龄为14-18Ma。岩石地球化学研究结果表明,本区花岗岩主要属于高钾钙碱性系列和钙碱性系列,同时具有某些埃达克岩的特征,表现为高SiO2（65．60％-76．40％）、Al2O3（12．32%-17．23％）、Sr／Y（2．41-86．46）、（La／Yb）。（6．65-56．14）比值,低Y（4．23×10^-6-39．40×10^-6）等特点。呈典型的LREE和LILE富集型分配模式．Eu为正到弱负异常。本区中新世花岗岩主要来源于中下陆壳的硅铝质成分和镁铁质成分的重熔,不同于具埃达克岩成分的冈底斯中新世含矿花岗斑岩。以中新世花岗岩侵位为标志,东喜马拉雅构造结地区的初始伸展可能在22Ma左右,早于冈底斯中段（20Ma左右）。     

Reliability-Based Optimal Design for Very Large Floating Structure

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关于Mckenzie沉积盆地初始沉降公式的修正

根据Airy均衡原理对Mckenzie沉积盆地初始沉降公式进行了修正,并导出了公式的正确表达式 S=(a[(ρ_o-ρ_c)t_c/a(1-(aT_1t_c)/(2a))-(aT_1ρ_o)/2](1-1/β))/(ρ_o(1-aT_1)-ρ_w)