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.     

Dynamic modelling of retrogressive landslides with emphasis on the role of clay sensitivity

This paper presents a detailed numerical study of the retrogressive failure of landslides in sensitive clays. The dynamic modelling of the landslides is carried out using a novel continuum approach, the particle finite element method, complemented with an elastoviscoplastic constitutive model. The multiwedge failure mode in the collapse is captured successfully, and the multiple retrogressive failures that have been widely observed in landslides in sensitive clays are reproduced with the failure mechanism, the kinematics, and the deposition being discussed in detail. Special attention has been paid to the role of the clay sensitivity on each retrogressive failure as well as on the final retrogression distance and the final run‐out distance via parametric studies. Moreover, the effects of the viscosity of sensitive clays on the failure are also investigated for different clay sensitivities.     

A multiscale work-analysis approach for geotechnical structures

This paper presents a second-order work analysis in application to geotechnical problems by using a novel effective multiscale approach. To abandon complicated equations involved in conventional phenomenological models, this multiscale approach employs a micromechanically-based formulation, in which only four parameters are involved. The multiscale approach makes it possible a coupling of the finite element method (FEM) and the micromechanically-based model. The FEM is used to solve the boundary value problem (BVP) while the micromechanically-based model is utilized at the Gauss point of the FEM. Then, the multiscale approach is used to simulate a three-dimensional triaxial test and a plain-strain footing. On the basis of the simulations, material instabilities are analyzed at both mesoscale and global scale. The second-order work criterion is then used to analyze the numerical results. It opens a road to interpret and understand the micromechanisms hiding behind the occurrence of failure in geotechnical issues.     

Application of micropolar plasticity to post failure analysis in geomechanics

A micropolar elastoplastic model for soils is formulated and a series of finite element analyses are employed to demonstrate the use of a micropolar continuum in overcoming the numerical difficulties encountered in application of finite element method in standard Cauchy–Boltzmann continuum. Three examples of failure analysis involving a deep excavation, shallow foundation, and a retaining wall are presented. In all these cases, it is observed that the length scale introduced in the polar continuum regularizes the incremental boundary value problem and allows the numerical simulation to be continued until a clear collapse mechanism is achieved. The issue of grain size effect is also discussed. Copyright © 2004 John Wiley & Sons, Ltd.     

浅谈项目投资失败的原因及对策

地勘单位在向企业化经营转变的过程中 ,投资兴办了许多企业 ,但不少项目以失败告终。文章分析探讨了失败的原因 ,并提出相应的对策     

山区公路软基病害研究

随着高等级公路建设规模的扩大，山区公路所面临的路基病害特别是软土路基病害问题也逐渐增多。结合对陕南勉(县)一宁(强)高速公路工程实例分析，对山区软土成因及其特性进行了初步分析，认为山区软土属以坡洪积、湖积和冲积为主的软土，也有少量是由坡残积物堆积而形成。山区软土的特殊性表现在成分的复杂性、分布的不均匀性、隐蔽性和物理力学性质的特殊性。根据其特性以及中国山区公路软基普遍存在的病害问题，总结了山区公路软基的主要病害类型为剪切拉裂破坏、浸水沉陷破坏、剥蚀坍塌破坏、推挤滑动破坏。还提出了相应的软基处理方法及建议。     

Depositional and post‐depositional history of warm stage deposits at Knocknacran,Co. Monaghan,Ireland: implications for preservation of Irish last interglacial deposits

Organic‐rich deposits, uncovered during overburden removal from mantled gypsum karst at Knocknacran opencast gypsum mine, Co. Monaghan, are the best candidate to date for a last interglacial record in Ireland. The two till and organic‐rich deposits (preserved at different quarry elevations) were emplaced on to a Tertiary dolerite surface during high‐energy flood events and subsequently folded and faulted by movement towards sinkholes in underlying gypsum. Uranium–thorium disequilibrium dating suggests that the organic‐rich deposits in the upper section were hydrologically isolated at ca. 41 ka and those in the lower section at ca. 86 ka. Interpretation of the pollen content, although tentative because of the depositional and post‐depositional history of the material, suggests that the organic material originated in a warm stage possibly warmer than the post‐Eemian interstadials. The unusual setting of preservation may indicate that in situ, last interglacial deposits have generally been removed by erosion in Ireland. Copyright © 2004 John Wiley & Sons, Ltd.     

The second order characteristic condition for plastic flow

In this paper the second order characteristic (discontinuous bifurcation) condition is derived for the granular flow (fully plastic) equations. This second order bifurcation equation is shown to be formally identical to the first order localization requirement during steady elastoplastic deformation provided the elastic compliance tensor is substituted for the product of the plastic multiplier with the flow Hessian. For isotropic yield and flow functions the invariant form of the characteristic condition is given in detail, as well as an alternative expression in adapted co‐ordinates. The characteristic condition can be regarded as defining a hardening function which is maximized to identify the critical angles. When the method is applied to 3D Coulomb flow, Mohr's 3D fracture plane conditions are obtained uniquely. Copyright © 2003 John Wiley & Sons, Ltd.     

新疆境内塔拉斯 费尔干纳断裂早侏罗世走滑的古地震证据

在野外考察过程中,于新疆乌恰地区早侏罗世康苏组沼泽相砂岩层中,发现并识别出软沉积物液化变形层,变形包括负载构造,球枕构造及卷曲变形构造。通过模拟试验的对比研究认为,该软沉积物变形机制与液化作用有关,触发沉积物液化的动力是古地震,并且根据地震震级与液化最大震中距的关系,推测出造成早侏罗世软沉积物变形的里氏地震震级为6相似文献