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.     

高精度直升机机载LiDAR在高速公路改扩建勘测中的应用可行性研究

机载LiDAR在公路勘测方面的用途日益广泛。该文对直升机机载LiDAR在高速公路改扩建中的应用技术路线可行性进行了研究论证,从地面控制测量、点云数据获取、点云数据处理、成果应用等多个方面进行了阐述,通过分析LiDAR点云数据在5种不同地面控制点布设方案校正下的点云数据精度,论证了利用地面控制点对直升机机载LiDAR点云数据进行平面和高程校正的可行性。     

Analytical study of ground motion caused by seismic wave propagation across faulted rock masses

Studying seismic wave propagation across rock masses and the induced ground motion is an important topic, which receives considerable attention in design and construction of underground cavern/tunnel constructions and mining activities. The current study investigates wave propagation across a rock mass with one fault and the induced ground motion using a recursive approach. The rocks beside the fault are assumed as viscoelastic media with seismic quality factors, Q_p and Q_s. Two kinds of interactions between stress waves and a discontinuity and between stress waves and a free surface are analyzed, respectively. As the result of the wave superposition, the mathematical expressions for induced ground vibration are deduced. The proposed approach is then compared with the existing analysis for special cases. Finally, parametric studies are carried out, which includes the influences of fault stiffness, incident angle, and frequency of incident waves on the peak particle velocities of the ground motions.     

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.     

基于SAR干涉点目标分析技术的城市地表形变监测

通过深入研究干涉点目标的相位模型,提出基于空间搜索的邻近点目标干涉相位差解缠方法,用以计算点目标的地形残差和线性形变,以及分离点目标大气延迟相位和非线性形变相位的时空域滤波方法,解决干涉点目标分析中的关键问题.最后,以苏州地区地表沉降监测为应用试验,利用形成的SAR干涉点目标形变信息提取技术,获取苏州市区1992-2002年间的地表沉降信息.研究结果与已有文献记录保持比较好的一致性,证明SAR干涉点目标技术完全可以发展成为应用于城市地表形变监测的实用化技术.

Abstract：

Interferometric point target analysis (IPTA) is one of the latest developments in radar interferometric processing. It is achieved by analysis of the interferometric phases of some individual point targets, which are discrete and present temporarily stable backscattering characteristics, in long temporal series of interferometric SAR images. This paper analyzes the interferometric phase model of point targets, and then addresses two key issues within IPTA process. Firstly, a spatial searching method is proposed to unwrap the interferometric phase difference between two neighboring point targets. The height residual error and linear deformation rate of each point target can then be calculated, when a global reference point with known height correction and deformation history is chosen. Secondly, a spatial-temporal filtering scheme is proposed to further separate the atmosphere phase and nonlinear deformation phase from the residual interferometric phase. Finally, an experiment of the developed IPTA methodology is conducted over Suzhou urban area. Totally 38 ERS-1/2 SAR scenes are analyzed, and the deformation information over 3 546 point targets in the time span of 1992-2002 are generated. The IPTA-derivecl deformation shows very good agreement with the published result, which demonstrates that the IPTA technique can be developed into an operational tool to map the ground subsidence over urban area.     

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     

长江中下游地区地下水卤素元素的形成及其分布规律

本文以丰富的实际资料，论证了地下水的卤素元素（F、Cl、Br、I）的形成、含量及其分布规律与含水介质成分、上覆岩土性质、地下水退流条件、氧化还原环境、地下水矿化度之间的关系。根据江汉平原东部区和鄱阳湖区地下水中Br、I元素的调查研究结果及它们形成的控制因素与分布规律，结合长江三角洲南部区水文地球化学环境条件分析对比，指出该区是一个形成Br、I矿泉水的有利地区。