Wave tank and bench-top control testing of a wave energy converter

An increasing number of experiments are being conducted to study the design and performance of wave energy converters. Often in these tests, a real-time realization of prospective control algorithms is applied in order to assess and optimize energy absorption as well as other factors. This paper details the design and execution of an experiment for evaluating the capability of a model-scale WEC to execute basic control algorithms. Model-scale hardware, system, and experimental design are considered, with a focus on providing an experimental setup capable of meeting the dynamic requirements of a control system. To more efficiently execute such tests, a dry bench testing method is proposed and utilized to allow for controller tuning and to give an initial assessment of controller performance; this is followed by wave tank testing. The trends from the dry bench test and wave tank test results show good agreement with theory and confirm the ability of a relatively simple feedback controller to substantially improve energy absorption. Additionally, the dry bench testing approach is shown to be an effective and efficient means of designing and testing both controllers and actuator systems for wave energy converters.     

Simulation of adaptive optics for the Vacuum Tower Telescope

A simulation model of the adaptive optics of the German Vacuum Tower Telescope (VTT), Observatorio del Teide, Tenerife, is presented. The model uses modules from the integrated model of the Euro50 extremely large telescope, and includes submodels of a Shack-Hartmann wavefront sensor, a de-formable mirror, a tip-tilt mirror, high-voltage amplifier low-pass filters, a reconstructor and a controller. We investigate the impact on the closed loop bandwidth of changes in controller configuration and certain system parameters, such as low pass filter bandwidth and camera integration and readout time. Control strategies were tested on simple models before implementation on the full VTT model. Using the models, different control strategies are compared.     

基于专家系统决策的多模式控制及其应用

将专家系统技术与常规控制、模糊控制、超前控制、仿人智能操作控制以及计算机控制技术相结合,设计了一种新的基于专家系统决策的多模式控制(MCDBES)。经试验和实际运行结果表明,MCDBES系统对未知数学模型的被控对象,具有良好的控制性能。本文提出的MCDBES已成功地应用于燃油陶瓷窑炉计算机控制系统。     

The nonlinear hydrodynamic model for simulating a ship steering in waves with autopilot system

In the paper, a hydrodynamic numerical model including wave effect is developed to simulate ship autopilot systems by using the time domain analysis. The PD controller and the sliding mode controller are adopted as the autopilot systems. The differences of simulation results between two controllers are analyzed by cost function composed of heading angle error and rudder deflection, either in calm water or in waves. The results in calm water show that both controllers are tracking well for the desired route with the similar cost function value by tuning the key design parameters. However, the course tracking ability of the controller using sliding mode in waves is generally better even the cost function value is similar.     

Path following control system for a tanker ship model

A two-dimensional path following control system for autonomous marine surface vessels is presented. The guidance system is obtained through a way-point guidance scheme based on line-of-sight projection algorithm and the speed controller is achieved through state feedback linearization. A new approach concerning the calculation of a dynamic line-of-sight vector norm is presented which main idea is to improve the speed of the convergence of the vehicle to the desired path. The results obtained are compared with the traditional line-of-sight scheme. It is intended that the complete system will be tested and implemented in a model of the “Esso Osaka” tanker. The results of simulations are presented here showing the effectiveness of the system aiming in to be robust enough to perform tests either in tanks or lakes.     

长江和长江口高含量无机氮的主要控制因素

根据1998－1998年长江和长江口河水和雨水的现场调查、历史资料以及相关文献，定量分析长江流域无机氮的主要来源和输送调查。估算表明，降水无机氮、农业非点源氮（化肥和土壤流失的氮）和点源污水氮的输入分别占长江口无机氮输出通量的62．3％、18．5％和14．4％。氮的降水输入是长江口高含量无机氮的主要来源，进入长江的降水氮仅仅大约占长江流域全部降水氮的36．8％。降水米要受控于化肥气态损失、化石燃料及动植物过程中释放的物质等。实际上，化肥N的气态损失和农业非点源流失大约占长江流域年化肥N使用量的60％，这是控制长江口高含量无机氮的关键因素。     

A hierarchical real-time control architecture for a semi-autonomous underwater vehicle

This paper describes a real-time control architecture for Dual Use Semi-Autonomous Underwater Vehicle (DUSAUV), which has been developed at Korea Research Institute of Ships and Ocean Engineering (KRISO) for being a test-bed of development of underwater navigation and manipulator technologies. DUSAUV has three built-in computers, seven thrusters for six DOF motion control, one 4-function electric manipulator, one ballasting motor, built-in power source, and various sensors. A supervisor control system with GUI and a multi-purpose joystick is mounted on the surface vessel and communicates with vehicle through a fiber optic link. Furthermore, QNX, one of real-time operating system, is ported on the built-in control and navigation computers for real-time control purpose, while Microsoft OS product is ported in the supervisor computer for GUI programming convenience. A hierarchical control architecture, which consists of application layer, real-time layer and physical layer, has been developed for efficient control system of above complex underwater robotic system. The experimental results with implementation of the layered control architecture for various motion control of DUSAUV in an ocean engineering basin of KRISO is also presented.     

一种提高粘土矿物去除赤潮生物能力的新方法

在研究粘土颗粒与赤潮生物絮凝作用的基础上，建立了粘土表面改性对其絮凝作用影响的理论模型，认为改变粘土颗粒的表面性质提高其去除赤潮生物能力的主要途径，提出在粘土中引入ＰＡＣＳ（聚羟基氯化铝）的改性方法。结果表明，对于微型原甲藻（Ｐｒｏｒｏ－ｃｅｎｔｒｕｍ ｍｉｎｉｍｕｎ）体系，粘土中引入微量ＰＡＣＳ后，其去除率达９０％以上的高岭土用量由原来的２ｇ／Ｌ降至０．１ｇ／Ｌ，去除效率提高近２０倍。考察了ＰＡ     

GPS网络RTK的质量控制

随着科技的发展与工程应用的深入,传统RTK技术的不足也逐渐体现出来。网络RTK的出现克服了它的局限性。本文简要介绍了网络RTK的概念、工作原理、误差来源与平差、质量控制方法。     

现代深部岩溶研究进展与展望

现代深部岩溶问题是随着工程建设向复杂场地延伸而逐渐显现,由它带来的一系列地质工程问题对越岭隧道工程具有极强的控制性和危害性,如渝怀线圆梁山深埋特长越岭隧道工程出现的高压突水、突泥问题,既控制了工程的施工难度,又是一个极具挑战性的理论难题。综述了现代深部岩溶相关概念、发育类型、发育特征、形成机制等方面国内外研究现状,勾画了现代深部岩溶研究今后的重点,主要包括现代深部岩溶概念的厘定、现代深部岩溶工程地质分类及特征、现代深部岩溶受控因素、现代深部岩溶发育机制及演化、现代深部岩溶对越岭隧道工程控制作用等几方面的研究。