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.     

新疆库车县盐水沟北铜矿床地质特征及成因探讨

盐水沟北铜矿区位于新疆库车县北部,其大地构造位置处于塔吉克-塔里木陆块区、塔里木陆块、塔里木北缘隆起、库车前陆盆地,区内构造活动强烈。铜矿床赋存于新近纪中新统康村组第一岩性段,矿体呈层状,严格受地层控制。区内共圈定10个铜矿体,矿石矿物主要为孔雀石、赤铜矿、水胆矾、自然铜等,矿体内无夹石,顶、底板围岩均为褐红色及浅红色粉质泥岩。该矿床为砂岩型铜矿床。     

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     

阿吾拉勒山西段二叠纪火山岩组合与构造环境分析

阿吾拉勒山体西段发育了厚度巨大的下二叠统火山岩,这些火山岩均属碱性玄武岩系列,以钾质类型为主,钠质类型次之,岩浆演化呈现出跨越B型趋势。这种火山活动是在大陆地壳内部产生的,代表了陆内裂谷演化的早期阶段。在早二叠世末期,由于受到新源运动的影响,这种火山活动被终止了。     

金州地区震旦系基本层序与沉积环境

金州地区广泛发育震旦纪地层,具分布连续、出露完整、沉积相标志明显的特点。本文运用现代沉积学和地层学理论,对区内震旦系岩石地层进行了基本层序研究与沉积环境分析。     

山东省侵入岩岩石单位及其代号的厘定

根据《1∶2 5万区域地质调查技术要求 (暂行 )》和我省正在进行的 1∶2 5万区调修测取得的阶段性成果 ,对山东省侵入岩岩石单位及其代号进行了厘定 :不同类型的花岗岩类均作为正式填图单位按“年代 岩性和典型产地方法”确定填图单位代号 ,而独立侵入体、脉岩和包体 ,以及基性—超基性岩则作为非正式填图单位按“年代 岩性方法”确定填图单位代号。