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。     

Hydrological management strategies for the control of algal blooms in regulated lowland rivers

Reservoirs of lowland floodplain rivers with eutrophic backgrounds cause variations in the hydrological and hydraulic conditions of estuaries and low-dam reservoir areas, which can promote planktonic algae to proliferate and algal bloom outbreaks. Understanding the ecological effects of variations in hydrological and hydraulic processes in lowland rivers is important for algal bloom control. In this study, the middle and lower reaches of the Han River, China, a typical regulated lowland river with a eutrophic background, are selected. Based on the effect of hydrological and hydraulic variability on algal blooms, a hydrological management strategy for river algal bloom control is proposed. The results showed that (a) differences in river morphology and background nutrient levels cause significant differences in the critical threshold flow velocities for algal bloom outbreaks between natural river and low-dam reservoir sections; there is no uniform threshold flow velocity for algal bloom control. (b) There are significant differences in the river hydrological/hydraulic conditions between years with and without algal blooms. The average river flow, water level and velocity in years with algal blooms are significantly lower than those in years without algal blooms. (c) For different river sections where algal blooms occur and to meet the threshold flow velocities, the joint operation of cascade reservoirs and diversion projects is an effective method to prevent and control algal blooms in regulated lowland rivers. This study is expected to deepen our understanding of the ecological significance of special hydrological processes and guide algal bloom management in regulated lowland rivers.     

非等间距GM(1,1)模型的总体最小二乘算法及其病态问题

在非等间距GM(1,1)模型中，系数矩阵中有无误差的常数项和有误差的随机项，并且系数矩阵与观测向量误差同源，即系数矩阵与观测向量中有相同的元素存在，这些相同元素应该有相同的改正数，为此本文推导了一种适合非等间距GM(1,1)模型求解的总体最小二乘算法。同时，考虑到非等间距GM(1,1)模型中存在病态问题时影响总体最小二乘计算结果的稳定性，提出对系数矩阵常数列乘以某一常数的方法，以改善病态问题。     

内蒙古鲁新井田水文地质条件研究

矿产资源开发导致了地下水失衡,地下水失衡又给矿产开发造成了极大的安全隐患,近年来,矿产资源开发与地下水环境保护之间的矛盾愈发凸显。通过对内蒙古鲁新井田典型的水文地质条件进行分析研究,分析采矿导致地下水失衡机理,深入剖析矿井开采充水条件及矿山开发对地下水环境的影响,合理提出了促进矿产开发与地下水保护相互协调的对策建议,为实现"采矿保水"协调统一提供了基础地质依据。为类似地区矿产开发过程中遵循自然规律,趋利避害,保障生产安全,保护地下水环境安全,实现资源绿色开发有较好的指导借鉴作用。     

Study of the flood control scheduling scheme for the Three Gorges Reservoir in a catastrophic flood

The Three Gorges Project is the world's largest water conservancy project. According to the design standards for the 1,000‐year flood, flood diversion areas in the Jingjiang reach of the Yangtze River must be utilized to ensure the safety of the Jingjiang area and the city of Wuhan. However, once these areas are used, the economic and life loss in these areas may be very great. Therefore, it is vital to reduce this loss by developing a scheme that reduces the use of the flood diversion areas through flood regulation by the Three Gorges Reservoir (TGR), under the premise of ensuring the safety of the Three Gorges Dam. For a 1,000‐year flood on the basis of a highly destructive flood in 1954, this paper evaluates scheduling schemes in which flood diversion areas are or are not used. The schemes are simulated based on 2.5‐m resolution reservoir topography and an optimized model of dynamic capacity flood regulation. The simulation results show the following. (a) In accord with the normal flood‐control regulation discharge, the maximum water level above the dam should be not more than 175 m, which ensures the safety of the dam and reservoir area. However, it is necessary to utilize the flood diversion areas within the Jingjiang area, and flood discharge can reach 2.81 billion m³. (b) In the case of relying on the TGR to impound floodwaters independently rather than using the flood diversion areas, the maximum water level above the dam reaches 177.35 m, which is less than the flood check level of 180.4 m to ensure the safety of the Three Gorges Dam. The average increase of the TGR water level in the Chongqing area is not more than 0.11 m, which indicates no significant effect on the upstream reservoir area. Comparing the various scheduling schemes, when the flood diversion areas are not used, it is believed that the TGR can execute safe flood control for a 1,000‐year flood, thereby greatly reducing flood damage.     

烟台市地质灾害发育现状及影响因素分析

2016年山东省开展各市地质灾害排查工作,烟台市作为地质灾害较发育区,是该次排查重点工作区之一。该文以现状调查为基础,查明了烟台市共发育471处地质灾害隐患点,地质灾害规模以小型为主,主要类型为崩塌、滑坡、泥石流、采空塌陷和岩溶塌陷,其中崩塌隐患点占地质灾害总数的68%,数量最多,其次为泥石流和采空塌陷,各占总数的15%和14%,滑坡数量最少,仅占总数的1%,并介绍了各类地质灾害分布特征。在此基础上,对地质灾害的主要影响因素——地形地貌、岩土体类型、地质构造、降水和人类工程活动等进行了分析。最后提出了在进行工程建设活动的同时重视其引发的地质灾害问题,以减少和预防其带来的次生地质灾害。     

基于分布式控制力矩陀螺的水下航行器轨迹跟踪控制

基于控制力矩陀螺群(CMGs)的水下航行器具有低速或零速机动的能力。采用基于分布式CMGs的水下航行器方案,并研究其水平面的轨迹跟踪控制问题。通过全局微分同胚变换将非完全对称的动力学模型解耦成标准欠驱动控制模型,并根据简化的模型构建其轨迹跟踪的误差动力学模型,将轨迹跟踪控制问题转化为误差模型镇定问题。基于一种分流神经元模型和反步法设计了系统的轨迹跟踪控制律,该控制器不需要对任何虚拟控制输入进行求导计算,且能确保跟踪误差的最终一致有界性。仿真结果表明该控制器能够实现在不依赖动力学参数先验知识的情况下对光滑轨迹的有效跟踪。     

乌兰布和沙漠典型植物群落土壤风蚀可蚀性研究

为探明植被恢复对乌兰布和沙漠土壤风蚀可蚀性的影响，以乌兰布和沙漠内不同沙地固 定阶段的 8 种典型植物群落及群落内表土作为研究对象，对土壤物理因子（可蚀性颗粒含量、土壤 含水量、有机质含量）、土壤结皮因子、植被因子 3 类土壤风蚀可蚀性因子指标进行监测，分析土壤 风蚀可蚀性因子在不同植物群落类型间、沙地固定阶段间的差异。结果表明：（1）在乌兰布和沙漠 典型植物群落中，沙蓬、沙生针茅、盐爪爪等草本植物群落的土壤风蚀可蚀性最强，白刺、梭梭、沙 冬青等灌木植物群落土壤风蚀可蚀性弱于草本植物群落，说明灌木林能显著降低土壤风蚀作用。 （2）随着沙地的不断固定，土壤结构不断发育，土壤可蚀性不断降低，土壤风蚀可蚀性强弱表现为 固定沙地<半固定沙地<流动沙地。（3）土壤可蚀性颗粒含量、土壤有机质含量、土壤含水量、土壤结 皮、植被因子与植被类型及沙地固定阶段具有显著相关关系。因此，在沙区生态建设工程中，为了 减少土壤风蚀量，不仅要考虑物种的选择，还要促进人工生态系统的演替和恢复，从而有效降低土 壤风蚀可蚀性。研究结果可为乌兰布和沙区植被生态系统服务功能的科学评价、防沙治沙工程的 建设与管理提供一定参考。     

Wave energy conversion under constrained wave-by-wave impedance matching with amplitude and phase-match limits

This paper investigates an approach to limit the fullness of ‘tuning’ provided by wave-by-wave impedance matching control of wave energy devices in irregular waves. A single analytical formulation based on the Lagrange multiplier approach of Evans [1] is used to limit the velocity amplitude while also limiting the closeness of the phase match between velocity and exciting force. The paper studies the effect of the present technique in concurrently limiting the device velocity and the required control/actuation force. Time domain application requires wave-profile prediction, which here is based on a deterministic propagation model. Also examined in the time domain is the effect of possible violation of the displacement constraint, which for many designs implies impacts at hard stops within the power take-off mechanism. Time domain simulations are carried out for a 2-body axisymmetric converter (with physical end-stops) in sea states reported for a site off the US east coast. It is found that the approach leads to effective power conversion in the less energetic sea states, while as desired, considerable muting of the optimal response is found in the larger sea states. Under the assumptions of this work, the end-stop collisions are found to have a minor effect on the power conversion. The present approach could be used to guide the design of power take-off systems so that their displacement stroke, maximum force, and resistive and reactive power limits are well-matched to the achievable performance of a given controlled primary energy converter.