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.     

基于深度域地震成像的中沙海槽盆地东北部结构构造研究

文章基于叠前深度偏移地震成像分析, 结合前人重磁反演等地球物理资料成果, 对中沙海槽盆地东北部结构构造进行探索研究。研究表明: 中沙海槽盆地东北部发育新生代地层, 厚度在1500~2500m之间, 地层层速度为1500~ 3500m·s^-1, 不存在中生界沉积层, 盆地基底为海山或前寒武系基岩及岩浆岩隆起。中沙海槽盆地新生代陆源海相烃源岩丰富, 盆地新生界地层厚度大, 盆地凹陷、断裂发育, 具有一定的油气勘探潜力。     

基于噪声谱比法的内蒙古西部地区台站场地响应研究

利用内蒙古西部12个台站的地脉动噪声数据，采用噪声谱比法研究台站的场地响应情况。分析表明，台站场地响应按曲线形态可分为3类，且可能受地形地貌、局部构造和台基状况等条件影响。对比分析噪声谱比法与Moya方法的场地响应结果发现，场地响应曲线形态基本一致，只有极少数台站存在明显差异。结果表明，内蒙古西部区域大部分台站的台基状况总体较好，场地响应曲线较为平坦，无明显频率放大点。     

亚毫米波射电天文用超导SIS接收机的研制(英文)

为了研制亚毫米波射电天文用超导SIS(超导 -绝缘体 -超导 )接收机 ,我们重点开展了如下研究 ,1 )Nb超导SIS结在其能隙频率附近的量子混频特性 ,及其结合高能隙超导薄膜 (NbTiN)和高电导率金属薄膜 (Al)分布结阵在 780 - 950GHz频率区间的量子混频特性 ;2 )亚毫米波超导混频器嵌入阻抗的数值和实验表征 ;3)高电流密度小面积Nb超导SIS结的制备和特性表征 ;4)一个 60 0 - 72 0GHz超导SIS混频器的研制和特性表征。本文详细介绍了相关的数值分析和实验测量结果。     

Optimal Filtering Algorithm for Stochastic 2-D FMM Ⅱ with Multiplicative Noise

1　Introduction　Inrecentyearstherehasbeengrowingresearchin terestinthetwo dimensional (2 D )systemtheory .The 2 Dsystemsmayfindapplicationsinareassuchasmarineseismicdataprocessingandimageprocessing .Althoughmoreandmorevaluableresultshavebeengained ,mos…     

Analysis of mapping coverage obtained from spacecraft

An exact analysis of the coverage obtained by spacecraft using cross-track scanning and nadir-centered conical imaging, under imposed viewing obliqueness and resolution requirements, is presented. In addition to exact expressions for the area acquired and the area acquisition rate, envelope theory is introduced to obtain the boundary of the imaged area. These expressions are relatively compact, allowing rapid machine computation. The effects of the sun phase angle, and of imaging system limitations are also examined. The Galileo mission encounter with Callisto is used as a numerical example, from which certain general conclusions are drawn regarding optimal imaging trajectories.     

Readout Techniques for Drift and Low Frequency Noise Rejection in Infrared Arrays

Three different methods are presented to subtract thermal drifts and low-frequency noise from the signal of infrared array. The first is dead pixels with open Indium bumps, the second is reference output as implemented on the Hawaii2 multiplexer, and the third is dark pixels to emulate reference cells having a capacity connected to the gate of the unit cell field-effect transistor (FET). The third method is the most effective and yields a reduction in readout noise from15.4–9.4 erms. A novel method will be described to extend this readout technique to the Aladdin 1 K × 1 K InSb array. This revised version was published online in July 2006 with corrections to the Cover Date.     

Transforming observational data and theoretical isochrones into the ACS/WFC Vega-mag system

We propose a zero-point photometric calibration of the data from the Advanced Camera for Surveys (ACS) Wide Field Channel (WFC) on board the Hubble Space Telescope , based on a spectrum of Vega and the most up-to-date in-flight transmission curves of the camera. This calibration is accurate at the level of a few hundredths of a magnitude. The main purpose of this effort is to transform the entire set of evolutionary models into a simple observational photometric system for ACS/WFC data, and to make them available to the astronomical community. We provide the zero-points for the most used ACS/WFC bands, and give basic recipes for calibrating both the observed data and the models. We also present the colour–magnitude diagram from ACS data of five Galactic globular clusters, spanning the metallicity range  −2.2 <[Fe/H] < −0.04  , and we provide fiducial points representing their sequences from several magnitudes below the turn-off to the red giant branch tip. The observed sequences are compared with the models in the newly defined photometric system.     

新疆可可托海—四川简阳地学断面岩石圈与软流圈结构

运用现代构造解析理论和方法,对新疆可可托海—四川简阳人工地震测深剖面与天然地震面波层析成像进行构造解析基础上,综合地质学、深源岩石包体构造岩石学和地球化学以及其他地球物理学标志等多学科综合研究显示,高速块体或幔块构造的几何结构型式是控制该区岩石圈构造格局和岩石圈表层构造变形基本条件之一。本文建立起该地学断面地壳及岩石圈与软流圈速度结构模型和物质组成结构模型,划分出岩石圈3种几何结构模式:克拉通陆根状结构、造山带楔状结构和高原陆根状结构,以及岩石圈二类构造演化类型:克拉通型岩石圈和增厚型岩石圈。在系统论述断面地壳及岩石圈结构构造类型特征基础上,探讨了该断面软流圈结构特征,岩石圈与软流圈相互作用及其地幔动力学模式。