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.     

南海神狐海域沉积物自生黄铁矿和石膏S同位素特征及对甲烷渗漏强度的示踪

The northern slope of the South China Sea is a gas-hydrate-bearing region related to a high deposition rate of organic-rich sediments co-occurring with intense methanogenesis in subseafloor environments.Anaerobic oxidation of methane(AOM) coupled with bacterial sulfate reduction results in the precipitation of solid phase minerals in seepage sediment,including pyrite and gypsum.Abundant aggregates of pyrites and gypsums are observed between the depth of 667 and 850 cm below the seafloor(cmbsf) in the entire core sediment of HS328 from the northern South China Sea.Most pyrites are tubes consisting of framboidal cores and outer crusts.Gypsum aggregates occur as rosettes and spheroids consisting of plates.Some of them grow over pyrite,indicating that gypsum precipitation postdates pyrite formation.The sulfur isotopic values(δ~(34) S) of pyrite vary greatly(from –46.6‰ to –12.3‰ V-CDT) and increase with depth.Thus,the pyrite in the shallow sediments resulted from organoclastic sulfate reduction(OSR) and is influenced by AOM with depth.The relative high abundance and δ~(34) S values of pyrite in sediments at depths from 580 to 810 cmbsf indicate that this interval is the location of a paleo-sulfate methane transition zone(SMTZ).The sulfur isotopic composition of gypsum(from–25‰ to –20.7‰) is much lower than that of the seawater sulfate,indicating the existence of a 34 S-depletion source of sulfur species that most likely are products of the oxidation of pyrites formed in OSR.Pyrite oxidation is controlled by ambient electron acceptors such as MnO_2,iron(Ⅲ) and oxygen driven by the SMTZ location shift to great depths.The δ~(34) S values of gypsum at greater depth are lower than those of the associated pyrite,revealing downward diffusion of 34 S-depleted sulfate from the mixture of oxidation of pyrite derived by OSR and the seawater sulfate.These sulfates also lead to an increase of calcium ions from the dissolution of calcium carbonate mineral,which will be favor to the formation of gypsum.Overall,the mineralogy and sulfur isotopic composition of the pyrite and gypsum suggest variable redox conditions caused by reduced seepage intensities,and the pyrite and gypsum can be a recorder of the intensity evolution of methane seepage.     

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     

The second order characteristic condition for plastic flow

In this paper the second order characteristic (discontinuous bifurcation) condition is derived for the granular flow (fully plastic) equations. This second order bifurcation equation is shown to be formally identical to the first order localization requirement during steady elastoplastic deformation provided the elastic compliance tensor is substituted for the product of the plastic multiplier with the flow Hessian. For isotropic yield and flow functions the invariant form of the characteristic condition is given in detail, as well as an alternative expression in adapted co‐ordinates. The characteristic condition can be regarded as defining a hardening function which is maximized to identify the critical angles. When the method is applied to 3D Coulomb flow, Mohr's 3D fracture plane conditions are obtained uniquely. Copyright © 2003 John Wiley & Sons, Ltd.     

塔中4号油藏渗透率分布的非均质性及渗流方向研究

研究油藏内部油水渗流方向时,主要考虑渗透率影响,引入两个水平方向渗透率比、水平与垂向渗透率比参数来分析。前者反映样品所在储层平面上两个水平方向渗流能力的差异,后者反映样品所在储层水平与垂向渗流能力的差异,并经小柱样测试和全岩心测试两种方法确定两个参数。通过对塔中4号油藏CⅠ油组9口井2306个样品两种渗透率比值分布直方图分析,研究了CⅠ油组渗透率的非均质性及其渗流方向:CI油组储层在水平方向的渗流能力有很大差异,具有明显的方向性。储层垂向渗流能力明显小于水平方向的渗流能力。     

Weibull statistical analysis of granite bending strength

Summary  This paper describes and discusses the adequacy of Weibull statistical analysis to analyse the bending strength of granite. The experimental results show that strength variability is related with a specific origin of failure. This conclusion is based on analysing the influence of the surface condition (extrinsic defects) on the bending strength results treated by the Weibull statistics. The conclusions drawn from this study have been validated by analysing the results of the critical flaw dimension estimated by applying the linear elastic fracture mechanics (LEFM) formulae. Results obtained from fractographic examination also have been used to describe the location of the origin of the fracture and understand the distribution of defects; i.e., there is a unimodal distribution of defects (intrinsic defects), despite the fact that some outlier values are normally observed in the fractured surfaces. Correspndence: P. M. Amaral, Department of Materials Engineering, Instituto Superior Técnico, Technical University of Lisbon, Av. Rovisco Pais, 1049-001 Lisboa, Portugal