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.     

南海风暴潮对风场和外围海水敏感性研究

为探索来自西北太平洋台风风暴潮与南海局地生成台风风暴潮不同,本研究在假设两种台风气象条件相同情况下,研究随台风而来外围海水所形成增水对南海沿岸的影响。以0814"黑格比"强台风风暴潮为基础,使用ROMS(regional ocean modeling system)模式进行数值模拟并通过设计对比试验方法进行研究,研究发现在台风登陆时引起的增水最大,最大增水出现在台风路径右侧,其中在沿岸区域,外围海水形成增水约占总增水10%,且大约3 h后出现增水回震现象。同时,设计对比试验,研究来自西北太平洋台风风暴潮对台风路径、台风强度、台风移动速度和流入角等气象条件敏感性,并获得与前人一致的结果。     

解郁安神法联合体外反搏对PCI术后气滞血瘀型胸痹患者的临床疗效观察

目的：观察解郁安神法联合体外反搏（EECP）对经皮冠状动脉介入治疗（PCI）术后气滞血瘀型胸痹患者的临床疗效。方法：将80例冠心病PCI术后气滞血瘀型胸痹患者随机分为治疗组和对照组,每组各40例。对照组采用PCI术后规范化治疗,同时联合EECP治疗;治疗组在对照组基础上加服解郁安神方治疗,随访观察7周,比较2组临床证候疗效、Zung焦虑自评量表（SAS）评分、抑郁自评量表（SDS）评分、西雅图心绞痛调查量表（SAQ）评分。结果：总有效率治疗组为82.5%（33/40）,高于对照组的60.0%（24/40）,2组比较,差异有统计学意义（P<0.05）;2组SAS、SDS、SAQ评分治疗前后组内比较及治疗后组间比较,差异均有统计学意义（P<0.05）。结论：解郁安神法联合EECP治疗可明显改善PCI术后气滞血瘀型胸痹患者的临床症状,缓解焦虑抑郁程度,提高患者生活质量,值得临床推广应用。     

ANALYSIS OF DRIVING FORCES ON THE CHANGE OF HISTORICAL FARMLAND USE IN SHANDONG PROVINCE DURING THE QING DYNASTY (1644-1911)

1INTRODUCTIONTheIGBP-IHDP(InternationalGeosphere-BiosphereProgramme,andInternationalHumanDimensionPro-gramme)jointproject—LUCC(landuse/coverchange)isaninterdisciplinaryprogramdesignedtoimprovetheunderstandingofthedynamicsofland-useandland-coverchangeasinputstoandconsequencesofglobalenvironmentalchangeandsustainabledevelopment(CHARLOTTE,2002).Inparticularthedifferentbio-geochemicalmodeling(e.g.theglobalcarboncycle)ac-tivitiesandcomparativestudies,suchasthoseconduct-edbyIGBP-G…     

ANALYSIS OF DRIVING FORCES ON THE CHANGE OF HISTORICAL FARMLAND USE IN SHANDONG PROVINCE DURING THE QING DYNASTY （1644-1911）

How land-cover has been changed by human use over the last 300 years is one of the five overarching questions guiding the Land-use/Cover Change (LUCC) Science/Research Plan. China has variety of historical docu-ments providing unique data superiority. So the characteristics of farmland area in Shandong Province during the Qing Dynasty (1644-1911) are summarized firstly: 1) the rising trend of farmland area was striking; 2) farmland area had re-markable fluctuation; 3) farmland area per capita decreased dramatically; 4) wasteland reclamation index increased rapidly. Then, the driving forces of farmland area change are analyzed. It is concluded that natural and human factors are jointly influential. Among the driving forces, human dimensions are the main factors of farmland area change,which direct the general tendency of the changes mentioned above. And the natural factors influence the stability of farmland area as well. Variation of the natural factors would act as the major contributory factor to farmland area change during years or periods of abrupt climatic changes, or during the intensive occurring periods of natural hazards.Besides, the passive aspects of human factors, such as war chaos also influenced the fluctuation of the farmland area.This research indicates that it is feasible to study the land-use/cover change by Chinese historical literatures, which has huge potential to provide a comprehensive picture of the growing dominance of human land-use and land-cover pat-terns that can be used in many global change research oroiects.     

THERMAL EFFECTS OF BUILDING′S EXTERNAL SURFACES IN CITY——Characteristics of Heat Flux into and out of External Wall Surfaces

1INTRODUCTIONWiththerecentmodernizationandurbanizationofChi-na,urbanareashavegreatlyincreased, andgiantbuild-ings,especiallythosetallerthan100m,havebeendomi-nantincities,whichhave resultedinthegreatincreaseintheproportionofbuilding'sexternalsurfacetototalurbanarea.Thedifferencesofthermalpropertiesmain-lyinducedbysolarradiationbetweenbuilding'sexter-nalsurfacesareobviousfordifferentexposures,whichcaninevitablyinfluencethedistributionsofairtempera-turenearby,eventheverticaldistributionsofurb…     

Investigating the mechanisms leading to the deglaciation of past continental northern hemisphere ice sheets with the CLIMBER–GREMLINS coupled model

A coupling procedure between a climate model of intermediate complexity (CLIMBER-2.3) and a 3-dimensional thermo-mechanical ice-sheet model (GREMLINS) has been elaborated. The resulting coupled model describes the evolution of atmosphere, ocean, biosphere, cryosphere and their mutual interactions. It is used to perform several simulations of the Last Deglaciation period to identify the physical mechanisms at the origin of the deglaciation process. Our baseline experiment, forced by insolation and atmospheric CO₂, produces almost complete deglaciation of past northern hemisphere continental ice sheets, although ice remains over the Cordilleran region at the end of the simulation and also in Alaska and Eastern Siberia. Results clearly demonstrate that, in this study, the melting of the North American ice sheet is critically dependent on the deglaciation of Fennoscandia through processes involving switches of the thermohaline circulation from a glacial mode to a modern one and associated warming of the northern hemisphere. A set of sensitivity experiments has been carried out to test the relative importance of both forcing factors and internal processes in the deglaciation mechanism. It appears that the deglaciation is primarily driven by insolation. However, the atmospheric CO₂ modulates the timing of the melting of the Fennoscandian ice sheet, and results relative to Laurentide illustrate the existence of threshold CO₂ values, that can be translated in terms of critical temperature, below which the deglaciation is impeded. Finally, we show that the beginning of the deglaciation process of the Laurentide ice sheet may be influenced by the time at which the shift of the thermohaline circulation from one mode to the other occurs.     

Robe's restricted three-body problem revisited

Robe's restricted three-body problem is reanalyzed with a view to incorporate a new assumption, namely that the configuration of the fluid body is that described by an hydrostatic equilibrium figure (Roche's ellipsoid). In the concomitant gravitational field a full treatment of the buoyancy force is given. The pertinent equations of motion are derived, the linear stability of the equilibrium solution is studied and the connection between the effect of the buoyancy forces and a perturbation of the Coriolis force is pointed out.     

The linearisation of three dimensional drag force in random seas with current

A frame invariant linearisation method for three-dimensional drag force in random seas with current is presented. Numerical results are compared with those obtained from a commonly used linearisation method which is based on a non-frame invariant approximation to the drag force. Significant differences are discovered and the present method is found to show closer agreement with computed time histories of the true drag force.     

Wave-Current Forces on Vertical Cylinders in Side-by-Side Arrangement for Irregular Waves Combined With Opposing Current

- The wave-current forces on vertical piles in side-by-side arrangement induced by irregular waves with opposing current are investigated experimentally in this paper. The characteristics in both time and frequency domain of in-line, lift and resultant forces are analyzed. The grouping effect coefficients of inline, lift and resultant forces on piles related to KC number and relative spacing parameters are given. These results are compared with those in the case of irregular waves combined with following currents. It is found that the results in these two cases are quite different. The range of KC number tested is 10- 60, the range of Reynolds number is (0.55-3.43) ×104.