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。     

非线性波消波及波场分布研究

本文基于雷诺平均N-S方程,并结合RNG k-e方程建立了粘性数值波浪水槽,对不同波陡、不同相对水深、不同相对波高的非线性规则波的阻尼消波问题和波场分布进行研究。文中提出了两种描述消波区内部阻尼变化的阻尼函数,分别适用于小波陡情形和高波陡情形。研究结果表明,小波陡组消波区可设为一个波长,阻尼系数取10~4～10~5即可满足消波要求,计算结果与实验结果及造波理论吻合良好;高波陡组消波区可设为两个波长,阻尼系数取10~4～10~5亦可满足消波要求,计算结果与实验结果吻合良好。此外,当波陡较小时,波场内反射情况的小幅改变即可对整个波场造成影响,特别是当水深较浅时这种影响极为明显,需谨慎考虑。当波陡较大时,水波能量较高,整个波场沿水波传播方向可观测到明显的衰减现象,在具体试验中需进行考虑。     

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。     

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…     

板翅式换热器综合性能优化的设计方法

应用给定换热器结构材料而使换热量最大的两侧换热表面的最佳匹配准则和使可用能损失率最小的最佳运行参数准则。利用两个准则间的关系 ,采用迭代的方式完成换热器的优化设计 ,使换热器的设计达到材料省、换热效果好及运行费用低的目的 ,且能在设计阶段实现。     

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…     

SAMPLING REMOTELY SENSED IMAGERY FOR STORAGE,RETRIEVAL, AND RECONSTRUCTION*

A major difficulty in remote sensing is handling the many data from sensors aboard aircraft and satellites. In this paper we identify an optimal procedure for sampling remotely sensed data before their storage or on their retrieval. The procedure depends on spatial correlation in the scene and uses kriging to estimate values that have been lost. An example in which data from an airborne multispectral scanner could be diminished to only about one tenth without serious loss of precision illustrates the method.     

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.     

Optimal Compensation and Implementation for Adaptive Optics Systems

This paper develops a compensation algorithm based on Linear–Quadratic–Gaussian (LQG) control system design whose parameters are determined (in part) by a model of the atmosphere. The model for the atmosphere is based on the open-loop statistics of the atmosphere as observed by the wavefront sensor, and is identified from these using an auto-regressive, moving average (ARMA) model. The (LQG) control design is compared with an existing compensation algorithm for a simulation developed at ESO that represents the operation of MACAO adaptive optics system on the 8.2 m telescopes at Paranal, Chile. This revised version was published online in July 2006 with corrections to the Cover Date.