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.     

Phasing of segmented mirrors: a new algorithm for piston detection

The point spread function of a segmented-mirror telescope is severely affected by segment misalignment, which can nullify the performance of adaptive optics systems. The piston and tilt of each segment must be precisely adjusted in relation to the other segments. Furthermore, the direct detection of the alignment error with natural stars would be desirable in order to monitor the errors during astronomical observation.
We have studied the lost information of the piston error caused by the presence of atmospheric turbulence in the measurements of curvature, and present a new algorithm for obtaining the local piston using the curvature sensor. A phase-wrapping effect is shown as responsible for the loss of curvature information and so the piston errors can no longer adequately be mapped; this happens not only in the presence of atmospheric turbulence, but also in its absence.
Good results are obtained using a new iterative method for obtaining the local piston error map. In the presence of atmospheric perturbation, the turbulent phase information obtained from a Shack–Hartmann sensor is introduced in our new iterative method. We propose a hybrid sensor composed of a curvature sensor and a Shack–Hartmann sensor, in order to complete all the information for the phasing. This design takes a short computation time and could be used in real time inside an adaptive optics system, where tilt and piston errors must be corrected.     

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.     

An operational multiscale system for hazards prediction, mapping, and response

By definition, a crisis is a situation that requires assistance to be managed. Hence, response to a crisis involves the merging of local and non-local emergency response personnel. In this situation, it is critical that each participant: (1) know the roles and responsibilities of each of the other participants; (2) know the capabilities of each of the participants; and (3) have a common basis for action. For many types of natural disasters, this entails having a common operational picture of the unfolding events, including detailed information on the weather, both current and forecasted, that may impact on either the emergency itself or on response activities. The Consequences Assessment Tool Set (CATS) is a comprehensive package of hazard prediction models and casualty and damage assessment tools that provides a linkage between a modeled or observed effect and the attendant consequences for populations, infrastructure, and resources, and, hence, provides the common operational picture for emergency response. The Operational Multiscale Environment model with Grid Adaptivity (OMEGA) is an atmospheric simulation system that links the latest methods in computational fluid dynamics and high-resolution gridding technologies with numerical weather prediction to provide specific weather analysis and forecast capability that can be merged into the geographic information system framework of CATS. This paper documents the problem of emergency response as an end-to-end system and presents the integrated CATS–OMEGA system as a prototype of such a system that has been used successfully in a number of different situations.     

Characteristics of Scour and Deposition in Front of Breakwaters Under Irregular Broken Clapotis

First the scour and deposition patterns of the sandy seabed in front of a vertical breakwater under the action of irregular broken clapotis are investigated experimentally and classified into five types: scour type Ⅰ , scour type Ⅱ, scour type Ⅲ, deposition type Ⅰ, and deposition type Ⅱ . Secondly, the processes of formation of scour and deposition patterns are probed in comparison with those induced by regular broken clapotis and standing waves. Thirdly, the criteria for distinguishing scour and deposition patterns under irregular broken clapotis are presented.     

Robust adaptive control of underactuated ships on a linear course with comfort

This paper addresses an important problem in ship control application—the robust stabilization of underactuated ships on a linear course with comfort. Specifically, we develop a multivariable controller to stabilize ocean surface ships without a sway actuator on a linear course and to reduce roll and pitch simultaneously. The controller adapts to unknown parameters of the ship and constant environmental disturbances induced by wave, ocean current and wind. It is also robust to time-varying environmental disturbances, time-varying change in ship parameters and other motions of the ship such as surge and heave. The roll and pitch can be made arbitrarily small while the heading angle and sway are kept to be in reasonably small bounds. The controller development is based on Lyapunov’s direct method and backstepping technique. A Lipschitz continuous projection algorithm is used to update the estimate of the unknown parameters to avoid the parameters’ drift due to time-varying environmental disturbances. Simulations on a full-scale catamaran illustrate the effectiveness of our proposed controller.     

Images of the seabed in the Faroe-Shetland Channel from commercial 3D seismic data

A large number of 3D deep seismic surveys in the Faroe-Shetland Channel gives continuous coverage over most of the region. These surveys were designed primarily to image depths in excess of 4 km, use low frequency sources and are recorded at low temporal sample rates. However, commercial 3D data can generate highly detailed images of the seabed due to the high spatial sample rate, typically 12.5 m. This is particularly true in waters below 200 m. Despite geophysical artefacts, the images reveal that there are a number of sedimentary processes at work adjacent to and within this channel. On the West Shetland Shelf, iceberg scouring and moraines reflect the impact of glaciation. On the West Shetland slope there is clear evidence for down-slope processes, such as debris flows, linear erosion channels, basal fans and (one case) slope failure. Along-slope processes are also active as indicated by the presence of sediment waves and contourite mounds. On the floor of the basin, polygonal cracking can be observed. The most spectacular feature appears to be the Judd Deeps, a system of cliffs approximately 200 m high and 40 km across. Traditionally, seabed investigation has been performed using high-resolution surveys. This study shows that deep exploration data can also provide useful images of the seafloor.     

黄河三角洲清水沟流路叶瓣体演化

根据历年卫星遥感资料和水深资料,对黄河三角洲清水沟流路叶瓣体演化和海底冲淤演化进行研究。结果表明,清水沟流路形成初期河口三角洲快速堆积,淤积中心厚度14m,1984年后河口三角洲淤积速度变缓,河口沙咀在波浪、潮流及科氏力作用下变得细长,并逐渐南偏,莱州湾内出现大面积的淤积,1996年黄河口人工改道后,在新河口处形成淤积中心,厚度4.5m。废弃三角洲遭受冲刷,原淤积中心成为冲刷中心。