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。     

低轨道人造卫星(CHAMP、GRACE、GOCE)与高精度地球重力场——卫星重力大地测量的最新发展及其对地球科学的重大影响

评述了卫星重力大地测量的最新发展及其对地球科学的重大影响。为了更好地理解地球内部物理构造与海洋动力学，以及大陆，冰川和海洋的相互作用，改善现有地球重力场模型（包括精度和空间解析度）是非常重要的。IUGG等国际组织对此已经强调了很多年。最近，由德国的GFZ（GeoForschungsZentrum)，美国的NASA（National Aeronautics and Space Adminitration)以及欧洲宇航局ESA（European Space Agency)开发研制了最先进的地球监测技术－SST（Satellite-to-Sateilite Tracking)。其主要特点是利用现有的GPS连续追踪新发射低轨道卫星，并由低轨道卫星对地球重力场作精密观测。已经发射和即将发射的卫星有3颗：GHAMP（Challenging Mini-Satellite Payload for Geophysical Research an Application)已经于2000年发射；GRACE（Gravity Recovery and Climate Experimert)定于2002年发射；GOCE（Gravity Field and Steady-state Ocean Cirulation Explorer)计划2004年发射，它们可以统称为重力卫星。载有SST技术的人造卫星的主要目的是获得具有前所未有的高精度和高空间解析度的全球重力场和大地水准面模型，加强人们对地球内部构造的理解并为海洋和气象研究提供更好地参考。上述3个重力卫星工作在有明显区别的不同波谱内，它们有不同的科学应用，仅有一小部分重合。所以，就应用而言它们是完全互补的。它们在地球科学中的应用将是广泛的，特别对于固体地球物理学，海洋学以及大地测量学等领域，它们将会带来革命性的变化，其意义不亚于GPS。     

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…     

PROPAGATION OF 30—60 DAY LOW FREQUENCY OSCILLATIONS AND THEIR INFLUENCE UPON THE SUBTROPICAL WESTERLIES JET STREAM DURING NORTHERN HEMISPHERE WINTER

Based on daily ECMWF gridpoint data of two winters during 1981—1983 including an ENSOyear,propagation of low frequency oscillations(LFO)during Northern Hemisphere winters andtheir influences upon 30—60 day oscillations of the subtropical jet stream are studied with the sta-tistical methods as complex empirical orthogonal function(CEOF)and so on.Results show that inthe winter of a normal year(1981—1982),30—60 day oscillations in the subtropical zone aremainly in the northern and southern flanks of exit region of jet stream.In the ENSO year(1982—1983),they are mainly in the vicinity of entrance and exit regions of jet stream.Intraseasonalchanges of subtropical jet stream manifested themselves as latitudinal fluctuation or longitudinalprogression or regression of about 40 day period.There are marked differences between propagat-ing passages of low frequency modes responsible for changes of subtropical jet stream in the normalyear(1981—1982)and in the ENSO year(1982—1983).Changes of oscillation amplitude showobvious phases.In general,the one in late winter is stronger than that in early winter,strongestone occurs in February.     

Evolution of 2:1 layered silicates in low-grade metamorphosed Liassic shales of Central Switzerland

White mica from the Liassic black shales and slates in Central Switzerland was analysed by transmission electron microscopy (TEM) and electron microprobe to determine its textural and compositional evolution during very low-grade prograde metamorphism. Samples were studied from the diagenetic zone, anchizone and epizone (T ≈100°–450 °C). Phyllosilicate minerals analysed include illite/smectite (I/S), phengite, muscovite, brammallite, paragonite, margarite and glauconite. Textural evolution primarily is towards larger, more defect-free grains with compositions that approach those of their respective end-members. The smectite-to-illite transformation reduced the amounts of the exchange components SiK_?1Al_?1, MgSiAl_?2, and Fe³⁺Al_?1. These trends continue to a lesser degree in the anchizone and epizone. Correlations between the proportion of smectite in I/S and the composition of I/S indicate that smectite layers may contain a high layer charge. Illite in I/S bears a compositional resemblance to macrocrystalline phengite in some samples, but is different in others. Paragonite first appears in the upper diagenetic zone or lower anchizone as an interlayer-deficient brammallite, and it may be mixed with muscovite on the nanometre scale. Owing to the small calculated structure factor for paragonite-muscovite superstructures, conventional X-ray powder diffraction cannot distinguish between mixed-layer structures and a homogeneous compositionally intermediate solid solutions. However, indirect TEM evidence shows that irregularly shaped domains of Na- and K-rich mica exist below 10 nm. Subsequent coarsening of domains at higher grades produced discrete paragonite grains at the margins of muscovite crystals or in laths parallel to the basal plane of the host muscovite. Margarite appears in the epizone and follows a textural evolution similar to paragonite in that mixtures of margarite, paragonite, and muscovite may initially occur on the nanometre scale. However, no evidence of interlayer-poor margarite has been found.     

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.     

Massive disks in low surface brightness galaxies

An update of the set of low surface brightness galaxies is presented which can be used to set constraints on the otherwise ambiguous decompositions of their rotation curves into contributions due to the various components of the galaxies. The selected galaxies show all clear spiral structure and arguments of density wave theory of galactic spiral arms are used to estimate the masses of the galactic disks. Again these estimates seem to indicate that the disks of low surface brightness galaxies might be much more massive than currently thought. This puzzling result contradicts stellar population synthesis models. This would mean also that low surface brightness galaxies are not dominated by dark matter in their inner parts. This revised version was published online in August 2006 with corrections to the Cover Date.     

影响低渗透油藏低速非线性渗流的实验研究

以膨胀性的粘土为主要研究对象,通过粘土浆体的流变性实验和填砂管渗流实验,并使用一种新研制的微流量测量工具,研究了低渗岩心在较低流速下的渗流特性;利用微尺度流动理论,Einstein粘度定律等进行了理论分析,对引起低渗透油藏低速非线性渗流的影响因素进行了初步的探索.结论认为,粘土的膨胀性以及其水化后形成浆体的流变性是引起低速非线性渗流的主要因素之一.