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.     

Land Resource Carrying Capacity in Xilin Gol Grassland Transects: A Perspective on Food Nutritional Demand

Food safety is an important issue for the development of the national economy and society. Studying regional food supply and demand from the perspective of land resource carrying capacity can provide new references for regional resource sustainability. This study uses the data from farmer and herdsmen household questionnaires, statistical data, land use data, and other sources to construct a land resource carrying capacity (LCC) assessment framework, targeting the food supply and demand of residents in representative areas, specifically the typical grassland pastoral areas, sandy pastoral areas and agro-pastoral areas on the Xilin Gol grassland transects. The three food nutritional indicators of calories, protein and fat were selected for analyzing the balance of land resource carrying capacity. We found that: 1) Along the Xilin Gol grassland, the main local food supply showed a shift from meat and milk to grains, vegetables and fruits. 2) From north to south along the grassland transects, the calorie intake increased gradually, while the intake of protein and fat was highest in pastoral areas and lowest in agricultural areas. 3) The overall land resource carrying capacity of the Xilin Gol grassland transects was in a surplus state, but the land carrying capacity of typical grassland pastoral area was higher than the two other types of areas. This study provides an empirical reference for the sustainable development of regional food nutrition.     

Study of the flood control scheduling scheme for the Three Gorges Reservoir in a catastrophic flood

The Three Gorges Project is the world's largest water conservancy project. According to the design standards for the 1,000‐year flood, flood diversion areas in the Jingjiang reach of the Yangtze River must be utilized to ensure the safety of the Jingjiang area and the city of Wuhan. However, once these areas are used, the economic and life loss in these areas may be very great. Therefore, it is vital to reduce this loss by developing a scheme that reduces the use of the flood diversion areas through flood regulation by the Three Gorges Reservoir (TGR), under the premise of ensuring the safety of the Three Gorges Dam. For a 1,000‐year flood on the basis of a highly destructive flood in 1954, this paper evaluates scheduling schemes in which flood diversion areas are or are not used. The schemes are simulated based on 2.5‐m resolution reservoir topography and an optimized model of dynamic capacity flood regulation. The simulation results show the following. (a) In accord with the normal flood‐control regulation discharge, the maximum water level above the dam should be not more than 175 m, which ensures the safety of the dam and reservoir area. However, it is necessary to utilize the flood diversion areas within the Jingjiang area, and flood discharge can reach 2.81 billion m³. (b) In the case of relying on the TGR to impound floodwaters independently rather than using the flood diversion areas, the maximum water level above the dam reaches 177.35 m, which is less than the flood check level of 180.4 m to ensure the safety of the Three Gorges Dam. The average increase of the TGR water level in the Chongqing area is not more than 0.11 m, which indicates no significant effect on the upstream reservoir area. Comparing the various scheduling schemes, when the flood diversion areas are not used, it is believed that the TGR can execute safe flood control for a 1,000‐year flood, thereby greatly reducing flood damage.     

Bearing capacity of offshore umbrella suction anchor foundation in silty soil under varying loading modes

Considering the current disadvantages of present offshore wind turbine foundations, a novel anchor foundation with skirt and branches is proposed, called offshore umbrella suction anchor foundation (USAF). A series of experiments and numerical simulations were performed to explore the bearing capacity of the USAF under various kinds of loading modes. The bearing characteristics and the anchor–soil interactions are described in detail for horizontal static loading, horizontal cyclic loading, and an antidrawing (pullout) test in silty soil. In the static loading test, the load–deflection of the anchor under step loading was analyzed and the normalized curve of the load–deflection was obtained to determine the ultimate horizontal bearing capacity of the anchor under normal working conditions. Under horizontal cyclic loading, the relationship between the plastic cumulative deformation and cyclic number was determined. In addition, the responses of USAF were investigated for a low wave frequency and storm surges. In the drawing test, it was found that a “segmentation phenomenon” occurred during the test. Moreover, a method to identify the maximum antidrawing load of USAF was provided based on dynamic mechanics. The numerical results show that the use of anchor branches and skirt can enhance the bearing performance of USAF to a certain degree. However, the anchor branch has a slight positive influence on the bearing performance improvement. The USAF is not only similar to a stiff short pile, but a rotation occurs. The failure envelope under composite loading (V-M) was obtained and the changes associated with changes in the aspect ratio of the internal compartment were clarified.     

基于熵权TOPSIS模型的海岛地区资源环境承载力研究——以舟山普陀区、定海区为例

随着海洋强国、"一带一路"、生态文明建设等国家战略的不断推进,海岛在国家政治、军事、经济、社会、生态中的地位不断提高,海岛开发、利用的规模越来越大,其生态保护也面临着新的挑战。本文依据资源环境承载力内涵,兼顾海岛资源环境特点,研究形成海岛地区资源环境承载力评价指标体系,综合应用熵权法、TOPSIS(逼近理想解排序方法)模型评价了典型海岛地区——普陀区与定海区2009-2015年间的资源环境承载力状况,结果表明:普陀和定海资源环境承载力水平呈稳步提升趋势,各个时期的环境保护政策和节能减排相关措施在环境保护与污染治理等方面起到了较为积极的作用。最后,在基于生态系统的海岛综合管理框架内提出了对策建议。     

可持续发展进程中的政府能力建设

可持续发展作为现代化建设的两大战略之一 ,对我国政府的能力提出了挑战。可持续发展战略的实施 ,要求加强政府的作用 ,将政府建设成为强有力而又廉价的政府。为此 ,我国政府应从加强政府的财政汲取能力建设、强化中央政府协调地区发展的能力 ,加强政府调控能力建设、强化中央政府协调当前利益和长远利益、经济利益与生态效益的能力 ,并从根本上转变政府职能、精兵简政、建设廉价高效的政府等方面着手来提高我国政府推进和实施可持续发展战略的能力     

THE SIMULATED STORAGE CAPACITY OF FLOOD AND WATERLOGGING IN THE TYPICAL AGRICULTURAL REGION IN JIANGHAN PLAIN

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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.