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.     

DISASTER ANALYSIS AND COUNTERMEASURES OF LAND SUBSIDENCE CAUSED BY COAL CUTTING IN CHINA

In recent years, many coal-producing countries have paid great attention to the land subsidence causedby coal cutting. In China, because of the dense population in coalfield areas, the land subsidence hazard is more seri-ous. After a brief analysis on the mechanism of land subsidence, this paper gives a comprehensive and systematical ac-count on all kinds of hazards caused by the land subsidence in China. The study shows that land subsidence has endan-gered land, buildings, traffic and communication lines, dykes and dams. It also causes damage to ecological and socialenvironment. In order to lessen the hazard of land subsidence, preventive measures should be taken to reduce the col-lapse amount, such as extraction with stowing, banded mining system, succession and coordination mining system, orhigh-pressure mudflow between rock strata. Measures of reinforcing or moving certain buildings should also be taken toreduce the destructive degree. In order to harness the subsidence land and bring them under control for fanning, mea-sures should be taken such as filling with spoil or fine breeze, excavating the deeper and covering the shallower land.     

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.     

贵港市矿业发展现状与对策

文章从贵港市矿产资源情况出发 ,通过对开发现状及存在问题的分析 ,探讨保证资源的合理开发和永续利用 ,为经济建设提供物质支撑的理念 ,提出了矿业可持续发展的对策。     

菏泽市地质灾害现状与防治

菏泽市地质灾害类型主要为地震、地面塌陷、地面沉降、地裂缝、砂土液化、土地盐渍化及地氟病等，其发育与分布受地质构造、水文地质条件的控制以及气象、人类活动等因素的影响。就其分布、危害、致灾原因等做了分析，并提出了防治建议和对策。     

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.     

南海区重点岸段海岸侵蚀现状成因分析与防治对策

在2003年与2006年对南海区琼州海峡两岸重点岸段(雷州市徐闻县龙塘镇赤坎村岸段、海南省海口市镇海村岸段和新海村岸段)的海岸侵蚀进行了现场监测,测量了侵蚀的长度、宽度和面积。对两年现场测量结果进行比较分析,结果表明:海岸侵蚀长度的平均速度为200m/a,宽度的平均速度为20m/a,面积的平均速度为4000m2/a。应用了地质分析、水动力分析、极端海洋气候影响分析等新的理论和方法重点分析了海岸侵蚀的成因,并提出了一些对策,供相关部门参考。     

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.