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。     

从太湖流域旱涝史料看历史气候信息处理

历史气候信息处理建立在信息提取的基础上,目的在于建立一套方法,将定性的历史气候信息转化为气候变化参数,并消除各种不均—性,从而建立历史气候序列。本文着重介绍建立太湖流域历史旱涝等级序列的方法与步骤: 1)确立信息源,建立信息网络;2)站点等级的确定与订正;3)弱信息处理;4)信息的综合。     

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…     

The possible response of life zones in China under global climate change

The response of natural vegetation to climate change is of global concern. In this research, an aggregated Holdridge Life Zone System was used to study the possible response of life zones in China under doubled atmospheric CO₂ concentration with the input climatic parameters at 0.5×0.5° resolution of longitude and latitude from NCAR regional climate model 2 (RegCM2) coupled with the CSIRO global climate model. The results indicate that the latitudinal distribution of life zones would become irregular because of the complicated climate change. In particular, new life zones, such as subtropical desert (SD), tropical desert (TDE) and tropical thorn woodland (TTW), would appear. Subtropical evergreen broadleaved forest (SEBF), tropical rainforest and monsoon forest (TRF), SD, TDE and TTW zones would appear in the northeastern China. Cool-temperate mixed coniferous and broadleaved forest (CMC) and warm-temperate deciduous broadleaved forest (WDBF) zones would appear at latitudes 25–35°N. The temperate desert (TD) in the western China would become Tibetan high-cold plateau (THP), SEBF, WDBF and temperate steppe (TS), and a large part of THP would be replaced by TRF, TDE, SEBF, TS and TTW. The relative area (distribution area/total terrestrial area) of CMC, TRF, TDE and TTW zone would increase about 3%, 21%, 3% and 6%, respectively. However, the relative area of SEBF, TS, TD and THP would decrease about 5%, 3%, 19% and 4%, respectively. In all, the relative area of forests (CCF, CMC, WDBF, SEBF, TRF) would increase about 15%, but the relative area of desert (TD, SD, TDE, and TTW) and THP would decrease about 9% and 4%, respectively. Therefore, responses of different life zones in China to climate change would be dramatic, and nationwide corridors should be considered for the conservation of migrating species under climate change.     

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.     

Short-term Climate Characteristics at Ny-(A)lesund over the Arctic Tundra Area

Based on the Germany Koldwey Station's 1994-2003 conventional observation hourly data, this paper conducts a statistical analysis on the short-term climate characteristics for an arctic tundra region (Ny-(A)lesund island) where our first arctic expedition station (Huanghe Station) was located. Affected by the North Atlantic warming current, this area has a humid temperate climate, and the air temperature at Ny-(A)lesund rose above 0 ℃ even during deep winter season during our research period. The wind speed in this area was low and appeared most at southeast direction. We find that the temperature at Ny-(A)lesund rose in the faster rate (0.68 ℃/10 a) than those at the whole Arctic area. Compared with the floating ices where our expedition conducted in the Arctic, Ny-(A)lesund was warmer and more humid and had lower wind speed. Comparison of the near surface air temperature derived by NCEP/NCAR reanalysis to the conventional measurements conducted at the Koldwey site in Ny-(A)lesund area shows a good agreement for winter season and a significant difference for summer season.     

Glacier change and glacier runoff variation in the Tuotuo River basin,the source region of Yangtze River in western China

Glaciers in the Tuotuo River basin, western China, have been monitored in recent decades by applying topographical maps and high-resolution satellite images. Results indicate that most of glaciers in the Tuotuo River basin have retreated in the period from 1968/1971 to 2001/2002, and their shrinkage area is 3.2% of the total area in the late 1960s. To assess the influence of glacier runoff on river runoff, a modified degree–day model including potential clear-sky direct solar radiation has been applied to the glaciated regions of the river basin over the period 1961–2004. It was found that glacier runoff has increased in the last 44 years, especially in the 1990s when a two-thirds increase in river runoff was derived from the increase in glacier runoff caused by loss of ice mass in the entire Tuotuo River basin.     

Integrating diverse methods to understand climate-land interactions in East Africa

The questions of how land use change affects climate, and how climate change affects land use, require examination of societal and environmental systems across space at multiple scales, from the global climate to regional vegetative dynamics to local decision making by farmers and herders. It also requires an analysis of causal linkages and feedback loops between systems. These questions and the conceptual approach of the research design of the Climate-Land Interaction Project (CLIP) are rooted in the classical human-environment research tradition in Geography.This paper discusses a methodological framework to quantify the two-way interactions between land use and regional climate systems, using ongoing work by a team of multi-disciplinary scientists examining climate-land dynamics at multiple scales in East Africa. East Africa is a region that is undergoing rapid land use change, where changes in climate would have serious consequences for people’s livelihoods, and requiring new coping and land use strategies. The research involves exploration of linkages between two important foci of global change research, namely, land use/land cover (LULC) and climate change. These linkages are examined through modeling agricultural systems, land use driving forces and patterns, the physical properties of land cover, and the regional climate. Both qualitative and quantitative methods are being used to illustrate a diverse pluralism in scientific discovery.