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.     

Evaluation of the temporal variations of groundwater storage and its interactions with climatic variables using GRACE data and hydrological models: A study from Turkey

Monitoring of the fluctuations of groundwater storage is particularly important in arid and semi-arid regions where water scarcity brings about various challenges. Remote sensing data and techniques play a preponderant role in developing solutions to environmental problems. The launch of Gravity Recovery and Climate Experiment (GRACE) satellites has eased the remote monitoring and evaluation of groundwater resources with an unprecedented precision over large scales. Within the scope of the current study, the latest release (RL06) of GRACE mass concentrations (Mascons) from Jet Propulsion Laboratory (JPL) dataset as well as Global Land Data Assimilation System (GLDAS) models of Noah and Catchment Land Surface Model (CLSM) were used to provide Groundwater Storage Anomalies (GWSA) over Turkey. The temporal interactions of the estimated GWSA with the climatic variables of precipitation and temperature (derived from the reanalysis datasets of CHELSA [Climatologies at High resolution for the Earth's Land Surface Areas] and FLDAS [the Famine Early Warning Systems Network Land Data Assimilation System], respectively) were investigated statistically. The results suggest that there is a descending trend (from 2003 to 2016) for Terrestrial Water Storage Anomalies (TWSA) and GWSA over Turkey with a total loss of 11 and 6 cm of water, respectively. The statistical analysis results also indicate that the monthly variations of GWSA over Turkey are highly correlated with precipitation and temperature at 2-month lag. The analysis of the climatology (long-term) values of monthly GWSA, precipitation and temperature also revealed high agreement between the variables.     

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。     

Revisiting Sustainable Development of Dry Valleys in Hengduan Mountains Region

Dry valleys are a striking geographic landscape in Hengduan Mountains Region and are characterized by low rainfall, desert type of vegetation and fragile environment. Past efforts and resources have been concentrated mainly on rehabilitation of degraded ecosystem and fragile environment, particularly reforestation, while socio-economic development has been largely overlooked. Despite successes in pocket areas, the overall trend of unsustainability and environmental deterioration are continuing. It is important to understand that uplift of the Tibetan Plateau is the root cause of development of dry valleys, and development and formation of dry valleys is a natural process. Human intervention has played a secondary role in development of dry valleys and degradation of dry valleys though human intervention in many cases has speeded up environmental degradation of the dry valleys. It is important to understand that dry valleys are climatic enclaves and an integrated approach that combines rehabilitation of degraded ecosystems and socio-economic development should be adopted if the overall goal of sustainable development of dry valleys is to be achieved. Promotion of niche-based cash crops, rural energy including hydropower, solar energy, biogas and fuelwood plantation is recommended as the priority activities.     

Characteristics of Spatial and Temporal Variations of Monthly Mean Surface Air Temperature over Qinghai-Tibet Plateau

1 Introduction The Qinghai-Tibet Plateau, known as the highest plateau with the most complex topography in the world, covers an area of more than 200km2, with a mean elevation of more than 4000m a.s.l. (Ye and Gao, 1979). Surrounded by the Earth’s highest mountains, such as the Himalayas, Pamir, Kunlun Mountains, the plateau plays a significant role in climate change in China even in the world, thus attracted great attention of researchers. Up to now, many achievements have been gained by…     

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。     

重庆地面最高气温与最大风速年极值的渐近分布

利用重庆1951-1990年间地面最高气温和1956-1990年间地面最大风速年极值的记录,采用韦伯分布和耿贝尔分布分别对其渐近分布进行拟合.通过统计推断,找出重庆地面最高气温和地面最大风速年极值遵循的最佳渐近分布--韦伯分布.     

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…     

Isotopic evidence for holocene climatic changes in Bosten Lake, Southern Xinjiang, China

Based on the δ¹³C and δ¹⁸O fluctuation of lacustrine carbonate, CaCO₃ content and sporo-pollen data, a palaeoclimatic history of Bosten Lake during the Holocene has been outlined, several stages of climatic changes are divided, and the following result es are obtained: (1) Palaeoclimatic changes revealed by carbonate isotope around Bosten Lake are basically identical with that revealed by other geological records in Xinjiang. Environmental changes presented apparent Westlies Style model: during cold period, relative humidity increased, δ¹⁸O, δ¹³C and CaCO₃ appeared low; but in warm periods, the dry regime aggravated. (2) The temperature reflected by δ¹⁸O exist evident features being increase in the late period during the Holocene. Together with the δ¹³C, pollen and CaCO₃ analyses, several cold and warm phases which are of broad regional significance can be identified. The warm peaks occurred at about 11.0 ka B.P., 9.4 ka B.P., 7.5 ka B.P., 5.0 ka B.P., 3.0 ka B.P. and 2.0 ka B.P.; the cold peaks at 11.5 ka B.P., 10.5 ka B.P., 8.8 ka B.P., 5.5 ka B.P., 3.3 ka B.P., 2.2 ka B.P. and 1.5 ka B.P.. (3) Several climatic events with the nature of “abrupt climatic changes” are revealed in the periods of 11.0 ka B.P. −10.5 ka B.P., 9.4 ka B.P. −8.8 ka B.P., 5.5 ka B.P. −5.0 ka B.P. and 2.0 ka B.P. −1.5 ka B.P.. (4) The results show that carbonate isotopic record of lacustrine sediment in arid area is very sensitive to climatic changes, and may be play a very important role in understanding the features and mechanism of palaeoclimatic changes.     

Evidence of climatic warming in the southern Urals region derived from borehole temperatures and meteorological data

Thirty borehole temperature–depth profiles in the central and southern Urals, Russia were scrutinized for evidence of ground surface temperature histories. We explored two inversion schemes: a simple ramp inversion in which solutions are parameterized in terms of an onset time and magnitude of change and a more sophisticated functional space inverse algorithm in which the functional form of the solution is left unspecified. To enhance and potentially identify latitudinal differences in the ground surface temperature signal, we subdivided the data into three groups based on geographic proximity and simultaneously inverted the borehole temperature–depth logs. The simultaneous inversions highlighted 13 temperature–depth logs that could not both fit a common ground surface temperature history and a priori models within reasonable bounds. Our results confirm that this is an effective way to reduce site-specific noise from an ensemble of boreholes. Each inversion scheme gives comparable results indicating locally variable warming on the order of 1°C starting between 1800 and 1900 AD. Similarly surface air temperature records from 12 nearby meteorological stations exhibit locally variable warming also on the order of 1°C of warming during the 20th century. To explore the degree to which borehole temperatures and surface air temperature (SAT) time series are responding to the same signal, we average the SAT data into the same three groups and used these averages as a forcing function at the Earth's surface to generate synthetic transient temperature profiles. Root mean square (RMS) misfits between these synthetic temperature profiles and averaged temperature–depth profiles are low, suggesting that first-order curvature in borehole temperatures and variations in SAT records are correlated.