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.     

南海风暴潮对风场和外围海水敏感性研究

为探索来自西北太平洋台风风暴潮与南海局地生成台风风暴潮不同,本研究在假设两种台风气象条件相同情况下,研究随台风而来外围海水所形成增水对南海沿岸的影响。以0814"黑格比"强台风风暴潮为基础,使用ROMS(regional ocean modeling system)模式进行数值模拟并通过设计对比试验方法进行研究,研究发现在台风登陆时引起的增水最大,最大增水出现在台风路径右侧,其中在沿岸区域,外围海水形成增水约占总增水10%,且大约3 h后出现增水回震现象。同时,设计对比试验,研究来自西北太平洋台风风暴潮对台风路径、台风强度、台风移动速度和流入角等气象条件敏感性,并获得与前人一致的结果。     

解郁安神法联合体外反搏对PCI术后气滞血瘀型胸痹患者的临床疗效观察

目的：观察解郁安神法联合体外反搏（EECP）对经皮冠状动脉介入治疗（PCI）术后气滞血瘀型胸痹患者的临床疗效。方法：将80例冠心病PCI术后气滞血瘀型胸痹患者随机分为治疗组和对照组,每组各40例。对照组采用PCI术后规范化治疗,同时联合EECP治疗;治疗组在对照组基础上加服解郁安神方治疗,随访观察7周,比较2组临床证候疗效、Zung焦虑自评量表（SAS）评分、抑郁自评量表（SDS）评分、西雅图心绞痛调查量表（SAQ）评分。结果：总有效率治疗组为82.5%（33/40）,高于对照组的60.0%（24/40）,2组比较,差异有统计学意义（P<0.05）;2组SAS、SDS、SAQ评分治疗前后组内比较及治疗后组间比较,差异均有统计学意义（P<0.05）。结论：解郁安神法联合EECP治疗可明显改善PCI术后气滞血瘀型胸痹患者的临床症状,缓解焦虑抑郁程度,提高患者生活质量,值得临床推广应用。     

THERMAL EFFECTS OF BUILDING′S EXTERNAL SURFACES IN CITY——Characteristics of Heat Flux into and out of External Wall Surfaces

1INTRODUCTIONWiththerecentmodernizationandurbanizationofChi-na,urbanareashavegreatlyincreased, andgiantbuild-ings,especiallythosetallerthan100m,havebeendomi-nantincities,whichhave resultedinthegreatincreaseintheproportionofbuilding'sexternalsurfacetototalurbanarea.Thedifferencesofthermalpropertiesmain-lyinducedbysolarradiationbetweenbuilding'sexter-nalsurfacesareobviousfordifferentexposures,whichcaninevitablyinfluencethedistributionsofairtempera-turenearby,eventheverticaldistributionsofurb…     

Investigating the mechanisms leading to the deglaciation of past continental northern hemisphere ice sheets with the CLIMBER–GREMLINS coupled model

A coupling procedure between a climate model of intermediate complexity (CLIMBER-2.3) and a 3-dimensional thermo-mechanical ice-sheet model (GREMLINS) has been elaborated. The resulting coupled model describes the evolution of atmosphere, ocean, biosphere, cryosphere and their mutual interactions. It is used to perform several simulations of the Last Deglaciation period to identify the physical mechanisms at the origin of the deglaciation process. Our baseline experiment, forced by insolation and atmospheric CO₂, produces almost complete deglaciation of past northern hemisphere continental ice sheets, although ice remains over the Cordilleran region at the end of the simulation and also in Alaska and Eastern Siberia. Results clearly demonstrate that, in this study, the melting of the North American ice sheet is critically dependent on the deglaciation of Fennoscandia through processes involving switches of the thermohaline circulation from a glacial mode to a modern one and associated warming of the northern hemisphere. A set of sensitivity experiments has been carried out to test the relative importance of both forcing factors and internal processes in the deglaciation mechanism. It appears that the deglaciation is primarily driven by insolation. However, the atmospheric CO₂ modulates the timing of the melting of the Fennoscandian ice sheet, and results relative to Laurentide illustrate the existence of threshold CO₂ values, that can be translated in terms of critical temperature, below which the deglaciation is impeded. Finally, we show that the beginning of the deglaciation process of the Laurentide ice sheet may be influenced by the time at which the shift of the thermohaline circulation from one mode to the other occurs.     

The Preboreal climate reversal and a subsequent solar‐forced climate shift

Accurate chronologies are essential for linking palaeoclimate archives. Carbon‐14 wiggle‐match dating was used to produce an accurate chronology for part of an early Holocene peat sequence from the Borchert (The Netherlands). Following the Younger Dryas–Preboreal transition, two climatic shifts could be inferred. Around 11 400 cal. yr BP the expansion of birch (Betula) forest was interrupted by a dry continental phase with dominantly open grassland vegetation, coeval with the PBO (Preboreal Oscillation), as observed in the GRIP ice core. At 11 250 cal. yr BP a sudden shift to a humid climate occurred. This second change appears to be contemporaneous with: (i) a sharp increase of atmospheric ¹⁴C; (ii) a temporary decline of atmospheric CO₂; and (iii) an increase in the GRIP ¹⁰Be flux. The close correspondence with excursions of cosmogenic nuclides points to a decline in solar activity, which may have forced the changes in climate and vegetation at around 11 250 cal. yr BP. Copyright © 2004 John Wiley & Sons, Ltd.     

Preliminary study on different nutrient pools supplies for the phytoplankton growth in the Jiaozhou Bay in China in the fall of 2004

The source and significance of two nutrients, nitrogen and phosphorous, were investigated by a modified dilution method performed on seawater samples from the Jiaozhou Bay, in autumn 2004. This modified dilution method accounted for the phytoplankton growth rate, microzooplankton grazing mortality rate, the internal and external nutrient pools, as well as nutrient supplied through remineralization by microzooplankton. The results indicated that the phytoplankton net growth rate increased in turn from inside the bay, to outside the bay, to in the Xiaogang Harbor. The phytoplankton maximum growth rates and microzooplankton grazing mortality rates were 1.14 and 0.92 d-1 outside the bay, 0.42 and 0.32 d-1 inside the bay and 0.98 and 0.62 d-1 in the harbor respectively. Outside the bay, the remineralized nitrogen (Kr=24.49) had heavy influence on the growth of the phytoplankton. Inside the bay, the remineralized phosphorus(Kr=3.49) strongly affected the phytoplankton growth. In the harbor, the remineralized phosphorus (Kr=3.73) was in larger demand by phytoplankton growth. The results demonstrated that the different nutrients pools supplied for phytoplankton growth were greatly in accordance with the phytoplankton community structure, microzooplankton grazing mortality rates and environmental conditions. It is revealed that nutrient remineralization is much more important for the phytoplankton growth in the Jiaozhou Bay than previously believed.     

Wind-driven interannual variability over the northeast Pacific Ocean

Interannual variability of the sea surface height (SSH) over the northeast Pacific Ocean is hindcast with a reduced-gravity, quasi-geostrophic model that includes linear damping. The model is forced with monthly Ekman pumping fields derived from the NCEP reanalysis wind stresses. The numerical solution is compared with SSH observations derived from satellite altimeter data and gridded at a lateral resolution of 1 degree. Provided that the reduced gravity parameter is chosen appropriately, the results demonstrate that the model has significant hindcast skill over interior regions of the basin, away from continental boundaries. A damping time scale of 2 to 3 years is close to optimal, although the hindcast skill is not strongly dependent on this parameter.A simplification of the quasi-geostrophic model is considered in which Rossby waves are eliminated, yielding a Markov model driven by local Ekman pumping. The results approximately reproduce the hindcast skill of the more complete quasi-geostrophic model and indicate that the interannual SSH variability is dominated by the local response to wind forcing. There is a close correspondence the two leading empirical orthogonal modes of the local model and those of the observed SSH anomalies. The latter account for over half of the variance of the interannual signal over the region.     

潮汐对瞬态气候响应模拟的影响研究

In this study, the impact of oceanic processes on the sensitivity of transient climate change is investigated using two sets of coupled experiments with and without tidal forcing, which are termed Exp_Tide and Exp_Control,respectively. After introducing tidal forcing, the transient climate response(TCR) decreases from 2.32 K to 1.90 K,and the surface air temperature warming at high latitudes decreases by 29%. Large ocean heat uptake efficiency and heat storage can explain the low TCR in Exp_Tide. Approximately 21% more heat is stored in the ocean in Exp_Tide(1.10×10~(24) J) than in Exp_Control(0.91×10~(24) J). Most of the large ocean warming occurs in the upper 1 000 m between 60°S and 60°N, primarily in the Atlantic and Southern Oceans. This ocean warming is closely related to the Atlantic Meridional Overturning Circulation(AMOC). The initial transport at mid-and high latitudes and the decline in the AMOC observed in Exp_Tide are both larger than those observed in Exp_Control. The spatial structures of AMOC are also different with and without tidal forcing in present experiments. The AMOC in Exp_Tide has a large northward extension. We also investigated the relationship between AMOC and TCR suggested by previous studies using the present experiments.