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.     

An evaluation of Guided Regularized Random Forest for classification and regression tasks in remote sensing

New Earth observation missions and technologies are delivering large amounts of data. Processing this data requires developing and evaluating novel dimensionality reduction approaches to identify the most informative features for classification and regression tasks. Here we present an exhaustive evaluation of Guided Regularized Random Forest (GRRF), a feature selection method based on Random Forest. GRRF does not require fixing a priori the number of features to be selected or setting a threshold of the feature importance. Moreover, the use of regularization ensures that features selected by GRRF are non-redundant and representative. Our experiments based on various kinds of remote sensing images, show that GRRF selected features provides similar results to those obtained when using all the available features. However, the comparison between GRRF and standard random forest features shows substantial differences: in classification, the mean overall accuracy increases by almost 6% and, in regression, the decrease in RMSE almost reaches 2%. These results demonstrate the potential of GRRF for remote sensing image classification and regression. Especially in the context of increasingly large geodatabases that challenge the application of traditional methods.     

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。     

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…     

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.     

Quantitative textural analysis of packings of elongate crystals

The spatial distribution of grains in a solidifying igneous rock controls the physical properties of the crystal mush, and in turn is controlled by the rate of crystal growth and accumulation. A predominant non-spherical habit for igneous minerals brings into question the use of spherical particles in reference packings used for quantification of spatial distribution. Furthermore, variations of crystal clustering/ordering with length scale require spatial statistics which take into account the distribution of particles beyond nearest neighbours. Using random close packings of spherocylinders, we demonstrate the importance of aspect ratio for the aggregation index (usually known as R) and show that packings of spherical particles have more structure than packings of rods. The spatial distribution functions demonstrate that the plagioclase grains in the colonnade from the Holyoke basalt are clustered on a length scale of 0.5 mm. Understanding the controls on grain spatial distribution in igneous rocks will depend on the application of these techniques to well-understood environments.     

多传感器观测下带乘性噪声系统的逆向滤波与反褶积融合算法

针对多传感器观测环境下带乘性噪声系统的逆向最优滤波与反褶积融合估计问题 ,本文提出了 1种基于极大似然准则的最优融合算法。该算法中各单传感器间并行计算 ,并且融合中心与单传感器处理中心间无反向通讯 ,因而执行效率较高。仿真表明 ,该融合算法产生的逆向滤波与反褶积比单传感器处理结果有较明显提高     

Generation of random waves in time-dependent extended mild-slope equations using a source function method

We develop techniques of numerical wave generation in the time-dependent extended mild-slope equations of Suh et al. [1997. Time-dependent equations for wave propagation on rapidly varying topography. Coastal Engineering 32, 91–117] and Lee et al. [2003. Extended mild-slope equation for random waves. Coastal Engineering 48, 277–287] for random waves using a source function method. Numerical results for both regular and irregular waves in one and two horizontal dimensions show that the wave heights and the frequency spectra are properly reproduced. The waves that pass through the wave generation region do not cause any numerical disturbances, showing usefulness of the source function method in avoiding re-reflection problems at the offshore boundary.     

Dynamic properties of green water event in the overtopping of extreme waves on a fixed dock

A statistical model is developed to predict wave overtopping volume and rate of extreme waves on a fixed deck. The probability density function for the volume and rate of overtopping water are formulated based on the truncated Weibull distribution with the assumption of local sinusoidal profile for small amplitude waves. Sensitivity to the wave nonlinearity parameter and deck clearance is discussed. The statistical model is compared to laboratory data of the instantaneous free surface elevation measured in front of a fixed deck, and overtopping volume and overtopping rate measured at the leading edge of the deck. The statistical theory compared well with the measured exceedance probability seaward of the deck. The model prediction of the exceedance probability of deck overtopping gave qualitatively good agreement for large overtopping values.