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.     

Dynamic modelling of retrogressive landslides with emphasis on the role of clay sensitivity

This paper presents a detailed numerical study of the retrogressive failure of landslides in sensitive clays. The dynamic modelling of the landslides is carried out using a novel continuum approach, the particle finite element method, complemented with an elastoviscoplastic constitutive model. The multiwedge failure mode in the collapse is captured successfully, and the multiple retrogressive failures that have been widely observed in landslides in sensitive clays are reproduced with the failure mechanism, the kinematics, and the deposition being discussed in detail. Special attention has been paid to the role of the clay sensitivity on each retrogressive failure as well as on the final retrogression distance and the final run‐out distance via parametric studies. Moreover, the effects of the viscosity of sensitive clays on the failure are also investigated for different clay sensitivities.     

A multiscale work-analysis approach for geotechnical structures

This paper presents a second-order work analysis in application to geotechnical problems by using a novel effective multiscale approach. To abandon complicated equations involved in conventional phenomenological models, this multiscale approach employs a micromechanically-based formulation, in which only four parameters are involved. The multiscale approach makes it possible a coupling of the finite element method (FEM) and the micromechanically-based model. The FEM is used to solve the boundary value problem (BVP) while the micromechanically-based model is utilized at the Gauss point of the FEM. Then, the multiscale approach is used to simulate a three-dimensional triaxial test and a plain-strain footing. On the basis of the simulations, material instabilities are analyzed at both mesoscale and global scale. The second-order work criterion is then used to analyze the numerical results. It opens a road to interpret and understand the micromechanisms hiding behind the occurrence of failure in geotechnical issues.     

“地理素养与测绘技能”双驱动的GIS专业大学生创新能力培养模式的探索

在信息技术快速发展和万众创新、大众创业的时代背景下，创新与创新人才已成为国家发展的重要推动力，创新教育和创新人才培养成为高校的重要任务。本文以武汉大学地理信息科学（GIS）专业为例，结合专业特点和优势，探索了"地理素养、测绘技能"驱动下的GIS专业大学生创新能力的培养模式和"厚基础、重知识、强技能"的贯通式培养途径。围绕创新人才培养和成长的内在因素和外部条件，从人才培养方案与课程体系、创新型教师团队与新型教学方法、教学科研创新平台与创新条件、创新人才发展评价与激励机制等4个方面开展了创新型发展探索。结合实践表明，本模式取得了显著的创新成果，产生了良好的示范辐射作用。     

Application of micropolar plasticity to post failure analysis in geomechanics

A micropolar elastoplastic model for soils is formulated and a series of finite element analyses are employed to demonstrate the use of a micropolar continuum in overcoming the numerical difficulties encountered in application of finite element method in standard Cauchy–Boltzmann continuum. Three examples of failure analysis involving a deep excavation, shallow foundation, and a retaining wall are presented. In all these cases, it is observed that the length scale introduced in the polar continuum regularizes the incremental boundary value problem and allows the numerical simulation to be continued until a clear collapse mechanism is achieved. The issue of grain size effect is also discussed. Copyright © 2004 John Wiley & Sons, Ltd.     

浅谈项目投资失败的原因及对策

地勘单位在向企业化经营转变的过程中 ,投资兴办了许多企业 ,但不少项目以失败告终。文章分析探讨了失败的原因 ,并提出相应的对策     

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.     

我国个人所得税制度完善的法律思考

个人所得税是与每个人联系都很紧密的税种,它的完善与否,直接体现了我国法制建设的完善程度及居民素质的高低。但现行税制由于内外原因,存在各种缺陷。因此有必要在理论中找到对策,并在实践中寻求答案逐步完善个人所得税制度。     

数字宜昌建设初探

数字地球、数字城市是近几年刚提出来的一个全新的概念 ,但数字城市的建设却以空前的速度向前发展着 ,国务院总理朱熔基在视察宜昌时提出要把宜昌建设成世界级的城市 ,未来的城市数字化程度将是衡量一个城市发达程度的重要指标 ,启动数字宜昌建设是跻身世界级城市 ,提高宜昌市综合竞争力的重要举措     

The second order characteristic condition for plastic flow

In this paper the second order characteristic (discontinuous bifurcation) condition is derived for the granular flow (fully plastic) equations. This second order bifurcation equation is shown to be formally identical to the first order localization requirement during steady elastoplastic deformation provided the elastic compliance tensor is substituted for the product of the plastic multiplier with the flow Hessian. For isotropic yield and flow functions the invariant form of the characteristic condition is given in detail, as well as an alternative expression in adapted co‐ordinates. The characteristic condition can be regarded as defining a hardening function which is maximized to identify the critical angles. When the method is applied to 3D Coulomb flow, Mohr's 3D fracture plane conditions are obtained uniquely. Copyright © 2003 John Wiley & Sons, Ltd.