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81.
Adaptive optimal control of an autonomous underwater vehicle in the dive plane using dorsal fins 总被引:1,自引:0,他引:1
In this paper, adaptive control of low speed bio-robotic autonomous underwater vehicles (BAUVs) in the dive plane using dorsal fins is considered. It is assumed that the model parameters are completely unknown and only the depth of the vehicle is measured for feedback. Two dorsal fins are mounted in the horizontal plane on either side of the BAUV. The normal force produced by the fins, when cambered, is used for the maneuvering. The BAUV model considered here is non-minimum phase. An indirect adaptive control system is designed for the depth control using the dorsal fins. The control system consists of a gradient based identifier for online parameter estimation, an observer for state estimation, and an optimal controller. Simulation results are presented which show that the adaptive control system accomplishes precise depth control of the BAUV using dorsal fins in spite of large uncertainties in the system parameters. 相似文献
82.
Hideo Kawai 《Journal of Oceanography》2005,61(2):235-246
At present, the barotropic buoyant stability parameter has been derived from a vertical virtual displacement of a water parcel. The barotropic inertial stability parameter in the eccentrically cyclogeostrophic, basic current field was derived in 2003 from a horizontal cross-stream virtual displacement of a parcel. By expressing acceleration of a parcel due to a virtual displacement, which is arbitrarily sloping within a vertical section across the basic current, in terms of natural coordinates, we derived the vertical component of baroclinic buoyant stability parameter B
2
2, the horizontal component of baroclinic inertial stability parameter I
2
2, the baroclinic joint stability parameter J
2, its buoyant component B
2 and its inertial component I
2. B
2 is far greater than I
2
2, and when neglecting relative vorticity except for vertical shear, a downward convex curve of J
2 plotted against the slope of a virtual displacement follows a trend of B
2 curve. If a parcel displaces along a horizontal surface or an isopycnal surface, however, B
2 vanishes, and J
2 becomes equal to I
2. Actual parcel is apt to displace not only along the bottom slope, but also along the sea surface and an isopycnal interfacial surface, which is approximately equivalent to an isentropic surface, preferred by lateral mixing and exchange of momentum. Such actual displacement makes B
2 vanishing, and grants I
2 an important role. The present analysis of I
2 examining effects due to curvature and horizontal and vertical shear vorticities are useful in deepening our understanding of baroclinic instability in actual oceanic streams. 相似文献
83.
The distribution and geochemical composition of suspended-particulate matter (SPM) in the East China Sea (ECS) were investigated
during the summer period of high continental runoff to elucidate SPM sources, distribution and cross-shelf transport. The
spatial variability of SPM distribution (0.3–6.5 mg l−1) and geochemical composition (POC, Al, Si, Fe, Mn, Ca, Mg and K) in the ECS was pronounced during summer when the continental
fluxes of freshwater and terrestrial materials were highest during the year. Under the influences of Changjiang runoff, Kuroshio
intrusion, surface production and bottom resuspension, the distribution generally showed strong gradients decreasing seaward
for both biogenic and lithogenic materials. Particulate organic carbon was enriched in surface water (mean ∼18%) due to the
influence of biological productivity, and was diluted by resuspended and/or laterally-transported materials in bottom water
(mean 9.4%). The abundance of lithogenic elements (Al, Si, Fe, Mn) increased toward the bottom, and the distribution correlations
were highly significant. Particulate CaCO3 distribution provided evidence that the SPM of the bottom water in the northern part of the study area was likely mixed with
sediments originally derived from Huanghe. A distinct benthic nepheloid layer (BNL) was present in all seaward transects of
the ECS shelf. Sediment resuspension may be caused by tidal fluctuation and other forcing and be regarded as the principal
agent in the formation of BNL. This BNL was likely responsible for the transport of biogenic and lithogenic particles across
or along the ECS shelf. Total inventories of SPM, POC and PN are 46, 2.8 and 0.4 Tg, respectively, measured over the total
area of 0.45 × 106 km2 of the ECS shelf. Their mean residence times are about 27, 13 and 11 days, respectively. The inventory of SPM in the water
column was higher in the northernmost and southernmost transects and lower in the middle transects, reflecting the influences
of terrestrial inputs from Changjiang and/or resuspended materials from Huanghe deposits in the north and perhaps from Minjiang
and/or Taiwan’s rivers in the south. The distribution and transport patterns of SPM and geochemical elements strongly indicate
that continental sources and cross-shelf transport modulate ECS particulate matter in summer. 相似文献
84.
The Magellan seamounts began forming as large submarine shield volcanoes south of the equator during the Cretaceous. These
volcanoes formed as a cluster on the small Pacific plate in a period when tectonic stress was absent. Thermal subsidence of
the seafloor led to sinking of these volcanoes and the formation of guyots as the seamounts crossed the equatorial South Pacific
(10–0°S) sequentially and ocean surface temperatures became too high for calcareous organisms to survive. Guyot formation
was completed between about 59 and 45 Ma and the guyots became phosphatized at about 39–34 and 27–21 Ma. Ferromanganese crusts
began formation as proto-crusts on the seamounts and guyots of the Magellan Seamount cluster towards the end of the Cretaceous
up to 55 Ma after the formation of the seamounts themselves. The chemical composition of these crusts evolved over time in
a series of steps in response to changes in global climate and ocean circulation. The great thickness of these crusts (up
to 15–20 cm) reflects their very long period of growth. The high Co contents of the outer parts of the crusts are a consequence
of the increasing deep circulation of the ocean and the resulting deepening of the oxygen minimum zone with time. Growth of
the Co-rich Mn crusts in the Magellan Seamount cluster can be considered to be the culmination of a long journey through time. 相似文献
85.
Ryoko Tokeshi Kaoru Ichikawa Satoshi Fujii Kenji Sato Shoichiro Kojima 《Journal of Oceanography》2007,63(4):711-720
A method to extract geostrophic current in the daily mean HF radar data in the Kuroshio upstream region is established by
comparison with geostrophic velocity determined from the along-track altimetry data. The estimated Ekman current in the HF
velocity is 1.2% (1.5%) and 48° (38°)-clockwise rotated with respect to the daily mean wind in (outside) the Kuroshio. Furthermore,
additional temporal smoothing is found necessary to remove residual ageostrophic currents such as the inertial oscillation.
After removal of the ageostrophic components, the HF geostrophic velocity agrees well with that from the altimetry data with
rms difference 0.14 (0.12) m/s in (outside) the Kuroshio. 相似文献
86.
Vibrational transition probabilities namely Franck-Condon factors and r-centroids have been evaluated using an approximate analytical method for theC-X system of V0. Morse potential energy curves forX
4 – andC
4 – states of V0 have been constructed using the latest spectroscopic data. The value of r-centroids for the band have been found to increase linearly with the corresponding wavelength. We show results for new transition and ten new bands in the umbral spectrum of the Sun. 相似文献
87.
A study of the combined buoyancy effects of thermal and mass diffusion on MHD convection flow in the presence of Hall currents with variable suction and heat generation has been carried out. Analytical expressions for the velocity and the temperature of the fluid are given. The effects of Hall currents, parameterm, and heat source parameter on the velocity are discussed. 相似文献
88.
Bianchi type-II, VIII, and IX models have been investigated in scalar-tensor theories developed by Saez (1985), Saez and Ballester (1985), and Lau and Prokhovnik (1986) (under the assumption of a certain relationship between the cosmological term and the scalar field ). The dynamical behaviour of these models has been studied. 相似文献
89.
Xin Li Dongliang Wang Baoquan Liu Chunling Ren Jianying Guo Xuefeng Su Jian Wang 《中国地球化学学报》2008,27(4):412-419
The northern margin of the Qaidam Basin is one of the main oil-gas exploration areas in western China, where source rocks are composed mostly of Middle and Lower Jurassic dark mud shale, carbargillite and coal. A large number of subsurface and outcrop samples differing in lithology with different types of organic matter were selected for resource evaluation, research and calculation. And among them, 13 samples were used for simulation experiment on hydrocarbon generating potential of various source rocks. At first, two kinds of heating modes were compared through simulation experiment, including single temperature-step heating and continual heating. Perhaps, the process of hydrocarbon generation and expulsion occurred naturally between a close system and an open system. In addition, the first heating mode was convenient, and all its reaction products were involved in the whole thermal evolution, and the final simulation experimental results were basically in consistency with the natural evolution trend Therefore, the first heating mode was adopted and the hydrocarbon yield of every sample was worked out. According to the type and lithology of organic matter and the hydrocarbon yield of samples for simulation experiment, hydrocarbon generation and expulsion mode with three kinds of lithology and five types of source rock has been established to provide the basis for hydrocarbon generation evaluation, research and resource calculation. 相似文献
90.
K. S. Rao Y. S. Rao H. K. Al Jassar 《Journal of the Indian Society of Remote Sensing》2008,36(2):123-136
Spaceborne Imaging Radar (SIR-C) data acquired over Gujarat, India in 1994 were processed and analysed using differnet techniques
applicable to polarimetric SAR data such as polarization signatures, polarization index, decomposition of the signal and polarization
phase difference and limited groundtruth data. It has been observed that multi-frequency polarimetric data enhances the potential
of retrieving geo-physical parameters. The polarization signatures are found to vary with the nature of the target. Target
decomposition of the returned signal will be useful for the classification of various features. Polarization Phase Difference
(PPD) gives good information about the vegetation parameters. 相似文献