Approximate optimal tracking control for near-surface AUVs with wave disturbances

This paper considers the optimal trajectory tracking control problem for near-surface autonomous underwater vehicles (AUVs) in the presence of wave disturbances. An approximate optimal tracking control (AOTC) approach is proposed. Firstly, a six-degrees-of-freedom (six-DOF) AUV model with its body-fixed coordinate system is decoupled and simplified and then a nonlinear control model of AUVs in the vertical plane is given. Also, an exosystem model of wave disturbances is constructed based on Hirom approximation formula. Secondly, the time-parameterized desired trajectory which is tracked by the AUV’s system is represented by the exosystem. Then, the coupled two-point boundary value (TPBV) problem of optimal tracking control for AUVs is derived from the theory of quadratic optimal control. By using a recently developed successive approximation approach to construct sequences, the coupled TPBV problem is transformed into a problem of solving two decoupled linear differential sequences of state vectors and adjoint vectors. By iteratively solving the two equation sequences, the AOTC law is obtained, which consists of a nonlinear optimal feedback item, an expected output tracking item, a feedforward disturbances rejection item, and a nonlinear compensatory term. Furthermore, a wave disturbances observer model is designed in order to solve the physically realizable problem. Simulation is carried out by using the Remote Environmental Unit (REMUS) AUV model to demonstrate the effectiveness of the proposed algorithm.     

Growth performance of larval and juvenile manila clam (<Emphasis Type="Italic">Ruditapes philippinarum</Emphasis>) from divergently selected individuals of a full-sib family

In this study, the method of divergent selection was employed to test the larval and juvenile growth performance within a full-sib family of Manila clam Ruditapes philippinarum. The 10% largest and 10% smallest clam individuals (on the basis of shell length) of a full-sib family were selected as parents for the fast and slow growing lines, respectively. The difference in shell length was significant among the three lines (fast, control, and slow) tested. The sequence of shell length were fast line > control line > slow line. The responses to selection, realized heritability, and genetic gain were 0.06%–0.81%, 0.04%–0.47% and 0.58%–18.89% in the fast direction, respectively; and were 0.14%–1.27%, 0.08%–0.73%, and 0.31%–49.03% in the slow direction, respectively. The results suggested that there was a large portion of additive genetic variance affecting the growth in the full-sib family. Selection in the fast direction within the full-sib family would greatly improve the growth of R. philippinarum.     

Depth classification of underwater targets based on complex acoustic intensity of normal modes

In order to solve the problem of depth classification of the underwater target in a very low frequency acoustic field, the active component of cross spectra of particle pressure and horizontal velocity (ACCSPPHV) is adopted to distinguish the surface vessel and the underwater target. According to the effective depth of a Pekeris waveguide, the placing depth forecasting equations of passive vertical double vector hydrophones are proposed. Numerical examples show that when the sum of depths of two hydrophones is the effective depth, the sign distribution of ACCSPPHV has nothing to do with horizontal distance; in addition, the sum of the first critical surface and the second critical surface is equal to the effective depth. By setting the first critical surface less than the difference between the effective water depth and the actual water depth, that is, the second critical surface is greater than the actual depth, the three positive and negative regions of the whole ocean volume are equivalent to two positive and negative regions and therefore the depth classification of the underwater target is obtained. Besides, when the 20 m water depth is taken as the first critical surface in the simulation of underwater targets (40 Hz, 50 Hz, and 60 Hz respectively), the effectiveness of the algorithm and the correctness of relevant conclusions are verified, and the analysis of the corresponding forecasting performance is conducted.     

The Impact of Large-Scale Reclamation on Hydro-Dynamic Environment——A Case Study of Xinghua Bay

A hydro-dynamic model is established on basis of MIKE21 FM to simulate the hydro-dynamic characteristics of Xinghua Bay and investigate the influence of reclamation project on the tidal elevation and tidal currents. Tidal elevation data was obtained at the six tide gauge stations around the Xinghua Bay, and another six current stations were established to observe the tidal current velocity and direction. Validation shows that the model-simulated tidal elevation and tidal currents agree well with observations made at different stations. Predictions are made according to the reclamation project proposed in the regional marine planning of Hanjiang Industrial Park around the port in Putian City. The variations of hydro-dynamic factors, such as tide, current velocity and direction and tidal influx are obtained, and the adverse effect of reclamation on marine environment is discussed. It is shown that the tidal level inside the Xinghua Bay during high tide decreases after the reclamation project is completed. The tidal currents during flooding tide generally decrease in the southeast of the reclamation region, with the maximum decreasing amplitude reaching 0.44 m s^-1. On the other hand, the tidal currents during flooding tide increase around the southeast and southwest corners of the reclamation region. The tidal currents during ebb tide increase around the southeast and southwest corners of the reclamation region, with the maximum increasing amplitude attaining 0.18 m s^-1. The results in this paper can give some guidance for the marine environment management and the effective utilization of land in Putian.     

Testing and modeling of the mechanical behavior of dolomite in the Wudongde hydropower plant

In order to understand the mechanical behaviours of the surrounding rocks in the underground caverns of the Wudongde hydropower plant, triaxial tests are performed on a type of dolomite. It is revealed that damage induced by crack development is the main factor controlling the nonlinear plastic deformation and failure behaviour of the dolomite in both pre- and post-peak regimes. Based on this understanding, a coupled elastoplastic damage model is developed for capturing the dolomite’s mechanical behaviours. In the model, the effects of plasticity and damage on rocks is described by introducing plastic hardening and damage softening commonly in the plastic yield surface. Which are both derived from a suitable Helmholtz free energy function. The model is used to simulate the triaxial tests. Comparisons between test results and the numerical modelling show that the developed model is capable of describing the macro mechanical behaviours of the Wudongde dolomite.