Discrete time-delay control of an autonomous underwater vehicle: Theory and experimental results

A discrete time-delay control (DTDC) law for a general six degrees of freedom unsymmetric autonomous underwater vehicle (AUV) is presented. Hydrodynamic parameters like added mass coefficients and drag coefficients, which are generally uncertain, are not required by the controller. This control law cancels the uncertainties in the AUV dynamics by direct estimation of the uncertainties using time-delay estimation technique. The discrete-time version of the time-delay control does not require the derivative of the system state to be measured or estimated, which is required by the continuous-time version of the controller. This particularly provides an advantage over continuous-time controller in terms of computational effort or availability of sensors for measuring state derivatives, i.e., linear and angular accelerations. Implementation issues for practical realization of the controller are discussed. Experiments on a test-bed AUV were conducted in depth, pitch, and yaw degrees of freedom. Results show that the proposed control law performs well in the presence of uncertainties.     

Multi-variable adaptive back-stepping control of submersibles using SDU decomposition

A multi-variable adaptive autopilot for the dive-plane control of submarines is designed. The vehicle is equipped with bow and stern hydroplanes for maneuvering. It is assumed that the system parameters are not known, and the disturbance force is acting on the vehicle. Based on a back-stepping design approach, an adaptive control law is derived for the trajectory control of the depth and the pitch angle. To prevent singularity in the control law, the SDU decomposition of the high-frequency gain matrix is used for the design. In the closed-loop system, asymptotic tracking of the reference depth and pitch angle trajectories is accomplished. Simulation results are presented which show that the submarine performs dive-plane maneuvers in spite of the uncertainties in the system parameters and disturbance forces.     

ENC数据制作进展与应用现状分析

国际标准电子航海图(ENC)数据生产的规模化和规范化,是促进电子海图显示与信息系统(ECDIS)发展的重要前提。介绍了我国目前ENC数据生产的基本情况及应用领域的现状,分析了存在的问题,并对未来ENC数据的生产及电子海图应用系统ECDIS的发展等提出了相关建议。     

珠江口外走航ADCP资料的系统误差订正与质量控制

在对珠江口外2006年冬季航次走航ADCP观测资料处理中发现用Joyce的方法不能有效地订正系统误差,其原因在于订正角与航速、船艏向相关。给出了一个订正角为船艏向余弦的拟合函数,得出良好的订正结果。分析了VmDas软件处理流速结果的精度,给出了系统误差识别的方法。发现观测资料中一些不能为VmDas软件识别的错误数据,分析了海况对观测资料的影响,提出了观测资料质量控制与误差订正的一套程序。     

Extension of high-order harmonics and generation of an isolated attosecond pulse in the chirped laser field

This paper theoretically investigates the high-order harmonic generation cutoff extension using intense few-cycle linearly chirped laser pulses. It shows that the cutoff of the harmonic can be extended remarkably by optimising the chirping parameters. The time-frequency characteristics of high-order harmonics with different chirping parameters are analysed by means of wavelet transform of the dipole acceleration. It also gives out the classical three-step model pictures of electron. By superposing a properly selected range of the harmonic spectrum, it obtains an isolated 65as pulse.     

Effect of superstrong magnetic field on electron screening at the crusts of neutron stars

The influences of electron screening (ES) and electron energy correction (EEC) are investigated by superstrong magnetic field (SMF). We also discuss in detail the discrepant factor between our results and those of Fushiki, Gudmundsson and Pethick (FGP) in SMF. The results show that SMF has only a slight effect on ES when B < 10⁹ T on the surfaces of most neutron stars. Whereas for some magnetars, SMF influence ES greatly when B > 10⁹ T . For instance, due to SMF the ES potential may be increased about 23.6% and the EEC may be increased about 4 orders of magnitude at ρ/μ_e = 1.0×10⁶ mol/cm³ and T₉ = 1. On the other hand, the discrepant factor shows that our results are in good agreement with FGP's when B < 10⁹ T . But the difference will be increased with increasing SMF.     

Effect of strong magnetic field on chemical potential and electron capture in magnetar

The chemical potential of electrons in a strong magnetic field is investigated. It is shown that the magnetic field has only a slight effect on electron chemical potential when B<10¹¹ T, but electron chemical potential will decrease greatly when B>10¹¹ T. The effects of a strong magnetic field on electron capture rates for ⁶⁰Fe are discussed, and the result shows that the electron capture sharply decreases because of the strong magnetic field.     

Controlled decoherence of floating flux qubits

In Born--Markov approximation, this paper calculates the energy relaxation time T₁ and the decoherence time T₂ of a floating flux qubit by solving the set of Bloch--Redfield equations. It shows that there are two main factors influencing the floating flux qubits: coupling capacitor in the circuit and the environment resistor. It also discusses how to improve the quantum coherence time of a qubit. Through shunt connecting/ series connecting inductive elements, an inductive environment resistor is obtained and further the reactance component of the environment resistor is improved,which is beneficial to the enhancement of decoherence time of floating flux qubits.     

Unconventional geometric phase gate and multiqubit entanglement for hot ions with a frequency-modulated field

We present an alternative scheme for implementing the unconventional geometric two-qubit phase gate and preparing multiqubit entanglement by using a frequency-modulated laser field to simultaneously illuminate all ions. Selecting the index of modulation yields selective mechanisms for coupling and decoupling between the internal and the external states of the ions. By the selective mechanisms, we obtain the unconventional geometric two-qubit phase gate, multiparticle Greenberger--Horne--Zeilinger states and highly entangled cluster states. Our scheme is insensitive to the thermal motion of the ions.     

Control of high-order harmonic generation with two-colour laser field

We numerically investigate the high-order harmonic generation with two-colour optical field, taking into consideration the propagation effects. Some harmonics can be dramatically enhanced at a certain delay between the fundamental pulse and its second harmonics. Choice of the enhanced harmonics can be realised by changing the time delay between the two laser pulses.