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.     

Wave energy conversion under constrained wave-by-wave impedance matching with amplitude and phase-match limits

This paper investigates an approach to limit the fullness of ‘tuning’ provided by wave-by-wave impedance matching control of wave energy devices in irregular waves. A single analytical formulation based on the Lagrange multiplier approach of Evans [1] is used to limit the velocity amplitude while also limiting the closeness of the phase match between velocity and exciting force. The paper studies the effect of the present technique in concurrently limiting the device velocity and the required control/actuation force. Time domain application requires wave-profile prediction, which here is based on a deterministic propagation model. Also examined in the time domain is the effect of possible violation of the displacement constraint, which for many designs implies impacts at hard stops within the power take-off mechanism. Time domain simulations are carried out for a 2-body axisymmetric converter (with physical end-stops) in sea states reported for a site off the US east coast. It is found that the approach leads to effective power conversion in the less energetic sea states, while as desired, considerable muting of the optimal response is found in the larger sea states. Under the assumptions of this work, the end-stop collisions are found to have a minor effect on the power conversion. The present approach could be used to guide the design of power take-off systems so that their displacement stroke, maximum force, and resistive and reactive power limits are well-matched to the achievable performance of a given controlled primary energy converter.     

海洋空间规划管控平台建设的总结思考

新时期国家着力构建陆海统筹、区域统筹、城乡统筹的国土空间规划体系,为更好的服务国土空间规划体系与海岸带专项规划的建立实施,满足新形势下海域海岛管理的新要求,深化落实主体功能区制度,本文对已经建立的海洋空间规划管控平台进行了总结。海洋空间规划管控平台主要目标是实现海洋空间“一张图”、海洋主体功能区监测评估、海洋空间综合决策,主要功能包括多规分析与一张图、海洋主体功能区监测评估、海洋空间分区辅助编制与审查、海洋空间符合性判断等.     

高分辨率光学遥感场景分类的深度度量学习方法

针对高分辨率光学遥感影像场景具有同类型内部差异大、不同类型间相似度高导致部分场景识别困难的问题,本文提出了一种深度度量学习方法。首先在深度学习模型的特征输出层上为每类预设聚类中心,其次基于欧氏距离方法设计均值中心度量损失项,最后联合交叉熵损失项以及权重与偏置正则项构成模型的损失函数。该方法的目标是在特征空间上使同类型特征聚集并扩大类型间的距离以提高分类准确率。试验结果表明,本文方法有效地提升了分类准确率。在RSSCN7、UC Merced和NWPU-RESISC45数据集上,与现有方法相比,分类准确率分别提高了1.46%、1.09%和2.51%。     

陀螺全站仪在隧道测量中的应用研究

随着我国经济和科技的蓬勃发展,隧道工程建设也呈现出规模化和多元化的趋势。本文首先总结了我国公路隧道、铁路隧道和水下隧道的增长状况;然后归纳了隧道测量中平面控制网的布设方法;最后通过分析发现:通过陀螺全站仪加测陀螺边来传递方位基准,可有效提高隧道贯通精度。     

天文CMOS相机测试平台及控制系统的实现

CMOS相机是一种重要的固体成像设备?随着科研级CMOS相机的性能不断提高,现已广泛应用于科研领域?新真空太阳望远镜的成像设备也使用CMOS相机?因此建立一个天文CMOS相机测试系统?对于新购CMOS相机的验收以及现有CMOS相机的定期检测和维护有十分重要的意义。介绍了CMOS相机测试平台的硬件组成,并针对实际测试中对设备控制的需求,以及利用控制器对相应的设备直接控制,提出了基于TCP/IP协议以及串口通信的设计方案?利用C#编程语言设计了一套多线程并行的控制系统软件?实现各设备在局域网内的远程并行控制。通过对设备的运行测试,结果表明,系统能良好地控制各设备的正常运行?满足测试系统集成控制的需求.     

小区域消费级无人机倾斜摄影像控点布设及建模精度研究

像控点布设是无人机倾斜摄影施测阶段的重要环节,直接决定后期三维实景模型的精度。本文面向校园等小区域环境,利用消费级单镜头多旋翼无人机航摄系统获取影像数据,重点设计了不同像控点布设方案,基于全自动数据处理系统进行空三加密及三维模型的构建,并对模型成果进行精度分析,为实际工作中小区域像控点的布设提供建议和指导。     

磁浮交通试验线压力管道直线度的测量方法研究及应用

目前,国内外对于磁浮交通真空压力管道直线度测量问题的研究较少。本文结合西南交通大学在建的真空磁浮高速列车试验装置,提出了一种真空压力管道直线度测量方法。该方法在管道内建立高精度=维控制网,依据三维控制网测量采用圆曲线拟合方法确定各节管道的圆心坐标,并采用直线拟合方法分析整个管道的直线度。最后依据上述方法编制程序对实测数据进行了处理分析,验证了方法的可行性和正确性,可为今后真空磁浮压力管道的建设提供技术参考。     

FME和VSFTP相结合的不动产数据模式探讨

以实际项目应用为例,阐述了一种FME和VSFTP相结合的不动产数据整合作业模式。该模式通过团队协作,快速迭代更新数据,具有工作效率较高、工作进度可控、数据质量较好的特点,为不动产数据质量相对较差的地区提供了一套可行的数据整合工作模式,该模式也可推广应用到三调内业数据处理。     

基于GIS的城市交通管理信息服务研究

论述了基于GIS技术的城市交通管理信息服务平台的总体框架和功能,并对系统集成中的关键技术进行了研究,将城市交通管理涉及的视频监控系统、电子警察系统、110/122接处警系统、路口控制系统、GPS系统、交通诱导系统等多个子系统进行整合,实现资源共享,提高系统运行效率。