A submerged body that moves near a free surface needs to keep its attitude and position to accomplish its missions, which are required to validate the performance of a designed controller before sea trial. Hydrodynamic maneuvering coefficients are generally obtained by experiments or computational fluid dynamics, but these coefficients suffer from uncertainty. Environmental loads such as wave excitation, current, and suction forces act on the submerged body when it moves near the free surface. Therefore, a controller for the submerged body should be robust to parameter uncertainty and environmental loads. In this paper, six-degree-of-freedom equations of motion for the submerged body are constructed. An adaptive control method based on the neural network and proportional–integral–derivative controller is used for the depth controller. Simulations are performed under various depth and environmental conditions, and the results show the effectiveness of the designed controller. 相似文献
Due to its ability to penetrate the cloud, Synthetic Aperture Radar (SAR) has been a great resource for crop mapping. Previous research has verified the applicability of SAR imagery in object-oriented crop classification, however, speckle noise limits the generation of optimal segmentation. This paper proposed an innovative SAR-based maize mapping method supported by optical image, Gaofen-1 PMS, based segmentation, named as parcel-based SAR classification assisted by optical imagery-based segmentation (os-PSC). Polarimetric decomposition was applied to extract polarimetric parameters from multi-temporal RADARSAT-2 data. One Gaofen-1 image was then used for parcel extraction, which was the basic unit for SAR image analysis. The final step was a multi-step classification for final maize mapping including: the potential maize mask extraction, pure/mixed maize parcel division and an integrated maize map production. Results showed that the overall accuracy of the os-PSC method was 89.1%, higher than those of pixel-level classification and SAR-based segmentation methods. The comparison between optical- and SAR-based segmentation demonstrated that optical-based segmentation would be better at representing maize field boundaries than the SAR-based segmentation. Moreover, the parcel- and pixel-level integrated classification will be suitable for many agricultural systems with small landownership where inter-cropping is common. Through integrating advantages of the SAR and optical data, os-PSC shows promising potentials for crop mapping. 相似文献
This paper presents an analytical solution for calculating the initiation of sediment motion and the risk of river bed movement. It thus deals with a fundamental problem in sediment transport, for which no complete analytical solution has yet been found. The analytical solution presented here is based on forces acting on a single grain in state of initiation of sediment motion. The previous procedures for calculating the initiation of sediment motion are complemented by an innovative combination of optical surface measurement technology for determining geometrical parameters and their statistical derivation as well as a novel approach for determining the turbulence effects of velocity fluctuations. This two aspects and the comparison of the solution functions presented here with the well known data and functions of different authors mainly differ the presented solution model for calculating the initiation of sediment motion from previous approaches. The defined values of required geometrical parameters are based on hydraulically laboratory tests with spheres. With this limitations the derivated solution functions permit the calculation of the effective critical transport parameters of a single grain, the calculation of averaged critical parameters for describing the state of initiation of sediment motion on the river bed, the calculation of the probability density of the effective critical velocity as well as the calculation of the risk of river bed movement. The main advantage of the presented model is the closed analytical solution from the equilibrium of forces on a single grain to the solution functions describing the initiation of sediment motion. 相似文献
The spatial and seasonal distributions of organic matter and fine grains were tested as possible determinants of fauna distribution in bed sediment of a Hercynian gravel stream. Invertebrate densities and the amounts of fine grains and organic carbon were assessed in freeze-core samples taken along 70 cm depth profiles at three different positions in the stream channel. Sampling was conducted on five occasions of low discharge over two years. The variability in invertebrate community composition was analysed using Detrended Correspondence Analysis with posterior projection of explanatory variables; Variation Partitioning was used to estimate the independent and shared effects of the explanatory variables. We found that the best predictors of the invertebrate community were spatial variables (depth, position in the channel) and then variables influenced by seasonal patterns (surface water temperature and discharge). The influence of organic matter and fine grain content was significant only after eliminating spatial autocorrelation. High amounts of organic matter, randomly accumulated in the sediment, improved the model by explaining high fauna densities. The fine grain content was not a limiting factor to fauna at our study site. It is possible that the large amount of mica flakes in the sediment has caused the arrangement of grains with a pore space sufficient for fauna even when fine grain content was high. 相似文献