Stability analysis of SDOF real‐time hybrid testing systems with explicit integration algorithms and actuator delay

Real‐time hybrid testing is a method that combines experimental substructure(s) representing component(s) of a structure with a numerical model of the remaining part of the structure. These substructures are combined with the integration algorithm for the test and the servo‐hydraulic actuator to form the real‐time hybrid testing system. The inherent dynamics of the servo‐hydraulic actuator used in real‐time hybrid testing will give rise to a time delay, which may result in a degradation of accuracy of the test, and possibly render the system to become unstable. To acquire a better understanding of the stability of a real‐time hybrid test with actuator delay, a stability analysis procedure for single‐degree‐of‐freedom structures is presented that includes both the actuator delay and an explicit integration algorithm. The actuator delay is modeled by a discrete transfer function and combined with a discrete transfer function representing the integration algorithm to form a closed‐loop transfer function for the real‐time hybrid testing system. The stability of the system is investigated by examining the poles of the closed‐loop transfer function. The effect of actuator delay on the stability of a real‐time hybrid test is shown to be dependent on the structural parameters as well as the form of the integration algorithm. The stability analysis results can have a significant difference compared with the solution from the delay differential equation, thereby illustrating the need to include the integration algorithm in the stability analysis of a real‐time hybrid testing system. Copyright © 2007 John Wiley & Sons, Ltd.     

Dynamic force control with hydraulic actuators using added compliance and displacement compensation

A new approach to dynamic force control of mechanical systems, applicable in particular to frame structures, over frequency ranges spanning their resonant frequencies is presented. This approach is implemented using added compliance and displacement compensation. Hydraulic actuators are inherently velocity sources, that is, an electrical signal regulates their velocity response. Such systems are therefore by nature high‐impedance (mechanically stiff) systems. In contrast, for force control, a force source is required. Such a system logically would have to be a low‐impedance (mechanically compliant) system. This is achieved by intentionally introducing a flexible mechanism between the actuator and the structure to be excited. In addition, in order to obtain force control over frequencies spanning the structure's resonant frequency, a displacement compensation feedback loop is needed. The actuator itself operates in closed‐loop displacement control. The theoretical motivation, as well as the laboratory implementation of the above approach is discussed along with experimental results. Having achieved a means of dynamic force control, it can be applied to various experimental seismic simulation techniques such as the effective force method and the real‐time dynamic hybrid testing method. Copyright © 2008 John Wiley & Sons, Ltd.     

Temporal changes in suspended sediment transport in a gullied loess basin: the lower Chabagou Creek on the Loess Plateau in China

Suspended sediment dynamics are still imperfectly understood, especially in the loess hilly region on the Loess Plateau, with strong temporal variability, where few studies heretofore have been conducted. Using a dataset up to eight years long in the Lower Chabagou Creek, the variability in suspended sediment load at different temporal scales (within‐flood variability, monthly–seasonal and annual) is analyzed in this paper. The results show that, on the within‐flood scale, most of the sediment peaks lag behind peak discharges, implying that slope zones are the main sediment source area; independent of the occurring sequences of the peaks of sediment and discharge, all the events could present an anti‐clockwise hysteresis loop resulting from the abundant material and the influence of hyperconcentrated flows on suspended sediment concentration. At monthly and seasonal scales, there is a ‘store–release’ process, i.e. sediment is prepared in winter, spring and late autumn, and exported in summer and early autumn. At the annual scale, the high variability in concentration and sediment yield are highly correlated with water yield, resulting from the number and magnitude of floods recorded yearly, and almost all the suspended load is transported during these events. Copyright © 2008 John Wiley & Sons, Ltd.     

高陡边坡变形及其对坝体安全稳定影响研究进展

高陡边坡变形及其对坝体安全稳定的影响,是高山峡谷型流域水利工程施工建设与安全运行所普遍面临的重要科学问题。一是高陡边坡稳定性研究,通过坝体两岸高陡边坡变形监测理论和方法研究,为实现动态反馈提供可靠的分析数据,再评价高陡边坡安全稳定性。二是高陡边坡变形对坝体安全稳定影响研究,通过分析岸坡与坝体间的相互作用,明确高陡边坡变形对坝体安全稳定的影响机制、作用范围和作用程度。在总结上述研究内容进展的基础上,归纳了本研究方向亟需解决的4个关键科学问题：时变监控方法、高精度数值仿真、智能优化反分析、边坡对坝体影响的理论计算方法,认为应进一步开展高陡边坡与坝体间相互影响机制及加固措施研究,为高陡边坡变形及其对坝体安全稳定影响研究提供思路。     

黑潮流套脱落反气旋涡对声传播的影响研究

黑潮在冬季常以流套的方式入侵南海,并多伴随着反气旋涡的脱落,脱落的反气旋涡将黑潮高温、高盐水带入南海,影响南海东北部水文要素和声速场的空间分布,目前尚未有对黑潮流套脱落反气旋涡声学效应的研究。利用2009～2020年卫星高度计数据和再分析数据,在南海东北部选取了6个冬季黑潮流套脱落反气旋涡,研究了其水文和声场结构,并应用Bellhop高斯射线模型仿真给出了其对声传播的影响。结果表明:(1)6个黑潮脱落反气旋涡平均半径为110～135km,垂向深度可达1 000～1 200 m,最大旋转速度为0.4～0.6 m/s。反气旋涡中心暖水下沉,温度异常均为正异常,暖核位置位于100～250 m处,最大正异常达到2.5°C。中心盐度异常呈现负-正-负的三核结构。反气旋涡在100～900 m深度声速为正异常,最大正异常超过8 m/s,出现在400 m左右。(2)声波从涡外穿过涡旋和从涡内向外传播,当地形不会影响声线的反转时,会聚区的位置发生后移,后移的距离在5～10 km;当地形阻碍声线的反转时,声线与地形接触的位置不同,会聚区可能出现前移或后移,后移最大为29km,前移最大可达23km。(3)当...     

Causes of Arctic Amplification: A Review

The pace of Arctic warming is about double that at lower latitudes in the recent decades, a robust phenomenon known as Arctic Amplification (AA), which has become one of the most notable features of climate change. This review summarized the major advances of the mechanism of AA from both local factors and poleward heat transport from lower latitudes. Local factors, including positive ice-albedo feedback and increasing downwelling longwave radiation caused by water vapor and cloud, play an important role in AA. Due to the colder background temperatures and the more stable vertical structure than the lower latitudes, the temperature feedback is therefore positive, which induces the warm signal amplified in the Arctic. The poleward heat transport via atmosphere circulation and ocean currents is also a contributor to AA, and the multidecadal variability in the Pacific, the Atlantic and the tropical Pacific surface temperature are the dominant forcing of the atmosphere circulation. Finally, several issues that remain to be solved were proposed.     

Seasonal patterns of suspended sediment transport in an abandoned farmland catchment in the Central Spanish Pyrenees

The suspended sediment response of a small catchment subjected to farmland abandonment and subsequent plant recolonization was studied in relation to its hydrological functioning. The analysis of data over a seven‐year period demonstrated that suspended sediment yield was greatly influenced by the occurrence of intense, low‐frequency events. Greater amounts of suspended sediment were exported during spring, when the catchment was hydrologically more active. Rainfall intensity and baseflow at the start of a flood event had a strong influence on the sediment response, suggesting that several hydrological processes were active within the catchment. SSC (suspended sediment concentration)‐Q hysteretic loop analysis at the event scale aided understanding of the sedimentological and hydrological behaviour of the catchment. During the study period the SSC‐Q loops showed a high degree of seasonality and two main patterns strongly related to catchment wetness were distinguished. When the catchment was dry (mainly during summer and the beginning of autumn) the predominant process was infiltration excess runoff over sparsely vegetated areas close to the main channel. Under these conditions, floods exhibited a counter‐clockwise hysteretic loop and were characterized by a small streamflow response, short duration and high SSC. Under wet conditions (mainly during winter and spring), saturation excess runoff was increasingly dominant over vegetated areas. Under these conditions, floods exhibited a clockwise hysteretic loop, and were characterized by a larger streamflow response, longer duration and higher suspended sediment yield. The lower SSC during the falling stage of the hydrograph is likely to be due to dilution effects related to the contribution of clean water resulting from enlargement of the saturated areas, together with an increase in the baseflow discharge. Copyright © 2009 John Wiley & Sons, Ltd.     

计算矩形大定源回线瞬变电磁测深全区视电阻率

介绍了矩形大定源瞬变电磁测深全区视电阻率的计算方法。根据大定源感应电动势关于电阻率非线性变化特点,利用二分法计算感应电动势的全区视电阻率。在此过程中,计算首先从早期感应电动势开始,并将计算得到的视电阻率作为下个窗口视电阻率计算的依据。以此类推,得到全部时窗的视电阻率。理论模型和实际数据的计算结果表明文中提出方法的有效性和正确性。     

Effects of micro-topography on surface–subsurface exchange and runoff generation in a virtual riparian wetland — A modeling study

In humid upland catchments wetlands are often a prominent feature in the vicinity of streams and have potential implications for runoff generation and nutrient export. Wetland surfaces are often characterized by distinct micro-topography (hollows and hummocks). The effects of such micro-topography on surface–subsurface exchange and runoff generation for a 10 by 20 m synthetic section of a riparian wetland were investigated in a virtual modeling experiment. A reference model with a planar surface was run for comparison. The geostatistically simulated structure of the micro-topography replicates the topography of a peat-forming riparian wetland in a small mountainous catchment in South-East Germany (Lehstenbach). Flow was modeled with the fully-integrated surface–subsurface code HydroGeoSphere. Simulation results showed that the specific structure of the wetland surface resulted in distinct shifts between surface and subsurface flow dominance. Surface depressions filled and started to drain via connected channel networks in a threshold controlled process, when groundwater levels intersected the land surface. These networks expanded and shrunk in a spill and fill mechanism when the shallow water table fluctuated around the mean surface elevation under variable rainfall inputs. The micro-topography efficiently buffered rainfall inputs and produced a hydrograph that was characterized by subsurface flow during most of the year and only temporarily shifted to surface flow dominance (> 80% of total discharge) during intense rainstorms. In contrast the hydrograph in the planar reference model was much “flashier” and more controlled by surface runoff. A non-linear, hysteretic relationship between groundwater level and discharge observed at the study site was reproduced with the micro-topography model. Hysteresis was also observed in the relationship between surface water storage and discharge, but over a relatively narrow range of surface water storage values. Therefore it was concluded that surface water storage was a better predictor for the occurrence of surface runoff than groundwater levels.     

一种采用图像特征匹配技术的RGB-D SLAM算法

针对复杂环境下运动机器人自主运行的任务要求,提出了一种采用图像特征匹配技术的视觉SlAM算法。相比于传统滤波器方法在机器人长时间运动过程中产生的误差积累,采用了基于图优化的SlAM方法,本文算法分为两个部分：前端和后端。前端负责处理图像数据提取机器人位姿几何关系,首先提取彩色RGB图像的特征点,创建特征点的高维特征描述子,建立特征点的位置对应关系;后端负责表达各时刻机器人的位姿并最大化地消除轨迹漂移问题,根据前端处理所产生的信息,构建一个代表机器人几何位置关系及其不确定性的关系图,通过对图的优化将测量轨迹最大化地逼近真实轨迹,最后生成稀疏点云地图和高精度的机器人运行轨迹。试验表明本文所提出的方法实用性强,具有较高的鲁棒性。