A hierarchical real-time control architecture for a semi-autonomous underwater vehicle

This paper describes a real-time control architecture for Dual Use Semi-Autonomous Underwater Vehicle (DUSAUV), which has been developed at Korea Research Institute of Ships and Ocean Engineering (KRISO) for being a test-bed of development of underwater navigation and manipulator technologies. DUSAUV has three built-in computers, seven thrusters for six DOF motion control, one 4-function electric manipulator, one ballasting motor, built-in power source, and various sensors. A supervisor control system with GUI and a multi-purpose joystick is mounted on the surface vessel and communicates with vehicle through a fiber optic link. Furthermore, QNX, one of real-time operating system, is ported on the built-in control and navigation computers for real-time control purpose, while Microsoft OS product is ported in the supervisor computer for GUI programming convenience. A hierarchical control architecture, which consists of application layer, real-time layer and physical layer, has been developed for efficient control system of above complex underwater robotic system. The experimental results with implementation of the layered control architecture for various motion control of DUSAUV in an ocean engineering basin of KRISO is also presented.     

Real Time Analysis and Forecasting of Strata Caving Behaviour during Longwall Operations

Summary. Discontinuous manual observations and irregular caving characteristics of roof rocks often lead to improper decisions resulting in accidents and production loss. Hence, systematic monitoring of the hanging roof behind the chock shields is necessary for safe and productive mining operations. A real-time application was successfully implemented in an Indian mine for forecasting of hanging roof behaviour to enhance safety and productivity. This paper reports the functioning of real-time TWAP (time weighted average pressure) analysis in the forecasting of hanging roof behaviour in real time.     

The Application of ARGO Data to the Global Ocean Data Assimilation Operational System of NCC

1. Introduction It is well-known that the state of ocean plays very important role in the climate change. But there is a paucity of the ocean observation data. The data distri- bution in the space, time and different components is very inhomogeneous, even in some areas, there are no any observation data. Hence, it brings some diffcul- ties to the scientists to study many problems relevant to ocean. This situation has been being changed since ARGO (Array for Real-time Geostrophic Oceanogra-…     

A Study of the Extended-range Forecast for the Low Frequency Temperature and High Temperature Weather over the Lower Reaches of Yangtze River Valley in Summer

Based on the observational data, the variations of Intraseasonal Oscillation (ISO) of the daily temperatures and its relationships to the high temperature in summer over the lower reaches of the Yangtze River Valley (LYRV) were studied for the period of 1979-2011. It is found that the daily temperatures over LYRV in May-August was mainly of periodic oscillations of 1525, 3060 and 6070 days, and the interannual variation of the intensity of its 3060-day oscillation had a strongly positive correlation with the number of days with daily highest temperature over 35 ℃ in July-August. Low frequency components of daily temperature in the LYRV, and the principal components of the Eastern Asian 850 hPa low frequency temperature, over a time period ranging from 1979 to 2000, were used to establish the Extended Complex Autoregressive model (ECAR) on an extended-range forecast of the 3060-day low frequency temperature over the LYRV. A 11-year independent real-time extended-range forecast was conducted on the extended-range forecast of low frequency component of the temperature over the LYRV in May-August, for the period ranging from 2001 to 2011. These experimental results show that this ECAR model, which is based on a data-driven model, has a good forecast skill at the lead time of approximately 23 days, with a forecast ability superior to the traditional autoregressive (AR) model. Hence, the development and variation of the leading 3060-day modes for the Eastern Asian 850 hPa low frequency temperatures and temporal evolutions of their relationships to low frequency components of the temperature over the LYRV in summer are very helpful in predicting the persistent high temperature over the LYRV at a 20 to 25 days lead.     

区域数字地震台网实时速报系统研究

根据我国地震监测台网的发展趋势,提出了区域数字地震台网实时速报系统的发展目标,研究了实现这一目标应解决的实时数据流接收、震相自动识别、震相可靠性处理、实时地震定位、震相到时等值线实时绘制、地震震级的实时计算、地震动强度分布图的实时绘制等问题.我们编制了一套实时地震速报软件,实现了上述功能,并用福建数字地震台网记录的地震事件进行软件功能测试.测试结果表明:对于网内地震,软件处理结果基本达到中国地震局地震速报评比满分的要求,速报时间缩短至30～50 s.此外,通过实时仿真技术,系统可给出实际观测到的PGA、PGV、PGD等值线图,可以为应急救灾确定重灾区和有感范围提供帮助.     

带保温层管道腐蚀状态的X射线检测方法研究

随着无损检测技术的飞速发展,X射线实时成像技术获得了广泛的应用.本文论述了带保温层管道的X射线实时成像检测方法,重在对管道腐蚀缺陷深度如何定量的实验方法研究,和管道缺陷处厚度与图像灰度的数学模型建立,从而对管道腐蚀厚度进行定量,管道缺陷的定量研究有助于管道安全运行的评价和隐患问题的及时发现.     

ARGO剖面浮标数据质量控制过程剖析

ARGO计划的观测目标是能取得精度分别为0．5℃和0．01PSU的海水温度和盐度资料。然而，由于目前海水盐度是采用海水电导率间接导出的，而测量海水电导率的传感器很容易产生偏差。因此，必须对获得的ARGO数据进行质量控制。文章详细介绍了ARGO剖面浮标资料实时质量控制模式和延时质量控制模式及其采用的质量控制方法等。     

Total electron content processing from GPS observations to facilitate ionospheric modeling

With the increasing global distribution of high rate dual-frequency global positioning system (GPS) receivers, the production of a real-time atmospheric constituent definition, total electron content (TEC), has become a beneficial contributor to the modeling applications used in the assessment of GPS position accuracy and the composition of the ionosphere, plasmasphere, and troposphere. Historically, TEC measurements have been obtained through post processing techniques to produce the quality of data necessary for modeling applications with rigorous error estimate requirements. These procedures necessitated the collection of large volumes of data to address the various abnormalities in the computation of TEC associated with the use of greater data quality controls and source selection while real-time modeling environments must rely on autonomous controls and filtration techniques to prevent the production of erroneous model results. In this paper we present methods for processing TEC in real time, which utilize several procedures including the application of an ionospheric model to automatically perform quality control on the TEC output and the computational techniques used to address receiver multipath, faulty receiver observations, cycle-slips, segmented processing, and receiver calibrations. The resulting TEC measurements are provided with rigorous error estimates validated using the vertical TEC from the Jason satellite mission.

BPM时号传播时延的连续观测与研究

利用新研制的短波传播时延实时数字显示系统,在武汉电离层观象台对BPM时号的传播时延进行了长时间连续观测。发现这种时延曲线的主要特征是:它是分段光滑的,光滑段工的相对时间比对精度可优于0.1ms;各光滑段之间,时延值发生突跳。结合多普勒图和频高图的同时观测记录,解释了时延突跳的原因,着重说明了突跳好几毫秒的所谓异常时号的传播机制。此外,还讨论了提高短波授时精度的某些技术措施。     

遥测地震台网实时处理系统

本文介绍了采用程序驻留内存技术，利用系统的硬件中断和时钟中断，在微机上研制成功了实时处理系统。该系统具有前后台处理功能，能够在主机ＣＰＵ中同时运行多道程序，使数据采集、事件检测、数据转存、地震定位等均能进行实时处理。该系统可用于区域遥测地震台网和地方遥测地震台网的实时处理。