Design of a sliding mode fuzzy controller for the guidance and control of an autonomous underwater vehicle

This work demonstrates the feasibility of applying a sliding mode fuzzy controller to motion control and line of sight guidance of an autonomous underwater vehicle. The design method of the sliding mode fuzzy controller offers a systematical means of constructing a set of shrinking-span and dilating-span membership functions for the controller. Stability and robustness of the control system are guaranteed by properly selecting the shrinking and dilating factors of the fuzzy membership functions. Control parameters selected for a testbed vehicle, AUV-HM1, are evaluated through tank and field experiments. Experimental results indicate the effectiveness of the proposed controller in dealing with model uncertainties, non-linearities of the vehicle dynamics, and environmental disturbances caused by ocean currents and waves.     

人工皮在烧伤创面的应用

16例烧伤病人应用CHIMEHERB人工皮覆盖26个创面,其中浅Ⅱ°及部分深Ⅱ°创面11个,深Ⅲ°削痂创面10个,切削痂覆盖自体网状皮创面5个,与辐照猪皮对照观察,临床获得较好效果.认为在有效的清创及正确的创面处理下覆盖人工皮能减少创面渗出,有利创面愈合.作为一种新型的生物性敷料,无同种异体皮或异种皮移植时的排异现象,但其本身不具抗菌能力.     

Three‐dimensional simulations of tensile cracks in geomaterials by coupling meshless and finite element method

Failure in geotechnical engineering is often related to tension‐induced cracking in geomaterials. In this paper, a coupled meshless method and FEM is developed to analyze the problem of three‐dimensional cracking. The radial point interpolation method (RPIM) is used to model cracks in the smeared crack framework with an isotropic damage model. The identification of the meshless region is based on the stress state computed by FEM, and the adaptive coupling of RPIM and FEM is achieved by a direct algorithm. Mesh‐bias dependency, which poses difficulties in FEM‐based cracking simulations, is circumvented by a crack tracking algorithm. The performance of our scheme is demonstrated by two numerical examples, that is, the four‐point bending test on concrete beam and the surface cracks caused by tunnel excavation. Copyright © 2014 John Wiley & Sons, Ltd.     

道路网络示意图的多边形生长算法

道路网络示意图是实体网络的抽象表示,因其更加符合人的认知习惯,在地图服务与地图制图领域已得到初步应用。以路径为单位的网络示意图自动生成算法只顾及节点与线段的局部布置,且较难以维护网络拓扑一致性。本文以闭合多边形(网眼)为基本单位,利用网眼的独立性与邻接性,提出了多边形生长算法,核心思想是将道路网络分类为闭合多边形与非闭合线段,以闭合多边形提取、映射、优化为主线,辅助组合非闭合线段。算例分析验证,本算法在网络均衡分布及拓扑一致性方面具有优势。     

复杂边界及实际地形上溃坝洪水流动过程模拟

建立了基于无结构三角网格下采用有限体积法求解的二维水动力学模型,用于模拟溃坝洪水在复杂边界及实际地形上的流动过程。该模型采用Roe格式的近似Riemann解计算界面水流通量,结合空间方向的TVD-MUSCL格式及时间方向的预测-校正格式,可使模型在时空方向具有二阶计算精度。模型中引入最小水深概念,提出了有效的干湿界面处理方法。模拟了理想条件下溃坝水流过程,研究不同最小水深取值对干河床上洪水演进的影响,并用两组简单溃坝水流的水槽试验资料对模型进行验证。采用该模型模拟了实际溃坝洪水的流动过程,所得计算结果与实测资料及已有模型计算结果较为符合。     

Some numerical issues using element‐free Galerkin mesh‐less method for coupled hydro‐mechanical problems

A new formulation of the element‐free Galerkin (EFG) method is developed for solving coupled hydro‐mechanical problems. The numerical approach is based on solving the two governing partial differential equations of equilibrium and continuity of pore water simultaneously. Spatial variables in the weak form, i.e. displacement increment and pore water pressure increment, are discretized using the same EFG shape functions. An incremental constrained Galerkin weak form is used to create the discrete system equations and a fully implicit scheme is used for discretization in the time domain. Implementation of essential boundary conditions is based on a penalty method. Numerical stability of the developed formulation is examined in order to achieve appropriate accuracy of the EFG solution for coupled hydro‐mechanical problems. Examples are studied and compared with closed‐form or finite element method solutions to demonstrate the validity of the developed model and its capabilities. The results indicate that the EFG method is capable of handling coupled problems in saturated porous media and can predict well both the soil deformation and variation of pore water pressure over time. Some guidelines are proposed to guarantee the accuracy of the EFG solution for coupled hydro‐mechanical problems. Copyright © 2008 John Wiley & Sons, Ltd.     

堆积层滑坡临滑预报的新判据

研究表明，仅用速率大小作为滑坡的临滑判剧是不充分的。笔者在分析新滩堆积层滑坡位移矢量角动态特征的基础上，提出了堆积层滑坡临滑预报的新判据。     

复杂区域自适应三角形网格全自动生成方法

为了使用自适应有限单元法求解岩土工程问题，本文在行被法的基础上，提出了一种适用于多介质复杂区域的三角形网格全自动生成方法。文中给出三个工程算例．     

通用三维GIS场数据模型研究与实践

随着三维地理信息系统(geographic information system,GIS)应用的发展,空中电磁信号场、空气与水体污染场、地下地质属性场等连续、非匀质的三维空间属性场数据进行建模、可视化与分析计算对GIS基础软件提出了新的挑战。已被广泛应用的TIN(triangulated irregular network)与栅格数据属于表面模型,通常用来表达二维场数据,其中由TIN组成的封闭表面可用于表达三维体,但两者都无法描述非匀质、连续变化的三维属性场。探讨了在通用GIS基础软件中基于TIN和Grid进行升维表达,实现不规则四面体网格(tetrahedralized irregular mesh,TIM)和体元栅格(voxel grid)两大类三维空间场数据模型,分析了两类数据模型的特点,探讨了三维场数据在可视化和分析计算方面的关键技术,实现了基于TIM与体元栅格表达和应用三维GIS场数据,完善了GIS三维数据模型体系,实现了空/天、地表、地下全空间的一体化表达、模拟与分析计算。