Nonlinear adaptive control of an underwater towed vehicle

This paper addresses the problem of simultaneous depth tracking and attitude control of an underwater towed vehicle. The system proposed uses a two-stage towing arrangement that includes a long primary cable, a gravitic depressor, and a secondary cable. The towfish motion induced by wave driven disturbances in both the vertical and horizontal planes is described using an empirical model of the depressor motion and a spring-damper model of the secondary cable. A nonlinear, Lyapunov-based, adaptive output feedback control law is designed and shown to regulate pitch, yaw, and depth tracking errors to zero. The controller is designed to operate in the presence of plant parameter uncertainty. When subjected to bounded external disturbances, the tracking errors converge to a neighbourhood of the origin that can be made arbitrarily small. In the implementation proposed, a nonlinear observer is used to estimate the linear velocities used by the controller thus dispensing with the need for costly sensor suites. The results obtained with computer simulations show that the controlled system exhibits good performance about different operating conditions when subjected to sea-wave driven disturbances and in the presence of sensor noise. The system holds promise for application in oceanographic missions that require depth tracking or bottom-following combined with precise vehicle attitude control.     

海涂围垦工程中悬挂式爆破挤淤基础处理技术探讨

沿海软土地基围涂工程中悬挂式爆破挤淤基础处理断面结构设计中遇到的最大难题是对腰宽的处理,腰宽太窄则工后沉降大,反之,则断面石方量增大,投资增加,因此,试图通过工程实例说明悬挂式爆破挤淤基础处理断面设计及工程实施过程中遇到的问题及对策措施。     

爆破挤淤产生的悬浮物输移扩散模拟研究

爆破挤淤是处理淤泥质软基的常用方法,而研究由此产生的悬浮泥沙的输移扩散对于评价施工对工程区水环境的影响有重要意义。在对爆破挤淤产生的悬浮泥沙对水环境影响初步分析的基础上,就防波堤地基爆破挤淤处理产生的悬浮泥沙在波浪、潮流共同作用下的输移扩散过程进行了数值模拟,并对爆破挤淤后悬浮泥沙输移扩散规律进行了探讨,指出爆破挤淤对水域附近的生态环境有一定影响,但影响范围并不大,且持续的时间亦不长。     

Underwater autonomous manipulation for intervention missions AUVs

Many underwater intervention tasks are today performed using manned submersibles or remotely operated vehicles in teleoperation mode. Autonomous underwater vehicles are mostly employed in survey applications. In fact, the low bandwidth and significant time delay inherent in acoustic subsea communications represent a considerable obstacle to remotely operate a manipulation system, making it impossible for remote controllers to react to problems in a timely manner.Nevertheless, vehicles with no physical link and with no human occupants permit intervention in dangerous areas, such as in deep ocean, under ice, in missions to retrieve hazardous objects, or in classified areas. The key element in underwater intervention performed with autonomous vehicles is autonomous manipulation. This is a challenging technology milestone, which refers to the capability of a robot system that performs intervention tasks requiring physical contacts with unstructured environments without continuous human supervision.Today, only few AUVs are equipped with manipulators. SAUVIM (Semi Autonomous Underwater Vehicle for Intervention Mission, University of Hawaii) is one of the first underwater vehicle capable of autonomous manipulation.This paper presents the solutions chosen within the development of the system in order to address the problems intrinsic to autonomous underwater manipulation. In the proposed approach, the most noticeable aspect is the increase in the level of information transferred between the system and the human supervisor.We describe one of the first trials of autonomous intervention performed by SAUVIM in the oceanic environment. To the best knowledge of the authors, no sea trials in underwater autonomous manipulation have been presented in the literature. The presented operation is an underwater recovery mission, which consists in a sequence of autonomous tasks finalized to search for the target and to securely hook a cable to it in order to bring the target to the surface.     

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基于线阵水下定位的解析求解算法

当信号接收器位于同一直线时,DGPS水下立体定位系统的解析算法并不能解算出目标空间立体坐标。提出一种新方法,利用它们的几何关系,计算出它们所在平面的相对位置。得到平面位置可以作为求解立体坐标的一部分,还可以应用于平面内水下目标定位的测试。解算中四个信号接收器的数据可以解算出唯一解,当信号接收器数目大于四个时,利用最小二乘理论获最优解。该方法采用解析法直接求解,不存在定位结果的发散问题。     

砖混结构楼房的控制爆破拆除技术

以实例介绍了砖混结构楼房的控制爆破拆除技术，对楼房拆除爆破的坍塌方式、爆破参数及安全技术进行了分析和探讨。     

冲、爆、钻复合性钻进工艺在大滚石、孤石桩孔中的应用

在大口径工程施工中，采用以往一般方法对付某些特殊复杂地层效果欠使。本文所介绍的采用钢丝绳冲击钻迸、爆破与硬质合金回转钻进（即冲、爆、钻）相结合复合性钻进工艺，基本解决了在大滚石、孤石桩孔中难以施工的问题。     

Tomographic determination of 3-D crustal structure — Joint inversion of explosion and earthquake data

In this paper, the theory and method, obtaining the tomographic determination of three-dimensional velocity structure of the crust by use of the joint inversion of explosion and earthquake data, are given. The velocity distribution of the crust is regarded as a continuous function of the spatial coordinates without parametrization of the velocity model ahead, so that the inversion solution would not be influenced by different parametrization procedures. The expressions of integration kernels, which relates the two kinds of data sets, are also given. The authors have processed the observed data in Tangshan earthquake region by the method proposed in this paper, and obtained the tomographic results of the middle and upper crust structures in this region. The comparison of these results with the result obtained only by the explosion data, has also been made.