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31.
This paper proposes a nonlinear robust adaptive control strategy to force a six degrees of freedom underactuated underwater vehicle with only four actuators to follow a predefined path at a desired speed despite of the presence of environmental disturbances and vehicle’s unknown physical parameters. The proposed controller is designed using Lyapunov’s direct method, the popular backstepping and parameter projection techniques. The closed loop path following errors can be made arbitrarily small. Interestingly, it is shown that our developed control strategy is easily extendible to situations of practical importance such as parking and point-to-point navigation. Numerical simulations are provided to illustrate the effectiveness of the proposed methodology. 相似文献
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This paper reports a study of the field measurements and monitoring of wastewater discharge in sea water at Bari East (Italy). A wastewater sea outfall system is an integral and fundamental part of each wastewater treatment with ultimate sink in the sea water. The design of a water treatment plant and wastewater outfall must take into account the use of the environmental water, the values of physicochemical parameters to be respected in order to safeguard the use itself and the quality of the environmental water where wastewater is issued. In the present study measurements of sea current velocity components were carried out with a VM-ADP (Vessel-Mounted Acoustic Doppler Profiler). Salinity, wind directions and velocities were assessed with, for one survey, the total faecal coliforms and other biochemical parameters. It was emphasized that the measurements necessary for monitoring cannot be concentrated in the wastewater outfall pipe zone only, but should be extended to a neighbouring area of the outfall pipe, with an extension depending on the wastewater discharge, the polluting charge and the magnitude of the sea currents and the winds typical of the zone of interest. The analyses presented in this paper confirm that the sea zones close to the wastewater outfall pipe are particularly sensitive and vulnerable. Such results must be considered in the planning of a wastewater outfall pipe. 相似文献
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Lectotype optimization of offshore platforms is of particular importance in the concept design process. Lectotype optimization involves multiple objectives with uncertainty and so is a problem of multiple attribute decision making. To date, there have been few published works on this topic in the context of offshore engineering. This paper develops a framework and methodology for evaluation of offshore platform alternatives, where a fuzzy optimum model is proposed to integrate the influence of each objective in the criteria set, and a new weight-assessing method is developed to mimic the decision maker’s experience and preference based on complementary pairwise comparisons. A case study shows that the new framework and methodology is scientific, reasonable and easy to use in practice. 相似文献
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从数据管理及后期应用的角度提出了数据平台的要领,讨论了该数据平台的物理结构、逻辑结构,在分类与组织的基础上给出了相应的数据字典。同时,还基于该平台探讨了测井曲线库及图形库的建设方法,并实现了具体功能。 相似文献
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以实际环境荷载作用下的实际海洋导管架平台结构为对象,研究了海洋平台结构在风,流,海冰等多荷载模式和多荷载工况下的优化设计的理论方法和应用技术,建立了结构尺寸优化,形状优化和拓扑优化问题的统一模型。计算结果反映出形状优化比尺寸优化所得设计更优,而拓扑优化的设计效果最好。不同的荷载工况对应的最优拓扑形式不同,因此在实际设计中应考虑实际的荷载工况,选取不同的拓扑形式。 相似文献
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1 .IntroductionNowadays tremendous efforts have been devotedtothe analysis of randomseismic responses .Forexample ,American PetroleumInstitute (API) has declared that the analysis of randomseismic re-sponsesis a useful tool for safety inspection. Owing to the complexity of platformand randomness ofload,it is difficult to carry out the randomresponse analysis of a jacket platform. The conventionalrandomvibration methods ,such as square root of the sumof squares (SRSS) and complete quadratic… 相似文献
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地震作用下的导管架海洋平台结构动力优化设计研究 总被引:3,自引:1,他引:3
把导管架海洋平台看作钢框架结构,并把优化方法用于结构的抗震设计中;以结构的总重量最小为优化目标,导管的平均直径和壁厚作为设计变量,考虑强度、刚度和稳定等约束条件。通过渤海BZ28—1油田储油平台为例进行了计算,计算结果表明,此方法对海洋平台的设计具有一定的参考意义。 相似文献