Dynamic modeling and motion simulation for a winged hybrid-driven underwater glider

PETREL,a winged hybrid-driven underwater glider is a novel and practical marine survey platform which combines the features of legacy underwater glider and conventional AUV (autonomous underwater vehicle).It can be treated as a multi-rigid-body system with a floating base and a particular hydrodynamic profile.In this paper,theorems on linear and angular momentum are used to establish the dynamic equations of motion of each rigid body and the effect of translational and rotational motion of internal masses on the attitude control are taken into consideration.In addition,due to the unique external shape with fixed wings and deflectable rudders and the dual-drive operation in thrust and glide modes,the approaches of building dynamic model of conventional AUV and hydrodynamic model of submarine are introduced,and the tailored dynamic equations of the hybrid glider are formulated.Moreover,the behaviors of motion in glide and thrust operation are analyzed based on the simulation and the feasibility of the dynamic model is validated by data from lake field trials.     

Stability of L4 for radiated rigid primaries in resonant cases

The non-linear stability of the triangular libration point L₄ of the restricted three-body problem is studied under the presence of third- and fourth-order resonances, when the more massive primary is a triaxial rigid body and source of radiation. In this study, Markeev's theorems are applied with the help of Moser's theorem. It is found that the stability of the triangular libration point is unstable in the third-order resonance case and in the fourth-order resonance case, this is stable or unstable depending on A₁ and A₂, and a source of radiation parameter α, where A₁, A₂ depend upon the lengths of the semi-axes of the triaxial rigid body.     

基于中国剩余定理的测距算法仿真与性能分析

对目前已有的4种中国剩余定理的求解方法,即传统中国剩余定理算法、闭式解的中国剩余定理算法、高效中国剩余定理算法以及多频中国剩余定理算法,进行了较详细的理论分析与性能比较。将上述算法应用于无线传感与激励网络中对未知节点进行测距,设计了相应的测距算法,分析了各算法的性能特点,并通过仿真实验分析比较了各自在估计精度、计算复杂度以及鲁棒性等方面的差异,并讨论了各算法的适用场景。     

Magnetic field structure in differentially rotating discs

Abstract

In order to gain a better understanding of the processes that may give rise to non-axisymmetric magnetic fields in galaxies, we have calculated field decay rates for models with a realistic galactic rotation curve and including the effects of a locally enhanced turbulent magnetic diffusivity within the disc. In all cases we have studied, the differential rotation increases the decay rate of non-axisymmetric modes, whereas axisymmetric ones are unaffected. A stronger magnetic diffusivity inside the disc does not lead to a significant preference for non-axisymmetric modes. Although Elsasser's antidynamo theorem has not yet been proved for the present case of a non-spherical distribution of the magnetic diffusivity, we do not find any evidence for the theorem not to be valid in general.     

Shear effects in shakedown analysis of offshore structures

In this paper, a formulation for shakedown analysis of elastic-plastic offshore structures under cyclic wave loading is presented. In this formulation, a fast numerical solution method is used, suitable for the Finite Element Method (FEM) analysis of large offshore structures on which shear effects in addition to bending and axial effects are taken into account. The Morison equation is adopted for converting the velocity and acceleration terms into resultant forces and it is extended to consider arbitrary orientations of the structural members. The theoretical methods of the shakedown analysis are discussed in detail and the formulation is applied to an offshore structure to verify the concept employed and its analytical capabilities.     

Bounding greybody and deflection angle of improved Schwarzschild black hole

In this paper, we study the weak deflection angle in the spacetime of improved Schwarzschild black hole using the method derived by Gibbons and Werner. To do so, we derive the optical curvature from the optical metric and calculate deflection angle in weak field limits by using the Gauss–Bonnet theorem. Moreover, we study the effect of the plasma medium on the weak gravitational lensing using the Gauss–Bonnet theorem. Furthermore, we also study the graphical analysis of the deflection angle in both the plasma and non-plasma mediums. Moreover, we obtain the bound on greybody for improved Schwarzschild black hole.     

辅助纬度与大地纬度间的无穷展开

利用无穷级数理论和拉格朗日反演定理,详细推导了大地测量和制图学中常用的辅助纬度与大地纬度间的无穷展开,主要表现为参考椭球第一偏心率的幂级数形式。通过建立一系列严格的系数递推公式,得到了等量纬度反解展开式和等角纬度反解展开式;同时,推导了古德曼函数的泰勒展开式,进而得到了等角纬度正解展开式;利用级数除法公式,得到了等距离纬度正解展开式系数的行列式表示。通过比较本文方法与计算机代数系统Mathematica直接推导求得的辅助纬度正反解展开式e^0～e⁴⁰阶系数和相应的程序用时,表明本文算法是正确的、快速的。以CGCS2000参考椭球为例,对辅助纬度正反解进行了算例分析,也进一步验证了本文公式的正确性。     

Construction of Green's function for the Stokes boundary-value problem with ellipsoidal corrections in the boundary condition

Green's function for the boundary-value problem of Stokes's type with ellipsoidal corrections in the boundary condition for anomalous gravity is constructed in a closed form. The `spherical-ellipsoidal' Stokes function describing the effect of two ellipsoidal correcting terms occurring in the boundary condition for anomalous gravity is expressed in O(e <sup>2</sup> <sub>0</sub>)-approximation as a finite sum of elementary functions analytically representing the behaviour of the integration kernel at the singular point ψ=0. We show that the `spherical-ellipsoidal' Stokes function has only a logarithmic singularity in the vicinity of its singular point. The constructed Green function enables us to avoid applying an iterative approach to solve Stokes's boundary-value problem with ellipsoidal correction terms involved in the boundary condition for anomalous gravity. A new Green-function approach is more convenient from the numerical point of view since the solution of the boundary-value problem is determined in one step by computing a Stokes-type integral. The question of the convergence of an iterative scheme recommended so far to solve this boundary-value problem is thus irrelevant. Received: 5 June 1997 / Accepted: 20 February 1998     

地球的重力聚点与参数椭球的地球重力学性质

本文研究了“参数椭球”的地球重力学性质 ,在纬度 3 5°2 1′3 2″处 ,发现了地球的“重力聚点”,给出了适用于地球的“密度分布定理”、“物质流动定理”和“重力聚点定理”;为研究地球密度的整体变化 ,提供了有用的理论工具。