Robust adaptive control of underactuated ships on a linear course with comfort

This paper addresses an important problem in ship control application—the robust stabilization of underactuated ships on a linear course with comfort. Specifically, we develop a multivariable controller to stabilize ocean surface ships without a sway actuator on a linear course and to reduce roll and pitch simultaneously. The controller adapts to unknown parameters of the ship and constant environmental disturbances induced by wave, ocean current and wind. It is also robust to time-varying environmental disturbances, time-varying change in ship parameters and other motions of the ship such as surge and heave. The roll and pitch can be made arbitrarily small while the heading angle and sway are kept to be in reasonably small bounds. The controller development is based on Lyapunov’s direct method and backstepping technique. A Lipschitz continuous projection algorithm is used to update the estimate of the unknown parameters to avoid the parameters’ drift due to time-varying environmental disturbances. Simulations on a full-scale catamaran illustrate the effectiveness of our proposed controller.     

Modeling bed-load transport of coarse sediments in the Great Bay Estuary, New Hampshire

Current, sea level and bed-load transport are investigated in the Lower Piscataqua River section of the Great Bay Estuary, New Hampshire, USA—a well-mixed and geometrically complex system with low freshwater input, having main channel tidal currents ranging between 0.5 and 2 m s⁻¹. Current and sea level forced by the M₂M₄M₆ tides at the estuarine mouth are simulated by a vertically averaged, non-linear, time-stepping finite element model. The hydrodynamic model uses a fixed boundary computational domain and accounts for flooding–drying of tidal flats by making use of a groundwater component. Inertia terms are neglected in comparison with pressure gradient and bottom friction terms, which is consistent with the observed principal dynamic balance for this section of the system. The accuracy of hydrodynamic predictions in the study area is demonstrated by comparison with four tidal elevation stations and two cross-section averaged current measurements. Simulated current is then used to model bed-load transport in the vicinity of a rapidly growing shoal located in the main channel of the lower system. Consisting of coarse sand and gravel, the shoal must be dredged every five to eight years. Two approaches are taken—an Eulerian parametric method in which nodal bed-load flux vectors are averaged over the tidal cycle and a Lagrangian particle tracking approach in which a finite number of sediment particles are released and tracked. Both methods yield pathways and accumulations in agreement with the observed shoal formation and the long-term rate of sediment accumulation in the shoal area.     

Effects of chemical ecological adjustment and control experiment on phytoplankton community in the Aoshan Bay

There is a low nutrient level in the Aoshan Bay. In June 1999, the chemical adjustmentand control experiment was made in the Aoshan Bay. Following tracts investigation was carried out before the experiment and on the 1st, 2nd, 4th, 5th, 6th and 45th day/after the experiment. While the variance of amount of phytoplankton, the replacement of superior species and the species composition of phytoplankton were researched. The results show that the amount of phytoplankton in the Aoshan Bay rises gradually after the experiment. Ceratium macroceros Cleve of pyrophyta was the dominant species before the experiment, its dominant index was 37.7％. Six days after the experiment, its dominant index dropped to 17.6％ . Meanwhile the dominant index of Asterionella japanics Cleve rose from 7.1％ to 39.2％ , it became the first dominant species. Forty-five days after the experiment, the amount of phytoplankton in the Aoshan Bay was 5.15 to 137.32 times more than that in 1997.     

低围压水平下砂的排水行为(英文)

采用干样沉降法制备样品 ,选用静三轴仪对松砂和密砂样在 10 k Pa至 10 0 k Pa的低围压下的排水行为进行了实验研究 ,并对实验结果作了橡皮膜校正 ,在围压为 10 k Pa的密砂实验中 ,轴向应力的校正值可达到 12 %。实验研究表明低围压下松砂的剪胀性非常明显 ,且存在剪应力极值 ;围压越低 ,松砂和密砂的剪应力极值越小 ,达到最大剪应力所对应的剪应变越小。同时还表明低围压范围内相对密度不同 ,砂的应力应变特性不同 ;此外 ,低围压下砂的内摩擦角高于高围压下的值 ,从而在工程上应重视低围压水平下砂土工程参数的合理选取     

The morphodynamic modelling of tidal sand waves on the shoreface

An artificial sand wave on the Dutch shoreface of the North Sea has been studied in conditions with relatively strong tidal currents in the range of 0.5 to 1 m/s and sediments in the medium sand size range of 0.2 to 0.5 mm. The sand wave is perpendicular to the tidal current and has a maximum height and length of the order of 5 m and 1 km, respectively. The sand wave is dynamically active and shows migration rates of the order of a few metres per year. A numerical morphodynamic model (DELFT3D model) has been used to simulate the morphological behaviour of the sand wave in the North Sea. This model approach is based on the numerical solution of the three-dimensional shallow water equations in combination with a surface wave propagation model (wind waves) and the advection–diffusion equation for the sediment particles with online bed updating after each time step. The model results show that the sand wave grows in the case of dominant bed-load transport (weak tidal currents; relatively coarse sediment; small roughness height; low waves) and that the sand wave decays in the case of dominant suspended transport (strong currents, relatively fine sediment, large roughness height; storm waves).     

Stress Sharing Behavior and Its Mechanism during Consolidation Process in Composite Ground Improved by Sand Compaction Piles with Low Replacement Area Ratio

In order to accurately design a sand compaction pile (SCP) with low replacement area ratio, it is important to understand the mechanical interaction between the sand pile and clay ground and its mechanism during consolidation process in composite ground. In this article, therefore, a series of numerical analyses on composite ground improved by SCP with low replacement area ratio were carried out. The applicability of numerical analyses, in which an elasto-viscoplastic consolidation finite element method was applied, were confirmed by comparing the results obtained from a series of laboratory model tests with the composite ground improved by SCP. Through the results of the numerical analyses, mechanical behavior of the sand pile and clay in composite ground during consolidation is elucidated, together with a stress sharing mechanism between sand pile and clay.     

水下智能潜器的神经网络运动控制

本文介绍一种基于神经网络的水下智能潜器的运动控制方法，该方法通过在线学习，融控制与滤波为一体。计算机仿真与水池实验验证表明，该方法的控制与滤波性能良好，对环境的学习与适应能力强。该方法事实上可用于一般动力系统的控制。     

东南沿海海堤现状调研报告（福建部分）

这部分是福建省正在建设中的四大海堤现状调研，包括达标设计各项指标及其加高加固的技术经验。同时调研了围海工程堵口海堤的施工过程，并对灌砂防渗措施加以评述。最后介绍了兴化湾的莆田海堤试验站和木兰陂水利工程     

A Numerical Model of Coastal Processes of Sand Beaches Based on Long-Term Wave Series

A numerical model of shoreline change of sand beaches based on long-term field wave data is proposed, the explicit and implicit finite difference forms of the model are described, and an application of the model is presented. Results of the application indicate that the model is sensitive to the order of the input wave data, and that the effects of long-term wave series and the effects of the mean annual wave conditions on the model are different. Instead of a single wave condition, the wave series will make the calibration and the verification of the model more practical and the results of the model more reasonable.     

Sediment-starved sand ridges on a mixed carbonate/siliciclastic inner shelf off west-central Florida

High-resolution side-scan mosaics, sediment analyses, and physical process data have revealed that the mixed carbonate/siliciclastic, inner shelf of west-central Florida supports a highly complex field of active sand ridges mantled by a hierarchy of bedforms. The sand ridges, mostly oriented obliquely to the shoreline trend, extend from 2 km to over 25 km offshore. They show many similarities to their well-known counterparts situated along the US Atlantic margin in that both increase in relief with increasing water depth, both are oriented obliquely to the coast, and both respond to modern shelf dynamics. There are significant differences in that the sand ridges on the west-central Florida shelf are smaller in all dimensions, have a relatively high carbonate content, and are separated by exposed rock surfaces. They are also shoreface-detached and are sediment-starved, thus stunting their development. Morphological details are highly distinctive and apparent in side-scan imagery due to the high acoustic contrast. The seafloor is active and not a relict system as indicated by: (1) relatively young AMS ¹⁴C dates (<1600 yr BP) from forams in the shallow subsurface (1.6 meters below seafloor), (2) apparent shifts in sharply distinctive grayscale boundaries seen in time-series side-scan mosaics, (3) maintenance of these sharp acoustic boundaries and development of small bedforms in an area of constant and extensive bioturbation, (4) sediment textural asymmetry indicative of selective transport across bedform topography, (5) morphological asymmetry of sand ridges and 2D dunes, and (6) current-meter data indicating that the critical threshold velocity for sediment transport is frequently exceeded. Although larger sand ridges are found along other portions of the west-central Florida inner shelf, these smaller sand ridges are best developed seaward of a major coastal headland, suggesting some genetic relationship. The headland may focus and accelerate the N–S reversing currents. An elevated rock terrace extending from the headland supports these ridges in a shallower water environment than the surrounding shelf, allowing them to be more easily influenced by currents and surface gravity waves. Tidal currents, storm-generated flows, and seasonally developed flows are shore-parallel and oriented obliquely to the NW–SE trending ridges, indicating that they have developed as described by the Huthnance model. Although inner shelf sand ridges have been extensively examined elsewhere, this study is the first to describe them in a low-energy, sediment-starved, dominantly mixed siliciclastic/carbonate sedimentary environment situated on a former limestone platform.