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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. 相似文献
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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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R. J. Banu Ph.D. K. U. Do Ph.D. I. T. Yeom M.Sc. 《International Journal of Environmental Science and Technology》2008,5(1):93-98
The alkalinity plays an important role in phosphorus removal using coagulant. The dosage of coagulant in the low alkalinity wastewater is limited due to rapid pH changes. In the present study, a series of jar test was conducted using low alkalinity wastewater (50 mg/L) to evaluate the optimum pH, dosage and performance parameters (slow mixing and settling time) for the common coagulant alum. From the experiment, it was found that the dosage of coagulant and removal of phosphorus depend upon the pH of the wastewater after adding coagulant. The final optimum pH for efficient P removal was found to be within the range of 5.7–5.9. This range acts as an indicator and it is the maximum tolerable pH range for phosphorus removal for low alkalinity wastewater. The optimum time for slow mix and settling was found to be 20 min. The optimum mole ratio of alum to remove one mole of phosphorous was found to be 2.3. The alum coagulation at pH 7 produced effluent with the total residual phosphorus and reactive phosphorus content of 0.3 and 0.9 mg/L, respectively. 相似文献
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Environmental pulmonary health problems related to mineral dusts: Examples from central Anatolia, Turkey 总被引:1,自引:0,他引:1
M. Doğan 《Environmental Geology》2002,41(5):571-578
There are a number of benign disorders including pleural thickening (PT), calcified pleural plaques (CPP), and malignant diseases such as malignant pleural mesothelioma (MPM) in central Anatolia. Earlier studies suggested tremolite was the main cause, and there was no explanation why some of the population did not have malignant cases, and plaques were by far the most frequent manifestation of asbestos-induced injury. In this study, geological, mineralogical and environmental data were evaluated. While the prolonged continuous exposure to high or low doses of long (8-30 µm) and thin (less than 0.25 µm) mixed fibers such as chrysolite, and/or anthophyllite or tremolite, and also silica particles may be the cause of MPM in central Anatolia, two different reasons for the CPP and PT are suggested. The first one is short (less than 8 µm) and thin mixed-type mineral fibers. The second reason is low doses of long, but thick, splintery tremolite fibers. 相似文献
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This paper proposes a numerical approach to the hyperstatic reaction method (HRM) for the analysis of segmental tunnel linings. The influence of segmental joints has been considered directly using a fixity ratio that is determined on the basis of the rotational stiffness. The parameters necessary for the calculation are presented. A specific implementation has been developed using a FEM framework. This code is able to consider the three‐dimensional (3D) effect of segment joints in successive rings on the tunnel lining behaviour. The present HRM allows one to take an arbitrary distribution of segment joints along the tunnel boundary into consideration. In addition, the rotational stiffness of segment joints has been simulated using nonlinear behaviour, as it is closer to the true behaviour of a joint than linear or bilinear behaviour. The numerical results of three hypotheses on ring interaction, which allow the 3D effect of a segmental tunnel lining to be taken into account, have been compared with data obtained from the shield‐driven tunnel of the Bologna–Florence high‐speed railway line project. The numerical results presented in the paper show that the proposed HRM can be used to effectively estimate the behaviour of a segmental tunnel lining. Copyright © 2014 John Wiley & Sons, Ltd. 相似文献
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Geotechnical construction is responsible for the overall stability of superstructures, and if there are design errors, the structure will be exposed to potential problems. Geotechnical design starts with the correct interpretation of the target ground. Southeastern Iraq is mainly comprised of an alluvial plain with diverse geological features, and, therefore, geotechnical design requires a detailed interpretation and understanding of the area. This paper reports on laboratory and field tests and in-depth analyses conducted on these alluvial plains. The results reveal that the upper layer of this area is highly over-consolidated. This may have been caused by the removal of overburden pressure as a result of glaciation and desiccation. The highly over-consolidated soils caused considerable sample disturbance by swelling the bored sample; this provided less reliable results. However, the cone penetration test was regarded as the most appropriate field assessment method for deriving sensible geotechnical design parameters. Despite its limitations in clayey soils, the standard penetration test provided results that matched well with previous observations due to the high penetration resistance of the highly over-consolidated ground. Down-hole tests and plate load tests were considered less reliable methods due to their limited applicability in this area. This study considers geographical features, laboratory methods, and empirical correlations from in situ tests, and, therefore, provides a well-summarized guideline to evaluate special geotechnical characteristics of the alluvial plain in southeastern Iraq. 相似文献