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1.
This paper addresses the combined problem of trajectory planning and tracking control for underactuated autonomous underwater vehicles (AUVs) on the horizontal plane. Given a smooth, inertial, 2D reference trajectory, the planning algorithm uses vehicle dynamics to compute the reference orientation and body-fixed velocities. Using these, the error dynamics are obtained. These are stabilized using backstepping techniques, forcing the tracking error to an arbitrarily small neighborhood of zero. Simulation results for a constant velocity trajectory, i.e. a circle, and a time-varying velocity one, i.e. a sinusoidal path, are presented. The parametric robustness is considered and it is shown that tracking remains satisfactory. 相似文献
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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. 相似文献
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We report exceptional fireball activity of the Orionid meteor shower in 2006. During four nights in October 2006 the autonomous
fireball observatories of the Czech part of the European Fireball Network (EN) recorded 48 fireballs belonging to the Orionids.
This is significantly more than the total number of Orionids recorded during about five decades long continuous operation
of the EN. Based on precise multi-station photographic and radiometric data we present accurate atmospheric trajectories,
heliocentric orbits, light curves and basic physical properties of 10 Orionid fireballs with atmospheric trajectories that
were long enough and, with one exception, were observed from at least three stations. Seven were recorded in within a 2-h
interval in the night of 20/21 October. Their basic parameters such as radiant positions and heliocentric orbits are very
similar. This high fireball activity originated from a very compact geocentric radiant defined by α = 95.10° ± 0.10° and
δ = 15.50° ± 0.06°. These fireballs most likely belonged to a distinct filament of larger meteoroids trapped in 1:5 resonance
with Jupiter. From detailed light curves and basic fireball classification we found that these meteoroids appertain to the
weakest component of interplanetary matter. 相似文献
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Lucas May Petry Camila Leite Da Silva Andrea Esuli Chiara Renso Vania Bogorny 《International journal of geographical information science》2020,34(7):1428-1450
ABSTRACT The increasing popularity of Location-Based Social Networks (LBSNs) and the semantic enrichment of mobility data in several contexts in the last years has led to the generation of large volumes of trajectory data. In contrast to GPS-based trajectories, LBSN and context-aware trajectories are more complex data, having several semantic textual dimensions besides space and time, which may reveal interesting mobility patterns. For instance, people may visit different places or perform different activities depending on the weather conditions. These new semantically rich data, known as multiple-aspect trajectories, pose new challenges in trajectory classification, which is the problem that we address in this paper. Existing methods for trajectory classification cannot deal with the complexity of heterogeneous data dimensions or the sequential aspect that characterizes movement. In this paper we propose MARC, an approach based on attribute embedding and Recurrent Neural Networks (RNNs) for classifying multiple-aspect trajectories, that tackles all trajectory properties: space, time, semantics, and sequence. We highlight that MARC exhibits good performance especially when trajectories are described by several textual/categorical attributes. Experiments performed over four publicly available datasets considering the Trajectory-User Linking (TUL) problem show that MARC outperformed all competitors, with respect to accuracy, precision, recall, and F1-score. 相似文献
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褐飞虱迁飞的雷达观测与轨迹研究 总被引:1,自引:0,他引:1
1988年9月下半月,在江苏省江浦县用雷达直接观测了褐飞虱的长距离迁飞过程。观测发现,晚上有大量的褐飞虱飞过雷达观测点。迁飞的褐飞虱绝大多数在傍晚到黄昏时分起飞,然后随气流上升到400—1000m的高度。受大陆冷高压东侧东北气流的影响,多数情况下随风朝西南方向飞去。这在生态学上具有十分重要的意义,因为那里可能是褐飞虱的越各地。 相似文献
7.
秸秆焚烧导致的江苏持续雾霾天气过程分析 总被引:3,自引:2,他引:1
利用常规观测资料和NCEP再分析资料,从污染情况、环流背景、地面气象要素特征、水汽、热力及动力条件等几个方面对江苏2012年6月中上旬持续雾霾天气进行了分析。结果表明:江苏及周边省市秸秆焚烧造成大量的气溶胶粒子悬浮于空中,是造成江苏出现持续不同程度的霾天气的主要原因,同时也为雾滴形成提供了丰富的凝结核;中高层冷空气强度未能完全破坏底层相对稳定的层结,较小的风速和较大的湿度有利于雾霾的发展,重度霾或雾风速多在3 m/s以下,且相对湿度在80%以上。频繁的弱降水过程对雾的形成和霾的加重起到了重要的作用;低层的逆温或近中性层结的维持,为雾霾持续存在提供了有利的层结条件,且浓雾形成主要有辐射贴地逆温和平流逆温两种形式;垂直上升运动与雾霾的发展之间有着互相影响的紧密联系,在具备一定的水汽条件时,底层弱的上升运动有利于雾体的向上发展从而促进雾的加浓。后向轨迹模拟雾霾相对较严重的6月10日污染轨迹表明沿江和苏南地区污染物浓度上升除了本地悬浮颗粒物外,安徽境内的污染物的输送也是一个重要因素,而北部地区更多还是本地的污染源。 相似文献
8.
为了探讨连续降水过程中水汽输送的变化,应用NCEP/NCAR资料、HYSPLIT后向轨迹模拟及降水稳定同位素资料对北京22场连续降水的水汽输送差异进行了研究。结果表明:连续降水的水汽输送可分为西向水汽输送、远洋水汽输送、近海水汽输送、远源大陆水汽输送和局地大陆水汽输送5种类型,并以近海水汽输送和西向水汽输送为主(降水量占比60.8%)。不同水汽输送类型下降水δ18O的差异主要受水汽源区同位素富集程度及水汽输送途中降水过程的影响,降水氘盈余的变化反映出二次蒸发的影响及水汽源区大气相对湿度的差异。14场连续降水的水汽输送类型发生了变化,且降水δ18O值的变化能够较好地指示水汽输送类型的变化。该结果说明降水同位素特征能够为识别水汽输送类型提供有效信息。 相似文献
9.
An adaptive output feedback controller based on neural network feedback-feedforward compensator (NNFFC) which drives a surface ship at high speed to track a desired trajectory is designed. The tracking problem of the surface ship at low speed has been widely investigated. However, the coupling interactions among the forces from each degree of freedom (DOF) have not been considered in general. Furthermore, the influence of the hydrodynamic damping is also simplified into a linear form or neglected. On the contrary, coupling interactions and the nonlinear characteristics of the hydrodynamic damping can never be neglected in high speed maneuvering situation. For these reasons, the influence of the nonlinear hydrodynamic damping on the tracking precision is considered in this paper. Since the hydrodynamic coefficients of the surface ship at high speed are very difficult to be accurately estimated as a prior, it will be compensated by NNFFC as an unknown part of the tracking dynamics system. The stability analysis will be given by the Lyapunov theory. It indicates that the proposed control scheme can guarantee that all the signals in the closed-loop system are uniformly ultimately bounded (UUB), and numerical simulations can illustrate the excellent tracking performance of the surface ship at high speed under the proposed control scheme. 相似文献
10.
Wind-induced drift of objects at sea: The leeway field method 总被引:3,自引:0,他引:3
Øyvind Breivik Arthur A. AllenChristophe Maisondieu Jens Christian Roth 《Applied Ocean Research》2011,33(2):100-109
A method for conducting leeway field experiments to establish the drift properties of small objects (0.1-25 m) is described. The objective is to define a standardized and unambiguous procedure for condensing the drift properties down to a set of coefficients that may be incorporated into existing stochastic trajectory forecast models for drifting objects of concern to search and rescue operations and other activities involving vessels lost at sea such as containers with hazardous material.An operational definition of the slip or wind and wave-induced motion of a drifting object relative to the ambient current is proposed. This definition taken together with a strict adherence to a 10 m wind speed allows us to refer unambiguously to the leeway of a drifting object. We recommend that all objects if possible be studied using what we term the direct method, where the object’s leeway is studied directly using an attached current meter.We establish a minimum set of parameters that should be estimated for a drifting object for it to be included in the operational forecast models used for prediction of search areas for drifting objects.We divide drifting objects into four categories, depending on their size. For the smaller objects (less than 0.5 m), an indirect method of measuring the object’s motion relative to the ambient current must be used. For larger objects, direct measurement of the motion through the near-surface water masses is strongly recommended. Larger objects are categorized according to the ability to attach current meters and wind monitoring systems to them.The leeway field method proposed here is illustrated with results from field work where three objects were studied in their distress configuration; a 1:3.3 sized model of a 40-foot Shipping container, a World War II mine and a 220 l (55-gallon) oil drum. 相似文献