Experimental Study of a Command Governor Adaptive Depth Controller for an Unmanned Underwater Vehicle

Unmanned Underwater Vehicles (UUVs) are increasingly being used in advanced applications that require them to operate in tandem with human divers and around underwater infrastructure and other vehicles. These applications require precise control of the UUVs which is challenging due to the non-linear and time varying nature of the hydrodynamic forces, presence of external disturbances, uncertainties and unexpected changes that can occur within the UUV’s operating environment. Adaptive control has been identified as a promising solution to achieve desired control within such dynamic environments. Nevertheless, adaptive control in its basic form, such as Model Reference Adaptive Control (MRAC) has a trade-off between the adaptation rate and transient performance. Even though, higher adaptation rates produce better performance they can lead to instabilities and actuator fatigue due to high frequency oscillations in the control signal. Command Governor Adaptive Control (CGAC) is a possible solution to achieve better transient performance at low adaptation rates. In this study CGAC has been experimentally validated for depth control of a UUV, which is a unique challenge due to the unavailability of full state measurement and a greater thrust requirement. These in turn leads to additional noise from state estimation, time-delays from input noise filters, higher energy expenditure and susceptibility to saturation. Experimental results show that CGAC is more robust against noise and time-delays and has lower energy expenditure and thruster saturation. In addition, CGAC offers better tracking, disturbance rejection and tolerance to partial thruster failure compared to the MRAC.     

顾及地形起伏的无人机影像覆盖分析方法

使用无人机实施测绘航空摄影时，由于无人机相对航高较低，地面起伏会对无人机影像的分辨率、覆盖范围、重叠度造成较大的影响，影像成果会出现分辨率不足、重叠度不够、覆盖漏洞等缺陷。针对这一情况，本文提出了一种利用数字微分正解法的计算方法，借助DEM准确计算每张影像的覆盖范围，并使用FME软件高效生成全部影像的覆盖范围。经过实际使用，验证了该方法可以在航线设计阶段准确预测并分析全部影像的覆盖范围、重叠度，因此可及时发现设计问题并调整航线。该方法可以有效减少因地形起伏造成的影像覆盖缺陷，减少返工现象，从整体上提高了作业效率。     

针对地质灾害隐患点的无人机航摄像控点布点方案

以陕西省某地质灾害隐患点1∶2000航飞生产任务为背景，本文结合垂直起降式无人机航摄技术特点和地质灾害隐患点区域实际情况，通过详细对比几种无人机航摄像控点布控方案的优劣，研究无人机像控点布设方案对空三加密精度的影响，总结了适用于不同地质灾害隐患点的像控点布设方案。通过本文研究，为今后制定地质灾害隐患点的无人机航摄像控点布设方案提供了参考依据。     

AN ILLUSTRATIVE STUDY ON LOCAL LANDSCAPEAND ITS LONG-TERM CHANGES BASED ON IKONOS AND HISTORICAL AERIAL PHOTO

Nowadays, the research works on landscape at fine scales using high-resolution images are uncommon.This research is based on the analysis of the combination of remote sensing data (1KONOS imagery acquired in 2002 and historical aerial photo taken in 1942). In the paper, the ecotopes in Qiujiadou and Xishao villages in Yixing City of Jiangsu Province in 1942 and 2002 were compared and landscape changes as well as the causes of the considerable changes were analyzed. It was found that the ecotope changes were at greater level in some aspects such as water surface and perennial vegetation coverage etc. This study at fine scale is globally significant for the rural areas, especially for the subsistence agricultural land, which occupies larger percentage in the earth. And it analyzes the structure of landscape based on a new landscape classification system--stratifications method.     

The 550-au Mission: a critical discussion

We have studied the science rationale, goals and requirements for a mission aimed at using the gravitational lensing from the Sun as a way of achieving high angular resolution and high signal amplification. We find that such a mission concept is compromised by several practical problems. Most severe are the effects due to the plasma in the solar atmosphere which cause refraction and scattering of the propagating rays. These effects either limit the frequencies that can be observed to those above ∼1 THz, or they move the optical point outwards beyond the vacuum value of ≥550 au. (Thus for observing frequency of 300 GHz the optical point is moved outwards to ∼ 680 au.) Density fluctuations in the inner solar atmosphere will further cause random pathlength differences for different rays. The corrections for the radiation from the Sun itself will also be a major challenge at any wavelength used, but could be mitigated with coronographic techniques. Given reasonable constraints on the spacecraft (particularly in terms of size and propulsion), source selection as well as severe navigational constraints further add to the difficulties for a potential mission. Nevertheless, unbiased surveys of small-scale structure on the sky at short wavelengths might be the most promising application of such a mission.     

四川汶川MS 8.0大地震地表破裂带的遥感影像解析

2008年5月12日发生于四川盆地西部龙门山断裂带的汶川MS 8.0级大地震造成巨大的人员伤亡和财产损失,并形成了空间上基本连续分布的地表破裂带（地震断层）。根据地表破裂带的解译标志及影像特征,我们充分利用震后中国科学院航空遥感飞机所获取的高分辨率航空遥感图像以及我国台湾福卫-2卫星遥感图像进行详细解译分析,并结合震后的多次野外科学考察与验证,初步查明了四川汶川MS 8.0级大地震所产生地表破裂带的空间分布特征。遥感解译分析表明汶川大地震产生的地表破裂带总计长约300 km,其几何学特征十分复杂,主要沿先存的NE走向活动断裂带呈不连续展布;变形特征以逆冲挤压为主兼具右旋走滑分量。按同震地表破裂带所在断裂带位置,可将其分为两条： 中央地表破裂带：沿映秀-北川断裂带分布,从西南开始呈北东向延伸至平武县水观乡石坎子北东一带,长约230 km,最大垂直位移量达6.0 m左右,最大右旋水平位移达5.8 m;山前地表破裂带：沿灌县-安县断裂带分布,由都江堰市向峨乡一带开始呈北东向延伸至安县雎水镇一带,长约70 km,以逆冲挤压为主,最大垂直位移量可达2.5 m。此外,遥感图像分析还表明上述地表破裂带与地质灾害分布在空间上具有十分密切的相关性,因此,挤压逆冲-走滑型地震断层的致灾效应研究是未来应该加以重视的研究课题。     

智能潜器的集成仿真系统

本文介绍了智能潜器集成仿真系统的硬、软件结构．通过这一系统所展示的水下虚拟仿真环境能够在研究和开发智能潜器的控制体系结构、潜器载体的水动力学、信息融合和目标识别等工作中发挥巨大作用     

Robust and adaptive path following for underactuated autonomous underwater vehicles

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.     

自动海洋站数据接收与处理软件的功能及特点

采集设备采集数据发送到值班PC机，在无人干预的情况下接收处理软件自动对数据进行回放和进一步处理，为用户提供数据产品和服务，并提供一个界面，使用户能够了解系统的运行状况，获得相关数据和状态参数。