In this paper, towing tank experiments are conducted to study the behavior of flow on a model of the underwater vehicle with various shapes of bows, i.e. tango and standard bows in free surface motion tests. The total...In this paper, towing tank experiments are conducted to study the behavior of flow on a model of the underwater vehicle with various shapes of bows, i.e. tango and standard bows in free surface motion tests. The total resistances for different Froude numbers are considered experimentally. The towing tank is equipped with a trolley that can operate in through 0.05-6 m/s speed with ±0.02 m/s accuracy. Furthermore, the study is done on hydrodynamic coefficients i.e. total, residual and friction resistance coefficients, and the results are compared. Finally, the study on flow of wave fields around bows is done and wave filed around two bows are compared. The Froude number interval is between 0.099 and 0.349. Blockage fraction for the model is fixed to 0.005 3. The results showed that the residual resistance of the standard bow in 0.19 to 0.3 Froude number is more than the tango bow in surface motion which causes more total resistance for the submarine. Finally, details of wave generated by the bow are depicted and the effects of flow pattern on resistance drag are discussed.展开更多
Urban heat environmental quality (UHEQ) is affected by the interacting of weather condition and underlying surface framework of urban area. In the last two decades, many researchers from domestic and overseas have stu...Urban heat environmental quality (UHEQ) is affected by the interacting of weather condition and underlying surface framework of urban area. In the last two decades, many researchers from domestic and overseas have studied many problems at the aspect of urban heat environment such as urban heat islands, urban air temperature and their relation with urban land cover, city population, air pollution etc. In the recent years, Hangzhou, acting as a center city of Zhejiang Province in China, its urbanization quantum and quantity have both changed greatly, in particular, representing as business affairs building, resident real property and all kinds of specialty market having arisen in built-up zone. Based on Landsat TM images data in 1991 and 1999, urban underlying surface temperature value and Normalized Difference Vegetation Index (NDVI) were calculated using image interpreting and supervised classification technique by remote sensing software ERDAS image 8.4. The relation model between urban underlying surface temperature (UUST) and urban air temperature was setup according to the certain correlation pattern. Reference to the relational standard of assessing human comfort and other meteorology data of Hangzhou City in summer, the spatial distribution characteristic and the spatial variation degree of human comfort of heat environmental quality are estimated and mapped on a middle scale, that is, in six districts of Hangzhou City . Then the paper reveals the main characteristic of spatial variation from 1991 to 1999. Lastly, the change mechanism is analyzed and discussed from the viewpoint of city planning, construction and environmental protection.展开更多
Underwater vehicles operating in complex ocean conditions present difficulties in determining accurate dynamic models. To guarantee robustness against parameter uncertainty, an adaptive controller for dive-plane contr...Underwater vehicles operating in complex ocean conditions present difficulties in determining accurate dynamic models. To guarantee robustness against parameter uncertainty, an adaptive controller for dive-plane control, based on Lyapunov theory and back-stepping techniques, was proposed. In the closed-loop system, asymptotic tracking of the reference depth and pitch angle trajectories was accomplished. Simulation results were presented which show effective dive-plane control in spite of the uncertainties in the system parameters.展开更多
S surface controllers have been proven to provide effective motion control for an autonomous underwater vehicle (AUV).However, it is difficult to adjust their control parameters manually.Choosing the optimum parameter...S surface controllers have been proven to provide effective motion control for an autonomous underwater vehicle (AUV).However, it is difficult to adjust their control parameters manually.Choosing the optimum parameters for the controller of a particular AUV is a significant challenge.To automate the process, a modified particle swarm optimization (MPSO) algorithm was proposed.It was based on immune theory, and used a nonlinear regression strategy for inertia weight to optimize AUV control parameters.A semi-physical simulation system for the AUV was developed as a platform to verify the proposed control method, and its structure was considered.The simulation results indicated that the semi-physical simulation platform was helpful, the optimization algorithm has good local and global searching abilities, and the method can be reliably used for an AUV.展开更多
A novel network control method based on trophaUaxis mechanism is applied to the formation flight problem for multiple un- manned aerial vehicles (UAVs). Firstly, the multiple UAVs formation flight system based on tr...A novel network control method based on trophaUaxis mechanism is applied to the formation flight problem for multiple un- manned aerial vehicles (UAVs). Firstly, the multiple UAVs formation flight system based on trophallaxis network control is given. Then, the model of leader-follower formation flight with a virtual leader based on trophallaxis network control is pre- sented, and the influence of time delays on the network performance is analyzed. A particle swarm optimization (PSO)-based formation controller is proposed for solving the leader-follower formation flight system. The proposed method is applied to five UAVs for achieving a 'V' formation, and a series of experimental results show its feasibility and validity. The proposed control algorithm is also a promising control strategy for formation flight of multiple unmanned underwater vehicles (UUVs), unmanned ground vehicles (UGVs), missiles and satellites.展开更多
The active sources generate seismic waves transmitting appropriate through the deep is underground key and can be used to image Abstract high-resolution subsurface structures.Therefore,an seismic source the factor to ...The active sources generate seismic waves transmitting appropriate through the deep is underground key and can be used to image Abstract high-resolution subsurface structures.Therefore,an seismic source the factor to active source exploration.In order to study the structure of continental crust and its temporal variations,we selected an artificial seismic source generated from releasing air bubbles in water(airgun source hereinafter)out of a variety and of artificial sources like the is explosion,new electronic sparkers,source hammering,eccentric proven vibration,be heavy-duty train vibration,vibroseis etc.Airgun Three source Fixed a type of artificial that have been to environmentally friendly,safe,and highly efficient.Airgun western Signal China Transmission and Stations(FASTS)have been for built a few years ago in Yunnan,Xinjiang,and Gansu provinces in have been continuously them running several years.Seismic waves generated away by the the airgun sources are highly seismic reproducible waves and stacking in of can produce can good seismograms on 1300 stations km far from source,for instance,an produced Xinjiang FASTS be well about recorded 60 nearly away after 5000 stacking,China covering area of 6 million km2 and penetrating down to of a depth of km.Establishing about 10 FASTSs in would enable long-term illuminate continuous subsurface underground structures,monitoring can all 9.6 million km2 of land area.Treating from airgun sky active sources as lanterns to we achieve the situation with"Beidou surveys the and lantern illuminates underground".展开更多
Natural organisms such as cactus spines or trachea cilia have unique directional transport ability, owing to their anisotropic surface structures or asymmetric motion.However, most artificial interfacial materials are...Natural organisms such as cactus spines or trachea cilia have unique directional transport ability, owing to their anisotropic surface structures or asymmetric motion.However, most artificial interfacial materials are incapable of transporting macroscale object underwater. Herein, we report that anisotropic microcilia arrays, composed of cobalt fine powder and PDMS, can successfully transport the centimeterscale hydrogel underwater by periodically asymmetric stroke under alternative magnetic field. Reciprocal collective stroke of anisotropic microcilia can generate directional flow, propelling the centimeter-scale hydrogel slice forward. Accompanying computational simulation results are consistent with the directional transport behaviors observed in our experiments. This study provides a clue to design artificial anisotropic interfacial materials with capability of transporting macroscale object at low Reynolds number.展开更多
文摘In this paper, towing tank experiments are conducted to study the behavior of flow on a model of the underwater vehicle with various shapes of bows, i.e. tango and standard bows in free surface motion tests. The total resistances for different Froude numbers are considered experimentally. The towing tank is equipped with a trolley that can operate in through 0.05-6 m/s speed with ±0.02 m/s accuracy. Furthermore, the study is done on hydrodynamic coefficients i.e. total, residual and friction resistance coefficients, and the results are compared. Finally, the study on flow of wave fields around bows is done and wave filed around two bows are compared. The Froude number interval is between 0.099 and 0.349. Blockage fraction for the model is fixed to 0.005 3. The results showed that the residual resistance of the standard bow in 0.19 to 0.3 Froude number is more than the tango bow in surface motion which causes more total resistance for the submarine. Finally, details of wave generated by the bow are depicted and the effects of flow pattern on resistance drag are discussed.
基金Under the auspices of the National Natural Science Foundation of China (No.40001008).
文摘Urban heat environmental quality (UHEQ) is affected by the interacting of weather condition and underlying surface framework of urban area. In the last two decades, many researchers from domestic and overseas have studied many problems at the aspect of urban heat environment such as urban heat islands, urban air temperature and their relation with urban land cover, city population, air pollution etc. In the recent years, Hangzhou, acting as a center city of Zhejiang Province in China, its urbanization quantum and quantity have both changed greatly, in particular, representing as business affairs building, resident real property and all kinds of specialty market having arisen in built-up zone. Based on Landsat TM images data in 1991 and 1999, urban underlying surface temperature value and Normalized Difference Vegetation Index (NDVI) were calculated using image interpreting and supervised classification technique by remote sensing software ERDAS image 8.4. The relation model between urban underlying surface temperature (UUST) and urban air temperature was setup according to the certain correlation pattern. Reference to the relational standard of assessing human comfort and other meteorology data of Hangzhou City in summer, the spatial distribution characteristic and the spatial variation degree of human comfort of heat environmental quality are estimated and mapped on a middle scale, that is, in six districts of Hangzhou City . Then the paper reveals the main characteristic of spatial variation from 1991 to 1999. Lastly, the change mechanism is analyzed and discussed from the viewpoint of city planning, construction and environmental protection.
基金Supported by the National Natural Science Foundation of China under Grant No.50909025/E091002
文摘Underwater vehicles operating in complex ocean conditions present difficulties in determining accurate dynamic models. To guarantee robustness against parameter uncertainty, an adaptive controller for dive-plane control, based on Lyapunov theory and back-stepping techniques, was proposed. In the closed-loop system, asymptotic tracking of the reference depth and pitch angle trajectories was accomplished. Simulation results were presented which show effective dive-plane control in spite of the uncertainties in the system parameters.
基金Supported by the 863 Project under Grant No.2008AA092301the Fundamental Research Foundation of Harbin Engineering University under Grant No.2007001
文摘S surface controllers have been proven to provide effective motion control for an autonomous underwater vehicle (AUV).However, it is difficult to adjust their control parameters manually.Choosing the optimum parameters for the controller of a particular AUV is a significant challenge.To automate the process, a modified particle swarm optimization (MPSO) algorithm was proposed.It was based on immune theory, and used a nonlinear regression strategy for inertia weight to optimize AUV control parameters.A semi-physical simulation system for the AUV was developed as a platform to verify the proposed control method, and its structure was considered.The simulation results indicated that the semi-physical simulation platform was helpful, the optimization algorithm has good local and global searching abilities, and the method can be reliably used for an AUV.
基金supported by the National Natural Science Foundation of China(Grant Nos.61273054,60975072 and 60604009)the National Basic Research Program of China("973"Project)(Grant No.2013CB035503)+1 种基金the Program for New Century Excellent Talents in University of China(Grant No.NCET-10-0021)the Aeronautical Foundation of China(Grant No.20115151019)
文摘A novel network control method based on trophaUaxis mechanism is applied to the formation flight problem for multiple un- manned aerial vehicles (UAVs). Firstly, the multiple UAVs formation flight system based on trophallaxis network control is given. Then, the model of leader-follower formation flight with a virtual leader based on trophallaxis network control is pre- sented, and the influence of time delays on the network performance is analyzed. A particle swarm optimization (PSO)-based formation controller is proposed for solving the leader-follower formation flight system. The proposed method is applied to five UAVs for achieving a 'V' formation, and a series of experimental results show its feasibility and validity. The proposed control algorithm is also a promising control strategy for formation flight of multiple unmanned underwater vehicles (UUVs), unmanned ground vehicles (UGVs), missiles and satellites.
基金supported jointly by Special Fund Project for Scientific Research in Earthquake Industry(Grant No.201508008)National Natural Science Foundation of China(Grant Nos.41674058,41474048,41474051&41561164018)+1 种基金Chen Yong Academician Workstation in Yunnan Province(Grant No.2014IC007)the Fundamental Research Funds for the Central University(Grant No.WK2080000053)
文摘The active sources generate seismic waves transmitting appropriate through the deep is underground key and can be used to image Abstract high-resolution subsurface structures.Therefore,an seismic source the factor to active source exploration.In order to study the structure of continental crust and its temporal variations,we selected an artificial seismic source generated from releasing air bubbles in water(airgun source hereinafter)out of a variety and of artificial sources like the is explosion,new electronic sparkers,source hammering,eccentric proven vibration,be heavy-duty train vibration,vibroseis etc.Airgun Three source Fixed a type of artificial that have been to environmentally friendly,safe,and highly efficient.Airgun western Signal China Transmission and Stations(FASTS)have been for built a few years ago in Yunnan,Xinjiang,and Gansu provinces in have been continuously them running several years.Seismic waves generated away by the the airgun sources are highly seismic reproducible waves and stacking in of can produce can good seismograms on 1300 stations km far from source,for instance,an produced Xinjiang FASTS be well about recorded 60 nearly away after 5000 stacking,China covering area of 6 million km2 and penetrating down to of a depth of km.Establishing about 10 FASTSs in would enable long-term illuminate continuous subsurface underground structures,monitoring can all 9.6 million km2 of land area.Treating from airgun sky active sources as lanterns to we achieve the situation with"Beidou surveys the and lantern illuminates underground".
基金supported by the National Natural Science Foundation of China (21425314, 21434009, 21421061, 11402274 and 11772343)the Program for Changjiang Scholarsthe Top-Notch Young Talents Program of China
文摘Natural organisms such as cactus spines or trachea cilia have unique directional transport ability, owing to their anisotropic surface structures or asymmetric motion.However, most artificial interfacial materials are incapable of transporting macroscale object underwater. Herein, we report that anisotropic microcilia arrays, composed of cobalt fine powder and PDMS, can successfully transport the centimeterscale hydrogel underwater by periodically asymmetric stroke under alternative magnetic field. Reciprocal collective stroke of anisotropic microcilia can generate directional flow, propelling the centimeter-scale hydrogel slice forward. Accompanying computational simulation results are consistent with the directional transport behaviors observed in our experiments. This study provides a clue to design artificial anisotropic interfacial materials with capability of transporting macroscale object at low Reynolds number.