The problem of diving control for an underactuated unmanned undersea vehicle(UUV) considering the presence of parameters perturbations and wave disturbances was addressesed.The vertical motion of an UUV was divided in...The problem of diving control for an underactuated unmanned undersea vehicle(UUV) considering the presence of parameters perturbations and wave disturbances was addressesed.The vertical motion of an UUV was divided into two noninteracting subsystems for surge velocity control and diving.To stabilize the vertical motion system,the surge velocity and the depth control controllers were proposed using backstepping technology and an integral-fast terminal sliding mode control(IFTSMC).It is proven that the proposed control scheme can guarantee that all the error signals in the whole closed-loop system globally converge to the sliding surface in finite time and asymptotically converge to the origin along the sliding surface.With a unified control parameters for different motion states,a series of numerical simulation results illustrate the effectiveness of the above designed control scheme,which also shows strong robustness against parameters perturbations and wave disturbances.展开更多
This study on the distribution features of petroleum hydrocarbon in water and sediment off the Fujian shore using data obtained from the baseline research on oceanic contamination in Fujian showed that: during the res...This study on the distribution features of petroleum hydrocarbon in water and sediment off the Fujian shore using data obtained from the baseline research on oceanic contamination in Fujian showed that: during the research period, petroleum hydrocarbon concentrations in water varied from 5.77 μg/L to 37.28 μg/L, averaged 14.48 μg/L; was lower in the wet season than in the dry season; and was highest in the Minjiang Estuary and Jiulong Estuary in both seasons. The petroleum hydrocarbon concentrations in shore sediment varied from 14.48 mg/kg to 784.36 mg/kg, averaged 133.3 mg/kg, and was closely related to sediment types (granularity).展开更多
Making use of upper and lower solutions and analytical method, the author studies theexistence of positive solution for the singular equation x + f(t, z) = 0 satisfying nonlinear boundary conditions: x (0) = 0, h(x (1...Making use of upper and lower solutions and analytical method, the author studies theexistence of positive solution for the singular equation x + f(t, z) = 0 satisfying nonlinear boundary conditions: x (0) = 0, h(x (1), x’ (1)) = 0, g (z (0), x’(0)) = 0, and x (1) = 0,which extends the result of J. V. Baxley.展开更多
In this work, experimental investigations have been pursued to analyse the influence of downward seepage on the turbulent characteristics of flow and corresponding changes in vortex structure around circular bridge pi...In this work, experimental investigations have been pursued to analyse the influence of downward seepage on the turbulent characteristics of flow and corresponding changes in vortex structure around circular bridge pier in alluvial channel. Experiments were conducted in sand bed channel with circular piers of different sizes for no seepage, 10% seepage and 20% seepage cases. The measurement of turbulent flow statistics such as velocity and Reynolds stresses is found to be negative within the scour hole at upstream of the pier whereas application of downward seepage retards the reversal of the flow causing a decrement in the velocity and Reynolds stresses. Higher Reynolds shear stress prevails at the downstream side because of the production of wake vortices. Contribution of all bursting events to the total Reynolds shear stress production has been observed to increase with downward seepage. The analysis of integral scale suggest that size of eddies increases with seepage, which is responsible for increase in particle mobility. Initially rate of scouring is more which abatements gradually with expanding time as well as with the increased of downward seepage. Presence of downward seepage reduces the depth and length of vortex and shifts towards downstream side of the pier.展开更多
The application of the finite layer & triangular prism element method to the 3D ground subsidence and stress analysis caused by mining is presented. The layer elements and the triangular prism elements have been a...The application of the finite layer & triangular prism element method to the 3D ground subsidence and stress analysis caused by mining is presented. The layer elements and the triangular prism elements have been alternatively used in the numerical simulation system, the displacement pattern, strain matrix, elastic matrix, stiffness matrix, load matrix and the stress matrix of the layer element and triangular prism element have been presented. By means of the Fortran90 programming language, a numerical simulation system based on finite layer & triangular prism element have been built up, and this system is suitable for subsidence prediction and stress analysis of all mining condition and mining methods. Comparing with the infinite element method, this approach dramatically reduces the size of the set of equations that need to be solved, and greatly reduces the amount of data preparation required. It not only saves the internal storage, and the computation time, but also decreases the cost.展开更多
基金Projects (51179038,51309067) supported by the National Natural Science Foundation of China
文摘The problem of diving control for an underactuated unmanned undersea vehicle(UUV) considering the presence of parameters perturbations and wave disturbances was addressesed.The vertical motion of an UUV was divided into two noninteracting subsystems for surge velocity control and diving.To stabilize the vertical motion system,the surge velocity and the depth control controllers were proposed using backstepping technology and an integral-fast terminal sliding mode control(IFTSMC).It is proven that the proposed control scheme can guarantee that all the error signals in the whole closed-loop system globally converge to the sliding surface in finite time and asymptotically converge to the origin along the sliding surface.With a unified control parameters for different motion states,a series of numerical simulation results illustrate the effectiveness of the above designed control scheme,which also shows strong robustness against parameters perturbations and wave disturbances.
文摘This study on the distribution features of petroleum hydrocarbon in water and sediment off the Fujian shore using data obtained from the baseline research on oceanic contamination in Fujian showed that: during the research period, petroleum hydrocarbon concentrations in water varied from 5.77 μg/L to 37.28 μg/L, averaged 14.48 μg/L; was lower in the wet season than in the dry season; and was highest in the Minjiang Estuary and Jiulong Estuary in both seasons. The petroleum hydrocarbon concentrations in shore sediment varied from 14.48 mg/kg to 784.36 mg/kg, averaged 133.3 mg/kg, and was closely related to sediment types (granularity).
文摘Making use of upper and lower solutions and analytical method, the author studies theexistence of positive solution for the singular equation x + f(t, z) = 0 satisfying nonlinear boundary conditions: x (0) = 0, h(x (1), x’ (1)) = 0, g (z (0), x’(0)) = 0, and x (1) = 0,which extends the result of J. V. Baxley.
文摘In this work, experimental investigations have been pursued to analyse the influence of downward seepage on the turbulent characteristics of flow and corresponding changes in vortex structure around circular bridge pier in alluvial channel. Experiments were conducted in sand bed channel with circular piers of different sizes for no seepage, 10% seepage and 20% seepage cases. The measurement of turbulent flow statistics such as velocity and Reynolds stresses is found to be negative within the scour hole at upstream of the pier whereas application of downward seepage retards the reversal of the flow causing a decrement in the velocity and Reynolds stresses. Higher Reynolds shear stress prevails at the downstream side because of the production of wake vortices. Contribution of all bursting events to the total Reynolds shear stress production has been observed to increase with downward seepage. The analysis of integral scale suggest that size of eddies increases with seepage, which is responsible for increase in particle mobility. Initially rate of scouring is more which abatements gradually with expanding time as well as with the increased of downward seepage. Presence of downward seepage reduces the depth and length of vortex and shifts towards downstream side of the pier.
文摘The application of the finite layer & triangular prism element method to the 3D ground subsidence and stress analysis caused by mining is presented. The layer elements and the triangular prism elements have been alternatively used in the numerical simulation system, the displacement pattern, strain matrix, elastic matrix, stiffness matrix, load matrix and the stress matrix of the layer element and triangular prism element have been presented. By means of the Fortran90 programming language, a numerical simulation system based on finite layer & triangular prism element have been built up, and this system is suitable for subsidence prediction and stress analysis of all mining condition and mining methods. Comparing with the infinite element method, this approach dramatically reduces the size of the set of equations that need to be solved, and greatly reduces the amount of data preparation required. It not only saves the internal storage, and the computation time, but also decreases the cost.
