A constructive method was presented to design a global robust and adaptive output feedback controller for dynamic positioning of surface ships under environmental disturbances induced by waves, wind, and ocean current...A constructive method was presented to design a global robust and adaptive output feedback controller for dynamic positioning of surface ships under environmental disturbances induced by waves, wind, and ocean currents. The ship's parameters were not required to be known. An adaptive observer was first designed to estimate the ship's velocities and parameters. The ship position measurements were also passed through the adaptive observer to reduce high frequency measurement noise from entering the control system. Using these estimate signals, the control was then designed based on Lyapunov's direct method to force the ship's position and orientation to globally asymptotically converge to desired values. Simulation results illustrate the effectiveness of the proposed control system. In conclusion, the paper presented a new method to design an effective control system for dynamic positioning of surface ships.展开更多
As a common pollutant of nitrogen in groundwater, nitrate contamination has become a major concern worldwide. Baseflow, one of the dominant hydrological pathways for nitrate migration to streamflow, has been confirmed...As a common pollutant of nitrogen in groundwater, nitrate contamination has become a major concern worldwide. Baseflow, one of the dominant hydrological pathways for nitrate migration to streamflow, has been confirmed as a leading nitrate source for stream water where groundwater or subsurface flow contaminated heavily by nitrate. That is, sufficient improvements of water quality may not be attained without proper management for baseflow, even if non-point sources(NPS) pollutants discharged through surface runoff are being well managed. This article reviews the primary nitrate sources, the main factors affecting its transport, and the methodologies for baseflow nitrate estimation, to give some recommendations for future works, including:(1) giving sufficient consideration for the effects of climatological, morphological, and geological factors on baseflow recessions to obtain more reliable and accurate baseflow separation;(2) trying to solve calibration and validation problems for baseflow loads determining in storm flow period;(3) developing a simple and convenient algorithm with certain physics that can be used to separate baseflow NPS pollution from the total directly in different regions, for a reliable estimation of baseflow NPS pollution at larger scale(e.g., national scale);(4) improving groundwater quality simulation module of existing NPS pollution models to have a better simulation for biogeochemical processes in shallow aquifers;(5) taking integrated measures of "source control", "process interception" and "end remediation" to prevent and control NPS nitrate pollution effectively, not just only the strict control of nutrients loss from surface runoff.展开更多
文摘A constructive method was presented to design a global robust and adaptive output feedback controller for dynamic positioning of surface ships under environmental disturbances induced by waves, wind, and ocean currents. The ship's parameters were not required to be known. An adaptive observer was first designed to estimate the ship's velocities and parameters. The ship position measurements were also passed through the adaptive observer to reduce high frequency measurement noise from entering the control system. Using these estimate signals, the control was then designed based on Lyapunov's direct method to force the ship's position and orientation to globally asymptotically converge to desired values. Simulation results illustrate the effectiveness of the proposed control system. In conclusion, the paper presented a new method to design an effective control system for dynamic positioning of surface ships.
基金supported by the National Natural Science Foundation of China(Grant No.41571216)the Chinese National Key Technology R&D Program(Grant No.2012BAC17B01)
文摘As a common pollutant of nitrogen in groundwater, nitrate contamination has become a major concern worldwide. Baseflow, one of the dominant hydrological pathways for nitrate migration to streamflow, has been confirmed as a leading nitrate source for stream water where groundwater or subsurface flow contaminated heavily by nitrate. That is, sufficient improvements of water quality may not be attained without proper management for baseflow, even if non-point sources(NPS) pollutants discharged through surface runoff are being well managed. This article reviews the primary nitrate sources, the main factors affecting its transport, and the methodologies for baseflow nitrate estimation, to give some recommendations for future works, including:(1) giving sufficient consideration for the effects of climatological, morphological, and geological factors on baseflow recessions to obtain more reliable and accurate baseflow separation;(2) trying to solve calibration and validation problems for baseflow loads determining in storm flow period;(3) developing a simple and convenient algorithm with certain physics that can be used to separate baseflow NPS pollution from the total directly in different regions, for a reliable estimation of baseflow NPS pollution at larger scale(e.g., national scale);(4) improving groundwater quality simulation module of existing NPS pollution models to have a better simulation for biogeochemical processes in shallow aquifers;(5) taking integrated measures of "source control", "process interception" and "end remediation" to prevent and control NPS nitrate pollution effectively, not just only the strict control of nutrients loss from surface runoff.
