Due to the nonlinearity and uncertainty, the precise control of underwater vehicles in some intelligent operations hasn’t been solved very well yet. A novel method of control based on desired state programming was pr...Due to the nonlinearity and uncertainty, the precise control of underwater vehicles in some intelligent operations hasn’t been solved very well yet. A novel method of control based on desired state programming was presented, which used the technique of fuzzy neural network. The structure of fuzzy neural network was constructed according to the moving characters and the back propagation algorithm was deduced. Simulation experiments were conducted on general detection remotely operated vehicle. The results show that there is a great improvement in response and precision over traditional control, and good robustness to the model’s uncertainty and external disturbance, which has theoretical and practical value.展开更多
The first version of the Brazilian Oceano- graphic Modeling and Observation Network （REMO） ocean data assimilation system into the Hybrid Coordi- nate Ocean Model （HYCOM） （RODAS H） has recently been constructed ...The first version of the Brazilian Oceano- graphic Modeling and Observation Network （REMO） ocean data assimilation system into the Hybrid Coordi- nate Ocean Model （HYCOM） （RODAS H） has recently been constructed for research and operational purposes. The system is based on a multivariate Ensemble Optimal Interpolation （EnOI） scheme and considers the high fre- quency variability of the model error co-variance matrix. The EnOl can assimilate sea surface temperature （SST）, satellite along-track and gridded sea level anomalies （SLA）, and vertical profiles of temperature （T） and salinity （S） from Argo. The first observing system experiment was carried out over the Atlantic Ocean （78°S-50°N, 100°W-20°E） with HYCOM forced with atmospheric reanalysis from 1 January to 30 June 2010. Five integra- tions were performed, including the control run without assimilation. In the other four, different observations were assimilated： SST only （A SST）; Argo T-S profiles only （AArgo）; along-track SLA only （A_SLA）; and all data employed in the previous runs （A_All）. The A_SST, A_Argo, and A_SLA runs were very effective in improv- ing the representation of the assimilated variables, but they had relatively little impact on the variables that were not assimilated. In particular, only the assimilation of S was able to reduce the deviation of S with respect to ob- servations. Overall, the A_All run produced a good analy- sis by reducing the deviation of SST, T, and S with respect to the control run by 39%, 18%, and 30%, respectively, and by increasing the correlation of SLA by 81%.展开更多
基金Supported by the National High Technology and Development Program Foundation of China under Grant No. 2002AA420090.
文摘Due to the nonlinearity and uncertainty, the precise control of underwater vehicles in some intelligent operations hasn’t been solved very well yet. A novel method of control based on desired state programming was presented, which used the technique of fuzzy neural network. The structure of fuzzy neural network was constructed according to the moving characters and the back propagation algorithm was deduced. Simulation experiments were conducted on general detection remotely operated vehicle. The results show that there is a great improvement in response and precision over traditional control, and good robustness to the model’s uncertainty and external disturbance, which has theoretical and practical value.
基金financially supported by the Brazilian State oil company Petróleo Brasileiro S. A. (Petrobras) and Agência Nacional de Petróleo (ANP), Gás Natural e Biocombustíveis, Brazil, via the Oceanographic Modeling and Observation Network (REMO)support of the Coordenao de Aperfeioamento de Pessoal de Nível Superior (CAPES), Ministry of Education of Brazil (Proc. BEX 3957/13-6)
文摘The first version of the Brazilian Oceano- graphic Modeling and Observation Network （REMO） ocean data assimilation system into the Hybrid Coordi- nate Ocean Model （HYCOM） （RODAS H） has recently been constructed for research and operational purposes. The system is based on a multivariate Ensemble Optimal Interpolation （EnOI） scheme and considers the high fre- quency variability of the model error co-variance matrix. The EnOl can assimilate sea surface temperature （SST）, satellite along-track and gridded sea level anomalies （SLA）, and vertical profiles of temperature （T） and salinity （S） from Argo. The first observing system experiment was carried out over the Atlantic Ocean （78°S-50°N, 100°W-20°E） with HYCOM forced with atmospheric reanalysis from 1 January to 30 June 2010. Five integra- tions were performed, including the control run without assimilation. In the other four, different observations were assimilated： SST only （A SST）; Argo T-S profiles only （AArgo）; along-track SLA only （A_SLA）; and all data employed in the previous runs （A_All）. The A_SST, A_Argo, and A_SLA runs were very effective in improv- ing the representation of the assimilated variables, but they had relatively little impact on the variables that were not assimilated. In particular, only the assimilation of S was able to reduce the deviation of S with respect to ob- servations. Overall, the A_All run produced a good analy- sis by reducing the deviation of SST, T, and S with respect to the control run by 39%, 18%, and 30%, respectively, and by increasing the correlation of SLA by 81%.
