A path following control algorithm for an unmanned underwater vehicle（UUV） using temporary path generation guidance was proposed in this paper.Owing to different initial states of the vehicle,such as position and or...A path following control algorithm for an unmanned underwater vehicle（UUV） using temporary path generation guidance was proposed in this paper.Owing to different initial states of the vehicle,such as position and orientation,the path following control in the horizontal plane may yield a poor performance.To deal with the negative effect induced by initial states,a temporary path generation was presented based on the relationship between the original reference path and the vehicle’s initial states.With different relative positions between the vehicle and reference path,including out of straight lines,as well as inside and outside a circle,the related temporary paths guiding the vehicle to the reference path were able to be generated in real time.The vehicle was guided to steer along the temporary path until it reached the tangent point at the reference path,where the controller was designed using the input-output feedback linearization method.Simulation results demonstrated that the proposed algorithm is effective under the three different situations mentioned above.展开更多
As an emerging discipline which interrelates with musicology and iconology, the Music Iconography in China is still at the beginning stage. In the past 30 years, its research methods have been the focus of debate in r...As an emerging discipline which interrelates with musicology and iconology, the Music Iconography in China is still at the beginning stage. In the past 30 years, its research methods have been the focus of debate in regard to its academic direction, academic position, and academic path. These three ＂academic problems＂ should be paid attention because they not only sustain our current research and construction of Music Iconography＇s future and destiny, but also become major theoretical and practical issues. The author advocates that the academic direction should maintain highly consistent with the reality of China, as well as the academic practice. In order to guarantee the academic direction and academic position, we should adopt the academic path from these two aspects： ＂the horizontal logic＂ and ＂the longitudinal logic＂展开更多
A novel 3-D MUSIC algorithm based on the classical 3D-MUSIC algorithm for the location of near-field source was presented. Under the far-field assumption of actual near-field, two algebraic relations of the location p...A novel 3-D MUSIC algorithm based on the classical 3D-MUSIC algorithm for the location of near-field source was presented. Under the far-field assumption of actual near-field, two algebraic relations of the location parameters between the actual near-field sources and the far-field ones were derived. With Fourier transformation and polynomial-root methods, the elevation and the azimuth of the far-field were obtained, the tracking paths can be developed, and the location parameters of the near-field source can be determined, then the more accurate results can be estimated using an optimization method. The computer simulation results prove that the algorithm for the location of the near-fields is more accurate, effective and suitable for real-time applications.展开更多
基金Supported by the National Natural Science Foundation of China under Grant No.51179038the Program of New Century Excellent Talents in University under Grant No. NCET-10-0053
文摘A path following control algorithm for an unmanned underwater vehicle（UUV） using temporary path generation guidance was proposed in this paper.Owing to different initial states of the vehicle,such as position and orientation,the path following control in the horizontal plane may yield a poor performance.To deal with the negative effect induced by initial states,a temporary path generation was presented based on the relationship between the original reference path and the vehicle’s initial states.With different relative positions between the vehicle and reference path,including out of straight lines,as well as inside and outside a circle,the related temporary paths guiding the vehicle to the reference path were able to be generated in real time.The vehicle was guided to steer along the temporary path until it reached the tangent point at the reference path,where the controller was designed using the input-output feedback linearization method.Simulation results demonstrated that the proposed algorithm is effective under the three different situations mentioned above.
文摘As an emerging discipline which interrelates with musicology and iconology, the Music Iconography in China is still at the beginning stage. In the past 30 years, its research methods have been the focus of debate in regard to its academic direction, academic position, and academic path. These three ＂academic problems＂ should be paid attention because they not only sustain our current research and construction of Music Iconography＇s future and destiny, but also become major theoretical and practical issues. The author advocates that the academic direction should maintain highly consistent with the reality of China, as well as the academic practice. In order to guarantee the academic direction and academic position, we should adopt the academic path from these two aspects： ＂the horizontal logic＂ and ＂the longitudinal logic＂
文摘A novel 3-D MUSIC algorithm based on the classical 3D-MUSIC algorithm for the location of near-field source was presented. Under the far-field assumption of actual near-field, two algebraic relations of the location parameters between the actual near-field sources and the far-field ones were derived. With Fourier transformation and polynomial-root methods, the elevation and the azimuth of the far-field were obtained, the tracking paths can be developed, and the location parameters of the near-field source can be determined, then the more accurate results can be estimated using an optimization method. The computer simulation results prove that the algorithm for the location of the near-fields is more accurate, effective and suitable for real-time applications.
