Design and Analysis of a New AUV's Sliding Control System Based on Dynamic Boundary Layer

The new AUV driven by multi-vectored thrusters not only has unique kinematic characteristics during the actual cruise but also exists uncertain factors such as hydrodynamic coefficients perturbation and unknown interference of tail fluid, which bring difficult to the stability of the AUV＇s control system. In order to solve the nonlinear term and unmodeled dynamics existing in the new AUV＇s attitude control and the disturbances caused by the external marine environment, a second-order sliding mode controller with double-loop structure that considering the dynamic characteristics of the rudder actuators is designed, which improves the robustness of the system and avoids the control failure caused by the problem that the design theory of the sliding mode controller does not match with the actual application conditions. In order to avoid the loss of the sliding mode caused by the amplitude and rate constraints of the rudder actuator in the new AUV＇s attitude control, the dynamic boundary layer method is used to adjust the sliding boundary layer thickness so as to obtain the best anti-chattering effects. Then the impacts of system parameters, rudder actuator＇s constraints and boundary layer on the sliding mode controller are computed and analyzed to verify the effectiveness and robustness of the sliding mode controller based on dynamic boundary layer. The computational results show that the original divergent second-order sliding mode controller can still effectively implement the AUV＇s attitude control through dynamically adjusting the sliding boundary layer thickness. The dynamic boundary layer method ensures the stability of the system and does not exceed the amplitude constraint of the rudder actuator, which provides a theoretical guidance and technical support for the control system design of the new AUV in real complex sea conditions.

A SCALAR AUXILIARY VARIABLE (SAV) FINITE ELEMENT NUMERICAL SCHEME FOR THE CAHN-HILLIARD-HELE-SHAW SYSTEM WITH DYNAMIC BOUNDARY CONDITIONS

In this paper,we consider the Cahn-Hilliard-Hele-Shaw(CHHS)system with the dynamic boundary conditions,in which both the bulk and surface energy parts play important roles.The scalar auxiliary variable approach is introduced for the physical system;the mass conservation and energy dissipation is proved for the CHHS system.Subsequently,a fully discrete SAV finite element scheme is proposed,with the mass conservation and energy dissipation laws established at a theoretical level.In addition,the convergence analysis and error estimate is provided for the proposed SAV numerical scheme.

SAV Finite Element Method for the Peng-Robinson Equation of State with Dynamic Boundary Conditions

In this paper,the Peng-Robinson equation of state with dynamic boundary conditions is discussed,which considers the interactions with solid walls.At first,the model is introduced and the regularization method on the nonlinear term is adopted.Next,The scalar auxiliary variable(SAV)method in temporal and finite element method in spatial are used to handle the Peng-Robinson equation of state.Then,the energy dissipation law of the numerical method is obtained.Also,we acquire the convergence of the discrete SAV finite element method(FEM).Finally,a numerical example is provided to confirm the theoretical result.

Long Time Behavior of the Cahn-Hilliard Equation with Irregular Potentials and Dynamic Boundary Conditions

The Cahn-Hilliard equation with irregular potentials and dynamic boundary conditions is considered.The existence of the global attractor is proved and the long time behavior of the trajectories,namely,the convergence to steady states,is studied.

Exponential stability of a pendulum in dynamic boundary feedback with a viscous damped wave equation

In this paper,we continue the earlier work[Lu,L,&Wang,D.L.(2017).Dynamic boundary feed-back of a pendulum coupled with a viscous damped wave equation.In Proceedings of the 36th Chinese Control Conference(CCQ)(pp.1676-1680)]on study the stability of a pendulum coupled with a viscous damped wave equation model.This time we get the exponential stability result which is much better than the previous strong stability.By a detailed spectral analysis and opera-tor separation,we establish the Riesz basis property as well as the spectrum determined growth condition for the system.Finally,the exponential stability of the system is achieved.

Dynamics of Bottom Boundary Layers in the Yellow River Subaqueous Delta Based on Long-Term In-Situ Observations

Objective In geo-marine science,the generalized bottom boundary layer（BBL）represents a layer between sediments and seawater.The BBL plays an important role in geological,geobiochemical,geophysical and geotechnical research because it is the connection region of hydrosphere,

Application of scaled boundary finite element method in static and dynamic fracture problems

The scaled boundary finite element method （SBFEM） is a recently developed numerical method combining advantages of both finite element methods （FEM） and boundary element methods （BEM） and with its own special features as well. One of the most prominent advantages is its capability of calculating stress intensity factors （SIFs） directly from the stress solutions whose singularities at crack tips are analytically represented. This advantage is taken in this study to model static and dynamic fracture problems. For static problems, a remeshing algorithm as simple as used in the BEM is developed while retaining the generality and flexibility of the FEM. Fully-automatic modelling of the mixed-mode crack propagation is then realised by combining the remeshing algorithm with a propagation criterion. For dynamic fracture problems, a newly developed series-increasing solution to the SBFEM governing equations in the frequency domain is applied to calculate dynamic SIFs. Three plane problems are modelled. The numerical results show that the SBFEM can accurately predict static and dynamic SIFs, cracking paths and load-displacement curves, using only a fraction of degrees of freedom generally needed by the traditional finite element methods.

Dynamic Crack Propagation Analysis Using Scaled Boundary Finite Element Method

The prediction of dynamic crack propagation in brittle materials is still an important issue in many engineering fields. The remeshing technique based on scaled boundary finite element method(SBFEM) is extended to predict the dynamic crack propagation in brittle materials. The structure is firstly divided into a number of superelements, only the boundaries of which need to be discretized with line elements. In the SBFEM formulation, the stiffness and mass matrices of the super-elements can be coupled seamlessly with standard finite elements, thus the advantages of versatility and flexibility of the FEM are well maintained. The transient response of the structure can be calculated directly in the time domain using a standard time-integration scheme. Then the dynamic stress intensity factor(DSIF) during crack propagation can be solved analytically due to the semi-analytical nature of SBFEM. Only the fine mesh discretization for the crack-tip super-element is needed to ensure the required accuracy for the determination of stress intensity factor(SIF). According to the predicted crack-tip position, a simple remeshing algorithm with the minimum mesh changes is suggested to simulate the dynamic crack propagation. Numerical examples indicate that the proposed method can be effectively used to deal with the dynamic crack propagation in a finite sized rectangular plate including a central crack. Comparison is made with the results available in the literature, which shows good agreement between each other.

A Decay Result to an Elliptic Equation with Dynamical Boundary Condition

The decay estimations of the solution to an elliptic equation with dynamical boundary condition is considered.We proved that,for suitable initial datum,the energy of the solution decays "in time" exponentially if p=0,whereas the decay is polynomial order if p>0.

Generalized boundary dilatation flux on a flexible wall

In this paper,by applying theoretical method to the governing equations of compressible viscous flow,we derive the theoretical formula of the boundary dilatation flux(BDF)on a flexible wall,which generalizes the most recent work of Mao et al.(Acta Mechanica Sinica 38(2022)321583)for a stationary wall.Different boundary sources of dilatation are explicitly identified,revealing not only the boundary generation mechanisms of vortex sound and entropy sound,but also some additional sources due to the surface vorticity,surface angular velocity,surface acceleration and surface curvature.In particular,the generation mechanism of dilatation at boundary due to the coupled divergence terms is highlighted,namely,the product of the surface velocity divergence(▽_(■B)·U)and the vorticity-induced skin friction divergence(V_(■B)·τ_(ω)).The former is attributed to the surface flexibility while the latter characterizes the footprints of near-wall coherent structures.Therefore,by properly designing the surface velocity distribution,the dilatation generation at the boundary could be controlled for practical purpose in near-wall compressible viscous flows.

Influence of construction interfaces on dynamic characteristics of roller compacted concrete dams

To study the influence of construction interfaces on dynamic characteristics of roller compacted concrete dams(RCCDs),mechanical properties of construction interfaces are firstly analyzed. Then, the viscous-spring artificial boundary(VSAB) is adopted to simulate the radiation damping of their infinite foundations, and based on the Marc software, a simplified seismic motion input method is presented by the equivalent nodal loads. Finally, based on the practical engineering of a RCC gravity dam, effects of radiation damping and construction interfaces on the dynamic characteristics of dams are investigated in detail. Analysis results show that dynamic response of the RCC gravity dam significantly reduces about 25% when the radiation damping of infinite foundation is considered. Hot interfaces and the normal cold interfaces have little influence on the dynamic response of the RCC gravity dam.However, nonlinear fracture along the cold interfaces at the dam heel will occur under the designed earthquake if the cold interfaces are combined poorly. Therefore, to avoid the fractures along the construction interfaces under the potential super earthquakes,combination quality of the RCC layers should be significantly ensured.

Diffusion behavior of helium in titanium and the effect of grain boundaries revealed by molecular dynamics simulation

The microstructures of titanium（Ti）, an attractive tritium（T） storage material, will affect the evolution process of the retained helium（He）. Understanding the diffusion behavior of He at the atomic scale is crucial for the mechanism of material degradation. The novel diffusion behavior of He has been reported by molecular dynamics（MD） simulation for the bulk hcp-Ti system and the system with grain boundary（GB）. It is observed that the diffusion of He in the bulk hcp-Ti is significantly anisotropic（the diffusion coefficient of the [0001] direction is higher than that of the basal plane）,as represented by the different migration energies. Different from convention, the GB accelerates the diffusion of He in one direction but not in the other. It is observed that a twin boundary（TB） can serve as an effective trapped region for He.The TB accelerates diffusion of He in the direction perpendicular to the twinning direction（TD）, while it decelerates the diffusion in the TD. This finding is attributable to the change of diffusion path caused by the distortion of the local favorable site for He and the change of its number in the TB region.

Boundary Control of Coupled Nonlinear Three Dimensional Marine Risers

This paper presents a design of boundary controllers implemented at the top end for global stabilization of a marine riser in a three dimensional space under environmental loadings. Based on the energy approach, nonlinear partial differential equations of motion, including bending-bending and longitudinal-bending couplings for the risers are derived. The couplings cause mutual effects between the three independent directions in the riser＇s motions, and make it difficult to minimize its vibrations. The Lyapunov direct method is employed to design the boundary controller. It is shown that the proposed boundary controllers can effectively reduce the riser＇s vibration. Stability analysis of the closed-loop system is performed using the Lyapunov direct method. Numerical simulations illustrate the results.

SOLUTION TO THE FORM OF POlSSON EQUATiONBY THE BOUNDARY ELEMENT METHODS

In this paper, the domain integral of the form of Poisson equation is translatedinto complete boundary integral by the fundamental solution of higher-order Laplaceoperator, the dimensions of the problem can be contracted into one. The numericalexamples for Stokes equations show that this method is efficient.

Solving the Inverse Problems of Wave Equation by a Boundary Functional Method

The inverse problems of wave equation to recover unknown space-time dependent functions of wave speed and wave source are solved in this paper, without needing of initial conditions and no internal measurement of data being required. After a homogenization technique, a sequence of spatial boundary functions at least the fourth-order polynomials are derived, which satisfy the homogeneous boundary conditions. The boundary functions and the zero element constitute a linear space, and then a new boundary functional is proved in the linear space, of which the energy is preserved for each dynamic energetic boundary function. The linear systems and iterative algorithms used to recover unknown wave speed and wave source functions with the dynamic energetic boundary functions as bases are developed, which converge fast at each time step. The input data are parsimonious, merely the measured boundary strains and the boundary values and slopes of unknown functions to be recovered. The accuracy and robustness of present methods are confirmed by comparing exact solutions with estimated results under large noises up to 20%.

Dynamic Control of Defective Gap Mode Through Defect Location

A one dimensional model is developed for defective gap mode（DGM）with two types of boundary conditions：conducting mesh and conducting sleeve.For a periodically modulated system without defect,the normalized width of spectral gaps equals to the modulation factor,which is consistent with previous studies.For a periodic system with local defects introduced by the boundary conditions,it shows that the conducting-mesh-induced DGM is always well confined by spectral gaps while the conducting-sleeve-induced DGM is not.The defect location can be a useful tool to dynamically control the frequency and spatial periodicity of DGM inside spectral gaps.This controllability can be potentially applied to the interaction between gap eigenmodes and energetic particles in fusion plasmas,and optical microcavities and waveguides in photonic crystals.

Effect of grain boundary structures on the behavior of He defects in Ni:An atomistic study

We investigated the effect of grain boundary structures on the trapping strength of HeN（N is the number of helium atoms） defects in the grain boundaries of nickel. The results suggest that the binding energy of an interstitial helium atom to the grain boundary plane is the strongest among all sites around the plane. The He_N defect is much more stable in nickel bulk than in the grain boundary plane. Besides, the binding energy of an interstitial helium atom to a vacancy is stronger than that to a grain boundary plane. The binding strength between the grain boundary and the HeN defect increases with the defect size. Moreover, the binding strength of the HeN defect to the Σ3（112）[110] grain boundary becomes much weaker than that to other grain boundaries as the defect size increases.

A Novel Approach for the Numerical Simulation of Fluid-Structure Interaction Problems in the Presence of Debris

A novel algorithm is proposed for the simulation of fluid-structure interaction problems.In particular,much attention is paid to natural phenomena such as debris flow.The fluid part(debris flow fluid)is simulated in the framework of the smoothed particle hydrodynamics(SPH)approach,while the solid part(downstream obstacles)is treated using the finite element method(FEM).Fluid-structure coupling is implemented through dynamic boundary conditions.In particular,the software“TensorFlow”and an algorithm based on Python are combined to conduct the required calculations.The simulation results show that the dynamics of viscous and non-viscous debris flows can be extremely different when there are obstacles in the downstream direction.The implemented SPH-FEM coupling method can simulate the fluid-structure coupling problem with a reasonable approximation.

Initial and Boundary Value Problem for a System of Balance Laws from Chemotaxis:Global Dynamics and Diffusivity Limit

In this paper,we study long-time dynamics and diffusion limit of large-data solutions to a system of balance laws arising from a chemotaxis model with logarithmic sensitivity and nonlinear production/degradation rate.Utilizing energy methods,we show that under time-dependent Dirichlet boundary conditions,long-time dynamics of solutions are driven by their boundary data,and there is no restriction on the magnitude of initial energy.Moreover,the zero chemical diffusivity limit is established under zero Dirichlet boundary conditions,which has not been observed in previous studies on related models.