Suitable region of dynamic optimal interpolation for efficiently altimetry sea surface height mapping

The dynamic optimal interpolation(DOI)method is a technique based on quasi-geostrophic dynamics for merging multi-satellite altimeter along-track observations to generate gridded absolute dynamic topography(ADT).Compared with the linear optimal interpolation(LOI)method,the DOI method can improve the accuracy of gridded ADT locally but with low computational efficiency.Consequently,considering both computational efficiency and accuracy,the DOI method is more suitable to be used only for regional applications.In this study,we propose to evaluate the suitable region for applying the DOI method based on the correlation between the absolute value of the Jacobian operator of the geostrophic stream function and the improvement achieved by the DOI method.After verifying the LOI and DOI methods,the suitable region was investigated in three typical areas:the Gulf Stream(25°N-50°N,55°W-80°W),the Japanese Kuroshio(25°N-45°N,135°E-155°E),and the South China Sea(5°N-25°N,100°E-125°E).We propose to use the DOI method only in regions outside the equatorial region and where the absolute value of the Jacobian operator of the geostrophic stream function is higher than1×10^(-11).

Dynamics and Wheel's Slip Ratio of a Wheel-legged Robot in Wheeled Motion Considering the Change of Height

The existing research on dynamics and slip ratio of wheeled mobile robot （WMR） are derived without considering the effect of height, and the existing models can not be used to analyze the dynamics performance of the robot with variable height while moving such as NOROS- Ⅱ. The existing method of dynamics modeling is improved by adding the constraint equation between perpendicular displacement of body and horizontal displacement of wheel into the constraint conditions. The dynamic model of NOROS- Ⅱ in wheel motion is built by the Lagrange method under nonholonomic constraints. The inverse dynamics is calculated in three different paths based on this model, and the results demonstrate that torques of hip pitching joints are inversely proportional to the height of robot. The relative error of calculated torques is less than 2% compared with that of ADAMS simulation, by which the validity of dynamic model is verified, Moreover, the relative horizontal motion between fore/hind wheels and body is produced when the height is changed, and thus the accurate slip ratio can not be obtained by the traditional equation. The improved slip ratio equations with the parameter of the vertical velocity of body are introduced for fore wheels and hind wheels respectively. Numerical simulations of slip ratios are conducted to reveal the effect of varied height on slip ratios of different wheels. The result shows that the slip ratios of fore/hind wheels become larger/smaller respectively as the height increases, and as the height is reduced, the reverse applies. The proposed research of dynamic model and slip ratio based on the robot height provides the effective method to analyze the dynamics of WMRs with varying height.

NH_3-N Degradation Dynamics and Calculating Model of Filtration Bed Height in Constructed Soil Rapid Infiltration

The research on Constructed Soil Rapid Infiltration(CSRI) system is in its infancy at home and abroad.There are several details about the mechanism and application of CSRI system needed to be further studied.A major limitation in the current research is the absence of degradation dynamics of pollutants,and the height of filtration bed in CSRI system currently determined by empirical judgment lacks accuracy and logicality.To solve these two prob-lems,the soil column of CSRI system was utilized to treat domestic wastewater,meanwhile,the NH3-N degradation dynamics were studied according to the Monod equation,the research of Mann A T and the NH3-N degradation law.Then the mathematical model of filtration bed height was built based on NH3-N degradation dynamics equation in the soil column.It has been proven that within a limited range this model can calculate the appropriate height of filtration bed accurately in order to optimize technological parameters of hydraulic load and the concentration of influent NH3-N,improving the effluent quality of CSRI system.

SUBSURFACE TEMPERATURE AND ITS RELATION TO DYNAMIC HEIGHT AT 130°E ACROSS THENORTH EQUATORIAL CURRENT

Temperature profiles down to 1500m(CTD) collected by Academia Sinica from 1986 to 1990 are used and discussed in relation to the dynamic heights at130 E across the North Equatorial Current (NEC). An extremely high correlation between subsurface (say at 400 m depth) temperature and dynamic height relative to 1500 db is found, and the corresponding regression relationships suggest a method to estimate gpostrophic circulation from subsurface temperature alone. These suggest that the conclusions from extensive studies on this topic in Australian waters also apply to the NEC region, at least at130 E , thus making the subsurface thermal structure an excellent indicator of the variation of the NEC.

A METHOD TO ESTIMATE DYNAMIC HEIGHT AND GEOSTROPHIC TRANSPORT RELATIVE TO DEEPER LEVELS FROM 400M EXPENDABLE BATHYTHERMOGRAPH IN THE INDONESIAN THROUGHFLOW

The Expendable Bathythermograph (XBT) Programme used a mix of T4 (450m) and T7(750 m) XBT’s during the pre-TOGA periods. Studies are needed to determine how to use the T4/T7 datatogether, in particular with regard to a reference level for calculation of dynamic height and geostrophiccurrents. Temperature profiles to 750 m collected from 1986 through 1989 on the trackline across theIndonesian throughflow between NW Australia and Java are used to show the relations between dynamicbeight and geostriohic flow using reference levels at 400 db and 750 db. A very high temporalcorrelation between vertically averaged temperture in the upper 400 m and dynamic height at 50 m rela-tive to 750 db was found. The corresponding regression relationships are presented for all one degree lati-tude bins along the section and can be used for dynamical calculation of currents in the upper 400 m rel-ative to 750 db .An attempt is made to estimate volume transport relative to 750 db from 400 m pro-files. Problems which make

A Hybrid Approach to Modeling and Control of Vehicle Height for Electronically Controlled Air Suspension

The control problems associated with vehicle height adjustment of electronically controlled air suspension （ECAS） still pose theoretical challenges for researchers, which manifest themselves in the publications on this subject over the last years. This paper deals with modeling and control of a vehicle height adjustment system for ECAS, which is an example of a hybrid dynamical system due to the coexistence and coupling of continuous variables and discrete events. A mixed logical dynamical （MLD） modeling approach is chosen for capturing enough details of the vehicle height adjustment process. The hybrid dynamic model is constructed on the basis of some assumptions and piecewise linear approximation for components nonlinearities. Then, the on-off statuses of solenoid valves and the piecewise approximation process are described by propositional logic, and the hybrid system is transformed into the set of linear mixed-integer equalities and inequalities, denoted as MLD model, automatically by HYSDEL. Using this model, a hybrid model predictive controller （HMPC） is tuned based on online mixed-integer quadratic optimization （MIQP）. Two different scenarios are considered in the simulation, whose results verify the height adjustment effectiveness of the proposed approach. Explicit solutions of the controller are computed to control the vehicle height adjustment system in realtime using an offline multi-parametric programming technology （MPT）, thus convert the controller into an equivalent explicit piecewise affine form. Finally, bench experiments for vehicle height lifting, holding and lowering procedures are conducted, which demonstrate that the HMPC can adjust the vehicle height by controlling the on-off statuses of solenoid valves directly. This research proposes a new modeling and control method for vehicle height adjustment of ECAS, which leads to a closed-loop system with favorable dynamical properties.

Control strategy for an intelligent shearer height adjusting system

An intelligent shearer height adjusting system is a key technology for mining at a man-less working face. A control strategy for a shearer height adjusting system based on a mathematical model of the height adjusting mechanism is proposed. It considers the non-linearity and time variations in the control process and uses Dynamic Fuzzy Neural Networks （D-FNN）. The inverse characteristics of the system are studied. An adaptive on-line learning and error compensation mechanism guarantees sys- tem real-time performance and reliability. Parameters from a German Eickhoff SL500 shearer were used with Maflab/Simulink to simulate a height adjusting control system. Simulation shows that the trace error of a D-FNN controller is smaller than that of a PID controller. Also, the D-FNN control scheme has good generalization and tracking performance, which allow it to satisfy the needs of a shearer height adjusting system.

Simulation of three-phase flow and lance height effect on the cavity shape

A three-dimensional computational fluid dynamics （CFD） model was developed to simulate a 150-t top-blown converter. The ef-fect of different lance heights on the cavity shape was investigated using the volume of fluid （VOF） method. Numerical simulation results can reflect the actual molten bath surface waves impinged by the supersonic oxygen jets. With increasing lance height, the cavity depth de-creases, and the cavity area, varying like a parabola, increases and then decreases. The cavity area maximizes at the lance height of 1.3 m. Under the three different lance heights simulated in this study, all of the largest impact velocities at the molten bath surface are between 50 m/s and 100 m/s.

Algebraic Method‑Based Point‑to‑Point Trajectory Planning of an Under‑Constrained Cable‑Suspended Parallel Robot with Variable Angle and Height Cable Mast

To avoid impacts and vibrations during the processes of acceleration and deceleration while possessing flexible working ways for cable-suspended parallel robots(CSPRs),point-to-point trajectory planning demands an under-constrained cable-suspended parallel robot(UCPR)with variable angle and height cable mast as described in this paper.The end-effector of the UCPR with three cables can achieve three translational degrees of freedom(DOFs).The inverse kinematic and dynamic modeling of the UCPR considering the angle and height of cable mast are completed.The motion trajectory of the end-effector comprising six segments is given.The connection points of the trajectory segments(except for point P3 in the X direction)are devised to have zero instantaneous velocities,which ensure that the acceleration has continuity and the planned acceleration curve achieves smooth transition.The trajectory is respectively planned using three algebraic methods,including fifth degree polynomial,cycloid trajectory,and double-S velocity curve.The results indicate that the trajectory planned by fifth degree polynomial method is much closer to the given trajectory of the end-effector.Numerical simulation and experiments are accomplished for the given trajectory based on fifth degree polynomial planning.At the points where the velocity suddenly changes,the length and tension variation curves of the planned and unplanned three cables are compared and analyzed.The OptiTrack motion capture system is adopted to track the end-effector of the UCPR during the experiment.The effectiveness and feasibility of fifth degree polynomial planning are validated.

Comparison of Different Height Systems

Geopotential, dynamic, orthometric and normal height systems and the corrections related to these systems are evaluated in this paper. Along two different routes, with a length of about 5 kilometers, precise leveling and gravity measurements are done. One of the routes is in an even field while the other is in a rough field. The magnitudes of orthometric, normal and dynamic corrections are calculated for each route. Orthometric, dynamic, and normal height differences are acquired by adding the corrections to the height differences obtained from geometric leveling. The magnitudes of the corrections between the two routes are compared. In addition, by subtracting orthometric, dynamic, and normal heights from geometric leveling, deviations of these heights from geometric leveling are counted.

Annual variation of sea surface height, dynamic topography and circulation in the South China Sea —— A TOPEX/Poseidon satellite altimetry study

TOPEX/Poseidon satellite altimetry data from 1993 to 1999 were used to study mean annual variation of sea surface height anomaly (SSHA) in the South China Sea (SCS) and to re-produce its climatological monthly surface dynamic topography in conjunction with historical hy-drographic data. The characters and rules of seasonal evolution of the SCS dynamic topography and its upper circulation were then discussed. Analyses indicate that annual variation of the SCS large-scale circulation could be divided into four major phases. In winter (from November to Feb-ruary), the SCS circulation is mainly controlled by double cyclonic gyres with domination of the northern gyre. Other corresponding features include the Kuroshio intrusion from the Luzon Strait and the northeastward off-shelf current in the area northwest off Kalimantan Island. The double gyre structure disassembled in spring (from March to April) when the northern gyre remains cyc-lonic, the southern gyre becomes anticyclonic, and the general circulation pattern shows a dipole. There is no obvious large-scale closed gyre inside the SCS basin in both summer (from May to July) and autumn (from August to October) when the SCS Monsoon Jet dominates the circulation, which flows northeastward across the SCS. Even so, circulation patterns of these two phases di-verse significantly. From May to July, the SCS monsoon jet flows northward near the Vietnam coast and bends eastward along the topography southeast off Hainan Island at about 18N form-ing an anticyclonic turn. It then turns northeastward after crossing the SCS. From August to Octo-ber, however, the monsoon Jet leaves the coast of Vietnam and enters interior of the basin at about 13N, and the general circulation pattern becomes cyclonic. The Kuroshio intrusion was not obvious in spring, summer and autumn. It is suggested from these observations that dynamic ad-justment of the SCS circulation starts right after the peak period of the prevailing monsoon.

Vehicle height control of electronic air suspension system based on mixed logical dynamical modelling

Due to the coexistence and coupling of continuous variables and discrete events, the vehicle height adjustment process of electronic air suspension system can be regarded as a typical hybrid system. Therefore, the hybrid system theory was applied to design a novel vehicle height control strategy in this paper. A nonlinear mechanism model of the vehicle height adjustment system was established based on vehicle system dynamics and thermodynamic theory for variable-mass gas charge/discharge system. In order to model both the continuous/discrete dynamics of vehicle height adjustment process and the on-off statuses switching of solenoid valves, the framework of mixed logical dynamical(MLD) modelling was used. On the basis of the vehicle height adjustment control strategy, the MLD model of the adjustment process was built by introducing auxiliary logical variables and auxiliary continuous variables. Then, the co-simulation of the nonlinear mechanism model and the MLD model was conducted based on the compiling of HYSDEL. The simulation and experimental results show that the proposed control strategy can not only adjust the vehicle height effectively, but also achieve the on-off statuses direct control of solenoid valves.

Vehicle height and leveling control of electronically controlled air suspension using mixed logical dynamical approach

Vehicle height and leveling control of electronically controlled air suspension(ECAS) still poses theoretical challenges for researchers that have not been adequately addressed in prior research. This paper investigates the design and verification of a new controller to adjust the vehicle height and to regulate the roll and pitch angles of the vehicle body(leveling control) during the height adjustment procedures. A nonlinear mechanism model of the vehicle height adjustment system is formulated to describe the dynamic behaviors of the system. By using mixed logical dynamical(MLD) approach, a novel control strategy is proposed to adjust the vehicle height by controlling the on-off statuses of the solenoid valves directly. On this basis, a correction algorithm is also designed to regulate the durations of the on-off statuses of the solenoid valves based on pulse width modulated(PWM) technology, thus the effective leveling control of the vehicle body can be guaranteed. Finally, simulations and vehicle tests results are presented to demonstrate the effectiveness and applicability of the proposed control methodology.

Resistor-Capacitor Circuit as a Dynamic System

The paper considers the response to the accumulated energy in the resistor (R)-capacitor (C) circuit. In the (RC) circuit, the capacitor C is initially charged with the “capacitive” voltage U0. At that moment t=0, the P circuit switch turns on. By using Kirchhoff’s laws on the elements, a homogeneous differential equation of the first order with constant coefficients is obtained with the initial condition UC(0)=U0. The solution of the differential equation is presented in exponential form UC(t)=U0⋅e−t/τ. Qualitative analysis RC of the circuit gives a phase portrait on the line. From the phase portrait on the line, it can be seen that the charge UC(t)→UC∗=0when t→∞stabilizes, regardless of the initial conditions. It is shown that from UC(t)=U0⋅e−t/τa dynamic system defined by the function φ(t,UC)=UC⋅e−t/τcan be formed from. It has also been shown that, from the formed dynamic system, an autonomous system (circuit equation RC) can be found whose solution describes the formed dynamic system. It is also shown that the dynamic system φ(t,UC)=UC⋅e−t/τhas one attractive fixed point UC=0.

动态调控的低RCS随机编码超表面阵列

【目的】针对雷达隐身问题,设计了一款具有动态散射特性的1-bit编码超表面阵列,该阵列可实现雷达散射截面(radar cross section,RCS)的宽带缩减。【方法】利用随机编码的方法,可快速得到多种超表面的编码序列,避免使用同一算法时因编码序列不同而产生的仿真误差。阵列由两种单元组成,每种单元的上层贴片均采用风车形状。通过控制PIN二极管的通断状态,实现单元“0”和“1”之间的相互转换。将两种单元进行非周期随机编码,使阵列的反射方向图呈漫散射状,有效降低了天线的RCS。【结果】仿真结果表明,在x极化波垂直入射的情况下,所设计的三种随机编码超表面在8.2~13.2 GHz(相对带宽为46.7%)频段内RCS缩减量大于8.0 dB,最大缩减量可以达到18.8 dB。【结论】本文提出的编码超表面阵列可有效实现RCS的缩减,在雷达隐身技术方面具有广泛的应用前景。

运动特征对飞机动态RCS分布特性的影响分析

为了研究不同航路捷径和高度对飞机动态RCS的影响,并能找到描述其分布特性的通用起伏模型,对飞机动态RCS进行了统计分析。首先采用准静态法仿真计算了飞机在不同航路捷径和不同高度时的动态RCS,分析了运动特征对飞机动态RCS的影响;其次用3种经典起伏模型对动态RCS拟合建模,并通过Kolmogorov-Smirnov检验比较了统计建模结果的差异,得出对数正态分布在描述动态RCS起伏特性方面具有通用性的结论。研究成果对于非合作目标的预警探测有重要意义,为雷达总体性能的提升提供理论依据。

基于动态RCS的无人机航迹实时规划方法研究

为了提高无人机的生存能力,针对不确定飞行环境的无人机航迹规划问题展开研究,提出了一种基于RCS的无人机航迹实时规划方法,建立了相关计算模型,提出合理的代价函数,并采用多阶段分析博弈评估算法对航迹进行优化。仿真结果表明,基于动态RCS的无人机航迹实时规划方法能够比较好的解决无人机的航迹规划问题。

典型隐身飞机动态RCS仿真及统计分析

非合作目标的动态RCS数据难以通过外场测量获取,电磁仿真计算成为了获取其电磁动态特性的有效途径。基于全空域静态RCS数据库和空气动力学原理对典型隐身飞机的动态RCS进行了仿真,并采用姿态抖动模型修正了姿态角,使动态数据更加贴近实际情况。其次,分别采用卡方分布、对数正态分布和威布尔分布对动态RCS进行统计建模,非参数检验结果表明对数正态分布在不同频率、不同极化均能获得最佳拟合效果,体现出其在描述动态RCS起伏特性方面具有通用性。研究成果可为实现雷达回波的快速精确仿真提供依据。

飞机动态RCS序列的仿真研究

针对飞机实际飞行中的各种随机抖动,提出了一种飞机动态RCS序列仿真方法。首先采用飞机缩比模型的激光测量尺寸在FEKO中建立精确电磁计算模型,得到了飞机全空域静态RCS数据。在运动建模中先设定飞行航迹,推算出飞行过程中飞机的姿态角变化,叠加实际飞行中随机抖动的影响,使得运动建模更加贴近实际。仿真结果表明:叠加随机抖动后的动态RCS与初始值相差3 dB的点数占总数的17.5%,该方法对雷达目标动态特性的仿真研究具有重要的参考价值。

基于坐标转换目标动态RCS时间序列研究

考虑目标机体坐标系与地面雷达坐标系之间的坐标转换关系,计算得到了雷达视线在目标坐标系中的方位角和高低角。通过对典型目标建模,得到目标全空域的静态RCS值,并利用Matlab仿真分析了动态目标的RCS特性和突防概率变化。仿真结果表明:不同飞行高度以及不同的航路捷径均可以影响机动目标的RCS序列,且当目标作适当的俯仰机动后,减小了目标RCS,给作战飞机设计飞行航线提供仿真依据,给成功实现突防带来一定影响。