Development of man-packable,versatile marine surface vehicle with ability to rescue a drowning victim and also capable of carrying mission specific sensor is explored.Design thinking methodology is implemented by usin...Development of man-packable,versatile marine surface vehicle with ability to rescue a drowning victim and also capable of carrying mission specific sensor is explored.Design thinking methodology is implemented by using existing equipment/platform with the addition of external attachment to make it a functional product.Iterative prototyping process with extensive testing to achieve user-centric solution.Individual prototypes and their possible sub-configurations with their integration and characteristics are studied and compared with numerical model,inferences obtained are utilised to improve for the next iteration.A novel hinge-clamp assembly enables this marine surface vehicle to operate in the event of an overturn,this phenomenon is further studied with the aid of a mathematical model(Pendulum in a fluid).This research project aims to demonstrate a multi-role unmanned surface vehicle.展开更多
Gravity field is the most basic physical field generated by the material properties of the Earth system.It reflects the spatial distribution,movement and change of materials determined by the interaction and dynamic p...Gravity field is the most basic physical field generated by the material properties of the Earth system.It reflects the spatial distribution,movement and change of materials determined by the interaction and dynamic process inside the Earth.Over the years,a variety of technical means have been used to detect the Earth’s gravity field and supported numerous studies on the global change,resource detection,geological structure movement,water resources change and other related fields of research.Here is part of the progress in surface and marine gravimetry obtained by Chinese geodesy scientists from 2019 to 2023 from the following aspects,including:①Continuous gravity network in Chinese mainland;②Application of superconducting gravity measurement;③Network adjustment for continental-scale gravity survey campaign and data quality control;④Regional time-variable gravity field and its application;⑤Research progress on novel technologies for gravity inversion;⑥Research progress on marine gravity field determination;⑦Application research on marine gravity field.展开更多
This paper is concerned with the formation control problem of multiple underactuated surface vessels moving in a leader-follower formation. The formation is achieved by the follower to track a virtual target defined r...This paper is concerned with the formation control problem of multiple underactuated surface vessels moving in a leader-follower formation. The formation is achieved by the follower to track a virtual target defined relative to the leader. A robust adaptive target tracking law is proposed by using neural network and backstepping techniques. The advantage of the proposed control scheme is that the uncertain nonlinear dynamics caused by Coriolis/centripetal forces, nonlinear damping, unmodeled hydrodynamics and disturbances from the environment can be compensated by on line learning. Based on Lyapunov analysis, the proposed controller guarantees the tracking errors converge to a small neighborhood of the origin. Simulation results demonstrate the effectiveness of the control strategy.展开更多
文摘Development of man-packable,versatile marine surface vehicle with ability to rescue a drowning victim and also capable of carrying mission specific sensor is explored.Design thinking methodology is implemented by using existing equipment/platform with the addition of external attachment to make it a functional product.Iterative prototyping process with extensive testing to achieve user-centric solution.Individual prototypes and their possible sub-configurations with their integration and characteristics are studied and compared with numerical model,inferences obtained are utilised to improve for the next iteration.A novel hinge-clamp assembly enables this marine surface vehicle to operate in the event of an overturn,this phenomenon is further studied with the aid of a mathematical model(Pendulum in a fluid).This research project aims to demonstrate a multi-role unmanned surface vehicle.
基金Open Fund of Hubei Luojia Laboratory(No.220100033)National Natural Science Foundation of China(Nos.42174108,42192535,42242015)。
文摘Gravity field is the most basic physical field generated by the material properties of the Earth system.It reflects the spatial distribution,movement and change of materials determined by the interaction and dynamic process inside the Earth.Over the years,a variety of technical means have been used to detect the Earth’s gravity field and supported numerous studies on the global change,resource detection,geological structure movement,water resources change and other related fields of research.Here is part of the progress in surface and marine gravimetry obtained by Chinese geodesy scientists from 2019 to 2023 from the following aspects,including:①Continuous gravity network in Chinese mainland;②Application of superconducting gravity measurement;③Network adjustment for continental-scale gravity survey campaign and data quality control;④Regional time-variable gravity field and its application;⑤Research progress on novel technologies for gravity inversion;⑥Research progress on marine gravity field determination;⑦Application research on marine gravity field.
基金supported by the National Natural Science Foundation of China (Grant Nos. 60674037,61074017 and 61074004)the Program for New Century Excellent Talents in Universities (Grant No. NCET-09-0674)the Program for Liaoning Excellent Talents in Universities (Grant No. 2009R06)
文摘This paper is concerned with the formation control problem of multiple underactuated surface vessels moving in a leader-follower formation. The formation is achieved by the follower to track a virtual target defined relative to the leader. A robust adaptive target tracking law is proposed by using neural network and backstepping techniques. The advantage of the proposed control scheme is that the uncertain nonlinear dynamics caused by Coriolis/centripetal forces, nonlinear damping, unmodeled hydrodynamics and disturbances from the environment can be compensated by on line learning. Based on Lyapunov analysis, the proposed controller guarantees the tracking errors converge to a small neighborhood of the origin. Simulation results demonstrate the effectiveness of the control strategy.
