Dynamic Positioning System Design for A Marine Vessel with Unknown Dynamics Subject to External Disturbances Including Wave Effect

In this paper, a new control system is proposed for dynamic positioning(DP) of marine vessels with unknown dynamics and subject to external disturbances. The control system is composed of a substructure for wave filtering and state estimation together with a nonlinear PD-type controller. For wave filtering and state estimation, a cascade combination of a modified notch filter and an estimation stage is considered. In estimation stage, a modified extended-state observer(ESO) is proposed to estimate vessel velocities and unknown dynamics. The main advantage of the proposed method is its robustness to model uncertainties and external disturbances and it does not require prior knowledge of vessel model parameters. Besides, the stability of the cascade structure is analyzed and input to state stability(ISS) is guaranteed. Later on, a nonlinear PD-type controller with feedforward of filtered estimated dynamics is utilized. Detailed stability analyses are presented for the closed-loop DP control system and global uniform ultimate boundedness is proved using large scale systems method. Simulations are conducted to evaluate the performance of the proposed method for wave filtering and state estimation and comparisons are made with two conventional methods in terms of estimation accuracy and the presence of uncertainties. Besides, comparisons are made in closed-loop control system to demonstrate the performance of the proposed method compared with conventional methods. The proposed control system results in better performance in the presence of uncertainties,external disturbance and even in transients when the vessel is subjected to sudden changes in environmental disturbances.

Implementation of Time-Scale Transformation Based on Continuous Wavelet Theory

The basic objective of time-scale transformation is to compress or expand the signal in time field while keeping the same spectral properties. This paper presents two methods to derive time-scale transformation formula based on continuous wavelet transform. For an arbitrary given square-integrable function f(t),g(t) = f(t/λ) is derived by continuous wavelet transform and its inverse transform. The result shows that time-scale transformation may be obtained through the modification of the time-scale of wavelet function filter using equivalent substitution. The paper demonstrates the result by theoretic derivations and experimental simulation.

Simulation of Cellular Neural Networks by Wave Digital Filter Principles

Based on wave digital filter(WDF) principles, this paper presents a digital model of cellular neural networks(CNNs). The model can precisely simulate the dynamic behavior of CNNs.

Robust autopilot with wave filter for ship steering

Research was done to overcome traditional problems associated with automatic steering systems of a ship in a seaway. A ship’s dynamic model with wave disturbances was built and a wave filter was designed by means of an extended states observer (ESO). The model estimated the low frequency motion component from a heading measurement corrupted by colorednoise, so back-and-forth steering caused by high frequency wave disturbances was avoided. At the same time, a robust autopilot system, designed by variable structure control theory, was presented. Simulation results achieved in dangerous sea status show that the wave filter works very well and the autopilot has strong robustness to environmental disturbances and model perturbation, and more importantly, the frequency of rudder adjustments is reduced noticeably.

Pspice Equivalent Circuit Model for Implementation of Surface Acoustic Wave Filter

The crystals of quartz,lithium,and piezoelectric ceramics have a piezoelectric effect as their major characteristic.The surface acoustic wave filter(SAWF) was designed by using this property.However,the experimental cost of the fabrication of SAWF is higher than that of mechanical filter or LC filter.Through the RLC(resistor,inductor and capacitor) network equivalent circuit and the interdigital transducer(IDT) equivalent circuit model,the electromotive force,the mechanical impedance of piezoelectric plate,and the wave number of Mason circuit model were researched.The equivalent circuit can be used to reduce product development costs and shorten the development cycle.Comparing simulation result by Pspice software with the theory of SAWF,the simulated waveform is similar to theory measurement,and the equivalent circuit model is verified.

Optimized Implementation for Wave Digital Filter Based Circuit Emulation on FPGA

A binary tree representation is designed in this paper for optimization of wave digital filter（WDF）implementation.To achieve this,an equivalent WDF model of the original circuit is converted into abinary tree representation at first.This WDF binary tree can then be transformed to several topologies with the same implication,since the WDF adaptors have a symmetrical behavior on their ports.Because the WDF implementation is related to field programmable gate array（FPGA）resource usage and the cycle time of emulation,choosing aproper binary tree topology for WDF implementation can help balance the complexity and performance quality of an emulation system.Both WDF-FPGA emulation and HSpice simulation on the same circuit are tested.There is no significant difference between these two simulations.However,in terms of time consumption,the WDF-FPGA emulation has an advantage over the other.Our experiment also demonstrates that the optimized WDF-FPGA emulation has an acceptable accuracy and feasibility.

OBSERVER/FILTER STRUCTURE BASED ADAPTIVE FRICTION COMPENSATION FOR HIGH PRECISION TURNTABLE

Two adaptive friction compensation schemes are developed for a high precision turntable system with nonlinear dynamic friction to handle two types of parametric uncertainties in the friction. Both schemes utilize a nonlinear observer/filter structure to compensate for uncertainties in corresponding friction parameters associated with the turntable system. Moreover, in the second scheme, adjustable gains are introduced into the dual nonlin- ear filters and they can be tuned to improve the position tracking performance. In both cases, a Lyapunov-like argument is provided for the global asymptotic stability of the closed-loop system. Simulation results demonstrate the effectiveness of the proposed schemes.

Analysis on the Meso-scale System Activity and the Structure Characteristics of A Short-time Rainstorm

By using the rainfall data in the regional automatic station,FY-2E satellite data,NCEP reanalysis data,the evolution features and the structure characteristics of a meso-scale convective system(MCS) which happened on May 6 in 2010 in Loudi City of Hunan Province were analyzed.The results showed that MCS was the important influence system for the generation and development of strong precipitation.The equivalent blackbody brightness temperature(TBB) field of satellite inversion could directly reflect the convective activity of cumulus,the precipitation distribution and the intensity characteristics in the rainstorm process.TBB low value belt had the good corresponding relationship with the rainstorm falling zone.The disturbance flow field and the height field which passed Barnes band-pass wave filtering represented that there existed the obvious high-layer anticyclonic circulation and the low-layer cyclonic circulation near the rainstorm zone.The divergence in the high layer and the convergence in the low layer enhanced the occurrence and development of MCS.In addition,the disturbance temperature field revealed the main source of energy which the occurrence and development of strong convective weather needed.

FEATURES AND COMPARISONS OF THE QUASI-BIENNIAL VARIATIONS IN THE ASIA-PACIFIC MONSOON SUBSYSTEMS

The National Centers for Environmental Prediction (NCEP) reanalysis data, Climate Diagnostics Center Merged Analysis of Precipitation (CMAP) results, and NOAA Extended Reconstructed Sea Surface Temperature (SST), have been utilized in this paper to study the quasi-biennial variations in Asia-Pacific monsoon subsystems and associated SST anomalies (SSTA) and wind anomalies. Four monsoon indices are computed from NCEP/ National Center for Atmospheric Research (NCAR) reanalysis to represent the South Asian monsoon (SAM), South China Sea summer monsoon (SCSSM), Western North Pacific monsoon (WNPM) and East Asian monsoon (EAM), respectively. The quasi-biennial periods are very significant in Asia-Pacific monsoons (as discovered by power spectrum analysis), and for SAM and EAM---with moderate effects by El Ni?o-Southern Oscillation (ENSO)---the quasi-biennial periods are the most important factor. For SCSSM and WNPM (once again due to the effects of ENSO), the quasi-biennial periods are of secondary durations. There are obvious interdecadal variations in the quasi-biennial modes of the Asia-Pacific monsoon, so in the negative phase the biennial modes will not be significant or outstanding. The wind anomalies and SSTA associated with the biennial modes are very different in the SAM, WNPM and EAM regions. Since the WNPM and SCSSM are very similar in the biennial modes, they can be combined into one subsystem, called SCS/WNPM.

A 16bit 96kHz Chopper-Stabilized Sigma-Delta ADC

A 16bit sigma-delta audio analog-to-digital converter is developed.It consists of an analog modulator and a digital decimator.A standard 2-order single-loop architecture is employed in the modulator.Chopper stabilization is applied to the first integrator to eliminate the 1/f noise.A low-power,area-efficient decimator is used,which includes a poly-phase comb-filter and a wave-digital-filter.The converter achieves a 92dB dynamic range over the 96kHz audio band.This single chip occupies 2.68mm2 in a 0.18μm six-metal CMOS process and dissipates only 15.5mW power.

Evaluation of the cement bond quality through filtering the reflected ultrasonic waves

High cement bond quality is required to keep an oil well from hydraulic commu- nication between zones. In the cement bond evaluation, the ultrasonic echo method is widely used for its capability of channeling azimuth detection. Full waveforms reflected from the cased hole are simulated for different bonding conditions by the generalized transfer matrix method. Because of the high acoustic impedance of casing, the amplitudes of the reflected waves from the cement and the formation are small and cannot easily be used to evaluate the cementing condition. The wave that can propagate into the cement and the formation through the casing concentrates closely on the casing resonant frequency. To reduce the amplitude of the reflected wave from the casing inner surface and highlight the part of the reflected wave which carries the cementing quality information, the reflected full wave is filtered according to the casing resonant frequency. There are several wave packets in the filtered waveform. When the amplitude of the second wave packet is low, the cement bonds well with the casing, otherwise poorly. A low amplitude third wave packet is an indication of a good bond of the cement with the formation, otherwise poor. To reveal the sensitivity of the reflection wave amplitudes to the incident angle, reflected full waveform is modeled when an acoustic beam with finite width is incident on the casing. It is shown that the bond evaluation method based on filtered wave packets is valid for incident angle less than 5 degrees.

The Fabrication of 2.5 GHz SAW Filter Using ZnO/Diamond Structure

Great interest in surface acoustic wave device based on diamond is attracted because diamond has the highest surface acoustic wave velocity of all substrates.In this paper,400 nm ZnO film was deposited on polycrystalline diamond wafer by magnetron sputtering.The experimental results indicate that highly c-axis oriented and fine-grain polycrystalline ZnO films have been obtained.100 nm Al thin film was deposited on ZnO/diamond by electron evaporation.Standard interdigital-transducers with the electrodes of 1.0μm width were fabricated on the Al film using photolithography and reactive ion etching (RIE) processes.A 2.48 GHz longitudinally-coupled double-mode surface acoustic wave filter has been successfully fabricated using the Al/ZnO/diamond structure.

Electrically-manipulable electron-momentum filter based on antiparallel asymmetric doubleδ-magnetic-barrier semiconductor microstructure

We theoretically investigate the wave-vector filtering(WVF)effect for electrons in an antiparallel asymmetric doubleδ-magnetic-barrier microstructure under a bias,which can be fabricated experimentally by patterning two asymmetric ferromagnetic(FM)stripes on the top and the bottom of GaAs/AlxGa1−xAs heterostructure,respectively.It is found that an appreciable WVF effect appears because of an essentially two-dimensional(2D)process for electrons across this microstructure.WVF effect is found to be sensitive to the applied bias.WVF efficiency can be tuned by changing bias,which may lead to an electrically-controllable momentum filter for nanoelectronics device applications.

Investigation of surface acoustic waves in laser shock peened metals

Laser shock peening is a well-known method for extending the fatigue life of metal components by introducing near-surface compressive residual stress. The surface acoustic waves （SAWs） are dispersive when the near-surface properties of materials are changed. So the near-surface properties （such as the thickness of hardened layers, elastic properties, residual stresses, etc.） can be analyzed by the phase velocity dispersion. To study the propagation of SAWs in metal samples after peening, a more reasonable experimental method of broadband excitation and reception is introduced. The ultrasonic signals are excited by laser and received by polyvinylindene fluoride （PVDF） transducer. The SAW signals in aluminum alloy materials with different impact times by laser shock peening are detected. Signal spectrum and phase velocity dispersion curves of SAWs are analyzed. Moreover, reasons for dispersion are discussed.

Surface Micromachining of Bulk Acoustic Wave Filters

The most common typical bulk acoustic wave (BAW) filters are fabricated using bulk micromachining technology, but they have several disadvantages. This paper describes a structure for front end passband BAW filters manufactured using surface micromachining. Porous silicon is used as a thick sacrificial layer. The structure reduces the influence of the support film on the filter to improve the VLSI compatibility as well as the filter quality. The cross-talk between resonators with different frequencies can be dramatically reduced by using resonators with a self-supporting structure.

Design of guided mode resonant filters for authentication applications through azimuthal angles varying

Guided mode resonant filters （GMRFs） for authentication application with low sideband reflection at 0^o and 90^o azimuthal angles were designed. Using rigorous coupled-wave analysis, the diffractive characteristics of this kind device with different illumination angles, groove depths, and thicknesses of cover SiO2 layer were investigated. The structure of GMRF which satisfies the requirements for authentication applications was obtained. Illuminated at 30^o for a definite polarization mode, the filter presents symmetrical reflectance shape, low sideband reflectance, two separate reflectance peaks, and definite full-width at halfmaximum （FWHM） at 0^o and 90^o azimuthal angles.

Improved resistance to electromigration and acoustomigration of Al interdigital transducers by Ni underlayer

The structure and morphology of A1 interdigital transducers as a function of Ni underlayer thickness were studied. The A1 （111） texture intensity increases first and then decreases as Ni underlayer thickness increases. 6-nm Ni underlayer results in the strongest A1 （111） texture with flattest surface, which exhibits almost 10 times longer life in electromigration measurement than those without Ni underlayer. 1.5 GHz surface acoustic wave filters fabri- cated with A1 film on 6-nm Ni underlayer also have improved power durability compared with those without Ni underlayer from 29.0 to 32.5 dBm. It is observed that those fine grains in the 6-nm Ni underlayer greatly enhance A1 （111） texture. Together with increased adhesion force, strong A1 （111） texture accounts for the improved resistance to electromigration and acoustomigration via the reduction of gains boundaries, resistivity, and fine grains at the interface, which is promising for high power surface acoustic wave filters.

Control of soliton interactions by use of super-Gaussian sliding-frequency filters

We derived the theoretical results of soliton interactions in optical fiber with super-Gaussian sliding-frequency filters. The results demonstrate that the interactions between optical fiber solitons can be effectively suppressed by super-Gaussian sliding-frequency filters. And the results also show that the super-Gaussian filter with sliding is more effective in suppressing soliton interactions than that without sliding.

Optimization of PZT-Based Radio-Frequency Filters

Analytical solutions are presented for the wave equation for the electrode-piezoelectric-electrode sandwich structure in film bulk acoustic resonators (FBAR). The impedance for lead-zirconate-titanate (PZT)-based FBAR was derived using the proper boundary conditions and material parameters. A method is presented to adjust the resonant frequency based on the process and material properties. Ferroelectric-based radio-frequency filters were designed using FBARs. An accurate result is given for the filter impedance which can be used for other piezoelectric devices.

Adaptive speckle reduction of ultrasound images based on maximum likelihood estimation

A method has been developed in this paper to gain effective speckle reduction in medical ultrasound images. To exploit full knowledge of the speckle distribution, here maximum likelihood was used to estimate speckle parameters corresponding to its statistical mode. Then the results were incorporated into the nonlinear anisotropic diffusion to achieve adaptive speckle reduction. Verified with simulated and ultrasound images, we show that this algorithm is capable of enhancing features of clinical interest and reduces speckle noise more efficiently than just applying classical filters. To avoid edge contribution, changes of contrast-to-noise ratio of different regions are also compared to investigate the performance of this approach.