A survey on tracking control of unmanned underwater vehicles: Experiments-based approach

This paper aims to provide a review of the conceptual design and theoretical framework of the main control schemes proposed in the literature for unmanned underwater vehicles (UUVs). Additionally, the objective of the paper is not only to present an overview of the recent control architectures validated on UUVs but also to give detailed experimental-based comparative studies of the proposed control schemes. To this end, the main control schemes, including proportional–integral–derivative (PID) based, sliding mode control (SMC) based, adaptive based, observation-based, model predictive control (MPC) based, combined control techniques, are revisited in order to consolidate the principal efforts made in the last two decades by the automatic control community in the field. Besides implementing some key tracking control schemes from the classification mentioned above on Leonard UUV, several real-time experimental scenarios are tested, under different operating conditions, to evaluate and compare the efficiency of the selected tracking control schemes. Furthermore, we point out potential investigation gaps and future research trends at the end of this survey.     

Double-layer fuzzy adaptive NMPC coordinated control method of energy management and trajectory tracking for hybrid electric fixed wing UAVs

The energy management and trajectory tracking control are crucial to realize long-endurance autonomous flight for hybrid electric UAVs. This study aims to comprehensively consider energy management and trajectory tracking for hybrid electric fixed wing UAVs with photovoltaic panel/fuel cell/battery. A double-layer fuzzy adaptive nonlinear model predictive control method (DFNMPC) is proposed. Separated by the surplus demand power, energy management and trajectory tracking problem are decoupled into the high-layer fuzzy adaptive nonlinear model predictive controll problem (H-FNMPC) and low-layer fuzzy adaptive nonlinear model predictive controll problem (L-FNMPC). H-FNMPC solves the trajectory tracking and navigation control probelm for the greatest benefit of solar energy. L-FNMPC solves the power allocation problem of hybrid energy system for minimum equivalent hydrogen consumption. A fuzzy adaptive prediction horizon adjustment method based on UAV maneuvering degree is proposed to effectively improve proposed method adaptability to different mission profiles. Analogously, a fuzzy adaptive equivalent hydrogen consumption factor adjustment method in L-FNMPC is proposed to ensure the flexible utilization of battery. In addition, an equivalent hydrogen flow rate calculation method based on the real-time current ratio is proposed for PV/FC/Battery hybrid energy system. Numerical simulation results including a spiral trajectory tracking and a quadrilateral trajectory tracking, demonstrate that DFNMPC can simultaneously handle energy management and trajectory tracking problem for hybrid electric UAVs. Compared to hierarchical fuzzy state machine strategy, DFNMPC can save 13.3% hydrogen for the spiral trajectory tracking, and 56.9% for the quadrilateral trajectory tracking. It indicates that the energy efficiency can be improved from both levels of energy management and flight motion. The proposed method prospected for exploring high-energy-efficiency autonomous flight of hybrid electric UAVs in the future.     

中频炉微机控制系统的研制

介绍了一种专用于熔炼的中频炉电源的构成及原理,其整流和逆变鄙分均由单片机控制,买现对负载频率的自动跟踪,具有故障检测和调节功能,达至量大功率输出,满足用户速度快、效率高的要求。     

异步电动机自动跟踪节电器的研制

异步电机自动跟踪节电器根据降压节电能自动跟踪负载变化,提高功率因数原理研制.其可控硅模块由三组反并联单向晶闸管构成.单片机实时检测电机定子电压、电流及功率因数,依据电机起动/运行状态判断是启动子程序还是按负载变化启用节电模式.系统核心控制采用AT89C52单片机,并用C51编写全部软件.     

捷联寻的制导系统滤波器设计

主要针对某型捷联寻的制导弹药,进行了捷联寻的制导系统滤波器设计并进行了目标机动情况下的仿真验证。利用捷联寻的导引头给出的量测信息,设计了捷联寻的制导系统的强跟踪卡尔曼滤波器,估计出弹目相对运动等信息,用于末制导弹药的最优导引律,导引其命中目标。仿真结果表明,所设计的捷联寻的制导系统滤波器能有效对付目标机动,满足某型制导弹药武器系统性能指标要求。     

水力压裂中多孔岩体的等效弹性常数应用

水力压裂调研结果认为，地下岩体中所含随机分布孔隙能够影响水力压裂的造缝过程。将多孔岩石的孔隙简化成规则排列的球形孔洞，采用渐近均匀化方法建立了等效弹性常数随孔隙比变化的关系；与基于Budiallsky自治理论得到的有效弹性常数进行比较，两曲线能较好地吻合；为水力压裂法准确地预测出水力压裂的造缝结果提供了可行方案。     

Numerical investigation of airflow pattern and particulate matter transport in naturally ventilated multi-room buildings

This study reports on a numerical investigation of transport behavior of indoor airflow and size-dependent particulate matter (PM) in multi-room buildings. An indoor size-dependent PM transport approach, combining the Eulerian large-eddy simulation of turbulent flow with the Lagrangian particle trajectory tracking, was developed to investigate indoor airflow pattern and PM1/PM2.5/PM10 removal efficiency in naturally ventilated multi-room buildings. A displacement ventilation with a measured indoor PM10 profile in Taipei Metropolis as the initial condition was carried out to characterize spatial and temporal variations of indoor PM1/PM2.5/PM10 removal behavior. The effects of indoor airflow pattern on particle transport mechanisms, e.g., deposition, suspension, migration and escape, were analyzed. Two comparison scenarios, which considered the effects of no indoor partition and different air change rate, respectively, were also conducted. In comparison with the effectiveness of PM1/PM2.5/PM10 removal, the simulated results showed that coarse particles were easier to be removed out of the building than fine particles. Natural ventilation was not an effective way to remove fine particles such as PM1 and PM2.5 in a multi-room building. Indoor partitions can impede 12% of the mean streamwise velocities and significantly increase 30-50% turbulence intensities. However, indoor partitions increased particle deposition and decreased particle escape. As a result of the two opposite particle removal mechanisms, i.e., deposition and escape, the impact of indoor partitions on PM1/PM2.5/PM10 removal behavior was not as significant as the results of airflow velocities. PRACTICAL IMPLICATIONS: This work developed a computational fluid dynamics technique to investigate indoor airflow patterns and PM1/PM2.5/PM10 removal ability in ventilated multi-room buildings. The results of this paper can help to identify adequate PM1/PM2.5/PM10 cleaning procedure and provide useful size-dependent PM control strategy in multi-room buildings.     

Multiple lines of evidence to identify the sources of fecal pollution at a freshwater beach in Hamilton Harbour, Lake Ontario

Multiple microbial source-tracking methods were investigated to determine the source of elevated Escherichia coli levels at Bayfront Park Beach in Hamilton Harbour, Lake Ontario. E. coli concentrations were highest in wet foreshore sand (114,000 CFU/g dry sand) and ankle-depth water (177,000 CFU/100mL), declining rapidly in deeper waters. Many gull and geese droppings were enumerated each week on the foreshore sand within 2m of the waterline. Both antimicrobial resistance analysis and rep-PCR DNA fingerprinting of E. coli collected at the beach and nearby fecal pollution sources indicated that E. coli in sand and water samples were predominantly from bird droppings rather than from pet droppings or municipal wastewater. Both methods indicated a trend of decreasing bird contamination, and increasing wastewater contamination, moving offshore from the beach. When foreshore sand was treated as a reservoir and secondary source of E. coli, waterborne E. coli were found to be more similar to sand isolates than bird or wastewater isolates out to 150 m offshore. Multiple lines of evidence indicated the importance of bird droppings and foreshore sand as primary and secondary sources of E. coli contamination in beach water at Bayfront Park.     

沥青混凝土路面车辙的成因分析与防治

分析了沥青混凝土路面车辙的形成原因和产生车辙的主要因素，从沥青类型、用量、矿料级配、空隙率等方面介绍了车辙的施工预防措施，提出了避免产生车辙的方法，以供工程实践选用。     

Microbial source tracking using host specific FAME profiles of fecal coliforms

The objective of this study was to investigate the host-specific differences in fatty acid methyl ester (FAME) profiles of fecal coliforms (FC). A known-source library was constructed with 314 FC isolates cultured from 6 possible sources of fecal pollution; 99 isolates from sewage; 29 from bovine; 29 from poultry; 50 from swine; 46 from waterfowl; and 61 from deer. It was found that the hydroxy FAMEs 12:0 2 OH, 12:03 OH, and 14:02 OH were exclusively associated with isolates of human origin. On the other hand, 3 saturated FAMEs, 10:0, 15:0, and 18:0 were found only in isolates from non-human sources, 15:0 being associated with livestock samples only. In addition to the presence of these signature FAMEs, the mean relative masses of 16:1 omega7c and 16:1 ISO/14:03 OH were significantly different between the isolates of human and non-human origins. A linear discriminant function differentiated FC isolates of human origin from those of livestock and wildlife origin at 99% accuracy. These results strongly suggest that the FAME profiles of FC show statistically significant host specificity and may have the potential to be used as a phenotypic microbial source tracking tool.