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.     

Formation process of zirconia nanotubes and porous structures and model of oxygen bubble growth

Preparation and growth mechanism of anodization of Ti and Al has been widely concerned for two decades, but the research on anodic ZrO₂ is relatively lacking. In this paper, anodic TiO₂ and ZrO₂ nanotubes were prepared in glycerol electrolyte containing 0.35 M NH₄F and 4 vol% H₂O under different anodizing voltages. We had successfully prepared the anodic ZrO₂ nanotubes (AZNTs) with a complete top and a “bulb” at the bottom under 60 V, and with the increase of the applied anodizing voltage, the “bulb” cavity also increased. However, under the same anodizing conditions, the surface of anodic TiO₂ nanotubes (ATNTs) is a cluster of nano-tip morphology, and the bottom of the ATNTs is a conventional hemisphere shape. In addition, both AZNTs and porous anodic zirconia (PAZ) were found to coexist in the anodic ZrO₂ layer prepared at 60 V. Here, we used the oxygen bubble model and ionic current and electronic current theories to analyze the reason of the special morphology. It is confirmed that the porous anodic oxides are actually evolved from nanotubes. In other words, the structure is essentially the same.     

Microstructure and some properties of powder-pack borided Ti–5Mo–5V–8Cr–3Al alloy with special attention to the microstructure at the interface TiB/substrate

The borided layer was prepared on the surface of the Ti–5Mo–5V–8Cr–3Al alloy by powder-pack boriding at 1000°C-10h. SEM, EPMA and TEM were used to investigate the effects of alloying elements (Al, V, Mo and Cr) on the growth of TiB whiskers in the borided Ti–5Mo–5V–8Cr–3Al alloy. Wear properties of borided Ti–5Mo–5V–8Cr–3Al alloy were investigated using dry reciprocating friction tests. SEM results show that the thickness of boride layer in Ti–5Mo–5V–8Cr–3Al alloy is thinner than that in the Cp-Ti. This is attributed to the enrichment of alloying elements especially V in TiB/substrate by TEM, which hinders the diffusion of B atoms, thus resulting in the short and thick TiB whiskers in Ti–5Mo–5V–8Cr–3Al alloy. Borided Ti–5Mo–5V–8Cr–3Al alloy has the better wear resistance than as-received alloy.     

Effects of alkali metal ion on imprinting GRIN microstructure in GeS2-Ga2S3-MCl (M=Na,K, Cs) glasses for visible to mid-infrared microgratings

Gradient refractive index (GRIN) micro-optics present unique opportunities for control of the chromatic properties, new degrees of freedom for optical design as well as the potential for use in new optical system applications. GRIN microgratings were imprinted in GeS₂-Ga₂S₃-MCl (M = Na, K, Cs) chalcohalide glasses by microthermal poling, and the effects of the type and concentration of alkali cations on their performance were investigated. Two effective imprinting formation regions of the GRIN microstructure based on the poling saturation voltage (U_s) and glass composition are observed at fixed poling time and temperature. The U_s increases from 140 to 750 and 2600 V in accordance with the activation energy (E_a) of alkali ions (Na⁺ to K⁺ and Cs⁺) increasing from 45.15 to 58.62 and 92.58 kJ/mol for studied samples. The saturated numbers of diffraction order (N_s) of the gratings in these samples are 7, 9 and 6, respectively, the highest number being provided by the K⁺-containing sample. This is in accordance with imprinting-induced phase differences (0.14λ, 0.19λ and 0.09λ) measured in the fabricated samples containing Na⁺, K⁺ and Cs⁺ ions. Furthermore, the U_s of samples decreases from 1500 to 300 V with four concentrations of K⁺ from 10 to 30%, associated with their E_a of K⁺ decreasing from 69.62 to 53.46 kJ/mol, while N_s increases from 8 to 14, which is attributed to the increase of the phase difference in the GRIN structures. The controllable GRIN microstructures are realized by adjusting the type and concentration of alkali cations in chalcohalide glasses, which is expected to drive the design of broadband GRIN microgratings.     

Spark plasma sintering of UO2 nanopowders: Pressure,heating rate and current effects

We analysed with different methods the densification of UO₂ nanopowders in SPS under constant heating rate (CHR) and isothermal sintering conditions. The apparent activation energy of densification in SPS (75 kJ/mol with CHR method) is significantly smaller than in conventional sintering. It is shown that this is likely not an effect of the applied current. We also observed a threshold stress at 64 MPa for the transition from pressure-insensitive sintering (stress exponent n≈0) to pressure-assisted sintering, suggesting that the contribution of the capillary stresses in such nanopowders is comparable with the typical stress applied in SPS.     

Molecular design for thermally stable SiZrBOC structure from single source precursor with high ceramic yield

A new type of high-temperature-resistant SiZrBOC ceramics was prepared by sol-gel method using polymethyl-hydro siloxane (PMHS), boric acid (B(OH)₃), and n-propyl zirconate (Zr(OPr)₄) as raw materials. After high-temperature pyrolysis, the SiZrBOC precursor was transformed into a crystalline ceramic material with a yield of 89.5 wt%. Fourier infrared spectroscopy (FT-IR) and thermogravimetric analysis (TGA) were applied to characterize the polymer-ceramic conversion process and thermal behavior of ceramic precursors. According to the results, the addition of boron elements led to the formation of Si-O-B links in the system. X-ray diffraction (XRD) and transmission electron microscopy (TEM) were used to study the phase composition and microstructure of SiZrBOC ceramics. Finally, the oxidation test at 1200 °C revealed that SiZrBOC ceramics with a boron/zirconium molar ratio of 2.5:1 exhibited the best oxidation resistance at a weight gain of 0.4 wt% only.     

剪切解络-超滤分离金属关键指标预测与验证

根据剪切解络-超滤过程中金属离子的动态浓度关系和质量守恒定律,采用CodeBlocks17.12软件编写程序,建立了剪切解络-超滤工艺关键指标预测模型,实现了金属离子浓度、回收率、体积稀释倍数等指标的预测,并用实验加以验证。依次在转速800 r/min、1 400 r/min、3 000 r/min下回收模拟废水中43 μg/L的Co²⁺、995 μg/L的Ni²⁺和88 μg/L的La³⁺,3种金属的回收率均达99.8%以上时,超滤过程体积稀释倍数的预测值分别为7.0、7.5、5.75,实验值分别为7.5、7.25、6.25,可见预测值与实验值基本一致。本模型对研究方案制定和调整有实际指导意义。     

Kinetic Monte Carlo simulation of hydrogen production from photocatalytic water splitting in the presence of methanol by 1 wt% Au/TiO2

In this research, using the kinetic Monte Carlo simulation (KMC), the hydrogen production from a water-methanol mixture using Au/TiO₂ photocatalyst is investigated. A mechanism is proposed, and the rate constants of the reaction steps are specified. The reaction rate constants of different steps and the concentration of the active sites on the photocatalyst surface were determined. An excellent match between simulated and experimental data confirms the results. The electron-hole pair production, methanol adsorption on the photocatalyst surface, and electron-hole recombination steps are considered the most critical steps. To study the effects of independent variables (initial concentration of methanol, photocatalyst dosage, pH, and time of reaction) on the produced hydrogen, a combination of KMC simulation and design of experiment was employed. The concentration of photocatalysis has the highest and pH has the lowest effect on the hydrogen production. The optimal conditions for photocatalytic hydrogen production are presented.     

海上热采防砂封隔器研制与室内试验

海上稠油热采开发过程中,通常采用蒸汽吞吐的方式进行原油开采。为满足稠油热采长效密封要求,研制了HPHT-215型热采防砂封隔器。封隔器胶筒采用特制的氟硅基复合材料+玻璃纤维网结构,并开展了材料性能评价测试。通过有限元分析和室内胶筒组合测试,对胶筒材料和组合结构进行了评价优化。室内全尺寸整机测试表明:封隔器能够满足耐温350 ℃、耐压21 MPa密封性能要求,并开展了高低温多轮次密封性能评价测试。该型热采防砂封隔器的研制成功,为海上稠油蒸汽吞吐多轮次开发提供了保障,具有广泛的应用前景。     

格点QCD基础求解器及其异构计算实现的性能优化

格点量子色动力学(格点QCD)是研究夸克、胶子等微观粒子间相互作用的重要理论和方法. 通过将时空离散化为四维结构网格, 并将量子色动力学的基本场量定义在网格上, 让研究人员可以使用数值模拟方法, 从第一性原理出发研究强子间相互作用和性质, 但这个过程中的计算量极大, 需要进行大规模并行计算. 格点QCD计算的核心基础为格点QCD求解器, 是程序运行主要的计算热点模块. 本文研究在国产异构计算平台下格点QCD求解器的实现与优化, 提出一套格点QCD求解器的设计实现, 实现了BiCGSTAB求解器, 显著降低了迭代次数; 通过对奇偶预处理技术, 降低了所求问题的计算规模; 针对国产异构加速卡的特点, 优化了Dslash模块的访存操作. 实验测试表明, 相比优化前的求解器获得了约30倍的加速比, 为国产异构超算下格点QCD软件性能优化提供了有益的参考价值.