This paper presents an architecture of a newly developed autonomous underwater vehicle (AUV) platform, named KAUV-1, which is designed as a torpedo with very light weight and small size, suitable for use in marine exploration and monitoring. The KAUV-1 has a unique ducted propeller located at the aft end with yawing actuation acting as a rudder. For depth motion, the KAUV-1 is designed to have a mass shifter mechanism inside to change the vehicle center of gravity and to control its pitch angle and depth motion. The paper also presents an analysis on the equations of motion of the KAUV-1 with mass shifter mechanism and a new depth control strategy for the KAUV-1. The feasibility of the proposed control strategy is validated through simulation and experiment of performance of the vehicle. 相似文献
This paper is concerned with the mean-square exponential stability problem for a class of impulsive stochastic systems with delayed impulses. The delays exhibit in both continuous subsystem and discrete subsystem. By constructing piecewise time-varying Lyapunov functions and Razumikhin technique, sufficient conditions are derived which guarantee the mean-square exponential stability for impulsive stochastic delay system. It is shown that the obtained stability conditions depend both on the lower bound and the upper bound of impulsive intervals, and the stability of system is robust with regard to sufficiently small impulse input delays. Finally, two examples are proposed to verify the efficiency of the proposed results. 相似文献
Cyclic fatigue crack growth and crack-resistance behaviour was studied in partially stabilized zirconia (PSZ) with three different cubic-phase grain sizes following sub-eutectoid heat treatments. Raman spectroscopy was used to determine the extent of phase transformation around the cracks for both cyclic and monotonic loading conditions. All tests were on long, through thickness cracks using compact-tension specimens. Predictions of crack-tip shielding were made following determination of toughening parameters using crackresistance data. It was found that the dominant factors affecting cyclic fatigue-crack growth were the level of crack-tip shielding, as a result of phase transformation, and the intrinsic toughness of the material. Grain size did not appear to significantly affect fatigue crack-growth behaviour. 相似文献
Introducing anionic redox in layered oxides is an effective approach to breaking the capacity limit of conventional cationic redox. However, the anionic redox reaction generally suffers from excessive oxidation of lattice oxygen to O2 and O2 release, resulting in local structural deterioration and rapid capacity/voltage decay. Here, a Na0.71Li0.22Al0.05Mn0.73O2 (NLAM) cathode material is developed by introducing Al3+ into the transition metal (TM) sites. Thanks to the strong Al–O bonding strength and small Al3+ radius, the TMO2 skeleton and the holistic TM–O bonds in NLAM are comprehensively strengthened, which inhibits the excessive lattice oxygen oxidation. The obtained NLAM exhibits a high reversible capacity of 194.4 mAh g-1 at 20 mA g-1 and decent cyclability with 98.6% capacity retention over 200 cycles at 200 mA g−1. In situ characterizations reveal that the NLAM experiences phase transitions with an intermediate OP4 phase during the charge–discharge. Theoretical calculations further confirm that the Al substitution strategy is beneficial for improving the overlap between Mn 3d and O 2p orbitals. This finding sheds light on the design of layered oxide cathodes with highly reversible anionic redox for sodium storage. 相似文献
This study aims to propose a more efficient hybrid algorithm to achieve favorable control performance for uncertain nonlinear systems. The proposed algorithm comprises a dual function-link network-based multilayer wavelet fuzzy brain emotional controller and a sign(.) functional compensator. The proposed algorithm estimates the judgment and emotion of a brain that includes two fuzzy inference systems for the amygdala network and the prefrontal cortex network via using a dual-function-link network and three sub-structures. Three sub-structures are a dual-function-link network, an amygdala network, and a prefrontal cortex network. Particularly, the dual-function-link network is used to adjust the amygdala and orbitofrontal weights separately so that the proposed algorithm can efficiently reduce the tracking error, follow the reference signal well, and achieve good performance. A Lyapunov stability function is used to determine the adaptive laws, which are used to efficiently tune the system parameters online. Simulation and experimental studies for an antilock braking system and a magnetic levitation system are presented to verify the effectiveness and advantage of the proposed algorithm.