Flight control of tethered kites in autonomous pumping cycles for airborne wind energy

Energy harvesting based on tethered kites benefits from exploiting higher wind speeds at higher altitudes. The setup considered in this paper is based on a pumping cycle. It generates energy by winching out at high tether forces, driving an electrical generator while flying crosswind. Then it winches in at a stationary neutral position, thus leaving a net amount of generated energy.The focus of this paper is put on the flight control design, which implements an accurate direction control towards target points and allows for a flight with an eight-down pattern. An extended overview on the control system approach, as well as details of each element of the flight controller, is presented. The control architecture is motivated by a simple, yet comprehensive model for the kite dynamics.In addition, winch strategies based on an optimization scheme are presented. In order to demonstrate the real world functionality of the presented algorithms, flight data from a fully automated pumping-cycle operation of a small-scale prototype are given. The setup is based on a 30 m² kite linked to a ground-based 50 kW electrical motor/generator by a single line.     

基于CPG的双足机器人多层步行控制器设计

针对双足机器人步行控制器的设计问题,基于生物学启发原理,提出一种基于中枢模式发生器(CPG)与稳定性分析相结合的多层次结构控制器设计方法。分析机器人的步行运动,给出双足运动描述。基于CPG理论设计多层次结构的步行控制器,应用极限环理论方法分析运动稳定性。在保证步行稳定的前提下,所提出的控制方法具有结构简单、通用性好、方便在线平滑修正等优点,步行仿真实验验证了所提出算法的有效性。     

基于节点优先权和兴趣数据筛选的传感器网络分簇算法

无线传感器节点工作时仅由自身携带的电池供电,因此高效控制节点能耗可以延长整个网络生命周期,提高网络整体利用率。针对环境监测类场景,提出了一种基于节点优先权和兴趣数据筛选的分簇算法,该算法同时考虑了节点分布距离和剩余能量,将这两个属性换算成簇头选举的优先权权值。此外,在簇头确定后簇头通过相应的数据筛选方法对每一轮子节点发来的数据进行处理,有选择地将数据传到基站。仿真结果表明,该算法在能量控制方面有较好的表现,明显地延长了网络生命周期。     

Agro-ecosystem modeling can aid in the optimization of biomass feedstock supply

Recent European Directives promoted the development of biofuels, requesting mandatory limits to their emissions ot greenhouse gases (GHG). Second-generation biofuels based on lignocellulosic biomass are prime candidates but their GHG emissions are variable and uncertain. Agro-ecosystem modeling can capture them and the performance of biofuel feedstocks.This study aimed at optimizing feedstock supply for a bioethanol unit in France, from agricultural residues, annual and perennial crops. Their productivity and environmental impacts were modelled on a regional scale using geo-referenced data on soil properties, crop management, land-use and future weather data. Several supply scenarios were tested. Cereal straw was the most efficient feedstock but had a low availability, and only miscanthus could meet the bioethanol plant's demand. Sorghum combined poor yields and high GHG emissions compared by miscanthus and triticale. A mix of three biomass sources used less than 3% of the regional agricultural land while abating GHG emissions by 60%.     

Safety Considerations during Different Stages of a Project Life Cycle in the Manufacturing Industry

At sites with multiple employers, efficient safety management is essential to ensure safety for both customers and providers. However, implementing effective safety management is challenging, particularly for companies that provide services. Provider companies encounter difficulties managing the safety of service projects for many reasons, including the variety of customers and changes in work environment. Proper preparation and integration of safety into the different project life cycle stages improves safety, but the topic has not received much attention to date. This article discusses the integration of safety considerations into service projects. Material was collected from Finnish manufacturing companies via interviews and a questionnaire. The results show that systematic methods for developing and producing services have not been adopted in the provider companies, but these are often implemented as a result of practical experience. On the other hand, providers and customers both believed that safety is taken into account during different stages of a given service project—safety issues were to some extent taken into account during the tendering and contract stages of a project, and preventive safety measures were commonly implemented during the delivery of services. However, safety performance often was not evaluated after completion of work. For this reason, companies may not have an accurate estimation of each other's safety performance in these types of multi‐employer situations. The results of this study can be used in provider organizations to help systematize safety considerations during service projects and to focus efforts on the most essential points of service project safety management.     

新型水工混凝土表面防护涂层抗冻融性能研究

西部高寒地区地理位置独特,水文地质气候条件复杂,自然环境恶劣,造成该区域内水利工程混凝土材料易发生冻融劣化破坏。对此,选取课题组已研发的3种新型水工混凝土表面防护涂层材料(耐候型环氧涂层、不饱和聚酯树脂和聚脲涂层体系),进行室内加速冻融试验。试验结果表明,以环氧胶泥为底漆,聚脲材料为面漆的水工混凝土表面防护涂层的抗冻性能最优。随后在西藏地区水利水电工程进行了现场生产性试验,通过观测发现,新型聚脲材料起到了很好的抗冻防护效果。该材料有望应用于西部高寒地区水工建筑物的表面防护,提高水利水电工程建筑物的耐久性。     

海河流域近现代降水量变化若干特征

根据器测资料、代用资料和文献资料,综合分析海河流域1956年以来、1880年以来和1736年以来降水量变化的主要特征,探讨影响降水多年代尺度变化的可能机制。结果表明:1海河流域平均年降水量距平百分率在1956—2013年表现出较明显下降趋势,每10 a下降速率为2.6%,但在1880—2012年期间下降趋势很弱;21736—2012年,海河流域平均年降水量距平百分率未表现出任何长期趋势变化,1956年以来和1880年以来的趋势性减少现象也不再显得异常,但存在一系列年代到多年代尺度振动;320世纪40年代后期到60年代早期是1736年以来最湿润阶段,但20世纪初以来几次持续性干旱,包括1997—2003年的严重干旱,在1736年以来历史上并非罕见,1826—1843年曾出现持续时间最长的严重干旱;4海河流域平均年降水量具有准周期性振动特点,较明显的准周期包括2~7 a、11 a、22~23 a、33 a和63~65 a;520世纪60年代后期以来海河流域降水的趋势性减少,是区域气候63~65 a自然低频周期性振动的组成部分,预计未来几十年整个流域降水量总体上将呈增多趋势,并可能在2035—2040年达到峰值区间。     

我国北方区域地下水演化研究综述

基于"六五"至"十二五"期间有关区域地下水演化的国家和省部级重点科技项目主要成果,对近30年来我国地下水演化研究的主要进展进行了综述。我国区域地下水演化研究主要集中在北方地区,项目选题的起源和立项的时代背景具有鲜明的时代性和社会重大需求驱动,包括华北和西北地区流域尺度地下水演化的国家重点项目研究,都是围绕国家目标或区域经济发展重大需求,及时揭示了气候变化和人类活动影响下区域地下水演化的关键科技问题,突显了重大科学研究的时代性和必要性。     

基于变周期技术的自适应数据采集算法

在数据采集系统中,按需采集是平衡数据数量、提高数据质量的有效手段。本文所提出的自适应数据采集算法是基于有限采样点的一元线性回归拟合,通过实时地对采集到的数据进行分析,不断修正采样周期,使得采样周期能够快速、准确地适应被测对象的动态变化。MATLAB软件仿真表明,本方法对于被测量加速变化具有较强的动态捕捉能力,能够在降低平均采样频率的前提下减小采样失真度,且与同类方法相比失真度低,稳定性高,是测控系统中实时数据采集的一种较好的代替方案。