This paper considers the optimal trajectory tracking control problem for near-surface autonomous underwater vehicles(AUVs) in the presence of wave disturbances. An approximate optimal tracking control(AOTC) approach i...This paper considers the optimal trajectory tracking control problem for near-surface autonomous underwater vehicles(AUVs) in the presence of wave disturbances. An approximate optimal tracking control(AOTC) approach is proposed. Firstly, a six-degrees-of-freedom(six-DOF) AUV model with its body-fixed coordinate system is decoupled and simplified and then a nonlinear control model of AUVs in the vertical plane is given. Also, an exosystem model of wave disturbances is constructed based on Hirom approximation formula. Secondly, the time-parameterized desired trajectory which is tracked by the AUV's system is represented by the exosystem. Then, the coupled two-point boundary value(TPBV) problem of optimal tracking control for AUVs is derived from the theory of quadratic optimal control. By using a recently developed successive approximation approach to construct sequences, the coupled TPBV problem is transformed into a problem of solving two decoupled linear differential sequences of state vectors and adjoint vectors. By iteratively solving the two equation sequences, the AOTC law is obtained, which consists of a nonlinear optimal feedback item, an expected output tracking item, a feedforward disturbances rejection item, and a nonlinear compensatory term. Furthermore, a wave disturbances observer model is designed in order to solve the physically realizable problem. Simulation is carried out by using the Remote Environmental Unit(REMUS) AUV model to demonstrate the effectiveness of the proposed algorithm.展开更多
Laser tracking system （LTS） is an advanced device for large size 3D coordinates measuring with the advantages of broad range, high speed and high accuracy. However, its measuring accuracy is highly dominated by the ...Laser tracking system （LTS） is an advanced device for large size 3D coordinates measuring with the advantages of broad range, high speed and high accuracy. However, its measuring accuracy is highly dominated by the geometric errors of the tracking mirror mechanism. Proper calibration of LTS is essential prior to the use of it for metrology. A kinematics model that describes not only the motion but also the geometric variations of LTS is developed. Through error analysis of the proposed model, it is claimed that gimbals axis misalignments and tracking mirror center off-set are the key contributors to measuring errors of LTS. A self-calibration method is presented of calibrating LTS with planar constraints. Various calibration strategies utilizing single-plane and multiple-plane constraints are proposed for different situations. For each calibration strategy, issues about the error parameter estimation of LTS are exploded to find out in which conditions these parameters can be uniquely estimated. Moreover, these conditions reveal the applicability of the planar constraints to LTS self-calibration. Intensive studies have been made to check validity of the theoretical results. The results show that the measuring accuracy of LTS has increased by 5 times since this technique for calibration is used.展开更多
The structural deformation induced by intense laser field of liquid nitrobenzene（NB） molecule,a typical molecule with restricting internal rotation,is tracked by time- and frequency-resolved coherent anti-Stokes.Ram...The structural deformation induced by intense laser field of liquid nitrobenzene（NB） molecule,a typical molecule with restricting internal rotation,is tracked by time- and frequency-resolved coherent anti-Stokes.Raman spectroscopy（CARS） technique with an intense pump laser.The CARS spectra of liquid NB show that the NO2 torsional mode couples with the NO2 symmetric stretching mode,and the NB molecule undergoes ultrafast structural deformation with a relaxation time of 265 fs.The frequency of NO2 torsional mode in liquid NB（42 cm-1） at room temperature is found from the sum and difference combination bands involving the NO2 symmetric stretching mode and torsional mode in time- and frequency-resolved CARS spectra.展开更多
Stiffness is one of the basic performance parameters for railway track. The efficient and accurate stiffness measurement has been considered as the foundation for further development of railway engineering, and theref...Stiffness is one of the basic performance parameters for railway track. The efficient and accurate stiffness measurement has been considered as the foundation for further development of railway engineering, and therefore has great theoretical and practical significance. Based on a summary of the connotation and measurement of track stiffness, the state of the art of measurement methods for track stiffness was analyzed systematically. The standstill measurement of track stiffness can be performed with the traditional jack-loading method, impact hammer method, FWD （falling weight deflectometer） method, and track loading vehicle method. Although these methods can be adopted in stiffness measurement for a section of railway track, they are not desirable owning to small range and low efficiency. In the recent 20 years, researchers have proposed many methods like unbalancedloading laser displacement method, deflection basin deformation rate method, and eccentricity excitation method to continuously measure track stiffness; however, these methods have drawbacks like poor accuracy, low speed, and insufficient data analysis. In this work, the merits and demerits of these methods were summarized, and optimization suggestions were presented. Based on the wave transmission mechanism and principle of vibration energy harvesting, an overall conception on continuous measurement of stiffness and long-term stiffness monitoring for special sections was proposed.展开更多
Under repeated train-induced loads, cement and emulsified asphalt mortar(CA mortar) as a viscoelastic material has a time-dependent deformation, part of which is irreversible. This could lead to debonding between the ...Under repeated train-induced loads, cement and emulsified asphalt mortar(CA mortar) as a viscoelastic material has a time-dependent deformation, part of which is irreversible. This could lead to debonding between the mortar layer and the track slab. Based on the theory of viscoelasticity and the analytical method of the time hardening law(THL), the viscoelastic deformation behavior of CA mortar was studied. Using ABAQUS, we established a solid model of China railway track system(CRTS) Ⅰ prefabricated slab track, with CA mortar at different initial Young’s moduli under cyclic loading corresponding to the influence of actual train loads. The results reveal that the fitted parameters of the THL for CA mortar are suitable for describing its viscoelastic deformation. As the initial Young’s modulus increases, the strain difference before and after cyclic loading gradually decreases, and the displacement difference increases from 0.2 mm to 0.6 mm. The deformation mainly occurs at the end of a mortar layer with longitudinal distribution of about 2.5 times the fasteners’ spacing. It follows that the viscoelastic performance of CA mortar is one of the most important reasons that cause debonding underneath the track slab. Therefore, we suggest that the adverse effects of viscoelastic behavior of CA mortar should be considered when researching such deformation and damage.展开更多
In an active radar-tracking system,the target-motion model is usually modeled in the Cartesian coordinates,while the radar measurement usually is obtained in polar/spherical coordinates.Therefore the target-tracking p...In an active radar-tracking system,the target-motion model is usually modeled in the Cartesian coordinates,while the radar measurement usually is obtained in polar/spherical coordinates.Therefore the target-tracking problem in the Cartesian coordinates becomes a nonlinear state estimation problem.A number of measurement-conversion techniques,which are based on position measurements,are widely used such that the Kalman filter can be used in the Cartesian coordinates.However,they have fundamental limitations to result in filtering performance degradation.In fact,in addition to position measurements,the Doppler measurement or range rate,containing information of target velocity,has the potential capability to improve the tracking performance.A filter is proposed that can use converted Doppler measurements（i.e.the product of the range measurements and Doppler measurements） in the Cartesian coordinates.The novel filter is theoretically optimal in the rule of the best linear unbiased estimation among all linear unbiased filters in the Cartesian coordinates,and is free of the fundamental limitations of the measurement-conversion approach.Based on simulation experiments,an approximate,recursive implementation of the novel filter is compared with those obtained by four state-of-the-art conversion techniques recently.Simulation results demonstrate the effectiveness of the proposed filter.展开更多
基金supported in part by the National Natural Science Foundation of China (41276085)the Natural Science Foundation of Shandong Province (ZR2015FM004)
文摘This paper considers the optimal trajectory tracking control problem for near-surface autonomous underwater vehicles(AUVs) in the presence of wave disturbances. An approximate optimal tracking control(AOTC) approach is proposed. Firstly, a six-degrees-of-freedom(six-DOF) AUV model with its body-fixed coordinate system is decoupled and simplified and then a nonlinear control model of AUVs in the vertical plane is given. Also, an exosystem model of wave disturbances is constructed based on Hirom approximation formula. Secondly, the time-parameterized desired trajectory which is tracked by the AUV's system is represented by the exosystem. Then, the coupled two-point boundary value(TPBV) problem of optimal tracking control for AUVs is derived from the theory of quadratic optimal control. By using a recently developed successive approximation approach to construct sequences, the coupled TPBV problem is transformed into a problem of solving two decoupled linear differential sequences of state vectors and adjoint vectors. By iteratively solving the two equation sequences, the AOTC law is obtained, which consists of a nonlinear optimal feedback item, an expected output tracking item, a feedforward disturbances rejection item, and a nonlinear compensatory term. Furthermore, a wave disturbances observer model is designed in order to solve the physically realizable problem. Simulation is carried out by using the Remote Environmental Unit(REMUS) AUV model to demonstrate the effectiveness of the proposed algorithm.
基金National Natural Science Foundation of China (No. 50475038).
文摘Laser tracking system （LTS） is an advanced device for large size 3D coordinates measuring with the advantages of broad range, high speed and high accuracy. However, its measuring accuracy is highly dominated by the geometric errors of the tracking mirror mechanism. Proper calibration of LTS is essential prior to the use of it for metrology. A kinematics model that describes not only the motion but also the geometric variations of LTS is developed. Through error analysis of the proposed model, it is claimed that gimbals axis misalignments and tracking mirror center off-set are the key contributors to measuring errors of LTS. A self-calibration method is presented of calibrating LTS with planar constraints. Various calibration strategies utilizing single-plane and multiple-plane constraints are proposed for different situations. For each calibration strategy, issues about the error parameter estimation of LTS are exploded to find out in which conditions these parameters can be uniquely estimated. Moreover, these conditions reveal the applicability of the planar constraints to LTS self-calibration. Intensive studies have been made to check validity of the theoretical results. The results show that the measuring accuracy of LTS has increased by 5 times since this technique for calibration is used.
基金Project supported by the National Natural Science Foundation of China(Grant Nos.21173063 and 21203047)the Foundation of Heilongjiang Bayi Agricultural University,China(Grant No.XZR2014-16)+1 种基金NSAF(Grant No.U1330106)the Special Research Project of National Key Laboratory of Shock Wave and Detonation Physics,Institute of Fluid Physics,China Academy of Engineering Physics(Grant No.2012-S-07)
文摘The structural deformation induced by intense laser field of liquid nitrobenzene（NB） molecule,a typical molecule with restricting internal rotation,is tracked by time- and frequency-resolved coherent anti-Stokes.Raman spectroscopy（CARS） technique with an intense pump laser.The CARS spectra of liquid NB show that the NO2 torsional mode couples with the NO2 symmetric stretching mode,and the NB molecule undergoes ultrafast structural deformation with a relaxation time of 265 fs.The frequency of NO2 torsional mode in liquid NB（42 cm-1） at room temperature is found from the sum and difference combination bands involving the NO2 symmetric stretching mode and torsional mode in time- and frequency-resolved CARS spectra.
基金supported by the project (51425804) of the National Science Fund for Distinguished Young Scholars of Chinathe National Natural Science Foundation of China (NSFC) under grants U1234201, U1334203, and 51378439
文摘Stiffness is one of the basic performance parameters for railway track. The efficient and accurate stiffness measurement has been considered as the foundation for further development of railway engineering, and therefore has great theoretical and practical significance. Based on a summary of the connotation and measurement of track stiffness, the state of the art of measurement methods for track stiffness was analyzed systematically. The standstill measurement of track stiffness can be performed with the traditional jack-loading method, impact hammer method, FWD （falling weight deflectometer） method, and track loading vehicle method. Although these methods can be adopted in stiffness measurement for a section of railway track, they are not desirable owning to small range and low efficiency. In the recent 20 years, researchers have proposed many methods like unbalancedloading laser displacement method, deflection basin deformation rate method, and eccentricity excitation method to continuously measure track stiffness; however, these methods have drawbacks like poor accuracy, low speed, and insufficient data analysis. In this work, the merits and demerits of these methods were summarized, and optimization suggestions were presented. Based on the wave transmission mechanism and principle of vibration energy harvesting, an overall conception on continuous measurement of stiffness and long-term stiffness monitoring for special sections was proposed.
基金Project supported by the National Natural Science Foundation of China(No.51578472)。
文摘Under repeated train-induced loads, cement and emulsified asphalt mortar(CA mortar) as a viscoelastic material has a time-dependent deformation, part of which is irreversible. This could lead to debonding between the mortar layer and the track slab. Based on the theory of viscoelasticity and the analytical method of the time hardening law(THL), the viscoelastic deformation behavior of CA mortar was studied. Using ABAQUS, we established a solid model of China railway track system(CRTS) Ⅰ prefabricated slab track, with CA mortar at different initial Young’s moduli under cyclic loading corresponding to the influence of actual train loads. The results reveal that the fitted parameters of the THL for CA mortar are suitable for describing its viscoelastic deformation. As the initial Young’s modulus increases, the strain difference before and after cyclic loading gradually decreases, and the displacement difference increases from 0.2 mm to 0.6 mm. The deformation mainly occurs at the end of a mortar layer with longitudinal distribution of about 2.5 times the fasteners’ spacing. It follows that the viscoelastic performance of CA mortar is one of the most important reasons that cause debonding underneath the track slab. Therefore, we suggest that the adverse effects of viscoelastic behavior of CA mortar should be considered when researching such deformation and damage.
基金supported by the National Natural Science Foundation of China(5130712811571133)+1 种基金the National Natural Science Foundation of Hubei Province(2013CFB437)the Natural Science Foundation of School of Science(HJGSK2014G121)
文摘In an active radar-tracking system,the target-motion model is usually modeled in the Cartesian coordinates,while the radar measurement usually is obtained in polar/spherical coordinates.Therefore the target-tracking problem in the Cartesian coordinates becomes a nonlinear state estimation problem.A number of measurement-conversion techniques,which are based on position measurements,are widely used such that the Kalman filter can be used in the Cartesian coordinates.However,they have fundamental limitations to result in filtering performance degradation.In fact,in addition to position measurements,the Doppler measurement or range rate,containing information of target velocity,has the potential capability to improve the tracking performance.A filter is proposed that can use converted Doppler measurements（i.e.the product of the range measurements and Doppler measurements） in the Cartesian coordinates.The novel filter is theoretically optimal in the rule of the best linear unbiased estimation among all linear unbiased filters in the Cartesian coordinates,and is free of the fundamental limitations of the measurement-conversion approach.Based on simulation experiments,an approximate,recursive implementation of the novel filter is compared with those obtained by four state-of-the-art conversion techniques recently.Simulation results demonstrate the effectiveness of the proposed filter.
