Nonlinear trajectory-tracking control of an autonomous underwater vehicle

Heading multi-mode control based on soft-switching for autonomous underwater vehicle

As the capital and a major political hub for China, Beijing has undergone a rapid urbanization effect with significant population growth in recent years. At the same time, Beijing has also been suffering from severe water problems such as water scarcity, urban flooding and other issues related to water pollution. These have increasingly generated severe water problems and stymied the pace and scope of sustainable urban development. The critical challenges faced by water resource administrations pertains to the issues of sustainable management of water resources and the relevant actions to be put in place in order to address these water-related problems. In this study, the current water situation of Beijing is described in great detail focusing on water resource amounts, water supply, water consumption and water pollution changes analyzed from historical to recent years. The challenges of Beijing urban water management systems are also analyzed to offer possible solutions in light of the current trends. Finally, a number of useful strategies and action-oriented measures are provided for Beijing's urban water resource administration to assist them in overcoming the current water management challenges and for them to move towards a more sustainable developmental city.

/pdf/situations-challenges-and-strategies-of-urban-water-3njhj2yici.pdf

Situations, challenges and strategies of urban water management in Beijing under rapid urbanization effect

Numerical Investigation on Transverse Maneuverability of a Vectored Underwater Vehicle Without Appendage

To understand the physical ocean laws of ocean circulation in the deep ocean below 2000 m, a profiling float named FUXING is presented to meet the deep-ocean observation requirements at a depth of 4000 m. First, to meet the low energy consumption and buoyancy regulation stability of the profiling float, the low-power buoyancy adjustment process of FUXING is effectively solved by introducing the external seawater pressure as the driving force. Then, to reduce the energy consumption of the single profile for the profiling float, the optimization of the oil draining adjustment mode in the floating process is studied. Simultaneously, a buoyancy-driven system characterization test was performed to examine the buoyancy adjustment of FUXING. When the frequency of oil draining is 15 times, the total energy consumption of FUXING is the lowest. Finally, FUXING was deployed in the northeast off the Luzon Island to validate the feasibility and reliability. The at-sea experiments indicated that the optimized oil draining adjustment mode can reduce the total energy consumption in the floating process by more than 20%. The profile data showed that the outer sea water gradually mixes with the South China Sea water after passing through the northeast off the Luzon Island. 

/pdf/design-and-experimental-research-of-a-novel-deep-sea-self-898yxvkx.pdf

Design and experimental research of a novel deep-sea self-sustaining profiling float for observing the northeast off the Luzon Island

Liu, G.; Chen, G.; Jiao, J., and Jiang, R., 2015. Dynamics modeling and control simulation of an autonomous underwater vehicle. A dynamics model of an open-shelf Autonomous underwater vehicle (AUV) is described in this paper. The virtual prototype technology and the control simulation software are used to build the virtual prototype model of AUV, and AUV dynamic location control arithmetic is simulated based on analyzing motion and hydrodynamic mathematical model of the virtual prototype. The simulation results indicate that the virtual prototype system has the function of simulation demo and performance validation, and can provide one kind of new method for AUV graphic simulation, and has very important practical meaning on AUV design and control research.

https://bioone.org/journals/journal-of-coastal-research/volume-73/issue-sp1/SI73-127.1/Dynamics-Modeling-and-Control-Simulation-of-an-Autonomous-Underwater-Vehicle/10.2112/SI73-127.1.pdf

Dynamics Modeling and Control Simulation of an Autonomous Underwater Vehicle

A damage detection and severity estimation method for jacket offshore platform under environmental loads using modal strain energy method is presented in this paper. This method is different from former localization ones which need complete modal parameters after the damage occurring. It is remarkable because of its ability to diagnose platform health conditions within only a few amounts of identified natural frequencies and limited modal shapes from the damaged structure. First of all, a study of environmental conditions and environmental loads is introduced to expound how the wind, wave and current effect on the structure. After the theoretical derivation of modal strain energy method and the algorithm analysis, a Bohai Bay offshore platform model is demonstrated in the numerical examples, and the final results indicate that an excellent updating is achievable by applying the new method.

Damage Detection in Offshore Platform Structures under Environmental Loads Using Modal Strain Energy Method

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Dynamics Modeling and Control Simulation of an Autonomous Underwater Vehicle

Damage Detection in Offshore Platform Structures under Environmental Loads Using Modal Strain Energy Method