Persistent ocean monitoring with underwater gliders : towards accurate reconstruction of dynamic ocean processes

Ocean processes are dynamic and complex events that occur on multiple different spatial and temporal scales. To obtain a synoptic view of such events, ocean scientists focus on the collection of long-term time series data sets. Generally, these time series measurements are continually provided in real or near-real time by fixed sensors, e.g., buoys and moorings. In recent years, an increase in the utilization of mobile sensor platforms, e.g., Autonomous Underwater Vehicles, has been seen to enable dynamic acquisition of time series data sets. However, these mobile assets are not utilized to their full capabilities, generally only performing repeated transects or user-defined patrolling loops. Here, we provide an extension to repeated patrolling of a designated area. Our algorithms provide the ability to adapt a standard mission to increase information gain in areas of greater scientific interest. By implementing a velocity control optimization along the predefined path, we are able to increase or decrease spatiotemporal sampling resolution to satisfy the sampling requirements necessary to properly resolve an oceanic phenomenon. We present a path planning algorithm that defines a sampling path, which is optimized for repeatability. This is followed by the derivation of a velocity controller that defines how the vehicle traverses the given path. The application of these tools is motivated by an ongoing research effort to understand the oceanic region off the coast of Los Angeles, California. The computed paths are implemented with the computed velocities onto autonomous vehicles for data collection during sea trials. Results from this data collection are presented and compared for analysis of the proposed technique.

Close-quarters Quadrotor flying for a pole inspection with position based visual servoing and high-speed vision

This paper presents a 100 Hz monocular position based visual servoing system to control a quadrotor flying in close proximity to vertical structures approximating a narrow, locally linear shape. Assuming the object boundaries are represented by parallel vertical lines in the image, detection and tracking is achieved using Plücker line representation and a line tracker. The visual information is fused with IMU data in an EKF framework to provide fast and accurate state estimation. A nested control design provides position and velocity control with respect to the object. Our approach is aimed at high performance on-board control for applications allowing only small error margins and without a motion capture system, as required for real world infrastructure inspection. Simulated and ground-truthed experimental results are presented.

Z-source converter based grid-interface for variable-speed permanent magnet wind turbine generators

A Z-source inverter based grid-interface for a variable-speed wind turbine connected to a permanent magnet synchronous generator is proposed. A control system is designed to harvest maximum wind energy under varied wind conditions with the use of the permanent magnet synchronous generator, diode-rectifier and Z-source inverter. Control systems for speed regulation of the generator and for DC- and AC- sides of the Z-source inverter are investigated using computer simulations and laboratory experiments. Simulation and experimental results verify the efficacy of the proposed approach.

Rendezvous of Multiple UAVs with Collision Avoidance Using Consensus

This paper addresses the problem of multiple unmanned aerial vehicle (UAV) rendezvous when the UAVs have to perform maneuvers to avoid collisions with other UAVs. The proposed solution consists of using velocity control and a wandering maneuver, if needed, of the UAVs based on a consensus among them on the estimated time of arrival at the point of the rendezvous. This algorithm, with a slight modification is shown to be useful in tracking stationary or slowly moving targets with a standoff distance. The proposed algorithm is simple and computationally efficient. The simulation results demonstrate the efficacy of the proposed approach. DOI: 10.1061/(ASCE)AS.1943-5525.0000145. (C) 2012 American Society of Civil Engineers.

8阶群速度控制格式及其应用

构造了8阶精度的群速度控制型差分格式.根据激波捕捉能力及对小尺度分辨能力对格式系数进行了优化.采用该格式对可压缩均匀各向同性湍流进行了直接数值模拟,所计算的最大湍流马赫数达到0.95.相同计算条件下的结果与他人结果吻合较好,说明了格式在捕捉激波的同时对湍流小尺度有较好的分辨能力.

Direct Numerical Simulation of Passive Scalar in Decaying Compressible Turbulence

The passive scalars in the decaying compressible turbulence with the initial Reynolds number (defined by Taylor scale and RMS velocity) Re=72, the initial turbulent Mach numbers (defined by RMS velocity and mean sound speed) Mt=0.2-0.9, and the Schmidt numbers of passive scalar Sc=2-10 are numerically simulated by using a 7th order upwind difference scheme and 8th order group velocity control scheme. The computed results are validated with different numerical methods and different mesh sizes. The Batchelor scaling with k(-1) range is found in scalar spectra. The passive scalar spectra decay faster with the increasing turbulent Mach number. The extended self-similarity (ESS) is found in the passive scalar of compressible turbulence.

六阶精度的群速度直接控制紧致格式及其应用

差分数值解产生非特殊振荡的直接原因是在于非均一的波群的群速度，因此本文利用直接群速度控制的方法重新构造具有六阶精度的紧致型差分格式，以达到改善激波数值解的目的。对所构造的格式的精度及数值解随控制参数变化的行为进行了分析。最后文中给出了一些典型算例，证明了文中所构造的格式具有方法简便，物理含义清楚，精度高，网格基架点小，和捕捉激波能力较强的优点。

Behaviour analysis of numerical solutions and simulation of coherent structures in compressible mixing layers

For understanding the correctness of simulations the behaviour of numerical solutions is analysed, Tn order to improve the accuracy of solutions three methods are presented. The method with GVC (group velocity control) is used to simulate coherent structures in compressible mixing layers. The effect of initial conditions for the mixing layer with convective Mach number 0.8 on coherent structures is discussed. For the given initial conditions two types of coherent structures in the mixing layer are obtained.

Direct Numerical Simulation Of Three-Dimensional Richtmyer-Meshkov Instability

Direct numerical simulation (DNS) is used to study flow characteristics after interaction of a planar shock with a spherical media interface in each side of which the density is different. This interfacial instability is known as the Richtmyer-Meshkov (R-M) instability. The compressible Navier-Stoke equations are discretized with group velocity control (GVC) modified fourth order accurate compact difference scheme. Three-dimensional numerical simulations are performed for R-M instability installed passing a shock through a spherical interface. Based on numerical results the characteristics of 3D R-M instability are analysed. The evaluation for distortion of the interface, the deformation of the incident shock wave and effects of refraction, reflection and diffraction are presented. The effects of the interfacial instability on produced vorticity and mixing is discussed.

Numerical simulation of Richtmyer-Meshkov instability

The compressible Navier-Stokes equations discretized with a fourth order accurate compact finite difference scheme with group velocity control are used to simulate the Richtmyer-Meshkov (R-M) instability problem produced by cylindrical shock-cylindrical material interface with shock Mach number Ms = 1.2 and density ratio 1:20 (interior density/outer density). Effect of shock refraction, reflection, interaction of the reflected shock with the material interface, and effect of initial perturbation modes on R-M instability are investigated numerically. It is noted that the shock refraction is a main physical mechanism of the initial phase changing of the material surface. The multiple interactions of the reflected shock from the origin with the interface and the R-M instability near the material interface are the reason for formation of the spike-bubble structures. Different viscosities lead to different spike-bubble structure characteristics. The vortex pairing phenomenon is found in the initial double mode simulation. The mode interaction is the main factor of small structures production near the interface.

A high order accurate difference scheme for complex flow fields

A high order accurate finite difference method for direct numerical simulation of coherent structure in the mixing layers is presented. The reason for oscillation production in numerical solutions is analyzed, It is caused by a nonuniform group velocity of wavepackets. A method of group velocity control for the improvement of the shock resolution is presented. In numerical simulation the fifth-order accurate upwind compact difference relation is used to approximate the derivatives in the convection terms of the compressible N-S equations, a sixth-order accurate symmetric compact difference relation is used to approximate the viscous terms, and a three-stage R-K method is used to advance in time. In order to improve the shock resolution the scheme is reconstructed with the method of diffusion analogy which is used to control the group velocity of wavepackets. (C) 1997 Academic Press.

Numerical Simulation of R-M Instability

In order to capture shock waves and contact discontinuities in the field and easy to program with parallel computation a new algorithm is developed to solve the N-S equations for simulation of R-M instability problems. The method with group velocity control is used to suppress numerical oscillations, and an adaptive non-uniform mesh is used to get fine resolution. Numerical results for cylindrical shock-cylindrical interface interaction with a shock Mach number Ms=1.2 and Atwood number A=0.818, 0.961, 0.980 (the interior density of the interface/outer density p(1)/p(2) = 10, 50, 100, respectively), and for the planar shock-spherical interface interaction with Ms=1.2 and p(1)/p(2) = 14.28are presented. The effect of Atwood number and multi-mode initial perturbation on the R-M instability are studied. Multi-collisions of the reflected shock with the interface is a main reason of nonlinear development of the interface instability and formation of the spike-bubble structures In simulation with double mode perturbation vortex merging and second instability are found. After second instability the small vortex structures near the interface produced. It is important factor for turbulent mixing.

A New High Order Accurate Shock Capture Method with Wave Booster

A new kind of shock capturing method is developed. Before applying the high order accurate traditional scheme which is called as base scheme in this paper the fluid parameters are preconditioned in order to control the group velocity. The newly constructed scheme is high order accurate, simple, has high resolution of the shock, and less computer time consumed.

一类非完整约束动力学系统的人工场导向控制

对于一类具有轮式移动机构的非完整动力学系统，本文通过建立人工场的方法来实现其位姿镇定、轨迹跟踪和路径跟踪等控制问题。人工场用于导向和控制方向角，而通过辅助的线速度控制以获取最佳收敛路径。控制器设计中同时兼顾动力学扰动及实际系统速度和输出力矩的饱和限制，所得控制器对于跟踪问题仅需知道期望位姿，而且结构简单、鲁棒性强、便于实现。

非完整约束轮式移动机器人人工场导向控制研究

导向控制在非完整约束轮式移动机器人的运动控制中具有重要作用，该文通过建立人工场的方法来引导和控制方向角，通过辅助的线速度控制前进或后退，以获得最佳收敛路径；同时考虑到实际系统速度饱和限制，从而设计出一种新的非连续位姿镇定律，并将该结果扩展，使得平面内任意点-点镇定、轨迹跟踪和路径跟踪问题均可得以实现，且对于跟踪问题仅需知道期望位姿，所得控制器不权设计简单，鲁棒性强，收敛速度快，还具有一定的普遍性。