Sliding mode control based terminal impact angle constrained guidance laws using dual sliding surfaces

In this paper, sliding mode control theory based guidance laws to intercept non-maneuvering targets at a desired impact angle are presented. The desired impact angle, defined in terms of a desired line-of-sight (LOS) angle, is achieved by selecting the missile's lateral acceleration (latax) to enforce sliding mode on a sliding surface based on this LOS angle. As will be shown, this guidance law does not ensure interception for all states of the missile and the target during the engagement. Hence, to satisfy the requirement of interception at the desired impact angle, a second sliding surface is designed and a switching logic, based on the conditions necessary for interception, is presented that allows the latax to switch between enforcing sliding mode on one of these surfaces so that the target can be intercepted at the desired impact angle. The guidance laws are designed using non-linear engagement dynamics.

Impact angle constraint guidance law using cubic splines for intercepting stationary targets

In this paper the cubic spline guidance law is presented for intercepting a stationary target at a desired impact angle. The guidance law is obtained from cubic spline curve based trajectory using an inverse method. The cubic spline t rajectory curve expresses the altitude as a cubic polynomial of the downrange. The guidance law is modified to achieve interception in the cases where impact angle is greater that or equal to 90◦. The guidance law is implemented in a feedback mode to maintain the desired impact angle and to reduce miss distance in the presence of lateral acceleration saturation and atmospheric distur- bances. The simulation results show that the guidance law fulfills all the requirements.

State estimation of spiralling target using UKF with generalized sinusoidal target acceleration model

Hit-to-kill interception of high velocity spiraling target requires accurate state estimation of relative kinematic parameters describing spiralling motion. In this pa- per, spiraling target motion is captured by representing target acceleration through sinusoidal function in inertial frame. A nine state unscented Kalman filter (UKF) formulation is presented here with three relative positions, three relative velocities, spiraling frequency of target, inverse of ballistic coefficient and maneuvering coef-ficient. A key advantage of the target model presented here is that it is of generic nature and can capture spiraling as well as pure ballistic motions without any change of tuning parameters. Extensive Six-DOF simulation experiments, which includes a modified PN guidance and dynamic inversion based autopilot, show that near Hit-to-Kill performance can be obtained with noisy RF seeker measurements of gimbal angles, gimbal angle rates, range and range rate.

Partially integrated guidance and control of an air-dropped guided munition with explicit trajectory fixing

An innovative partially integrated guidance and control (PIGC) technique is developed for trajectory fixing by considering six degree-of-freedom (Six-DOF) nonlinear engagement dynamics for successful interception of ground targets by guided munitions. This trajectory fixing algorithm gives closed form solution, where two different trajectories are designed in x - h and x - y planes separately using simple quadratic equations. In order to follow designed trajectories commanded pitch and yaw rates are generated in outer loop using dynamic inversion technique. In inner loop these body rates are tracked using faster dynamic inversion loop by generating the necessary control surface deflections. Simulation studies with actuator dynamics have been carried out to account for three dimensional (3D) engagement geometry to demonstrate the usefulness of PIGC technique.

Capturability of Augmented Pure Proportional Navigation Guidance Against Time-Varying Target Maneuvers

This paper proposes a variation of the pure proportional navigation guidance law, called augmented pure proportional navigation, to account for target maneuvers, in a realistic nonlinear engagement geometry, and presents its capturability analysis. These results are in contrast to most work in the literature on augmented proportional navigation laws that consider a linearized geometry imposed upon the true proportional navigation guidance law. Because pure proportional navigation guidance law is closer to a realistic implementation of proportional navigation than true proportional navigation law, and any engagement process is predominantly nonlinear, the results obtained in this paper are more realistic than any available in the literature. Sufficient conditions on speed ratio, navigation gain, and augmentation parameter for capturability, and boundedness of lateral acceleration, against targets executing piecewise continuous maneuvers with time, are obtained. Further, based on a priori knowledge of the maximum maneuver capability of the target, a significant simplification of the guidance law is proposed in this paper. The proposed guidance law is also shown to require a shorter time of interception than standard pure proportional navigation and augmented proportional navigation. To remove chattering in the interceptor maneuver at the end phase of the engagement, a hybrid guidance law using augmented pure proportional navigation and pure proportional navigation is also proposed. Finally, the guaranteed capture zones of standard and augmented pure proportional navigation guidance laws against maneuvering targets are analyzed and compared in the normalized relative velocity space. It is shown that the guaranteed capture zone expands significantly when augmented pure proportional navigation is used instead of pure proportional navigation. Simulation results are given to support the theoretical findings.

Vegetation impact on stream chemical fluxes: Mule Hole watershed (South India)

The proportion of chemical elements passing through vegetation prior to being exported in a stream was quantified for a forested tropical watershed(Mule Hole, South India) using an extensive hydrological and geochemical monitoring at several scales. First, a solute annual mass balance was established at the scale of the soil-plant profile for assessing the contribution of canopy interaction and litter decay to the solute fluxes of soil inputs (overland flow) and soil outputs (pore water flow as seepages). Second, based on the respective contributions of overland flow and seepages to the stream flow as estimated by a hydrological lumped model, we assigned the proportion of chemical elements in the stream that transited through the vegetation at both flood event (End Member Mixing Analysis) and seasonal scales. At the scale of the 1D soil-plant profile, leaching from the canopy constituted the main source of K above the ground surface. Litter decay was the main source of Si, whereas alkalinity, Ca and Mg originated in the same proportions from both sources. The contribution of vegetation was negligible for Na. Within the soil, all elements but Na were removed from the pore water in proportions varying from 20% for Cl to 95% for K: The soil output fluxes corresponded to a residual fraction of the infiltration fluxes. The behavior of K, Cl, Ca and Mg in the soil-plant profile can be explained by internal cycling, as their soil output fluxes were similar to the atmospheric inputs. Na was released from soils as a result of Na-plagioclase weathering and accompanied by additional release of Si. Concentration of soil pore water by evapotranspiration might limit the chemical weathering in the soil. Overall, the solute K, Ca, Mg, alkalinity and Si fluxes associated with the vegetation turnover within the small experimental watershed represented 10-15 times the solute fluxes exported by the stream, of which 83-97% transited through the vegetation. One important finding is that alkalinity and Si fluxes at the outlet were not linked to the ``current weathering'' of silicates in this watershed. These results highlight the dual effect of the vegetation cover on the solute fluxes exported from the watershed: On one hand the runoff was limited by evapotranspiration and represented only 10% of the annual rainfall, while on the other hand, 80-90% of the overall solute flux exported by the stream transited through the vegetation. The approach combining geochemical monitoring and accurate knowledge of the watershed hydrological budget provided detailed understanding of several effects of vegetation on stream fluxes: (1) evapotranspiration (limiting), (2) vertical transfer through vegetation from vadose zone to ground surface (enhancing) and (3) redistribution by throughfalls and litter decay. It provides a good basis for calibrating geochemical models and more precisely assessing the role of vegetation on soil processes. (C) 2014 Elsevier Ltd. All rights reserved.

An integrated estimation/guidance approach for seeker-less interceptors

This paper addresses the problem of intercepting highly maneuverable threats using seeker-less interceptors that operate in the command guidance mode. These systems are more prone to estimation errors than standard seeker-based systems. In this paper, an integrated estimation/guidance (IEG) algorithm, which combines interactive multiple model (IMM) estimator with differential game guidance law (DGL), is proposed for seeker-less interception. In this interception scenario, the target performs an evasive bang-bang maneuver, while the sensor has noisy measurements and the interceptor is subject to acceleration bound. The IMM serves as a basis for the synthesis of efficient filters for tracking maneuvering targets and reducing estimation errors. The proposed game-based guidance law for two-dimensional interception, later extended to three-dimensional interception scenarios, is used to improve the endgame performance of the command-guided seeker-less interceptor. The IMM scheme and an optimal selection of filters, to cater to various maneuvers that are expected during the endgame, are also described. Furthermore, a chatter removal algorithm is introduced, thus modifying the differential game guidance law (modified DGL). A comparison between modified DGL guidance law and conventional proportional navigation guidance law demonstrates significant improvement in miss distance in a pursuer-evader scenario. Simulation results are also presented for varying flight path angle errors. A numerical study is provided which demonstrates the performance of the combined interactive multiple model with game-based guidance law (IMM/DGL). Simulation study is also carried out for combined IMM and modified DGL (IMM/modified DGL) which exhibits the superior performance and viability of the algorithm reducing the chattering phenomenon. The results are illustrated by an extensive Monte Carlo simulation study in the presence of estimation errors.

Comparative evaluation of inversion approaches of the radiative transfer model for estimation of crop biophysical parameters

The inversion of canopy reflectance models is widely used for the retrieval of vegetation properties from remote sensing. This study evaluates the retrieval of soybean biophysical variables of leaf area index, leaf chlorophyll content, canopy chlorophyll content, and equivalent leaf water thickness from proximal reflectance data integrated broadbands corresponding to moderate resolution imaging spectroradiometer, thematic mapper, and linear imaging self scanning sensors through inversion of the canopy radiative transfer model, PROSAIL. Three different inversion approaches namely the look-up table, genetic algorithm, and artificial neural network were used and performances were evaluated. Application of the genetic algorithm for crop parameter retrieval is a new attempt among the variety of optimization problems in remote sensing which have been successfully demonstrated in the present study. Its performance was as good as that of the look-up table approach and the artificial neural network was a poor performer. The general order of estimation accuracy for para-meters irrespective of inversion approaches was leaf area index > canopy chlorophyll content > leaf chlorophyll content > equivalent leaf water thickness. Performance of inversion was comparable for broadband reflectances of all three sensors in the optical region with insignificant differences in estimation accuracy among them.

An estimate of the number of tropical tree species

The high species richness of tropical forests has long been recognized, yet there remains substantial uncertainty regarding the actual number of tropical tree species. Using a pantropical tree inventory database from closed canopy forests, consisting of 657,630 trees belonging to 11,371 species, we use a fitted value of Fisher's alpha and an approximate pantropical stem total to estimate the minimum number of tropical forest tree species to fall between similar to 40,000 and similar to 53,000, i.e., at the high end of previous estimates. Contrary to common assumption, the Indo-Pacific region was found to be as species-rich as the Neotropics, with both regions having a minimum of similar to 19,000-25,000 tree species. Continental Africa is relatively depauperate with a minimum of similar to 4,500-6,000 tree species. Very few species are shared among the African, American, and the Indo-Pacific regions. We provide a methodological framework for estimating species richness in trees that may help refine species richness estimates of tree-dependent taxa.

Impact Time Guidance for Large Heading Errors Using Sliding Mode Control

In this paper, sliding mode control-based impact time guidance laws are proposed. Even for large heading angle errors and negative initial closing speeds, the desired impact time is achieved by enforcing a sliding mode on a switching surface designed by using the concepts of collision course and estimated time-to-go. Unlike existing guidance laws, the proposed guidance strategy achieves impact time successfully even when the estimated interception time is greater than the desired impact time. Simulation results are also presented.

沙坡头人工植被区陆气耦合模式及生物结皮与植被演变的机理研究

论述了研究陆气相互作用的意义和现状。在以前工作基础上，针对腾格里沙漠人工植被区陆气水热传输过程，提出了一个多层陆气的耦合模式。特别给出了导水率的计算模型和修正后的根系吸水模式，考虑了结皮层对于土壤水分入渗的影响以及植被演变的过程。陆气耦合模式分别对大气、植被、土壤作用多层划分，以助于细致了解沿高度分布的各物理量。同时，介绍了当地气候根况和野外观测情况。利用本模式对中国科学院沙坡头沙漠站人工植被区陆气水热效换过程进行了数值模拟，模拟结果与实测值吻合较好，可为当地合理利用水热资源和治理沙漠提供科学依据。

Large Eddy Simulation of Complex Turbulent Flows: Physical Aspects and Research Trends

In the current paper, we have primarily addressed one powerful simulation tool developed during the last decades-Large Eddy Simulation (LES), which is most suitable for unsteady three-dimensional complex turbulent flows in industry and natural environment. The main point in LES is that the large-scale motion is resolved while the small-scale motion is modeled or, in geophysical terminology, parameterized. With a view to devising a subgrid-scale(SGS) model of high quality, we have highlighted analyzing physical aspects in scale interaction and-energy transfer such as dissipation, backscatter, local and non-local interaction, anisotropy and resolution requirement. They are the factors responsible for where the advantages and disadvantages in existing SGS models come from. A case study on LES of turbulence in vegetative canopy is presented to illustrate that LES model is more based on physical arguments. Then, varieties of challenging complex turbulent flows in both industry and geophysical fields in the near future-are presented. In conclusion; we may say with confidence that new century shall see the flourish in the research of turbulence with the aid of LES combined with other approaches.

Water quality impacts of mechanical shredding of aquatic macrophytes

We examined the impacts of mechanical shredding (i.e.. shredding plants and leaving biomass in the system) of the water chestnut (Trapa natans) on water quality and nutrient mobilization in a control and experimental site in Lake Champlain (Vermont-New York). A 1-ha plot was mechanically shredded within 1 h on 26 July, 1999. Broken plant material was initially concentrated on the lake surface of the experimental station after shredding, and was noticeable on the lake surface for 19 d. Over a two week period after shredding. concentrations of total nitrogen (N) and phosphorus (P), and soluble reactive P increased in the lower water column of the experimental station, coinciding with decomposition of water chestnut. Sediments in the control and experimental stations exhibited vet-v low rates of N and P release and could not account for increases in nutrient concentrations in the water column after mechanical shredding. Shredded plant material deployed in mesh bags at the experimental station lost similar to 70% of their total mass, and 42%, N and 70% P within 14 d. indicating Substantial nutrient mobilization via autolysis and decomposition. Chlorophyll a concentrations increased to 35 g/L at the experimental station on day 7 after shredding, compared to a concentration of 4 g/L at the control station. suggesting uptake of mobilized nutrients by phytoplankton. Disruption Of the Surface canopy of water chestnut by shredding was associated with marked increases in turbidity and dissolved oxygen, suggesting increased mixing at the experimental site.

Distribution and Density of Vegetative Hydrilla Propagules in the Sediments of Two New Zealand Lakes

The distribution and density of hydrilla (Hydrilla verticillata (L.f.)Royle) turions and tubers in two New Zealand lakes were assessed by sampling cores of sediment from Lakes Tutira and Waikapiro each year from 1994 to 1997. Turion and tuber density differed with water depth, with maximum numbers of tubers and turions found in the 1-2 m and 1.5-4m water depth ranges respectively. A high turion to tuber ratio was observed, with turions accounting for over 80% of propagules. The relatively low numbers of turions and tubers compared with other reports, and the distribution of most tubers within the shallow water is likely to be associated with black swan grazing (Cygnus atratus Latham), with maintains a canopy of hydrilla consistently 1 m below the water surface.

Dinâmica populacional de Halodule wrightii Ascherson e sua fauna e flora associada em Cabo Frio RJ

Fanerógamas marinhas (gramas marinhas) são plantas com flores adaptadas ao ambiente marinho costeiro da maioria dos continentes do mundo. As gramas marinhas formam extensos bancos e proveem valiosos recursos em águas costeiras rasas em todo o mundo, servindo de alimento e berçário para espécies importantes de pescados comerciais e recreacionais. Nesse estudo foi realizada uma revisão sobre o estado de conhecimento das fanerógamas marinhas no Brasil até o presente momento; avaliou-se a importância do monitoramento em longo prazo e a influência de fatores ambientais, como o número de manchas solares; pesquisou-se também a distribuição espacial da grama marinha, bem como a fauna e flora associada; e o crescimento de Halodule wrightii em duas condições ambientais extremas (exposta no ciclo de maré baixa e permanentemente submersa). A revisão bibliográfica sobre as gramas marinhas foi abrangente e verificou a existência de algumas lacunas no conhecimento. Através do monitoramento a longo prazo pôde ser observado que o número de manchas solares tem forte relação negativa sobre a altura do dossel das gramas marinhas de região entre marés. A variação de marés na região de mediolitoral está relacionada diretamente com a distribuição espacial de Halodule wrightii e, consequentemente na distribuição da fauna e flora associada. A diferença de crescimento nos eixos de Halodule wrightii em condições ambientais diferentes é compensada pelas variações nas características de distribuição da planta no ambiente, tais como a altura do dossel, a densidade e biomassa de eixos. O monitoramento a longo prazo pode permitir a tomada de ações que auxiliem no manejo e na recuperação desses importantes habitats costeiros.