De Cedmone poëta anglo-saxonum vetustissimo brevis dissertatio.

Mode of access: Internet.

Monotonous trend estimation using recursive prony analysis

This paper presents a solution to the problem of estimating the monotonous tendency of a slow-varying oscillating system. A recursive Prony Analysis (PA) scheme is developed which involves obtaining a dynamic model with parameters identified by implementing the forgetting factor recursive least square (FFRLS) method. A box threshold principle is proposed to separate the dominant components, which results in an accurate estimation of the trend of oscillating systems. Performance of the proposed PA is evaluated using real-time measurements when random noise and vibration effects are present. Moreover, the proposed method is used to estimate monotonous tendency of deck displacement to assist in a safe landing of an unmanned aerial vehicle (UAV). It is shown that the proposed method can estimate instantaneous mean deck satisfactorily, making it well suited for integration into ship-UAV approach and landing guidance systems.

A Flight control scheme to improve position tracking performance of rotary-wing UASs

This paper outlines an innovative and feasible flight control scheme for a rotary-wing unmanned aerial system (RUAS) with guaranteed safety and reliable flight quality in a gusty environment. The proposed control methodology aims to increase gust-attenuation capability of a RUAS to ensure improved flight performance when strong gusts occur. Based on the design of an effective estimator, an altitude controller is firstly constructed to synchronously compensate for fluctuations of the main rotor thrust which might lead to crashes in a gusty environment. Afterwards, a nonlinear state feedback controller is proposed to stabilize horizontal positions of the RUAS with gust-attenuation property. Performance of the proposed control framework is evaluated using parameters of a Vario XLC helicopter and high-fidelity simulations show that the proposed controllers can effectively reduce side-effect of gusts and demonstrate performance improvement when compared with the proportional-integral-derivative (PID) controllers.

A nonlinear position controller for maritime operations of Rotary-wing UAVs

This paper presents a disturbance attenuation controller for horizontal position stabilization for hover and automatic landings of a Rotary-wing Unmanned Aerial Vehicle (RUAV) operating in rough seas. Based on a helicopter model representing aerodynamics during the landing phase, a nonlinear state feedback H-infinity controller is designed to achieve rapid horizontal position tracking in a gusty environment. The resultant control variables are further treated in consideration of practical constraints (flapping dynamics, servo dynamics and time lag effect) for implementation purpose. The high-fidelity closed-loop simulation using parameters of the Vario helicopter verifies performance of the proposed position controller. It not only increases the disturbance attenuation capability of the RUAV, but also enables rapid position response when gusts occur. Comparative studies show that the H-infinity controller exhibits great performance improvement and can be applied to ship/RUAV landing systems.

Non-linear position control for hover and automatic landing of unmanned aerial vehicles

This study presents a disturbance attenuation controller for horizontal position stabilisation for hover and automatic landings of a rotary-wing unmanned aerial vehicle (RUAV) operating close to the landing deck in rough seas. Based on a helicopter model representing aerodynamics during the landing phase, a non-linear state feedback H∞ controller is designed to achieve rapid horizontal position tracking in a gusty environment. Practical constraints including flapping dynamics, servo dynamics and time lag effect are considered. A high-fidelity closed-loop simulation using parameters of the Vario XLC gas-turbine helicopter verifies performance of the proposed horizontal position controller. The proposed controller not only increases the disturbance attenuation capability of the RUAV, but also enables rapid position response when gusts occur. Comparative studies show that the H∞ controller exhibits performance improvement and can be applied to ship/RUAV landing systems.

Monotonous trend estimation of deck displacement for automatic landing of rotorcraft UAVs

This paper presents a novel and practical procedure for estimating the mean deck height to assist in automatic landing operations of a Rotorcraft Unmanned Aerial Vehicle (RUAV) in harsh sea environments. A modified Prony Analysis (PA) procedure is outlined to deal with real-time observations of deck displacement, which involves developing an appropriate dynamic model to approach real deck motion with parameters identified through implementing the Forgetting Factor Recursive Least Square (FFRLS) method. The model order is specified using a proper order-selection criterion based on minimizing the summation of accumulated estimation errors. In addition, a feasible threshold criterion is proposed to separate the dominant components of deck displacement, which results in an accurate instantaneous estimation of the mean deck position. Simulation results demonstrate that the proposed recursive procedure exhibits satisfactory estimation performance when applied to real-time deck displacement measurements, making it well suited for integration into ship-RUAV approach and landing guidance systems.

Flight validation of a feedforward gust-attenuation controller for an autonomous helicopter

This paper presents a practical scheme to control heave motion for hover and automatic landing of a Rotary-wing Unmanned Aerial Vehicle (RUAV) in the presence of strong horizontal gusts. A heave motion model is constructed for the purpose of capturing dynamic variations of thrust due to horizontal gusts. Through construction of an effective gust estimator, a feedback-feedforward controller is developed which uses available measurements from onboard sensors. The proposed controller dynamically and synchronously compensates for aerodynamic variations of heave motion, enhancing disturbance-attenuation capability of the RUAV. Simulation results justify the reliability and efficiency of the suggested gust estimator. Moreover, flight tests conducted on our Eagle helicopter verify suitability of the proposed control strategy for small RUAVs operating in a gusty environment.

Design of a gust-attenuation controller for landing operations of Unmanned Autonomous Helicopters

This paper presents an innovative and practical approach to controlling heave motion in the presence of acute stochastic atmospheric disturbances during landing operations of an Unmanned Autonomous Helicopter (UAH). A heave motion model of an UAH is constructed for the purpose of capturing dynamic variations of thrust due to horizontal wind gusts. Additionally, through construction of an effective observer to estimate magnitudes of random gusts, a promising and feasible feedback-feedforward PD controller is developed, based on available measurements from onboard equipment. The controller dynamically and synchronously compensates for aerodynamic variations of heave motion resulting from gust influence, to increase the disturbance-attenuation ability of the UAH in a windy environment. Simulation results justify the reliability and efficiency of the suggested gust observer to estimate gust levels when applied to the heave motion model of a small unmanned helicopter, and verify suitability of the recommended control strategy to realistic environmental conditions.

Prospección pesquera del calamar gigante (dosidicus gigas) a bordo del buque japonés "Shinko Maru 2" (04 de noviembre - 17 de diciembre de 1989)

Presenta los resultados obtenidos durante la prospección efectuada a bordo del buque japonés "Shinko Maru 2" entre el 04 de noviembre y el 17 de diciembre de 1989, cuyo objetivo principal fue evaluar la factibilidad de explotar comercialmente el Dosidicus gigas (ORBIGNY) "calamar gigante" o "pota" en el mar peruano. El área de estudio comprendió desde los 03°30 ' S hasta el Callao (12°00 'S). Se emplearon dos sistemas de captura: con calamareras automáticas y luces de atracción (JIGGING) y otra con redes de deriva (DRIFT NET), llevándose a cabo 32 y 24 operaciones de pesca respectivamente.

Estadísticas de los desembarques de la pesquería marina peruana durante 1995

Presenta las estadísticas de los desembarques de la pesquería peruana correspondientes a 1995, dando a conocer un importante nivel de producción pesquera y una disminución de los desembarques de la pota o calamar gigante. Entre las fuentes de información se tiene: Ministerio de Pesquería, empresas pesqueras, IMARPE y capitanías de puerto.

Resultados de la pesca exploratoria de 1979/80 y desembarque de cefalópodos pelagicos en el litoral peruano

El trabajo comprende un análisis de los desembarques de "ca amar" y "pota" desde 1964 a 1981 así como de los resultados de la pesca exploratoria de setiembre 1979 a abril 1 980. las principales especies de cafalópados que se comercializan en Perú bajo la nominación de calamares ( y calamaretes) pertenecen a la familia Loliginidae y de potas o jibias a la familia Ommastrephidae. El promedi o anual de desembarque de 1964 a 1971 de calamarés y potas fue de 243 y 313 toneladas respectivamente, de 1972 a 1981 continúa el desembarque regular de calamares pero no el de potas . Las mejores capturas de calamares y potas se producen en otoño durante los meses de mayo y junio y también en el verano durante los meses de enero y febrero . Casi la totalidad de desembarques de calamares se efectúan en el Callao, Huacho, Chimbote, Paita y el 78% de potas se desembarcan en el Callao y caletas aledañas. La pesca exploratoria de cefalópodos pelágicos efectuada principalmente a bordo del B/P japonés Rhyusho Maru Nº 25, de diciembre a abril 1980, cubrió todo el litoral peruano hasta las 500 mill as afuera. Se efectuaron 128 estaciones de pesca con el sistema y equipos especificas para la captura de calamares; se obtuvo una extracción de 18 toneladas de potas que correspondió a la especie oceánica Dosidicus gigas, con un promedi o de 140 kg por noche y amplitud entre 4 y 830 kg por noche de operación. Los niveles de la población de D. gigas durante la exploración estuvieron bajos, sin embargo las mejores concentraciones de esta especie se ubicaron en la zona norte a partir de las 30 millas hacia afuera en los meses de febrero y marzo( 246 y 224 kg/noche), observándose regu­lares focos a 350 millas afuera de Atico (16°10'8) en marzo (202 kg/noche) .

Distribución y captura del calamar gigante Dosidicus gigas a bordo de buques calamareros en aguas del Pacífico Centro Oriental y en aguas nacionales y adyacentes

Muestra los resultados biológico pesqueros y oceanográficos del muestreo complementario al monitoreo del calamar gigante o pota, obtenídos a bordo de las embarcaciones calamareras comerciales de bandera coreana, que operaron en aguas internacionales Pacífico Centro Oriental (PCO), nacionales y adyacentes, entre octubre y noviembre de 1996.