scholarly journals Optimal Disturbances Rejection Control for Autonomous Underwater Vehicles in Shallow Water Environment

2017 ◽  
Vol 2017 ◽  
pp. 1-9 ◽  
Author(s):  
Qing Yang ◽  
Hao Su ◽  
Gong-You Tang ◽  
De-Xin Gao
Keyword(s):  
Shallow Water ◽  
Autonomous Underwater Vehicles ◽  
Adjoint Equation ◽  
Water Environment ◽  
Underwater Vehicles ◽  
State Equation ◽  
Heading Control ◽  
Shallow Water Environment ◽  
Successive Approximation Approach ◽  
Optimal Disturbances

To deal with the disturbances of wave and current in the heading control of Autonomous Underwater Vehicles (AUVs), an optimal disturbances rejection control (ODRC) approach for AUVs in shallow water environment is designed to realize this application. Based on the quadratic optimal control theory, the AUVs heading control problem can be expressed as a coupled two-point boundary value (TPBV) problem. Using a recently developed successive approximation approach, the coupled TPBV problem is transformed into solving a decoupled linear state equation sequence and a linear adjoint equation sequence. By iteratively solving the two equation sequences, the approximate ODRC law is obtained. ALuenbergerobserver is constructed to estimate wave disturbances. Simulation is provided to demonstrate the effectiveness of the presented approach.

Hawaii Experimental Acoustics Range for Shallow Water Applications

2011 ◽  
Vol 45 (3) ◽  
pp. 69-76 ◽  
Author(s):  
Tom Fedenczuk ◽  
Eva-Marie Nosal
Keyword(s):  
Shallow Water ◽  
Water Environment ◽  
Shallow Water Acoustics ◽  
Central Node ◽  
Long Baseline ◽  
Wide Range ◽  
Shallow Water Environment ◽  
Near Shore ◽  
Monitoring And Surveillance ◽  
Passive Acoustic

AbstractShallow water acoustics provide a means for monitoring and surveillance of near-shore environments. This paper describes the current and future capabilities of the low- to high-frequency Hawaii Experimental Acoustics Range (HEAR) that was designed to facilitate a wide range of different shallow water acoustics experiments and allow researchers from various institutions to test various array components and configurations. HEAR is a portable facility that consists of multiple hydrophones (12‐16) cabled independently to a common central node. The design allows for variable array configurations and deployments in three modes: experimental (off boats and piers), autonomous, and cabled. An application of HEAR is illustrated by the results from a deployment at Makai Research Pier, Oahu, Hawaii. In this deployment, HEAR was configured as a long-baseline range of two volumetric subarrays to study passive acoustic tracking capabilities in a shallow water environment.

scholarly journals Analysis of wind-driven ambient noise in a shallow water environment with a sandy seabed

2008 ◽  
Vol 124 (3) ◽  
pp. EL157-EL162 ◽  
Author(s):  
D. P. Knobles ◽  
S. M. Joshi ◽  
R. D. Gaul ◽  
H. C. Graber ◽  
N. J. Williams
Keyword(s):  
Shallow Water ◽  
Ambient Noise ◽  
Water Environment ◽  
Shallow Water Environment

Aldebarania arenitea, a new genus and species of Astropectinidae (Asteroidea; Echinodermata) from the Maastrichtian (Upper Cretaceous) Peedee Formation of North Carolina

1995 ◽  
Vol 69 (2) ◽  
pp. 376-380 ◽  
Author(s):  
Daniel B. Blake ◽  
Keith Sturgeon
Keyword(s):  
North Carolina ◽  
Shallow Water ◽  
Phylogenetic Relationships ◽  
Upper Cretaceous ◽  
New Genus ◽  
Water Environment ◽  
New Genus And Species ◽  
Marine Fauna ◽  
Shallow Water Environment

Aldebarania arenitea (Astropectinidae; Asteroidea; Echinodermata) is described from the Rocky Point Member of the Maastrichtian (Upper Cretaceous) Peedee Formation of North Carolina. A turbulent, shallow-water environment is suggested by sedimentary features, a diverse marine fauna, and the morphology of Aldebarania. Aldebarania appears to be a partial ecological equivalent of living Astropecten and Luidia; however, phylogenetic relationships within the Astropectinidae are unstudied and the origin of similarities is unknown.

Trilobites from the Ordovician Shihtzupu Formation, Zunyi, Guizhou Province, China

1984 ◽  
Vol 75 (1) ◽  
pp. 13-36 ◽  
Author(s):  
Zhiyi Zhou ◽  
Gongzheng Yin ◽  
Ronald P. Tripp
Keyword(s):  
Shallow Water ◽  
Water Environment ◽  
Guizhou Province ◽  
Type Section ◽  
Shallow Water Environment ◽  
First Time

ABSTRACTTwenty-seven species assigned to 20 genera of trilobites are described from Feilaishi in Guizhou Province, the type section of the Shihtzupu Formation in S W China. They occur in association with a sparse graptolite fauna including Glyptograptus teretiusculus. Eleven taxa are recorded here for the first time. Much new morphological information is provided regarding previously known species and 3 lectotypes are selected. The trilobites are largely endemic and indicate a quiet and comparatively shallow water environment

scholarly journals Passenger ship source level determination in shallow water environment

2016 ◽  
Author(s):  
Mirko Mustonen ◽  
Aleksander Klauson ◽  
Janek Laanearu ◽  
Madis Ratassepp ◽  
Thomas Folegot ◽  
...  
Keyword(s):  
Shallow Water ◽  
Water Environment ◽  
Passenger Ship ◽  
Shallow Water Environment ◽  
Source Level

scholarly journals Wave Equation Datuming Applied to Seismic Data in Shallow Water Environment and Post-Critical Water Bottom Reflection

Energies ◽  
2017 ◽  
Vol 10 (9) ◽  
pp. 1414 ◽  
Author(s):  
Umberta Tinivella ◽  
Michela Giustiniani ◽  
Ivan Vargas-Cordero
Keyword(s):  
Wave Equation ◽  
Shallow Water ◽  
Seismic Data ◽  
Water Environment ◽  
Shallow Water Environment ◽  
Water Bottom
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