The influence of shelf zone topography and coastline geometry on coastal trapped waves

The results of numerical experiments with a model of coastal trapped waves are presented to identify two important features for regional modeling of the interaction of a shelf zone with open ocean. First, a wave train of this type can be formed by wind action at a considerable distance from the place of impact. The waves propagate along a coastline without significant loss of energy, provided that the coastline and shelf zone topography have no features comparable to the Rossby radius. However, the waves lose energy while passing over capes and submarine canyons and when the shelf width decreases. For regional modeling, remote generation of waves must be thoroughly investigated and taken into account. The other feature is that the propagating waves can use part of energy to form density anomalies on the shelf by raising intermediate waters from the adjacent offshore areas of the open ocean. Thus, coastal trapped waves can carry wind energy from wind action areas to other coastal areas to form density anomalies and other types of motion.     

Generation and dissipation of ocean surface waves

Ocean surface waves constitute one of the most important sources of external forces that act on ships and offshore structures. Most ocean waves are generated by wind, but various other effects such as currents, ground and coastal topology, breaking and wave–wave interaction have an influence on the growth and dissipation of wave energy at specific frequency ranges. These water waves are inherently random in nature and their exact shape is difficult to describe, even when confining the described area to a small range. While many different approaches exist to describe the spectral characteristics of ocean waves, some of the processes which affect the generation of waves are still poorly understood. This paper addresses some techniques which serve to describe seaway spectra with respect to the subsequent analysis of dynamic mechanical systems in the ocean such as ships, platforms and pipelines. Advantages and limits of the different approaches are discussed. (© 2008 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)     

坑口电厂低碳经济发展系统动力学仿真研究

通过分析坑口电厂低碳经济系统的复杂结构特征和动态反馈机制,建立了坑口电厂低碳经济系统动力学模型,描述系统内部各要素之间的相互关系,并以平煤集团坑口电厂为例,对不同发展方案下的坑口电厂低碳经济系统进行仿真模拟.结果表明:科技投资、环保投资、能源利用率、能源消费结构等因素是影响坑口电厂低碳经济发展的关键因素;可以通过优化能源消费结构,提高煤矸石消耗比例;增加科技投资和环保投资,提高能源利用和转换效率,降低污染物和二氧化碳排放量,从而达到高效率、低能耗、低排放的低碳经济发展模式.     

High performance robust linear controller synthesis for an induction motor using a multi-objective hybrid control strategy

A robust induction motor control should provide the desired performance in the face of both plant model and controller model uncertainty. In a recent work, Bottura and co-workers, using the field orientation principle, introduced a representation of a nonlinear time-varying induction motor model that admits robust induction motor controller synthesis in the linear _H∞$H_{\infty }$ framework. The present work considers the use of the approach of Bottura et al. for attaining robust performance of the main operating modes–tracking and disturbance rejection–of an induction motor control system under implementation constraints on the control signal magnitude. This approach requires two distinct mode-specific controllers with gains that cannot be bridged without considerable performance degradation. To address this problem, a multi-objective hybrid control design methodology is developed that employs the corresponding mode-specific controller in each mode, and organizes a rapid and smooth steady-state switching, or transfer, between these controllers to permit sequencing of the operating modes, as necessary. Simulation shows that the technique proposed yields controllers with performance minimally affected by an imprecise modeling of an induction motor, as well as a reduced cost controller implementation throughout the entire induction motor operating sequence.     

Fuzzy control of a class of multivariable nonlinear systems subject to parameter uncertainties: model reference approach

This paper presents the fuzzy control of a class of multivariable nonlinear systems subject to parameter uncertainties. The nonlinear plant tackled in this paper is an nth-order nonlinear system with n inputs. If the input matrix B inside the fuzzy plant model is invertible, a fuzzy controller can be designed such that the states of the closed-loop system will follow those of a user-defined stable reference model despite the presence of parameter uncertainties. A numerical example will be given to show the design procedures and the merits of the proposed fuzzy controller.     

Nonlinear Controller Design for PWM–Controlled Converters

This contribution is concerned with the nonlinear controller design for a certain class of PWM (pulse width modulation) – controlled converter systems. It will be shown that under certain assumptions the SSA (state space averaging) – model of the PWM–controlled converter with the duty ratio as the plant input has a very special mathematical structure. Based on this mathematical model a modified version of the nonlinear H₂–design where an integral term is systematically included in the nonlinear controller will be presented.     

Resonant triad model for studying evolution of the energy spectrum among a large number of internal waves

Internal waves are generally accepted to be responsible for a large fraction of mixing in the deep ocean. Internal waves interact nonlinearly with one another, exchanging energy among themselves to create the background internal wave spectrum. The most important mechanism resulting in the transfer of energy from one wave to another is believed to be resonant triad interactions. In this paper we consider a large number of resonantly interacting triads in order to investigate the evolution of the energy spectrum due to solely resonant triad interactions. To this end we solve the evolution equations for a large number of resonant triads to determine the temporal evolution of the energy distribution among the various possible wave numbers and frequencies. Our model involves internal waves with frequencies spanning the range of possible frequencies, i.e., between a maximum of the buoyancy frequency N for horizontal wave vectors (vertical motion) to a minimum of the inertial frequency f for vertical wave vectors (horizontal motion) [two limiting cases]. Because of the inclusion of high-frequency waves we cannot make the hydrostatic approximation. We investigate the evolution of the wave’s amplitudes to predict the evolution of the internal wave energy spectrum.     

Directional Spectra-Based Clustering for Visualizing Patterns of Ocean Waves and Winds

The energy distribution of wind-driven ocean waves is of great interest in marine science. Discovering the generating process of ocean waves is often challenging and the direction is the key for a better understanding. Typically, wave records are transformed into a directional spectrum which provides information about the wave energy distribution across different frequencies and directions. Here, we propose a new time series clustering method for a series of directional spectra to extract the spectral features of ocean waves and develop informative visualization tools to summarize identified wave clusters. We treat directional distributions as functional data of directions and construct a directional functional boxplot to display the main directional distribution of the wave energy within a cluster. We also trace back when these spectra were observed, and we present color-coded clusters on a calendar plot to show their temporal variability. For each identified wave cluster, we analyze wind speed and wind direction hourly to investigate the link between wind data and wave directional spectra. The performance of the proposed clustering method is evaluated by simulations and illustrated by a real-world dataset from the Red Sea. Supplementary materials for this article are available online.     

On linear and nonlinear Rossby waves in an ocean

This paper deals with recent developments of linear and nonlinear Rossby waves in an ocean. Included are also linear Poincaré, Rossby, and Kelvin waves in an ocean. The dispersion diagrams for Poincaré, Kelvin and Rossby waves are presented. Special attention is given to the nonlinear Rossby waves on a β-plane ocean. Based on the perturbation analysis, it is shown that the nonlinear evolution equation for the wave amplitude satisfies a modified nonlinear Schrödinger equation. The solution of this equation represents solitary waves in a dispersive medium. In other words, the envelope of the amplitude of the waves has a soliton structure and these envelope solitons propagate with the group velocity of the Rossby waves. Finally, a nonlinear analytical model is presented for long Rossby waves in a meridional channel with weak shear. A new nonlinear wave equation for the amplitude of large Rossby waves is derived in a region where fluid flows over the recirculation core. It is shown that the governing amplitude equations for the inner and outer zones are both KdV type, where weak nonlinearity is balanced by weak dispersion. In the inner zone, the nonlinear amplitude equation has a new term proportional to the 3/2 power of the difference between the wave amplitude and the critical amplitude, and this term occurs to account for a nonlinearity due to the flow over the vortex core. The solution of the amplitude equations with the linear shear flow represents the solitary waves. The present study deals with the lowest mode (n=1) analysis. An extension of the higher modes (n?2) of this work will be made in a subsequent paper.     

Iterative identification and control design using finite-signal-to-noise models

In this paper, a model is said to be validated for control design if using the model-based controller, the closed loop performance of the real plant satisfies a specified performance bound. To improve the model for control design, only closed loop response data is available to deduce a new model of the plant. Hence the procedure described herein involves three steps in each iteration: (i) closed loop identification; (ii) plant model extraction from the closed loop model; (iii) controller design. Thus our criteria for model validation involve both the control design procedure by which the closed loop system performance is evaluated, and the identification procedure by which a new model of the plant is deduced from the closed loop response data. This paper proposes new methods for both parts, and also proposes an iterative algorithm to connect the two parts. To facilitate both the identification and control tasks, the new finite-signal-to-noise (FSN) model of linear systems is utilized. The FSN model allows errors in variables whose noise covariances are proportional to signal covariances. Allowing the signal to noise ratios to be bounded but uncertain, a control theory to guarantee a variance upper bound is developed for the discrete version of this new FSN model. The identification of the closed loop system is accomplished by a new type of q-Markov Cover, adjusted to accommodate the assumed FSN structure of the model. The model of the plant is extracted from the closed loop identification model. This model is then used for control design and the process is repeated until the closed loop performance validates the model. If the iterations produce no such a controller, we say that this specific procedure cannot produce a model valid for control design and the level of the required performance must be reduced.     

Temperature gradient in wood during grinding

Grinding is a commonly used method for producing pulps for papermaking, but its rather poor energy efficiency is a drawback. This paper focuses on developing a model dealing with temperature rise in wood during grinding. The model paves the way for the development of theoretical methods which can be used for reducing the energy consumption of the process. In grinding, wood is loaded by grits, which cause stress waves in the wood matrix. The stress waves fatigue the wood and ultimately separate fibres from the matrix, but because of wood’s viscoelasticity, part of the mechanical energy of waves is converted into heat. In order to understand the wood temperature increase in this process, a mechanistic model is developed here. The model is based on three hypotheses: a flux of mechanical energy occurs through the wood, the magnitude of the flux can be derived from the contact mechanics of the grits, and the rise in wood temperature can be determined from the dissipation of the flux. A temperature distribution in the actual grinding process was simulated with the model. The simulated temperatures were compared with a measured temperature profile obtained from the literature. The modelled and measured temperatures matched quite well. The simulations show that an increase in grit size results higher temperatures, whereas an increase in the distance between grits gives lower temperatures. The main result of the study is that the Hertz theory of contact mechanics can be considered an adequate method for analysing the effect of grits in the grinding process. The result shows that the Hertz theory is applicable when fatigue models are developed; these models can then be used to reduce the energy consumption of the process.     

On the nonlinear stability and the existence of selective decay states of 3D quasi-geostrophic potential vorticity equation

In this article, we study the dynamics of large-scale motion in atmosphere and ocean governed by the 3D quasi-geostrophic potential vorticity (QGPV) equation with a constant stratification. It is shown that for a Kolmogorov forcing on the first energy shell, there exist a family of exact solutions that are dissipative Rossby waves. The nonlinear stability of these exact solutions are analyzed based on the assumptions on the growth rate of the forcing. In the absence of forcing, we show the existence of selective decay states for the 3D QGPV equation. The selective decay states are the 3D Rossby waves traveling horizontally at a constant speed. All these results can be regarded as the expansion of that of the 2D QGPV system and in the case of 3D QGPV system with isotropic viscosity. Finally, we present a geometric foundation for the model as a general equation for nonequilibrium reversible-irreversible coupling.     

Efficient non-hydrostatic modelling of surface waves interacting with structures

An efficient three-dimensional non-hydrostatic model is applied to simulate free-surface waves interacting with structures. The model employs an implicit Crank–Nicholson scheme to discretize the Navier–Stokes equations under a Cartesian staggered grid framework. An integration method is introduced to account for the full effects of non-hydrostatic pressure at the free-surface layer. A domain decomposition method is proposed to effectively solve the resulting matrix system. The model is first validated by simulating three-dimensional sloshing waves in a container. The model is then applied to simulate waves propagating over two-dimensional and three-dimensional submerged structures, in which the effects of non-linearity and dispersion are important. The model results show that the model using only two vertical layers are in all favorable agreements with experimental data, demonstrating the efficiency and accuracy of the model on simulating surface waves interacting with structures.     

Modelling and optimisation of electricity,steam and district heating production for a local Swedish utility

District heating may help reduce environmental impact and energy costs, but policy instruments and waste management may influence operations. The energy system optimisation model MODEST has been used for 50 towns, regions and a nation. Investments and operation that satisfy energy demand at minimum cost are found through linear programming. This paper describes the application of MODEST to a municipal utility, which uses several fuels and cogeneration plants. The model reflects diurnal and monthly demand fluctuations.Several studies of the Linköping utility are reviewed. These indicate that the marginal heat cost is lower in summer; a new waste or wood fired cogeneration plant is more profitable than a natural-gas-fired combined cycle; material recycling of paper and hard plastics is preferable to waste incineration from an energy-efficiency viewpoint; and considering external costs enhances wood fuel use. Here, an emission limit is used to show how fossil-fuel cogeneration displaces CO₂ from coal-condensing plants.     

Real-time stable self-learning FNN controller using genetic algorithm

A kind of real-time stable self-learning fuzzy neural network (FNN) control system is proposed in this paper. The control system is composed of two parts: (1) A FNN controller which use genetic algorithm (GA) to search optimal fuzzy rules and membership functions for the unknown controlled plant; (2) A supervisor which can guarantee the stability of the control system during the real-time learning stage, since the GA has some random property which may cause control system unstable. The approach proposed in this paper combine a priori knowledge of designer and the learning ability of FNN to achieve optimal fuzzy control for an unknown plant in real-time. The efficiency of the approach is verified by computer simulation.     

Rayleigh wave scattering by a plane strip in a deep ocean

A theoretical formulation to study the problem of scattering of Rayleigh waves due to the presence of a rigid plane strip in a deep ocean is presented. A rigid plane strip (0 ≤z ≤ H, 0 ≤x ≤ l) is fixed in the surface of the ocean occupyingz ≥ 0. Fourier transformation and Wiener-Hopf technique are used to arrive at the solution. The scattered Rayleigh waves behave as cylindrical waves emerging out of the corner of the strip and its image in the free surface of the ocean. The scattered waves are obtained in terms of Bessel functions whose behaviour near and far from the strip is well-known. The numerical calculations for the scattered waves show that their amplitude increases rapidly for a small increase in the value of the wave number. Scattering of Rayleigh waves due to a thin plane vertical barrier and a thin barrier in the free surface of the ocean has been considered as the special cases.     

Stability analysis of sampled-data fuzzy controller for nonlinear systems based on switching T–S fuzzy model

This paper investigates the system stability of a sampled-data fuzzy-model-based control system, formed by a nonlinear plant and a sampled-data fuzzy controller connected in a closed loop. The sampled-data fuzzy controller has an advantage that it can be implemented using a microcontroller or a digital computer to lower the implementation cost and time. However, discontinuity introduced by the sampling activity complicates the system dynamics and makes the stability analysis difficult compared with the pure continuous-time fuzzy control systems. Moreover, the favourable property of the continuous-time fuzzy control systems which is able to relax the stability analysis result vanishes in the sampled-data fuzzy control systems. A Lyapunov-based approach is employed to derive the LMI-based stability conditions to guarantee the system stability. To facilitate the stability analysis, a switching fuzzy model consisting of some local fuzzy models is employed to represent the nonlinear plant to be controlled. The comparatively less strong nonlinearity of each local fuzzy model eases the satisfaction of the stability conditions. Furthermore, membership functions of both fuzzy model and sampled-data fuzzy controller are considered to alleviate the conservativeness of the stability analysis result. A simulation example is given to illustrate the merits of the proposed approach.     

Modelación numérica de la descarga térmica de la Central Nucleoeléctrica Laguna Verde

This work contributes to the study of nuclear plant thermal discharges in coastal areas by using a numerical model which solves the Navier-Stokes-Reynolds equations for shallow waters and the energy equation for computing temperature variations. The numerical model takes into account the heat flux given in the upper layer, where the free surface and the atmosphere interact. In this study, the thermal plume dispersion from the nuclear power plant Laguna Verde, Veracruz, Mexico, is analyzed. Bathymetry, oceanographic, meteorological, hydrologic and plant operating data are used to run numerical simulations. The results are compared against observed data showing good agreement. The Nash-Suffle's criterion is also applied to verify the quality of the numerical solution obtaining suitable results.     

Energy-optimized bipedal running of a simple humanoid robot

A method to optimize energy efficiency for bipedal running robots is presented. A running model of a simple bipedal robot consisting of five rigid bodies connected by actuated revolute joints is introduced. The actuators' torques are generated by a trajectory tracking controller to produce periodic running gaits. The controller's reference trajectories are parameterized by Bézier polynomials. A numerical optimization is used to employ reference trajectories with optimal energy efficiency for average velocities in the range of 1.5 to 5.5 m/s. (© 2014 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)