共查询到20条相似文献，搜索用时 112 毫秒
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深潜器技术是海洋高新技术。利用深潜器可以在海洋深处直接进行海洋生物、物理、化学和地质等科学考察活动,并可勘探深海地形地貌,采集海底样品,支持海洋开发利用。近年来的新发展是:无人遥控潜器逐渐代替有人潜器,无人无缆潜器向大深度发展,并出现了智能型潜器和仿生学潜器。 1 大深度无人潜器 日本继“深海6500”载人潜器下水之后,又 相似文献
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结合固定翼飞机与潜器设计原理设计了一种密度大于水的潜器——重水潜器,它利用机翼升力平衡剩余重量,外形就像固定翼飞机.由理论分析可知在有效载荷和航行速度相同的情况下重水潜器较常规潜器的体积有明显减小,而以中高速航行时重水潜器阻力优势明显.根据固定翼飞机与潜器设计原理相结合的设计方法制作的重水潜器样机进行水池试航时顺利完成直航、水平回转、爬升、下潜等规定动作,并表现出良好的稳定性和操纵性,从而证明了该设计方法的可实现性. 相似文献
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李智生 《数字海洋与水下攻防》2022,5(2):99-102
基于潜器水下状态的平衡方程,建立了潜器运动模型.通过对水锤压力的数值仿真计算,建立了潜器航行体发射时的运动控制模型.根据这一数学模型,计算分析了潜器在完整火箭发射后效(发射冲击与完整的水锤效应)作用下的运动响应和运动控制.结果表明:发射单枚航行体对潜器运动姿态有较长时间的影响,潜器的初始速度越大,影响程度越小,影响时间... 相似文献
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西德ZF-Herion系统技术股份有限公司和挪威的潜水设备公司合作,于1979年7月开始共同研制一种名为“DAVID”的新型潜器,其第一台样机定于1982年潜水旺季投入试验。这种新型潜器由以下四个部分组成:动力供应系统;控制装置,操作系统;水下工作潜器。动力供应系统装在一个直径为10英尺,顶部水密的容器中,用一个225KVA的柴油发电机(440N/60H_2)供电。控制装置安装在一个空气调节的直径10英尺的容器里。它包括从海面操纵潜器所需要的全部指示和记录仪表,如用于控制运动方向的操纵杆、机械夹紧器、开关装置、电视控制装置、水下声纳,跟踪系统,报警装置,自动误差显示器,视频描绘仪和通话装置等。 相似文献
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激光扫描实时获取水下图象信息的方法与系统 总被引：1，自引：1，他引：0
报道一种实时大视角、全景深获取水下图象的新方法。该方法试图解决在无人摇控潜器(ROV)和自治式潜器 (UUV)走航式获取水下清晰图象时 ,遇到的激光在水下传输过程中后向散射噪声问题 ,建立了一种具有宽视角、全景深性能的水下激光扫描系统。用这种方法和系统在空气中和水中做了大量的实验 ,并讨论了这种方法和系统的应用前景。 相似文献
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深海潜器耐压圆柱壳结构计算和校核方法研究 总被引：1，自引：0，他引：1
文中比较了中美两国潜器规范中各特征量的计算方法和校核准则,分析了异同点,并给出数值算例。针对潜器特性,对目前我国潜器规范中可能需要修改的地方进行了初步分析。 相似文献
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脐带缆在潜器下放过程中的运动建模与仿真 总被引：1，自引：0，他引：1
潜器在下放布置过程中需要考虑变长度的脐带缆对其运动的影响,在考虑流的情况下,对脐带缆的有限差分模型进行了改进,并采用最小二乘方法求解由时间和空间上的中心差分格式离散后的非线性方程组。为了验证模型改进的有效性,将潜器在均匀定常流中水平匀速直航时的数值解与该特殊情况下的解析解进行比较,两组解的吻合不仅证实了模型改进的有效性,而且表明上述数值计算方法是可靠且有效的。在潜器下放布置运动给定的情况下,脐带缆的运动仿真结果表明,潜器姿态角的调整会对拖曳点处的缆绳张力大小和变化趋势产生显著的影响,流在改变缆绳空间形状的同时引起了缆绳对潜器作用力和力矩的非线性和时变性,脐带缆总是阻止潜器自身动力对运动速度和姿态角的改变,且对纵荡运动的影响最大。 相似文献
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Three-dimensional visualization of mission planning and control forthe NPS autonomous underwater vehicle 总被引：1，自引：0，他引：1
Zyda M.J. McGhee R.B. Kwak S. Nordman D.B. Rogers R.C. Marco D. 《Oceanic Engineering, IEEE Journal of》1990,15(3):217-221
The Naval Postgraduate School (NPS) is constructing a small autonomous underwater vehicle (AUV) with an onboard mission control computer. The mission controller software for this vehicle is a knowledge-based artificial intelligence (AI) system requiring thorough analysis and testing before the AUV is operational. The manner in which rapid prototyping of this software has been demonstrated by developing a controller code on a LISP machine and using an Ethernet link with a graphics workstation to simulate the controller's environment is discussed. The development of a testing simulator using a knowledge engineering environment (KEE) expert system shell that examines AUV controller subsystems and vehicle models before integrating them with the full AUV for its test environment missions is discussed. This AUV simulator utilizes an interactive mission planning control console and is fully autonomous once initial parameters are selected 相似文献
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Antonelli G. Chiaverini S. Finotello R. Schiavon R. 《Oceanic Engineering, IEEE Journal of》2001,26(2):216-227
This paper describes a navigation and guidance system (NGS) with real-time path planning and obstacle avoidance capabilities that has been developed for the autonomous underwater vehicle RAIS. The vehicle is designed to accomplish two missions: pre-deployment survey of sea bottom, and visual inspection of pipelines. In the first mission, the NGS must be able to track a predefined path while avoiding the unplanned occurrence of obstacles. In the second mission, the NGS must track a pipeline by locally reconstructing its location from visual information; also in this case, the unplanned occurrence of obstacles must be handled. Furthermore, the NGS must properly take into account the presence of ocean current and some drastic constraints due to sensor and actuator characteristics. Numerical and hardware-in-the-loop simulations have been developed to verify the effectiveness of the proposed NGS 相似文献
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Singh H. Bellingham J.G. Hover F. Lemer S. Moran B.A. von der Heydt K. Yoerger D. 《Oceanic Engineering, IEEE Journal of》2001,26(4):498-514
In this paper, we examine the issues associated with docking autonomous underwater vehicles (AUVs) operating within an Autonomous Ocean Sampling Network (AOSN). We present a system based upon an acoustic ultrashort baseline system that allows the AUV to approach the dock from any direction. A passive latch on the AUV and a pole on the dock accomplish the task of mechanically docking the vehicle. We show that our technique for homing is extremely robust in the face of the two dominant sources of error-namely the presence of currents and the presence of magnetic anomalies. Our strategy for homing is independent of the initial bearing of the dock to the AUV, includes a method for detecting when the vehicle has missed the dock, and automatically ensures that the AUV is in a position to retry homing with a greater chance of success. Our approach is seen to be extremely successful in homing the vehicle to the dock, mechanically attaching itself to the dock, aligning inductive cores for data and power transfer, and undocking at the start of a fresh mission. Once the AUV is on the dock, we present a methodology that allows us to achieve the complex tasks with ensuring that the AUV is securely docked, periodically checking vehicle status, reacting to a vehicle that requires charging, tracking it when it is out on a mission, archiving and transmitting via satellite the data that the AUV collects during its missions, as well as providing a mechanism for researchers removed from the site to learn about vehicle status and command high-level missions. The dock is capable of long-term deployments at a remote site while respecting the constraints - low power, small size, low computational energy, low bandwidth, and little or no user input - imposed by the amalgamation of acoustic, electronic and mechanical components that comprise the entire system 相似文献
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The design of an autonomous underwater vehicle (AUV) involves complex tradeoffs among various design variables and mission requirements. Particularly important are the selection of a suitable energy source and the sensitivity of vehicle dimensional characteristics to mission requirements. A method of comparison based on an approximate but comprehensive approach which refers to specific parameters derivable from known designs or literature is suggested. Specific energy and energy density of candidate systems are derived with due consideration to depth-resistant vessels. The impact of the energy system choice is highlighted, going beyond simply comparing the former parameters. A design model has been developed, allowing quick sensitivity and mass-volume breakdown of alternative configurations under varying mission requirements; these are exemplified with reference to a design case. The procedure allows the correct specification of power, energy, and surface-handling systems for more detailed comparative analyses, given a common project goal and a basis for realistic cost comparison. The results show wide differences in the energy capacity of AUVs complying with identical mission data, but using with different energy systems. It is concluded that rechargeable electric batteries, even of high energy density, result in unacceptably heavy vehicles for ranges around 1000 km unless very low drag characteristics are achieved. Closed-cycle diesel and fuel cell systems allow the AUV mass to be kept below 10 t 相似文献
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For the past several years the Marine Systems Engineering Laboratory (MSEL) has directed its efforts towards the development of the technologies required for unmanned untethered submersible vehicles. The current focus of those efforts is to develop a system architecture that will allow the implementation of a knowledge-based guidance and control system. The goal of this effort is to implement a simple system which has addressed the basic problems and will allow for expansion as insight is gained from field testing the concepts using the Experimental Autonomous Vehicle (EAVE) system at MSEL. This paper considers those factors that have driven the development of an architecture which is being implemented in the EAVE vehicle system. Its intent is to focus on those issues that have guided the application of artificial intelligence (AI) techniques to meet the requirements of the system and its mission. The architecture being implemented is outlined and some of its features detailed. 相似文献
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A Variable Buoyancy Control System for a Large AUV 总被引：1，自引：0，他引：1
A large autonomous undersea vehicle (AUV), the Seahorse, has been designed, constructed, and tested by the Applied Research Laboratory at Pennsylvania State University (ARL/PSU, University Park, PA) for the U.S. Naval Oceanographic Office (NAVOCEANO, Stennis Space Center, MS). The vehicle is required to launch in shallow water (<10 m) and to hover without propulsion. Additionally, due to the very large size of the vehicle, low operating speeds and very long missions, small changes in vehicle trim resulting from battery replacement, sensor exchanges, and water temperature variations can result in significant drag-induced energy penalties over the duration of a mission. It is, therefore, important to continually maintain the AUV in fore-aft trim over the course of the mission. The vehicle is equipped with a two tank variable buoyancy system (VBS) to meet these requirements. The resulting control problem is one where the control variable, pump rate, is proportional to the third derivative of the sensed variable, depth; there are significant delays, and forces are nonlinear (including discontinuous) and highly uncertain. This paper describes the design of the VBS and the control software operating in two modes: depth control mode and trim control mode. In-water test data and simulation results are presented to illustrate the performance of the VBS controller. The benefits of the presented approach lie in the intuitiveness and simplicity of the design and the robustness as evidenced by the performance in both fresh and salt water. This paper provides practical insight into the operation of a VBS with an AUV and discusses actual operational experience. To our knowledge, no previous work considers the significance of an observed surface capture phenomenon to the design of a VBS control system, especially in very shallow water. 相似文献
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Desa E. Maurya P.K. Pereira A. Pascoal A.M. Prabhudesai R.G. Mascarenhas A. Madhan R. Matondkar S.G.P. Navelkar G. Prabhudesai S. Afzulpurkar S. 《Oceanic Engineering, IEEE Journal of》2007,32(2):353-364
This paper provides a study on the development and the use of a small autonomous surface vehicle (ASV) that automatically follows programmed mission transects, while measuring sensor outputs along the tracks. It discusses the mechanical construction of the ASV, the distributed architecture of controller area network (CAN)-based nodes for science and vehicle payloads, high-speed radio-frequency (RF) communications, the performance of the heading autopilot, global positioning system (GPS)-based guidance algorithm, and the mission programming technique. The field trials of the ASV, performed off the coast of Goa, India, are focused on retrieving the 2-D spatial distribution of surface chlorophyll, which is one of the useful parameters in characterizing the nature of calibration-validation (CALVAL) sites for ocean remote sensing needs. A further benefit of ASVs is that they can be built at a low cost and used in monitoring applications of diverse coastal ecosystems. 相似文献
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Smith S.M. An P.E. Holappa K. Whitney J. Burns A. Nelson K. Heatzig E. Kempfe O. Kronen D. Pantelakis T. Henderson E. Font G. Dunn R. Dunn S.E. 《Oceanic Engineering, IEEE Journal of》2001,26(4):453-465
The Advanced Marine Systems Lab at Florida Atlantic University has developed a new ultramodular plastic mini autonomous underwater vehicle (AUV), called the Morpheus, for littoral military and coastal oceanographic sampling, survey, and mapping. The name Morpheus was chosen because the Greek god Morpheus could change shape or "morph." The higher degree of modularity of the Morpheus AUV allows it to "morph" or change its size and components for different applications. This vehicle is composed of modular injection-molded plastic pressure vessels and a cabling system that allow the modules to be rearranged without rewiring bulkheads. The plastic pressure vessels are inexpensive, inherently mass-producible, extremely corrosion-resistant, and have low magnetic signatures. The pressure vessels are small but are sized to fit most standard electronic board standards. The mini AUV can be anywhere from 4 to 10 ft in length, depending on its mission. The vehicle architecture is an adaptation of the Ocean Explorer AUV system and uses an ANSI 709.1 (LonTalk) distributed control network for connecting all sensors and actuator subsystems as smart nodes. The modularity in containers, control, and power makes this vehicle rapidly reconfigurable and easy to repair or upgrade. This paper will present details of the motivation, design, and construction of the new mini AUV. The Morpheus was deployed during the summer of 2000 in field exercises for very shallow and shallow water mine counter measures. Some results from these tests will be presented 相似文献
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Feezor M.D. Yates Sorrell F. Blankinship P.R. 《Oceanic Engineering, IEEE Journal of》2001,26(4):522-525
Central to the successful operation of an autonomous undersea vehicle (AUV) is the capability to return from a mission, in that there is consistent recovery or docking of the AUV. In addition, some missions may require communication with and power transfer to the AUV after docking. This paper describes an inductive system that provides a nonintrusive power and communications interface between the dock and the AUV. The system makes up to 200 W of AC or DC power available to the AUV. The communications interface is 10BaseT Ethernet and is platform- and protocol-independent. The overall design of the system is given as well as results from wet laboratory and field tests 相似文献