共查询到20条相似文献，搜索用时 15 毫秒
1.
随着对水下目标特性研究的深入和声学探测技术的发展,基于单模态的阵列式信息融合或基于空间信息的分布式信息融合的水下目标识别方法研究已有一定成果,但针对复杂海况导致单一物理场或单一融合层次的系统识别性能提高有限等方面影响的水下目标识别方法研究还有所不足,因此,开展基于多模态深度融合模型的水下目标识别方法研究可利用模态互补,共享信息而提升识别率。文中在国内外研究基础上,深入研究了基于到达时差法和多模态方法组合的检测方法,初步形成了基于水声环境空间中多模态深度融合模型的识别框架,开展了海洋中典型自然与人为事件的信号分析与特征提取,并在此基础上,设计新型基于海底基站的被动识别系统。该系统同步记录和由位置等组成的时间序列标记声、磁和压数据,可实现高精度、高分辨率的识别。本研究可满足未来海洋观测对高性能水下目标探测、定位和跟踪系统的迫切需要,为海洋安全监管、海洋突发事件应急响应等领域提供新的技术手段和科学参考。 相似文献
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A hierarchical real-time control architecture for a semi-autonomous underwater vehicle 总被引：1，自引：0，他引：1
This paper describes a real-time control architecture for Dual Use Semi-Autonomous Underwater Vehicle (DUSAUV), which has been developed at Korea Research Institute of Ships and Ocean Engineering (KRISO) for being a test-bed of development of underwater navigation and manipulator technologies. DUSAUV has three built-in computers, seven thrusters for six DOF motion control, one 4-function electric manipulator, one ballasting motor, built-in power source, and various sensors. A supervisor control system with GUI and a multi-purpose joystick is mounted on the surface vessel and communicates with vehicle through a fiber optic link. Furthermore, QNX, one of real-time operating system, is ported on the built-in control and navigation computers for real-time control purpose, while Microsoft OS product is ported in the supervisor computer for GUI programming convenience. A hierarchical control architecture, which consists of application layer, real-time layer and physical layer, has been developed for efficient control system of above complex underwater robotic system. The experimental results with implementation of the layered control architecture for various motion control of DUSAUV in an ocean engineering basin of KRISO is also presented. 相似文献
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As an extremely significant tool, autonomous underwater vehicles (AUVs) obtain corresponding development which is widely used in the oceanographic survey, military applications and ocean investigation. However, it is rather hard to fulfill missions about ocean exploration in suspended status or at slow speeds for traditional AUVs, due to the effect of the control surfaces trends to decline or even invalid completely in this condition. To overcome the limitation mentioned above, a torpedo-shaped AUV with vectored thrust ducted propeller is presented in this paper, in which the vector thruster is designed based on a 3SPS-S parallel manipulator. The 3SPS-S parallel manipulator, which has merits of compact structure, high reliability, high precision and fast response, is employed for thrust vectoring control mechanism. Additionally, the kinematics and dynamics model of the thrust-vectoring mechanism is constructed, and the MATLAB simulation results show the designed vectored thruster have great application superiority and potential for AUV. Finally, a control scheme of the vectored thruster is designed after considering the case study. The main idea of this paper lies in describing a novel design of the vectored thruster AUV based on 3SPS-S parallel manipulator, which can complete the mission at zero or slow forward speeds. 相似文献
4.
In the 21st century,people have come to the era of ocean science and ocean economy.With the development of ocean science and technology and the thorough research on the ocean,underwater mating technique has been widely used in such fields as sunk ship salvage,deep ocean workstation,submarine lifesaving aid and military affairs.In this paper,researches are made home and abroad on mating technology.Two-joint mating system of underwater vehicle is designed including plane system,three-dimensional assembly system and control system in order to increase the capacity of adapting platform obliquity and adopting rotational skirt scheme.It is clear that the system fits the working space of underwater vehicle passageway and there is no interference phenomenon in assembly design.The finite element model of the system shell and the pressurization of the joint are established.The results of the finite element computing and the pressing test are accordant,and thus it can testify that the shell material meet the need of intension and joint pressurization is reliable.Modeling of the control system is accomplished,and simulation and analysis are made,which can provide directions for the controller design of mating system of underwater vehicles. 相似文献
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Many oceanographic applications require the positioning of the underwater sensor at measurement times. We consider here the case of subsurface moored tomographic instruments, where the distance between source and receiver must be known within a few meters. For that purpose, a long baseline array is deployed: this system includes a navigator, attached to the mooring element and an array of three transponders set on the ocean bottom. To process the navigation data collected with such system, we have developed a method based on optimal estimation. The triangulation problem is not a basic spherical constraints one and the specificity of deep underwater positioning, related to the variability of the ocean sound speed profile are pointed out. Correcting terms are proposed and introduced into the system. Simultaneous inversion of all data, defining an overconstrained problem allows to estimate biases and errors. The algorithm is applied here to a dataset collected in the Azores-Canary basin during CAMBIOS experiment. 相似文献
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Many underwater intervention tasks are today performed using manned submersibles or remotely operated vehicles in teleoperation mode. Autonomous underwater vehicles are mostly employed in survey applications. In fact, the low bandwidth and significant time delay inherent in acoustic subsea communications represent a considerable obstacle to remotely operate a manipulation system, making it impossible for remote controllers to react to problems in a timely manner.Nevertheless, vehicles with no physical link and with no human occupants permit intervention in dangerous areas, such as in deep ocean, under ice, in missions to retrieve hazardous objects, or in classified areas. The key element in underwater intervention performed with autonomous vehicles is autonomous manipulation. This is a challenging technology milestone, which refers to the capability of a robot system that performs intervention tasks requiring physical contacts with unstructured environments without continuous human supervision.Today, only few AUVs are equipped with manipulators. SAUVIM (Semi Autonomous Underwater Vehicle for Intervention Mission, University of Hawaii) is one of the first underwater vehicle capable of autonomous manipulation.This paper presents the solutions chosen within the development of the system in order to address the problems intrinsic to autonomous underwater manipulation. In the proposed approach, the most noticeable aspect is the increase in the level of information transferred between the system and the human supervisor.We describe one of the first trials of autonomous intervention performed by SAUVIM in the oceanic environment. To the best knowledge of the authors, no sea trials in underwater autonomous manipulation have been presented in the literature. The presented operation is an underwater recovery mission, which consists in a sequence of autonomous tasks finalized to search for the target and to securely hook a cable to it in order to bring the target to the surface. 相似文献
7.
Hyungwon Shim Bong-Huan Jun Pan-Mook Lee Hyuk Baek Jihong Lee 《Ocean Engineering》2010,37(11-12):1036-1047
This paper presents a control technique for structured undersea tasks that require a high degree of precision. The overall efficiency of tele-operated underwater manipulation is improved by reducing the burden on the human operator. A new workspace-control system composed of a computer and input devices in workspace was developed to support the operator. The computer transforms the desired velocity of end-effector in workspaces to desired joint angles by solving the inverse kinematics of the slave manipulators. The desired joint angles are transferred to the slave controller through RS-485 serial communication, and be followed by the slave manipulator. The developed master system provides advantages in conducting structured tasks(coring, drilling, underwater connector mating, etc.) that require precise control of the end-effector’s motion and attitude. The existing master system, however, is more useful for unstructured tasks than newly developed master system. By combining the two master systems, the work efficiency of the underwater tele-operated manipulator system was improved. This paper presents the development of the workspace-control system and a working strategy to alleviate operator’s burden in underwater works. Experimental results are presented to evaluate the effectiveness of the proposed method using underwater manipulators mounted on the KORDI deep-sea ROV Hemire. 相似文献
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为实现长期、连续、定点、低成本的上层海洋垂直剖面要素的准实时观测,提出了一种以STM32单片机(microcontroller unit,MCU)为主控器、采用国产温盐深传感器(conductivity temperature depth,CTD)和声学多普勒剖面流速仪(acoustic doppler current profilers,ADCP)等仪器进行剖面观测、搭载铱星通信模块或其他通信设备、适用于近海和远海的低功耗水下升降式准实时通信潜标控制系统设计方案。介绍了潜标的结构组成、控制系统硬件和软件设计,以及服务器接收软件的设计;实现了基于无线双向通信的数据补发机制和对潜标的远程控制;提出了一种适用于霍尔无刷直流电机(hall brushless direct current motor,HBLDCM)的堵转保护方法。近海和远海试验表明,该型潜标可以实现海洋垂直剖面的连续观测和数据的准实时传输,验证了潜标控制系统设计方案的可行性与稳定性。 相似文献
9.
自治水下机器人机械手系统协调运动研究 总被引：1，自引：0，他引：1
简单描述了自治水下机器人搭载的三功能水下电动机械手的设计,鉴于自治水下机器人-机械手系统运动学冗余、内部可能干涉以及载体圆筒式外形等特点,将惩罚调节因子引入系统运动学伪逆矩阵,保证了关节在允许范围内运动,避免载体大幅度姿态变化及载体与机械手之间的干涉,同时采用梯度投影法优化海流作用下的系统推力。仿真表明,该算法在解决系统冗余度的同时,有效地协调多任务下的系统动作。 相似文献
10.
抛载系统是水下机器人安全工作的核心关键部分。以“思源号”全海深ARV（自治缆控水下机器人）为研究对象，开展ARV作业过程中压载水下释放问题研究。通过在ARV底盘下侧布置下潜抛载模块，上艇体两侧对称布置上浮抛载模块，设计了一套基于电磁驱动的超高压水下抛载系统。利用Maxwell 2D电磁场有限元分析软件对非接触式电磁铁作了静磁场数值分析，得到电磁铁的磁力线与磁通密度分布图，验证了抛载电磁铁可以满足压载吸附和抛弃的功能。设计了一种非磁性钛合金隔离片，用于消除电磁铁断电后存在的吸附效应，解决了抛载失败的问题。开展了电磁吸力测试、可靠性试验、超高压试验以及深海试验，试验结果验证了所设计的全海深ARV抛载系统能够在深海环境下实现水下释放压载，为全海深ARV实现上浮下潜和水下浮态控制提供重要保障。 相似文献
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水下滑翔机是一种浮力驱动的无人水下自治观探测平台, 具有持续性、鲁棒性、自主性等特点, 是构建海洋观测技术体系重要的水下航行器之一。文章从水下滑翔机发展历程、运行方式和专用传感器展开, 基于国内外海洋学文献综述研究, 重点对水下滑翔机在典型海洋现象观测应用方面进行总结。水下滑翔机的运行稳定性、长时续, 观测高分辨率、低成本的特点, 满足了对海洋中尺度涡、内波、湍流、环流/边界流和锋面的长时间、精细化立体观测要求; 鲁棒性、自主性的特点使其能够适应台风过境、地震、原油泄漏前后等紧急恶劣海洋状况的监测; 运行平稳、低噪声的特点使其成为声学监测与探测的良好平台。对比分析国内外的水下滑翔机(组网)应用状况可以发现, 国内水下滑翔机在传感器、数据处理和组网技术方面都需要进一步完善。最后总结并展望了国内外水下滑翔机面向海洋现象观测的应用。 相似文献
13.
An integrated hydrodynamics and control model to simulate tethered underwater robot system is proposed. The governing equation of the umbilical cable is based on a finite difference method, the hydrodynamic behaviors of the underwater robot are described by the six-degrees-of-freedom equations of motion for submarine simulations, and a controller based on the fuzzy sliding mode control (FSMC) algorithm is also incorporated. Fluid motion around the main body of moving robot with running control ducted propellers is governed by the Navier–Stokes equations and these nonlinear differential equations are solved numerically via computational fluid dynamics (CFD) technique. The hydrodynamics and control behaviors of the tethered underwater robot under certain designated trajectory and attitude control manipulation are then investigated based on the established hydrodynamics and control model. The results indicate that satisfactory control effect can be achieved and hydrodynamic behavior under the control operation can be observed with the model; much kinematic and dynamic information about tethered underwater robot system can be forecasted, including translational and angular motions of the robot, hydrodynamic loading on the robot, manipulation actions produced by the control propellers, the kinematic and dynamic behaviors of the umbilical cable. Since these hydrodynamic effects are fed into the proposed coupled model, the mutual hydrodynamic influences of different portions of the robot system as well as the hydrological factors of the undersea environment for the robot operation are incorporated in the model. 相似文献
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《Oceanic Engineering, IEEE Journal of》2005,30(2):267-274
A theoretical model for the vertical directionality and depth dependence of high frequency (8 to 50 kHz) ambient noise in the deep ocean is developed. The anisotropic noise field at a variety of depths and frequencies is evaluated and displayed. It was found that at high frequencies and deep depths, a bottom-mounted hydrophone receives the maximum noise energy from overhead rather than from the horizontal. This leads to the consideration of an oblate hydrophone receiving response pattern for underwater tracking ranges that would provide a constant signal-to-noise ratio (SNR) for an acoustic source located anywhere in a circular area centered above the hydrophone. Two of the desirable characteristics of this type of pattern are the increase in receiving range of a bottom-mounted sensor and the decrease of the dynamic range of signals that a signal processor must handle. 相似文献
16.
基于模糊神经网络理论对水下拖曳体进行深度轨迹控制 总被引：2，自引：0，他引：2
以华南理工大学开发的自主稳定可控制水下拖曳体为研究对象,首先通过水下拖曳体在拖曳水池样机中的试验取得试验数据后作为训练样本,采用LM BP算法,建立基于神经网络理论构建的可控制水下拖曳体轨迹与姿态水动力的数值模型。在此基础上设计了一个控制系统,它主要由两部分组成:基于遗传算法的神经网络辨识器和基于模拟退火改进的遗传算法的模糊神经网络控制器。以满足预先设定的拖曳体水下监测轨迹要求为控制依据,由控制系统确定为达到所要求的运动轨迹而应采用的迫沉水翼转角,以此作为输入参数,通过LM BP神经网络模型的模拟计算预报在这一操纵动作控制下的拖曳体所表现的轨迹与姿态特征。数值模拟计算结果表明:该系统的设计达到了所要求的目的;借助这一系统,可以有效地实现对拖曳体的深度轨迹控制。 相似文献
17.
Large Area 3-D Reconstructions From Underwater Optical Surveys 总被引：1，自引：0，他引：1
《Oceanic Engineering, IEEE Journal of》2009,34(2):150-169
18.
水下滑翔机是开展海洋无人移动观测的重要平台,其实际航行轨迹往往与预设路径存在较大差异,多台水下滑翔机协同观测时,难以始终保持预设的组网阵列。本研究提出一种基于牛顿力学积分的水下滑翔机群协同控制算法,根据水下滑翔机群出、入水的异步性调节水下滑翔机入水前的运动参数。基于对水下滑翔机受力分析,利用牛顿力学积分还原水下滑翔机在海洋中的运动状态,进而运用水下滑翔机群的协同控制算法同时约束多台水下滑翔机的运动,并开展仿真实验。实验结果证明该算法能够使多台水下滑翔机较好地保持预设组网阵列,从而可对目标海域进行协同观测。 相似文献
19.
随着世界各国海洋开发步伐的加快,对水下传感器网络、水下监视系统、水声预警网络的需求愈来愈迫切,海洋水声通信网络的研究成了世界范围内的研究热点.水声通信网研究面临的主要困难是:海洋声信道的长延时、可用频带有限、严重的时变多途影响、功耗限制、网络安全性等.在分析水下无线通信的特殊环境后,针对水声通信网的多址接入技术进行了研究,选择适合的传输方式及相关协议构建基于OFDM与CDMA技术结合的水下通信网多载波CDMA系统;在matlab上实现多载波CDMA技术的水声通信网络节点对节点的数据传送,并得出了该系统的仿真结果:在帧长一定的情况下,随着信噪比的增大,系统的误码率会减小.在信噪比一定的情况下,子载波数目的进一步增大不会带来系统误码率的改善反而会使系统复杂性增加,降低系统的平均吞吐量,因此子载波数的选择应该在系统复杂性和效率之间折衷考虑.当水声信道上的信噪比一定时,可以通过控制数据帧的长度和子载波的个数来实现较高的网络平均吞吐量. 相似文献
20.
国产深海准实时传输潜标系统设计 总被引：2，自引：2，他引：0
基于海洋环境安全保障、海洋环境预报和海洋科学研究的需要，开展国产深海准实时传输潜标系统的设计，重点进行锚泊系统水动力分析、观测设备工作同步性、准实时通讯系统安全可靠和系统低功耗等整体技术设计；开展轻型感应耦合传输缆制作、大深度感应耦合传输和智能收放通讯等数据实时通讯技术的研究；进行适用于准实时传输潜标系统的多种类国产设备的稳定性和可靠性优化、规模化集成和系统化的应用示范，形成半潜升降式准实时通讯潜标与浮子式准实时通讯潜标各1套。所设计的准实时传输潜标系统集成了1台抗污染CTD、19台感应耦合CTD、8台感应耦合T、4台感应耦合传输的ADCP、2台单点海流计和6台感应耦合数据传输仪，并配有2套声学释放器；潜标系统本体设计含有3个水下流线型浮体、1套通讯浮子、1套准实时卫星通讯装置（半潜式水下绞车或海面浮子）和1套锚泊缆系，可实现深达2 000 mm的剖面温盐深和海流等海洋要素的高频率、多要素、多层次的长期连续观测和数据准实时传输，以便对科学问题解决和海洋环境安全保障等提供及时的数据支撑。 相似文献