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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
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于连庆 《南京气象学院学报》2014,6(6):530-538
设计并实现了一种基于触控操作方式,运行于移动计算设备上的大气科学数据可视化软件系统MeteoExplorer Touch,它是世界上首款提供触控操作方式体验,运行于Windows8和Windows RT操作系统上的大气科学数据可视化软件.该软件系统的技术特色有:1)针对Windows 8和Windows RT操作系统所带来的崭新特性进行设计,实现了诸如使用手指滑动、捏掐伸展完成底图的缩放和漫游,在操作系统从低功耗运行状态下再次激活后恢复用户会话状态等功能,从而为广大气象科研和业务人员在平板电脑上分析、处理气象数据提供了全新的体验;2)MeteoExplorer Touch不仅仅是一个图片查看器,它还实现了主流桌面版专业气象软件所提供的大部分功能,包括数据资料解析、观测场客观分析、物理量计算、图形产品生成、地理信息和图层管理等;3)MeteoExplorer Touch注重程序性能和用户体验.为实现这一目标,软件采用C++语言开发功能,使用XAML标记语言设计用户界面,使用DirectX 11硬件加速渲染技术进行图形显示,因此,它具有原生程序所特有的性能高、速度快、系统资源需求低的优点. 相似文献
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地理信息系统发展趋势 总被引：10，自引：0，他引：10
本文根据国内外在地理信息系统方面的进展，就地理信息系统的科学概念、基本构成和它的以下一些发展趋势作了讨论：（1）地理信息系统是构成地理学日臻完善的技术体系的重要部分；（2）空间分析功能是系统研究和应用的主要目标；（3）系统最重要的技术问题是管理和存储大量空间数据的数据结构；（4）综合性的发展特色日益明显；（5）标准化和智能型的发展方向已引起关注。 相似文献
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吉林省产业结构演变城市化响应的地域类型及调控模式 总被引：3，自引：1，他引：2
本文提出了产业结构演变城市化响应地域类型的概念,依据城市与区域发展的要素、结构特点及发展机制的空间差异性,将吉林省划分出大城市地域、资源-工矿型地域、传统农业地域、边境口岸地域和环境脆弱地域五种类型地域。研究了不同地域类型城市化与产业结构演变相互作用的特点及变化趋势。并强调,大城市地域产业结构升级与职能扩散,资源-工矿型地域产业与城镇空间重构,传统农业地域城镇化的空间集聚,边境口岸地域产业与城市的地缘整合,环境脆弱地域产业与城市发展的生态化,是未来吉林省产业结构演变城市化响应地域类型的主要调控模式。 相似文献
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J. M. Ferrándiz M. E. Sansaturio R. Caballero 《Celestial Mechanics and Dynamical Astronomy》1993,57(1-2):189-202
We deal with the problem of the motion of a triaxial satellite of an oblate primary of larger mass. We show that the treatment is simplified by using a canonical set of variables previously introduced by the authors, that allows a drastic reduction in the expansions of the potential. A general method to avoid the appearance of virtual singularities when the angles between certain planes are small is designed. Our approach is applicable either to natural or artificial satellites. 相似文献
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针对现有拖曳式水下潜器控制机构复杂、航向与姿态不容易稳定的缺陷,提出和设计了一种具有航向与姿态稳定的多自由度可控制拖曳式水下潜器样机。该样机主要由鱼雷状浮体、固定水平主翼、转角可控制襟翼、立式翼型主体等部分组成,潜器的深度控制通过控制襟翼的偏转来诱导固定水平主翼攻角的改变来实现;潜器的横荡运动操纵以通过控制两个作为转艏控制器的导管螺旋桨的转向与转速、诱导立式翼型主体产生诱导力矩使其产生横向偏转来进行。文中所提出和设计的样机具有运动过程中自我稳定能力强、航向稳定性好、控制机构简单并具有较高实用价值的特点。 相似文献