Parallel Neural Network-Based Motion Controller for Autonomous Underwater Vehicles   总被引：2，自引：0，他引：2  

甘永 王丽荣万磊  徐玉如 《中国海洋工程》2005,19(3):485-496

A parallel neural network-based controller （PNNC） is presented for the motion control of underwater vehicles in this paper. It consists of a real-time part, a self-learning part and a desired-state programmer, and it is different from normal adaptive neural network controller in structure. Owing to the introduction of the self-learning part, on-line learning can be performed without sample data in several sample periods, resulting in high learning speed of the controller and good control performance. The desired-state programmer is utilized to obtain better learning samples of the neural network to keep the stability of the controller. The developed controller is applied to the 4-degree of freedom control of the AUV “IUV- IV” and is successful on the simulation platform. The control performance is also compared with that of neural network controller with different structures such as normal adaptive neural network and different learning methods. Current effects and surge velocity control are also included to demonstrate the controller＇ s performance. It is shown that the PNNC has a great possibility to solve the problems in the control system design of underwater vehicles.  相似文献   

潮流场数学方程交错分区并行计算方法研究   总被引：1，自引：0，他引：1  

张树生  陶建华 《海洋技术学报》2005,24(1):72-76

文章对潮流场数学方程进行可并行性方法研究。分析了两种可并行实现的方法，并对两种可并行化的方法可行性进行分析。最后采用虚拟区域分解法对问题进行了实现，并利用串行计算的结果对并行计算的结果进行了验证。  相似文献   

Retinex图像增强在GPU平台上的实现     

王浩  王含宇  杨名宇  许永森 《地球信息科学学报》2019,21(4):623-629

伴随着无人机时代的到来,对海量数据处理的实时性要求越来越高。本文在GPU（Graphic Processing Unit）平台上实现了Retinex图像增强算法的并行处理,提升了Retinex图像增强算法处理高分辨率数字图像的处理速度。首先,通过数据合并访问和内存数据交互技术实现了数据的快速访问,缩短了数据在不同种类内存间的传输时间,提升了数据访问的效率;然后,采用内核指令优化和数据并行计算技术,实现了Retinex图像增强算法在GPU平台上的多核程序设计;最后,采用主机端和设备端的异步执行模式,在数据传输的同时进行内核数据的并行计算,通过任务级的并行进一步缩短了算法在GPU平台上的执行时间。研究表明,对于不同分辨率的图像,Retinex图像增强算法的处理速度相比于CPU平台均有数十倍的提高,如处理一帧分辨率为2048像元×2048像元的图像仅需要38.04 ms,算法的处理速度较CPU提高了40倍。  相似文献   

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董曼  李胜乐 《大地测量与地球动力学》2008,28(2):95-99

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利用分布式自动化并行处理框架提升空间数据分析效率     

梁哲恒  吴宝佑  谢刚生 《测绘通报》2020,(10):143-147

围绕GIS应用系统在空间数据分析效率提升的方面，本文提出了一套基于分布式自动化并行处理框架的效率提升方法，阐述了如何基于ArcPy、WebAPI、分布式调度、调度控制因子等关键技术，实现分布式自动化并行处理。本文方法有助于便捷、高效地解决大量空间数据分析处理的效率问题。  相似文献   

Finite element simulations of 3D planar hydraulic fracture propagation using a coupled hydro-mechanical interface element     

Qian Gao  Ahmad Ghassemi 《国际地质力学数值与分析法杂志》2020,44(15):1999-2024

Two-dimensional hydraulic fracturing simulations using the cohesive zone model (CZM) can be readily found in the literature; however, to our knowledge, verified 3D cohesive zone modeling is not available. We present the development of a 3D fully coupled hydro-mechanical finite element method (FEM) model (with parallel computation framework) and its application to hydraulic fracturing. A special zero-thickness interface element based on the CZM is developed for modeling fracture propagation and fluid flow. A local traction-separation law with strain softening is used to capture tensile cracking. The model is verified by considering penny-shaped hydraulic fracture and plain strain Kristianovich‑Geertsma‑de Klerk hydraulic fracture (in 3D) in the viscosity- and toughness-dominated regimes. Good agreement between numerical results and analytical solutions has been achieved. The model is used to investigate the influence of rock and fluid properties on hydraulic fracturing. Lower stiffness tip cohesive elements tend to yield a larger elastic deformation around the fracture tips before the tensile strength is reached, generating a larger fracture length and lower fracture pressure compared with higher stiffness elements. It is found that the energy release rate has almost no influence on hydraulic fracturing in the viscosity-dominated regime because the energy spent in creating new fractures is too small when compared with the total input energy. For the toughness-dominated regime, the released energy during fracturing should be accurately captured; relatively large tensile strength should be used in order to match numerical results to the asymptotic analytical solutions. It requires smaller elements when compared with those used in the viscosity-dominated regime.  相似文献   

多特征约束下的复杂交叉路口主辅路识别     

张鸿刚  李成名  于美娜  武鹏达  郭曼 《测绘通报》2020,(10):21

主干道、辅路的准确识别对于实现复杂交叉路口的自动综合至关重要。传统方法多依赖于路段的笔直程度和弯曲程度描述路口的主干道和辅路，然而复杂交叉路口结构错综复杂、形态变化多样，仅依赖这两种特征进行主辅路识别的准确度有限，且部分形态相似的主辅路无法识别。为此，本文提出了一种多特征约束下的复杂交叉路口主辅路识别方法。首先提取复杂交叉路口的特征点，根据特征点对弧段进行打断，依据路段的笔直程度识别出平行弧段；然后依据道路延展性、角度、距离等特征识别平行簇获取复杂交叉路口中的主干道；最后通过紧凑度和距离关系识别匝道获取复杂交叉路口中的辅路。以南京OSM城市路网为例的试验表明，本文方法能够准确识别出复杂交叉路口的主干道和辅助路段，识别精度分别达到93.60%和89.43%。  相似文献   

Coherent beam combining of hybrid phase control in master oscillator-power amplifier configuration     

王小林  周朴  马阎星  马浩统  许晓军  刘泽金  赵伊君 《海洋学报(英文版)》2010,29(9)

A novel scalable architecture for coherent beam combining with hybrid phase control involving passive phasing and active phasing in master oscillator-power amplifier configuration is presented. Wide-linewidth mutually injected passive phasing fibre laser arrays serve as master oscillators for the power amplifiers, and the active phasing using stochastic parallel gradient descent algorithm is induced. Wide-linewidth seed laser can suppress the stimulated Brillouin scattering effectively and improve the output power of the fibre laser amplifier, while hybrid phase control provides a robust way for in-phase mode coherent beam combining simultaneously. Experiment is performed by active phasing fibre laser amplifiers with passive phasing fibre ring laser array seed lasers. Power encircled in the main-lobe increases1.57 times and long-exposure fringe contrast is obtained to be 78% when the system evolves from passive phasing to hybrid phasing.  相似文献   

Parallelization Load Balance Strategy for a Global Grid-Point Model     

WU Xiangjun  CHEN Dehui  SONG Junqiang  JIN Zhiyan  YANG Xuesheng  ZHANG Hongliang 《Acta Meteorologica Sinica》2010,24(5):622-630

The Global/Regional Assimilation and PrEdiction System (GRAPES) is a new-generation operational numerical weather prediction (NWP) model developed by the China Meteorological Administration (CMA).It is a grid-point model with a code structure different from that of spectral models used in other operational NWP centers such as the European Centre for Medium-Range Weather Forecasts (ECMWF),National Centers for Environmental Prediction (NCEP),and Japan Meteorological Agency (JMA),especially in the context of p...  相似文献   

三维顶板斜向驱动方腔流有限元并行计算     

王吉飞  万德成 《海洋工程》2015,33(2):1-12

基于PETSc FEM开源代码,采用分步有限元算法和区域分解法,并行计算了不同雷诺数下的三维顶板斜向驱动方腔流问题。计算结果表明,当顶板沿其对角线方向运动时,流体与下游侧壁发生斜向碰撞后在下游对角处汇聚并形成射流,该射流在与底面、上游侧壁碰撞后形成较为复杂的涡流结构。雷诺数大小对三维顶板斜向驱动方腔流的涡流场结构形态具有重要影响。并行性能分析表明区域分解法能有效地提高三维粘性方腔流的计算速度。  相似文献