无舵翼水下机器人路径跟踪控制研究   总被引：1，自引：0，他引：1  

甘永  万磊  陆雯雯  庞永杰 《海洋工程》2007,25(1):70-75

针对无舵翼水下机器人的各种不同任务要求下的路径跟踪控制进行研究。通过模拟人的运动行为,建立了虚拟避碰声纳模型。根据地形跟踪的方法提出基于虚拟声纳的路径跟踪控制方法,并通过考虑纵向速度对于其他各个自由度运动的影响设计了运动控制器。通过海上试验验证了所提出的路径跟踪控制方法对于无舵翼水下机器人是可以满足实际需要的。  相似文献   

北方集中供热系统气象风险评估初探   总被引：1，自引：0，他引：1  

陈莉  李帅 《冰川冻土》2018,40(6):1285-1290

供热管网爆裂、跑冒滴漏是北方集中供热城市面临的常见问题,供热管网出现大型故障往往是在室外寒冷的隆冬时节,如果间断或限额供热时间过长,将会造成严重的社会和经济影响。同时在极端低温情况下,可能会造成热源供应不足,出现限额供热现象,不能保证室内舒适度,影响人们的正常生活。本文提出了能源供应气象风险评估和热网维修寒冷风险评估方法,并进行了案例评估,以期为未来进行相关风险评估提供参考。  相似文献   

Planning of Water-Saving Green Space System Based on GIS Technology and Archydrodata Model     

Liu  Dongmin  Wang  Daqing  Du  Guoming  Yuan  Shuai  Yu  Chang  Zhao  Meng  Fang  Li  Fu  Yuchen  Zhang  Weiqian  Liu  Huimin 《Water Resources》2022,49(4):733-742

Water Resources - Following sponge city concept, taking Qunli New District as study object, and planning water-saving green space system (WGSS) that can use rainwater resources. GIS and ArcHydro...  相似文献   

弹性能量半径演化谱及其在多自由度体系地震反应计算中的应用     

彭灏  温卫平  张培  孔璟常 《地震工程与工程振动》2022,42(1):260-266

目前用于结构抗震设计的反应谱仅能反映峰值反应,无法体现反应值随时间的变化。文中提出一种弹性能量半径演化谱,可反映线性单自由度体系弹性能量(即动能与弹性势能之和)随地震持时的变化,且其峰值近似等于结构峰值位移。文中给出了利用地震动演化功率谱得到该演化谱的方法并进一步发展了一种计算线性多自由度体系地震位移反应的新方法。通过两座框架结构的地震反应计算,将新方法与传统振型组合法及时程分析法的计算结果进行对比,发现对于振型稀疏结构,新方法计算结果与SRSS法接近;而对于振型密集结构,新方法计算结果较CQC法更精确,且避免了CQC法相关系数的复杂计算。  相似文献   

Does exploring the characteristics of emergency supplies really matter for disaster response operations?     

Zhu  Xiaoxin  Regan  David  Sun  Baiqing 《Natural Hazards》2022,110(1):175-189

Natural Hazards - This article aims to provide a quantitative study of immediate food supplies based on a three-stage analysis. Firstly, a numerical autoregressive integrative moving average...  相似文献   

Target selection and accessibility for rendezvous with a Near-Earth asteroid mission     

Dong Qiao  Pingyuan Cui  Hutao Cui 《Earth, Moon, and Planets》2007,100(3-4):137-156

Mission to asteroids and comets has been the hot spot of deep space exploration in the new century. The choice of a suitable target, which involves both scientific value and technical feasibility, becomes a difficult task to accomplish due to limited energy and technology. The aim of this paper is to provide an approach to selecting a target and evaluating accessibility for rendezvous with a Near-Earth Asteroid mission, taking into account scientific value and engineering feasibility. Firstly, according to the orbital characteristics and physical properties of Near-Earth asteroids, we make a summary of some of the most frequent factors influencing the target selection of scientific significance. When selecting the target for a space mission, these factors can be regarded as the scientific motivations. Then in order to avoid the possibility that some high priority targets for science would be discarded due to requiring too high an energy budget by using a classical direct transfer strategy, we calculate the transfer trajectory for rendezvous with candidates by using the planetary swingby technique and the global optimal two-impulse method. Finally, through a comparison between the scientific relevance of each possible target and the corresponding estimate of energy needed for rendezvous missions, the ranking of some candidates is identified.  相似文献   

利用C-F模型识别僵尸网络迁移   总被引：1，自引：1，他引：0  

臧天宁  云晓春  张永铮  门朝光 《武汉大学学报(信息科学版)》2010,(5)

基于C-F模型识别僵尸网络的迁移,以僵尸网络迁移过程中表现出的多个特征为基础,提出了一种识别僵尸网络迁移的方法,能够协同多个特征判断给定的两批僵尸主机是否具有迁移关系。通过几个典型僵尸样本的评测,有效地识别了僵尸网络的迁移行为。与单纯采用IP地址重合度的方法进行了对比,在僵尸网络成员数量动态变化的情况下,仍然保持了理想的识别结果。  相似文献   

基于惯导/天文高精度定姿方法     

杨生  孙付平  陈坡  秦士琨 《测绘学院学报》2009,(2)

研究了利用惯性导航系统与天文导航系统进行组合定姿的方法;构造了惯导/天文组合导航系统的状态方程和量测方程;采用卡尔曼滤波技术设计了惯导/天文组合定姿算法。设计飞行器的典型飞行轨迹,通过数学仿真对该算法的有效性进行了验证。结果表明,天文导航能够有效地补偿惯性导航因陀螺漂移带来的误差,非常适用于飞行器的高精度定姿。  相似文献   

Adaptive output feedback control based on DRFNN for AUV     

Li-Jun Zhang  Xue Qi  Yong-Jie Pang 《Ocean Engineering》2009,36(9-10):716-722

The tracking control problem of AUV in six degrees-of-freedom (DOF) is addressed in this paper. In general, the velocities of the vehicles are very difficult to be accurately measured, which causes full state feedback scheme to be not feasible. Hence, an adaptive output feedback controller based on dynamic recurrent fuzzy neural network (DRFNN) is proposed, in which the location information is only needed for controller design. The DRFNN is used to online estimate the dynamic uncertain nonlinear mapping. Compared to the conventional neural network, DRFNN can clearly improve the tracking performance of AUV due to its less inputs and stronger memory features. The restricting condition for the estimation of the external disturbances and network's approximation errors, which is often given in the existing literatures, is broken in this paper. The stability analysis is given by Lyapunov theorem. Simulations illustrate the effectiveness of the proposed control scheme.  相似文献   

A Hull-Inspect ROV Control System Architecture     

李晔  庞永杰  陈艳  万磊  邹劲 《中国海洋工程》2009,23(4):751-761

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