自主式水下机械手系统研究   总被引：4，自引：0，他引：4  

王承禧  徐国华  黄群  李式捷  王宁 《海洋工程》1996,(3)

本文从水下机械手的总体设计，关节直流电机的驱动和调速，手臂上声纳的水下搜索与跟踪，机械手系统的智能控制和电源等几个方面，介绍了有关自主式水下机械手系统的研究，可为研制自主式水下作业系统提供参考  相似文献   

基于仿射变换的数字影像内定向的误差控制分析     

山海涛  张保明  马淑宇  韩东 《海洋测绘》2006,26(1):15-18

数字化摄影测量生产中的误差来源众多,尤其是系统误差常常很突出。针对这个问题,首先深入分析了附有未知数的仿射变换控制模型参数的误差估计,然后利用误差传播定律和误差综合原理,推导出了任意非检控点经仿射变换后输出数据精度的计算公式,并通过数值分析从理论上验证了用四个角框标进行数字影像内定向是最佳误差控制方案。  相似文献   

亚像素定位的关键问题研究   总被引：1，自引：0，他引：1  

王成亮  邹峥嵘  闾海庆  王静 《海洋测绘》2007,27(1):70-73

分析了控制点标志的选择与设计,采用了图像处理、Hough变换、角点与直线高精度定位算子等方法,实现了中南大学近景摄影测量二维控制场1 350个人工标志点的自动识别和亚像素定位,仿真图检测平均精度达到±0.05像素。  相似文献   

Expanded adaptive fuzzy sliding mode controller using expert knowledge and fuzzy basis function expansion for UFV depth control     

Hyun-Sik Kim  Yong-Ku Shin   《Ocean Engineering》2007,34(8-9):1080-1088

Generally, the underwater flight vehicle (UFV) depth control system operates with the following problems: it is a multi-input multi-output (MIMO) system, it requires robustness, a continuous control input, and further, it has the speed dependency of controller parameters. To solve these problems, an expanded adaptive fuzzy sliding mode controller (EAFSMC), which is based on the decomposition method designed by using an expert knowledge and the decoupled sub-controllers and composition method designed by using the fuzzy basis function expansions (FBFEs), is proposed. To verify the performance of the EAFSMC, the depth control of UFV in various operating conditions is performed. Simulation results show that the EAFSMC solves all problems experienced in the UFV depth control system online.  相似文献   

大深度载人潜水器低速大漂角模糊滑模航向控制研究   总被引：1，自引：0，他引：1  

马岭  崔维成 《海洋工程》2006,24(3):74-78

通过模型试验测量大深度载人潜水器低速大漂角运动时所受到的非线性水动力。基于一种新的模糊滑模控制策略,为潜水器设计了鲁棒航向控制器。在不同的漂角子区间内分别设计局部镇定的滑模控制器,然后通过Takagi-Sugeno模糊推理系统将它们光滑连接,得到模糊滑模控制。仿真计算结果充分显示了该控制策略的有效性。  相似文献   

诊断台风异常路径的三层权重控制点方案     

谢玲娟  林丽珊 《海洋预报》1992,9(3):8-16

本方案采用850、700、500hPa三个层次的环境平均流场作控制点法。综合考虑这些层次上的引导气流在不同时、空域中的相对重要性。试验结果表明,其效果比单一取某层作引导为佳。且对用来预测台风的未来24小时路径是否异常具有一定的参考价值。  相似文献   

Robust and adaptive path following for underactuated autonomous underwater vehicles   总被引：1，自引：0，他引：1  

K. D. Do  J. Pan  Z. P. Jiang 《Ocean Engineering》2004,31(16):1967-1997

This paper proposes a nonlinear robust adaptive control strategy to force a six degrees of freedom underactuated underwater vehicle with only four actuators to follow a predefined path at a desired speed despite of the presence of environmental disturbances and vehicle’s unknown physical parameters. The proposed controller is designed using Lyapunov’s direct method, the popular backstepping and parameter projection techniques. The closed loop path following errors can be made arbitrarily small. Interestingly, it is shown that our developed control strategy is easily extendible to situations of practical importance such as parking and point-to-point navigation. Numerical simulations are provided to illustrate the effectiveness of the proposed methodology.  相似文献   

维护体系良性运行 适应新版质量标准     

王婕  廉双喜 《海洋技术学报》2001,20(4):76-78

本文介绍了海洋技术研究所质量管理处在维护质量体系运行方面的主要作法和经验体会，结合2000版ISO9201标准的新内容，提出适应新版标准的想法。  相似文献   

多维联合概率理论对三峡工程设计洪水的计算   总被引：1，自引：0，他引：1  

逯义军  刘德辅  谢波涛  姜云鹏 《中国海洋大学学报(自然科学版)》2007,37(3):497-502,496

首次将多维联合概率理论应用到三峡大坝设计洪水的风险分析,并用随机模拟方法(ISPUD)对四维联合概率分布进行了求解,得出在长江上游干流及主要支流来水量出现的不同组合和最不利组合情况下,相应三峡大坝不同联合重现期的设计洪水。可用于三峡工程的风险分析及防洪调度。  相似文献   

Analytic Solution of Interaction Between Surface Waves and Floating Elastic Plates with Elastic End-Restraints     

赵存宝张嘉钟  邢海燕黄文虎 《中国海洋工程》2007,21(1):23-38

Based on the dynamic theories of water waves and Mindlin plates,the analytic solution of interaction between surface waves and two-dimensional floating elastic plates with edge-restraint is constructed by use of the Wiener-Hopf technique.Firstly,without regard for elastic edge restraint,the wave-induced responses of elastic floating plate analyzed by the present method are in good agreement with the results from literature and experimental results.Therefore,it can be shown that the present method is valid.Secondly,three end-restraint cases(i.e.,the left-end elastic restraints,the both-end elastic restraints,and the right-end elastic restraints)are proposed to reduce the vibration of floating plates,in which the spring is used to connect the sea bottom and the floating plate's left(or right)edge.The relations between the spring stiffness and the parameters of wave-induced responses of floating plates are discussed.Moreover,the effective method to reduce the vibration of floating elastic plates can be obtained through comparison.  相似文献