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海洋自主航行器在对海底地形测绘和水文信息搜集过程中,简单锯齿形完全遍历路径规划算法对多海湾海底地形探测易出现重复区域和遗漏区域的问题。本文提出了遗漏海湾和重复海湾及其进入点、退出点和门户的路径规划环境表达概念,并将其应用在基于行为的锯齿形完全遍历路径规划改进算法中,有效地减少了海洋自主航行器全覆盖地形测绘的重复区域和遗漏区域。在网格化定常流场海域内,对某一阻力特性已知的自主水下机器人进行了完全遍历路径规划仿真,验证了基于重复和遗漏海湾搜索行为的完全遍历路径规划算法的遍历性和不重复性,并降低了区域全覆盖地形测绘任务的耗能。最终,通过小型无人艇湖试验证了算法在完全遍历路径规划中的节能性和实用性。 相似文献
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基于广义逆和奇异值分解理论,研究核磁共振T2谱反演的截断法和阻尼法。首先给出反演问题的M-P广义逆解;然后对系数矩阵进行奇异值分解求其M-P广义逆,对奇异值进行截断或者加阻尼,保证解的稳定性兼顾其分辨率;最后利用迭代技术实现解的非负约束。数值仿真实验和岩心T2谱反演表明:对于双峰谱,在信噪比SNR≥10时,截断法和阻尼法反演T2谱的分辨率和稳定性都很高;截断法截断因子选择范围小,在SNR<10时解的分辨率和稳定性差;阻尼法阻尼因子选择范围大,在SNR<10时解的稳定性好,但短组分分辨率低,长组分分辨率高。对于三峰谱,当SNR≥20时,截断法和阻尼法反演的T2谱光滑连续,具有三峰结构;当SNR<20时两者均不能反演出与构造谱接近的三峰谱。因此,2种方法可应用于SNR≥10的双峰谱和SNR≥20的三峰谱反演;从分辨率和稳定性、平滑噪声及截断和阻尼因子的选取上,阻尼法略优于截断法。 相似文献
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As the exploration and exploitation of oil and gas proliferate throughout deepwater area,the requirements on the reliability of dynamic positioning system become increasingly stringent.The control objective ensuring safety operation at deep water will not be met by a single controller for dynamic positioning.In order to increase the availability and reliability of dynamic positioning control system,the triple redundancy hardware and software control architectures were designed and developed according to the safe specifications of DP-3 classification notation for dynamically positioned ships and rigs.The hardware redundant configuration takes the form of triple-redundant hot standby configuration including three identical operator stations and three real-time control computers which connect each other through dual networks.The function of motion control and redundancy management of control computers were implemented by software on the real-time operating system VxWorks.The software realization of task loose synchronization,majority voting and fault detection were presented in details.A hierarchical software architecture was planed during the development of software,consisting of application layer,real-time layer and physical layer.The behavior of the DP-3 dynamic positioning control system was modeled by a Markov model to analyze its reliability.The effects of variation in parameters on the reliability measures were investigated.The time domain dynamic simulation was carried out on a deepwater drilling rig to prove the feasibility of the proposed control architecture. 相似文献
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The forward-looking image sonar is a necessary vision device for Autonomous Underwater Vehicles （AUV）. Based on the acoustic image received from forward-looking image sonar, AUV local path is planned. When the environment model is made to adapt to local path planning, an iterative algorithm of binary conversion is used for image segmentation. Raw data of the acoustic image, which were received from serial port, are processed. By the use of ＂Mathematic Morphology＂ to filter noise, a mathematic model of environment for local path planning is established after coordinate transformation. The optimal path is searched by the distant transmission （Dt） algorithm. Simulation is conducted for the analysis of the algorithm. Experiment on the sea proves it reliable. 相似文献
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