基于分布式控制力矩陀螺的水下航行器轨迹跟踪控制   总被引：2，自引：0，他引：2  

黄道敏  徐瑞昆  唐国元  冯雷  刘智  徐国华 《海洋工程》2018,36(6):69-76

基于控制力矩陀螺群(CMGs)的水下航行器具有低速或零速机动的能力。采用基于分布式CMGs的水下航行器方案,并研究其水平面的轨迹跟踪控制问题。通过全局微分同胚变换将非完全对称的动力学模型解耦成标准欠驱动控制模型,并根据简化的模型构建其轨迹跟踪的误差动力学模型,将轨迹跟踪控制问题转化为误差模型镇定问题。基于一种分流神经元模型和反步法设计了系统的轨迹跟踪控制律,该控制器不需要对任何虚拟控制输入进行求导计算,且能确保跟踪误差的最终一致有界性。仿真结果表明该控制器能够实现在不依赖动力学参数先验知识的情况下对光滑轨迹的有效跟踪。  相似文献   

一种基于特征信息的车牌识别方法   总被引：3，自引：0，他引：3  

胡强  楼新远  段国兵 《成都信息工程学院学报》2004,19(3):345-348

根据中国车辆牌照本身的现有特征信息,提出一种车牌识别方法.采用全局动态阈值法进行二值化处理图像,牌照定位算法简单迅速,字符分割参考垂直投影间隔和字符的纵横比.实验结果表明,这种方法具有良好的环境适应性和鲁棒性.  相似文献   

The Dynamics of Covering Behaviour in Dominant Echinoid Populations from American and European West Coasts     

Emma Verling  Anne C. Crook  & David K. A. Barnes 《Marine Ecology》2004,25(3):191-206

Abstract.  The so-called 'covering behaviour' of echinoids is known to vary with habitat according to the types of covering items available, but the full extent of the role played by habitat characteristics in this behaviour is not known. Moreover, whether or not different species inhabiting similar environmental conditions and habitats also show similar patterns of this particular behaviour has yet to be investigated. In this study, two prominent west coast echinoid species, Paracentrotus lividus and Strongylocentrotus purpuratus , were examined with respect to covering behaviour and spatial organisation. Populations of both species are found in exposed intertidal zones, occupying boreholes within tidepools. Important similarities were found in the spatial organisation of both species' populations, with lowest densities in upper shore pools. However, the size distributions of the two populations differed significantly; P. lividus within upper shore pools were significantly larger than those in mid or lower shore pools, whereas S. purpuratus on the lower shore were significantly larger than those at other shore heights. We found significant between-species variability in covering item use, although the number of covering items available at both sites was not significantly different. For example, greater densities of covering items were used by P. lividus than by S. purpuratus . We also found that the percent of echinoid surface area covered varied significantly in space for both species. These data emphasise the complex and multifaceted nature of covering behaviour, but most importantly, they also strongly suggest that habitat characteristics can only partly explain the extent of this behavioural variability amongst echinoid species.  相似文献   

水下运载器外挂负载的系统测试方案及仿真     

杨洪刚  连琏  葛彤 《海洋工程》2006,24(1):60-67

研究水下运载器外挂负载的测试问题,根据负载功能,建立了负载的系统模型。考虑到系统可测性,模型中增设一些辅助元件和电路,测试计算机通过与负载的自动驾驶计算机通讯,由自动驾驶计算机施加激励和采集响应,完成测试。最后,对测试方案进行了仿真试验,并分析了仿真结果。  相似文献   

载人潜水器圆柱形耐压壳体的优化设计研究     

李学斌 《海洋技术学报》2007,26(3):5-8,12

采用分枝定界法和序列二次规划方法,对载人潜水器圆柱形耐压壳体的重量最小化进行了研究.设计变量是壳板的厚度、肋骨的型号、间距和数量,讨论了下潜深度、材料几何参数对重量以及其它特征量的影响.算例计算表明,下潜深度越大,屈服极限越高的材料重量减轻越明显.对于大深度而言,选用高屈服极限材料,可以使得材料能够充分利用.文中还对结构重量占排水量比例随深度变化的情况进行了研究.  相似文献   

水下智能潜器的神经网络运动控制   总被引：10，自引：4，他引：10  

彭良  卢迎春  万磊  孙俊岭 《海洋工程》1995,(2)

本文介绍一种基于神经网络的水下智能潜器的运动控制方法，该方法通过在线学习，融控制与滤波为一体。计算机仿真与水池实验验证表明，该方法的控制与滤波性能良好，对环境的学习与适应能力强。该方法事实上可用于一般动力系统的控制。  相似文献   

烧伤病人应用CHIMEHERB人工皮的临床评价     

唐晓熹  许伟石 《中国海洋大学学报(自然科学版)》1989,(Z3)

本研究初步评价CHIMEHERB人工皮的治疗效果.74例,105个创面应用人工皮:供皮区47个创面,愈合时间平均为9±1.94d(天),油纱布对照为11.7±1.93d(P<0.01);14个浅Ⅱ°新鲜创面,70％在3～5d内逐渐干燥与创面紧密粘附,平均愈合时间为9.8±3.09d;11个存留上皮组织的削痂深Ⅱ°创面,平均5.7±1.7d干燥,平均愈合时间为10.55±3.09d,不需植自体皮;8个削痂刨面至脂肪组织或切痂创面4～9d更植自体皮,其存活率近乎100％,2个创面因残留坏死组织而失败;人工皮应用于16个自体皮间隙创面,除三个网状植皮和一个条状植皮创面失败外,所植自体皮都在人工皮下扩展融合,未观察到占位现象;对后期残余小创面有良好的效果.本研究结果提示人工皮对创面愈合具有有利影响.主要适用于供皮区、浅Ⅱ°新鲜创面、深Ⅱ°脱痂和削痂后存留上皮组织较多的创面、自体皮间隙创面和后期残余小创面,不适宜于深Ⅲ°新鲜创面.  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   

Dynamics and control of a towed underwater vehicle system, part I: model development     

B. Buckham  M. Nahon  M. Seto  X. Zhao  C. Lambert 《Ocean Engineering》2003,30(4):82-470

Autonomous vehicles are being developed to replace the conventional, manned surface vehicles that tow mine hunting towed platforms. While a wide body of work exists that describes numerical models of towed systems, they usually include relatively simple models of the towed bodies and neglect the dynamics of the towing vehicle. For systems in which the mass of the towing vehicle is comparable to that of the towed vehicle, it becomes important to consider the dynamics of both vehicles. In this work, we describe the development of a numerical model that accurately captures the dynamics of these new mine hunting systems. We use a lumped mass approximation for the towcable and couple this model to non-linear numerical models of an autonomous surface vehicle and an actively controlled towfish. Within the dynamics models of the two vehicles, we include non-linear controllers to allow accurate maneuvering of the towed system.  相似文献   

High-resolution measurements of chromophoric dissolved organic matter in the Mississippi and Atchafalaya River plume regions   总被引：4，自引：0，他引：4  

Robert F. Chen  G. Bernard Gardner 《Marine Chemistry》2004,89(1-4):103

Chromophoric dissolved organic matter (CDOM) was measured in the spring and summer in the northern Gulf of Mexico with the ECOShuttle, a towed, instrumented, undulating vehicle. A submersible pump mounted on the vehicle supplied continuously flowing, uncontaminated seawater to online instruments in the shipboard laboratory and allowed discrete samples to be taken for further analysis. CDOM in the northern Gulf of Mexico was dominated by freshwater inputs from the Mississippi River through the Birdfoot region and to the west by discharge from the Atchafalaya River. CDOM was more extensively dispersed in the high-flow period in the spring but in both time periods was limited by stratification to the upper 12 m or so. Thin, subsurface CDOM maxima were observed below the plume during the highly stratified summer period but were absent in the spring. However, there was evidence of significant in situ biological production of CDOM in both seasons.The Mississippi River freshwater end member was similar in spring and summer, while the Atchafalaya end member was significantly higher in the spring. In both time periods, the Atchafalaya was significantly higher in CDOM and dissolved organic carbon (DOC) than the Mississippi presumably due to local production and exchange within the coastal wetlands along the lower Atchafalaya which are absent along the lower Mississippi. Nearshore waters may also have higher CDOM due to outwelling from coastal wetlands. High-resolution measurements allow the differentiation of various water masses and are indicative of rapidly varying (days to weeks) source waters. Highly dynamic but conservative mixing between various freshwater and marine end members apparently dominates CDOM distributions in the area with significant in situ biological inputs (bacterial degradation of phytoplankton detritus), evidence of flocculation, and minor photobleaching effects also observed. It is clear that high-resolution measurements and adaptive sampling strategies allow a more detailed examination of the processes that control CDOM distributions in river-dominated systems.  相似文献