Research of underwater self-reconfigurable system

This article describes a novel underwater robot, which is called underwater self-reconfigurable system （USS）. USS is studied and developed by Shanghai Jiao Tong University. It is formed by a quantity of the same modules and works in group. Based on that, USS can change its form while working in the complicated underwater structures according to different tasks. New multi-jaw underwater docking system, piston style regulator and clamshell-like sampling module are designed for USS, these developments address the problems of underwater docking, floating condition adjusting and sampling. Besides, the gaits like wriggle, creeping, swimming and fourlegged moving have been successfully implemented in tank and lake test, which verifies the validity of the concept.     

Study on Distributed Motion of Self-Reconfigurable Robot Based on Local Rules

The eigenvector of a module with six adjacent module's state was constructed according to self-reconfigurable robot M-Cubes and the configuration of system was expressed with the eigenvectors of all modules.According to the configuration and motion characteristics of the modules,a 3-dimension motion rule set was provided.The rule sets of each module was run according to eigenvector of the module after the motion direction of system decided and motion rules were selected.At last,the rapid and effective motion and metamorphosis were realized in system.The rule sets are operated on three systems and the distributed motion of system is fully realized.The result of simulation shows that the 3-dimension motion rule sets has perfect applicability and extensibility.The motion steps and communication load of the modules increase with the module number in linear.     

Simulation platform for the underwater snake-like robot swimming based on Kane’s dynamic model and central pattern generator

A systematic method for swimming control of the underwater snake-like robot is still lacking. We construct a simulation platform of the underwater snake-like robot swimming based on Kane＇s dynamic model and central pattern generator （CPG）. The partial velocity is deduced. The forces which contribute to dynamics are determined by Kane＇s approach. Hydrodynamic coefficients are determined by experiments. Then, we design a CPG-based control architecture implemented as the system of coupled nonlinear oscillators. The CPG, like its biological counterpart, can produce coordinated patterns of rhythmic activity while being modulated by simple control parameters. The relations between the CPG parameters and the speed of the underwater snake-like robot swimming are investigated. Swimming in a straight line, turning, and switching between swimming modes are implemented in our simulation platform to prove the feasibility of the proposed simulation platform. The results show that the simulation platform can imitate different swimming modes of the underwater snake-like robot.     

传感器智能芯片与阵列光纤对接平台运动顺序优化

从运动平台空间运动可能存在的720种运动顺序配置入手, 针对智能芯片与阵列光纤对接过程各运动单元产生的几何误差进行敏感性分析, 通过区分和归类各运动单元的敏感误差和不敏感误差, 将运动平台运动顺序配置数减少到90;考虑到运动平台各运动单元具有均匀分散、齐整可比的特性, 运用正交试验设计方法将敏感误差和不敏感误差确定为3个水平, 将6个运动单元确定为6个影响因素, 建立了对应的正交试验表, 得出了5条运动顺序配置的试验路径; 借助MATLAB仿真平台对5条运动顺序配置的试验路径进行了仿真试验, 获得了运动平台运动顺序最优配置; 在封装系统多自由度精密运动平台上进行了实测试验, 检验了仿真试验结果。试验结果表明: 传感器智能芯片与阵列光纤对接的运动平台在空间直角坐标系中最优的运动顺序为先沿横轴平动, 再绕横轴转动, 再绕纵轴转动, 最后沿纵轴平动; 该方法可优化光纤扫描雷达传感器智能芯片与阵列光纤对接的运动平台的空间运动顺序, 还可预测和规划其他多自由度运动平台的配准路径。      

NUMERICAL STUDY ON FLOW DISTRIBUTION IN PLATE-FIN HEAT EXCHANGERS

Inthethermodynamicdesignofplate finheatexchangers,itisgenerallyassumedthattheinletfluidisuniformlydividedamongallthe parallelpassagesinthewholeexchangercore .Inpractice ,however,flowmaldistributionexistspossiblybe causeoftheimproperstructure,imperfectdesign ,andflow passages[1 ] .Forplate finheatexchangers ,theflowmaldistributionnotonlycanresultinanobviousreductioninthemechanicalperformance ,butalsocauseasignificantdeteriorationofthether malperformance .Therefore ,theflowmaldistribu tionhasbec…     

Simultaneous localization and mapping of autonomous underwater vehicle using looking forward sonar

A method of underwater simultaneous localization and mapping (SLAM) based on on-board looking forward sonar is proposed. The real-time data flow is obtained to form the underwater acoustic images and these images are pre-processed and positions of objects are extracted for SLAM. Extended Kalman filter (EKF) is selected as the kernel approach to enable the underwater vehicle to construct a feature map, and the EKF can locate the underwater vehicle through the map. In order to improve the association efficiency, a novel association method based on ant colony algorithm is introduced. Results obtained on simulation data and real acoustic vision data in tank are displayed and discussed. The proposed method maintains better association efficiency and reduces navigation error, and is effective and feasible.     

考虑立交桥构型的二维交通流BML模型

考虑到现实二维路网中的立体交叉特性,本文在经典Biham Middleton Levine (BML)模型的路网结构中嵌入了一些典型的立交桥构型．通过改变立交桥的数量、分布构型,拓展了BML模型,以研究立交桥对路网交通流的整体影响．数值模拟表明,随机分布的立交桥构型,即盲目修建立交桥,在立交桥比例较低时,会对路网整体运行性能产生负面影响--加速拥堵．进一步将立交的分布进行适当地组织,形成真实反映城市路网特征的立交构型,如环形、方形．模拟发现,特定立交比例下方形立交构型对系统产生正面的影响,使得系统平均速度整体上要明显高于随机投放立交的状况;而环形立交构型投放至网络中,使得全局性堵塞提前发生,反而不能提高网络交通流的运行效率．这些结论虽与传统认知相悖,却具有较强的现实指导意义．     

An range-free localization scheme for large scale underwater wireless sensor networks

In this paper, we study an area localization problem in large scale underwater wireless sensor networks (UWSNs). The limited bandwidth, the severely impaired channel and the cost of underwater equipment all make the underwater localization problem very challenging. Exact localization is very difficult for UWSNs in deep underwater environment. We propose a range free method based on mobile detachable elevator transceiver (DET) and 3D multi-power area localization scheme (3D-MALS) to address the challenging problem. In the proposed scheme, the ideas of 2D multi-power area localization scheme (2D-ALS) and utilizing DET are used to achieve the simplicity, location accuracy, scalability and low cost performances. The DET can rise and get down to broadcast its position. And it is assumed that all the underwater nodes underwater have pressure sensors and know their z coordinates. We evaluate the performances of 2D-ALS and our proposed 3D-MALS schemes under both ideal and non-ideal channel propagation conditions, in terms of localization error and localization ratio. The simulation results show that our proposed scheme is much more efficient than the 2D-ALS.     

Saliency motivated pulse coupled neural network for underwater laser image segmentation

The detection range of underwater laser imaging technology achieves 4—6 times of detection range of conventional camera in intervening water medium, which makes it very promising in oceanic research, deep sea exploration and robotic works. However, the special features in underwater laser images, such as speckle noise and non-uniform illumination, bring great difficulty for image segmentation. In this paper, a novel saliency motivated pulse coupled neural network(SM-PCNN) is proposed for underwater laser image segmentation. The pixel saliency is used as external stimulus of neurons. For improvement of convergence speed to optimal segmentation, a gradient descent method based on maximum two-dimensional Renyi entropy criterion is utilized to determine the dynamic threshold. On the basis of region contrast in each iteration step, the real object regions are effectively distinguished,and the robustness against speckle noise and non-uniform illumination is improved by region selection. The proposed method is compared with four other state-of-the-art methods which are watershed, fuzzy C-means, meanshift and normalized cut methods. Experimental results demonstrate the superiority of our proposed method to allow more accurate segmentation and higher robustness.     

基于碰撞危险度模型的AUV三维避障研究

自治式水下机器人(AUV)在复杂海洋环境航行时要求能够及时躲避障碍物.文中建立了基于前视声呐的环境模型,将未知障碍物信息转化到环境中,并对未知障碍物进行属性判断.将水面船舶的碰撞危险度概念应用到AUV的水下环境避障中,建立新的水下三维碰撞危险度模型,仿真实验证明此方法可以使AUV 在多水下运动障碍物的不确定环境中得到较好的局部避碰效果.     

摩托车与汽车侧面碰撞计算机仿真

综合运用IDEAS软件和碰撞有限元软件PAM／CRASH来模拟汽车与摩托车发生侧面碰撞的两种典型形态，通过模拟来再现汽车与摩托车侧面碰撞的运动情况，对仿真结果与实验结果相比较来进行分析，从而得出影响仿真结果真实性的相关因素。     

Characteristics of flow field around an underwater projectile with natural and ventilated cavitation

The present simulation investigates the multiphase cavitating flow around an underwater projectile. Based on the homogeneous equilibrium flow assumption, a mixture model is applied to simulate the multiphase cavitating flow including ventilated cavitation caused by air injection as well as natural cavitation. The transport equation cavitating model and a local linear low-Reynolds-number turbulence model are incorporated to the equation system. The calculations are executed based on a suite of computational fluid dynamics code. The hydrodynamics characteristics of flow field under the interaction of natural cavitation and ventilated cavitation are analyzed. The results indicate that the ventilated cavitation numbers and the drag coefficient are relative to the natural cavitation numbers and gas flow rate in the multiphase cavitating flows.     

Nonlinear feedforward and feedback control design for autonomous underwater glider

Underwater gliders are highly efficient, buoyancy-driven, and winged autonomous underwater vehicles. Their dynamics are multivariable nonlinear systems with unstable internal dynamics and thus their motion control is a significant challenge. To improve the inherent efficiency and enhance the behavior of the underwater glider over a wide operating regime, a nonlinear feedforward and feedback controller was developed. The nonlinear feedforward control design is based on a new stable inversion technique which determines a causal and bounded solution for the unstable internal dynamics. The feedback control law was designed by a quadratic optimal control method. Simulation results show that the derived control system is able to deal with nonminimum phase system and successfully achieves the tracking of planned output trajectories from initial to final conditions. Furthermore, the control effort is very low, which means the glider with limited power storage has longer range and higher endurance.     

信息系统内部安全审计机制

针对目前大量存在的信息系统内部安全问题,提出了基于安全审计和入侵检测技术的信息系统安全审计平台,并具体给出了其内部工作流程和实现机制.鉴于信息系统内部安全的特点,作者提出了建立系统内部人员的个人诚信信息,并将其作为入侵检测的匹配条件之一.针对入侵检测系统,采用了误用检测技术和异常检测技术相结合的方式,将事后审计数据作为训练数据建立入侵检测模型,最终实现对信息系统内部审计信息的实时处理.     

Nonlinear pitch control of an underwater glider based on adaptive backstepping approach

Underwater gliders are highly efficient and long-ranged autonomous underwater vehicles. The typical dynamic modeling in the vertical plane is of multi-input multi-output(MIMO), which is underactuated while easily affected by the ambient environment. To resolve the problems of MIMO, the dynamic model is transformed into a single-input single-output(SISO) system with two dubious parameters, and an adaptive backstepping controller is designed and applied in this paper. A Lyapunov function has been established with the total energy of the system converged in the controller. Contrast result of simulation has demonstrated that the derived nonlinear controller has higher tracking precision and faster response than the proportional-integral-derivative(PID) control method,which indicates its excellent capability to deal with the controlling problems of underwater gliders.     

急流中的钢围堰下沉及环封施工技术

主要介绍了利用六七式铁路舟桥、六四式铁路军用梁等器材拼组成水上浮龙门吊,在流速较大、河床为松散卵石覆盖的情况下,浮运、起升、下沉钢围堰以及锚固方法。由于松散卵石覆盖层底部是承台基底,为了减少水下爆破施工工序,提高工效,鉴于基底岩石的整体性而采用了钢围堰环封施工技术,解决了水中承台及墩身施工难题,为今后类似工况下的施工提供了借鉴。     

纯方位被动目标运动分析的衰减记忆卡尔曼滤波算法

针对纯方位被动目标跟踪中扩展卡尔曼滤波器容易发散，从而导致滤波精度差而且收敛速度慢的问题，文中将水下纯方位被动目标运动分析中的扩展卡尔曼滤波算法改进为衰减记忆卡尔曼滤波算法．通过对当前测量数据的利用，减小了历史数据对滤波的影响程度．对比仿真分析表明，滤波效果有所改善，提高了精度和收敛速度．     

考虑太阳辐射的轿车客舱内气流组织数值模拟

对轿车室内的热环境进行了数值模拟。计算采用SIMPLE算法,紊流采用k—ε模型,考虑了自然对流换热的影响,应用整体求解法计算气固耦合传热问题。采用射线追踪法计算了太阳热负荷,以图形的形式给出其在车内的分配情况,有利于直观地分析其对车内热环境的影响。CFD的计算结果表明,进、圃风口的布置不仅影响车室内气流速度和温度的具体数值大小,而且决定了整个流场和温度场的分布结构.     

Numerical Simulation of Focused Wave and Its Uncertainty Analysis

On the basis of the transient water wave (TWW) theory, focused wave is generated in the circulating water channel. Numerical simulation of the focused wave is carried out by solving the Reynolds averaged Navier-Stokes (RANS) equations. The dynamic grid technique is adopted to simulate the motion of the wave maker, and the volume of fluid (VOF) method is used to capture the free surface of the wave. The simulation results are compared with the measured data, and good agreement is obtained. For quantitative estimation of the numerical simulation error and uncertainty, the uncertainty analysis method recommended by the International Towing Tank Conference (ITTC) procedure is performed for the simulation results of the surface elevations at different positions. Both grid-convergence and time-step-size convergence studies are conducted using three types of grids and time step sizes. The simulation results are all monotonously convergent in the verification procedure, and the validations of the simulated surface elevations with the positions at 3.5, 4.0 and 4.5m are all achieved by comparing with the validation uncertainty. It is found that the numerical simulation errors caused by the grid and time-step-size in the convergence studies have the same order of magnitude. In addition, the numerical errors and uncertainties for the surface elevations at different positions are compared and discussed in detail. This paper presents the first attempt to carry out the uncertainty analysis of the simulation of focused wave, and the effectiveness of the proposed verification and validation procedures in the uncertainty analysis is demonstrated.     

Aerodynamic characteristics of airship Zhiyuan-1

An airship named ＂Zhiyuan-l＂ was designed/fabricated/flied as a technical demonstration for stratospheric airship during 2007--2009 by Shanghai Jiaotong University. The calculation method and procedure of aerodynamic parameters were introduced, and the optimized configuration of the hull and the aerodynamic layout were given in this paper. Wind tunnel tests with different configurations, different pitch angles and different yaw angles were performed to study the wind load characteristics of the rigid model of the airship ＂Zhiyuan-1＂ in the φ3.2 m wind tunnel at China Aerodynamics Research ＆ Development Center. Also the numerical calculation about the test model was carried out to investigate the aerodynamic behavior. According to the results of wind test and numerical calculation, the excellent hull configuration of the airship ＂Zhiyuan-1＂ with lower drag characteristic was confirmed, which is based on optimism of the Michel transition law. And the phenomena of pressure coefficient distribution were discussed according to the results of wind tunnel test and numerical calculation at different flight attitudes.