一种基于PSO优化HWFCM的快速水下图像分割算法

The S/N of an underwater image is low and has a fuzzy edge.If using traditional methods to process it directly,the result is not satisfying.Though the traditional fuzzy C-means algorithm can sometimes divide the image into object and background,its time-consuming computation is often an obstacle.The mission of the vision system of an autonomous underwater vehicle (AUV) is to rapidly and exactly deal with the information about the object in a complex environment for the AUV to use the obtained result to execute the next task.So,by using the statistical characteristics of the gray image histogram,a fast and effective fuzzy C-means underwater image segmentation algorithm was presented.With the weighted histogram modifying the fuzzy membership,the above algorithm can not only cut down on a large amount of data processing and storage during the computation process compared with the traditional algorithm,so as to speed up the efficiency of the segmentation,but also improve the quality of underwater image segmentation.Finally,particle swarm optimization (PSO) described by the sine function was introduced to the algorithm mentioned above.It made up for the shortcomings that the FCM algorithm can not get the global optimal solution.Thus,on the one hand,it considers the global impact and achieves the local optimal solution,and on the other hand,further greatly increases the computing speed.Experimental results indicate that the novel algorithm can reach a better segmentation quality and the processing time of each image is reduced.They enhance efficiency and satisfy the requirements of a highly effective,real-time AUV.     

Research on the strategy of underwater united detection fusion and communication using multi-sensor

In order to solve the distributed detection fusion problem of underwater target detection, when the signal to noise ratio (SNR) of the acoustic channel is low, a new strategy for united detection fusion and communication using multiple sensors was proposed. The performance of detection fusion was studied and compared based on the Neyman-Pearson principle when the binary phase shift keying (BPSK) and on-off keying (OOK) modes were used by the local sensors. The comparative simulation and analysis between the optimal likelihood ratio test and the proposed strategy was completed, and both the theoretical analysis and simulation indicate that using the proposed new strategy could improve the detection performance effectively. In theory, the proposed strategy of united detection fusion and communication is of great significance to the establishment of an underwater target detection system.     

Research on framework for formation control of multiple underwater robots in a dynamic environment

In this paper a practical framework is proposed to keep formation control of multiple underwater robots in a dynamic environment. The approach is a viable solution to solve formation problem. The approach allows online planning of the formation paths using a Dijkstra‘s search algorithm based on the current sensor data. The formation is allowed to be dynamically changed in order to avoid obstacles in the environment. A controller is designed to keep the robots in their planned trajectories. It is shown that the approach is effective and feasible by the simulation of computer.     

基于线性预测方法的水声信道最小均方误差盲均衡

The problem of blind adaptive equalization of underwater single-input multiple-output (SIMO) acoustic channels was analyzed by using the linear prediction method.Minimum mean square error (MMSE) blind equalizers with arbitrary delay were described on a basis of channel identification.Two methods for calculating linear MMSE equalizers were proposed.One was based on full channel identification and realized using RLS adaptive algorithms,and the other was based on the zero-delay MMSE equalizer and realized using LMS and RLS adaptive algorithms,respectively.Performance of the three proposed algorithms and comparison with two existing zero-forcing (ZF) equalization algorithms were investigated by simulations utilizing two underwater acoustic channels.The results show that the proposed algorithms are robust enough to channel order mismatch.They have almost the same performance as the corresponding ZF algorithms under a high signal-to-noise (SNR) ratio and better performance under a low SNR.     

船舶航向模糊滑模控制器的设计与仿真

In considering the characteristic of a rudder,the maneuvers of a ship were described by an unmatched uncertain nonlinear mathematic model with unknown virtual control coefficient and parameter uncertainties.In order to solve the uncertainties in the ship heading control,specifically the controller singular and paramount re-estimation problem,a new multiple sliding-mode adaptive fuzzy control algorithm was proposed by combining Nussbaum gain technology,the approximation property of fuzzy logic systems,and a multiple sliding-mode control algorithm.Based on the Lyapunov function,it was proven in theory that the controller made all signals in the nonlinear system of unmatched uncertain ship motion uniformly bounded,with tracking errors converging to zero.Simulation results show that the demonstrated controller design can track a desired course fast and accurately.It also exhibits strong robustness peculiarity in relation to system uncertainties and disturbances.     

水下无人潜航器航向H_∞鲁棒容错控制器设计(英文)

In order to improve the security and reliability for autonomous underwater vehicle (AUV) navigation, an H∞ robust fault-tolerant controller was designed after analyzing variations in state-feedback gain. Operating conditions and the design method were then analyzed so that the control problem could be expressed as a mathematical optimization problem. This permitted the use of linear matrix inequalities (LMI) to solve for the H∞ controller for the system. When considering different actuator failures, these conditions were then also mathematically expressed, allowing the H∞ robust controller to solve for these events and thus be fault-tolerant. Finally, simulation results showed that the H∞ robust fault-tolerant controller could provide precise AUV navigation control with strong robustness.     

经过海峡的双层流体由底部波动产生的斜向波散射问题研究(英文)

The problem of oblique wave(internal wave) propagation over a small deformation in a channel flow consisting of two layers was considered.The upper fluid was assumed to be bounded above by a rigid lid,which is an approximation for the free surface,and the lower one was bounded below by an impermeable bottom surface having a small deformation;the channel was unbounded in the horizontal directions.Assuming irrotational motion,the perturbation technique was employed to calculate the first-order corrections of the velocity potential in the two fluids by using Green’s integral theorem suitably with the introduction of appropriate Green’s functions.Those functions help in calculating the reflection and transmission coefficients in terms of integrals involving the shape function representing the bottom deformation.Three-dimensional linear water wave theory was utilized for formulating the relevant boundary value problem.Two special examples of bottom deformation were considered to validate the results.Consideration of a patch of sinusoidal ripples(having the same wave number) shows that the reflection coefficient is an oscillatory function of the ratio of twice the x-component of the wave number to the ripple wave number.When this ratio approaches one,the theory predicts a resonant interaction between the bed and the interface,and the reflection coefficient becomes a multiple of the number of ripples.High reflection of incident wave energy occurs if this number is large.Similar results were observed for a patch of sinusoidal ripples having different wave numbers.It was also observed that for small angles of incidence,the reflected energy is greater compared to other angles of incidence up to.These theoretical observations are supported by graphical results.     

Optical fiber based slide tactile sensor for underwater robots

In the underwater environment, many visual sensors don’t work, and many sensors which work well for robots working in space or on land can not be used underwater. Therefore, an optical fiber slide tactile sensor was designed based on the inner modulation mechanism of optical fibers. The principles and structure of the sensor are explained in detail. Its static and dynamic characteristics were analyzed theoretically and then simulated. A dynamic characteristic model was built and the simulation made using the GA based neural network. In order to improve sensor response, the recognition model of the sensor was designed based on the ‘inverse solution’ principle of neural networks, increasing the control precision and the sensitivity of the manipulator.     

采用局部的微分求积法求解激波管问题

The localized differential quadrature (LDQ) method is a numerical technique with high accuracy for solving most kinds of nonlinear problems in engineering and can overcome the difficulties of other methods (such as difference method) to numerically evaluate the derivatives of the functions.Its high efficiency and accuracy attract many engineers to apply the method to solve most of the numerical problems in engineering.However,difficulties can still be found in some particular problems.In the following study,the LDQ was applied to solve the Sod shock tube problem.This problem is a very particular kind of problem,which challenges many common numerical methods.Three different examples were given for testing the robustness and accuracy of the LDQ.In the first example,in which common initial conditions and solving methods were given,the numerical oscillations could be found dramatically;in the second example,the initial conditions were adjusted appropriately and the numerical oscillations were less dramatic than that in the first example;in the third example,the momentum equation of the Sod shock tube problem was corrected by adding artificial viscosity,causing the numerical oscillations to nearly disappear in the process of calculation.The numerical results presented demonstrate the detailed difficulties encountered in the calculations,which need to be improved in future work.However,in summary,the localized differential quadrature is shown to be a trustworthy method for solving most of the nonlinear problems in engineering.     

Exciting forces for a wave energy device consisting of a pair of coaxial cylinders in water of finite depth

Two coaxial vertical cylinders-one is a riding hollow cylinder and the other a solid cylinder of greater radius at some distance above an impermeable horizontal bottom,were considered.This problem of diffraction by these two cylinders,which were considered as idealization of a buoy and a circular plate,can be considered as a wave energy device.The wave energy that is created and transferred by this device can be appropriately used in many applications in lieu of conventional energy.Method of separation of variables was used to obtain the analytical expressions for the diffracted potentials in four clearly identified regions.By applying the appropriate matching conditions along the three virtual boundaries between the regions,a system of linear equations was obtained,which was solved for the unknown coefficients.The potentials allowed us to obtain the exciting forces acting on both cylinders.Sets of exciting forces were obtained for different radii of the cylinders and for different gaps between the cylinders.It was observed that changes in radius and the gap had significant effect on the forces.It was found that mostly the exciting forces were significant only at lower frequencies.The exciting forces almost vanished at higher frequencies.The problem was also investigated for the base case of no plate arrangement,i.e.,the case having only the floating cylinder tethered to the sea-bed.Comparison of forces for both arrangements was carried out.In order to take care of the radiation of the cylinders due to surge motion,the corresponding added mass and the damping coefficients for both cylinders were also computed.All the results were depicted graphically and compared with available results.     

基于蚁群优化的AUV全局路径规划研究(英文)

路径规划是自主式水下潜器(AUV)导航研究的重要课题,AUV可用于未知环境如海洋空间探测.在大范围海洋环境中,应用蚁群优化原理对自主式水下潜器的全局路径规划问题进行了研究.引入栅格建模方法建立了蚁群可视图模型,设计了蚁群信息素更新规则;给出了蚁群全局路径规划的操作步骤;针对蚁群规划路径不平滑问题,设计了切割算予和插点算子.仿真实验结果表明,蚁群全局规划算法非常适合于求解复杂环境中的规划问题,规划时间短、路径平滑,其原型系统可应用于非结构化无人环境监测.     

基于粒子群算法的起重船扒杆结构优化设计

基于Isight优化软件和通用有限元软件,以扒杆重量为目标函数,采用粒子群算法（PSO）和遗传算法对某起重船扒杆结构进行了优化设计,并讨论了PSO算法的稳定性。通过对两种算法优化结果的比较分析表明,PSO算法优化效果好,收敛速度快,且计算稳定性高,验证了PSO算法在工程船舶结构优化设计中的有效性。     

大范围环境下自主式水下潜器两种全局路径规划方法的研究

应用遗传算法(GA)和A·算法对自主式水下潜器(简称AUV)在大范围海洋环境中的全局路径规划问题进行了研究.介绍了基于栅格的环境模型及其数据结构,讨论了GA的染色体编码方式、基于知识的初始种群生成方法与适应度函数,基于领域知识设计了五种遗传算子,给出了A·算法的具体实现方法.通过仿真结果可以看出:GA采用可变长编码方式使路径描述简单、清晰,具有收敛速度快、求解实际问题效率高的特点;A*算法可在较短时间内求得相对栅格优化的路径.两种算法均可满足系统实时性要求.     

基于GSA-IPM算法的船舶电力系统无功优化

提出GSA-IPM(万有引力-内点)算法求解船舶电力系统无功优化问题,以降低船舶电力系统的有功损耗,提高电压质量,改善安全经济运行水平。将算法应用于某实际船舶电力系统进行仿真测试,结果与万有引力搜索算法(GSA)、遗传算法(GA)及粒子群算法(PSO)作比较,证明了算法能够使有功网损更低,电压质量更佳,从而验证了方法的有效性。     

基于神经网络和粒子群算法的环肋圆柱壳优化设计

对于潜艇外壳等外压容器来说,满足稳定性要求至关重要。本文利用Matlab编写改进粒子群算法优化程序,利用 Ansys的 Apdl语言完成了环肋圆柱壳的参数化建模,以圆柱壳厚度、肋骨尺寸和肋距作为离散设计变量,以稳定性要求作为约束条件,构造了合适的惩罚函数,以质量最轻作为设计目标,实现了基于 BP神经网络和粒子群算法的环肋圆柱壳优化设计。在优化过程中,首先采用拉丁超立方体抽样完成了样本点的选取,然后对样本点进行有限元分析,根据有限元分析结果构建 BP神经网络代理模型,并探讨了样本点数量对代理模型预测精度的影响,最后采用改进粒子群算法对代理模型进行优化。优化结果表明,对于需要考虑离散变量和复杂非线性约束的结构优化问题,采用 BP神经网络和粒子群算法联合优化的方法能够节省大量计算时间,并达到理想的优化效果。     

船舶航行性能综合优化研究

船舶航行性能优化是一个非常复杂的问题,它具有多个设计变量,多个约束和多个极点.传统的优化方法通常无法解决该问题.文中采用了一种传统的优化方法一复合形法(CA)和遗传算法(GA),模拟退火算法(SA)来计算船舶航行性能优化问题,比较了三种优化方法的输出结果并选取最好的那个解作为最终的优化结果.通过这种方法.可以以更高的概率获得真实的最优解.应该指出的是,这三种算法都作了某种程度上的改进.作者采用C++语言基于面向对象思想开发了计算软件-ShipPO.文中列出的所有船舶航行性能优化计算结果都是在ShipPO平台上计算出来的,结果表明采用三种优化方法计算一次船舶航行性能优化问题耗时并不太多.最终的结果表明ShipPO具有很强的寻找全局最优解的能力,它能够很好地满足工程需要.     

基因演算法於船体加强板架之最佳化设计应用

船体结构之最佳化设计是一个复杂非线性的混和离散问题，并且要搜寻到全域的最佳值并不容易。在复杂的设计环境下基因演算法（Genetic Algorithm；GA）却可以搜寻到近似的全域最佳值。本文主要是应用基因演算法对T加强板架（Tee stiffened panel）、平板加强板架（flat-bat stiffened Panel）等常用且最具代表性之船体结构件进行最佳化设计，使结构在满足终极破坡限制（ultimate failure constraints）与耐用破坏限制（serviceability failure constraints）等所有限制条件下，求得最佳目标函数值中各设计变之最佳组合。在过程中并考量不同族群大小、变换机率、突变机率因素对最佳化结果的影响。文中是以制造成本为目标函数，其中同时考量材料成本及劳工成本，且所得之结果与连续性线性规则（Sequential Linear Programming；SLP）最佳化结果作了比较。计算的结果显示基因演算法可以有效地与快速地获得最小重量和最低成本的目标。     

集装箱船主尺度全局最优化的混沌算法

提出了应用混沌优化方法（Chaos Optimization Algorithm,COA)进行集装箱船船型主尺度要素全局优化的新策略。混沌优化方法利用混沌变量的随机性、规律性、遍历性寻优，能够克服经典优化方法如直接法、梯度法、Hessian法等方法容易陷入局部极小点的不足，方法简单、快速、易于掌握，其效率比一些目前广泛应用的随机优化方法如模拟退火法（SAA）、遗传算法（GA）等高得多。实际算例的结果证实了混沌优化方法用于集装箱船船型优化的有效性。     

小型水下机器人在复杂水下地形中的目标搜寻应用

针对水下目标搜寻工作所遇到的现实困难及搜寻作业的特点,提出一种在局部水域范围内基于小型ROV的水下小目标搜寻方案,以提高水下复杂地形中的目标搜寻效率。工程应用实践证明该方案具有高效率、低风险及低成本等特点。