针对群桥水域航路规划问题的PSO算法选比研究

针对群桥水域航路规划问题,分析了群桥水域特征,建立了简化的群桥水域航路代价模型,分别运用标准PSO算法、权重改进PSO和学习因子改进PSO算法对该问题进行求解,并对不同改进方法的收敛速度和最优适应度值进行了对比分析,得出了异步变化学习因子PSO算法在几种改进策略中表现最优的结论,并应用算例进行验证,确定了后期深入研究群桥水域航路规划问题的方法.     

株洲红港大桥V形墩设计与分析

介绍了株洲红港大桥V形墩的设计特点;采用空间有限元对该区域进行了应力和位移分析,给出了各部分应力云图和位移等值图,揭示了常规内力分析中不能发现的问题,为合理确定V形墩的结构设计和构造布置提供依据。     

基于可用度模型的航标维护周期研究

为适应深水航道建设带来的航标数目增多和航标大型化问题,提高航标的安全性,保障深水航道安全运营,基于可用度模型提出了航标维护周期上下限计算模型。并根据南京航道局所提供数据进行了计算,计算结果与现实情况基本符合,计算模型较为准确。     

X舵欠驱动AUV凯恩动力学建模

X舵欠驱动AUV结构复杂、舵片与本体之间相互作用力增多,对其进行动力学建模变得非常困难。为了克服相互作用力对建模过程的影响,引入凯恩动力学的相关知识,推导出X舵欠驱动AUV的凯恩动力学模型。以广义坐标为基础,推导出力的作用点处的广义速度、偏速度、偏角速度的计算公式,给出了计算广义主动力和广义惯性力的方法,展示了凯恩动力学的建模步骤。通过水平面和垂直面的仿真结果,验证了该建模方法的有效性。该建模方法可以避免相互作用力的计算,清晰地展示出力对动力学模型的贡献。     

基于凯恩动力学的AUV建模

推导出基于凯恩动力学的AUV运动学和动力学方程。采用广义速度取代速度和角速度,给出了广义惯性力和广义主动力的计算方法。推导出作用在AUV上的水动力的计算方法,并通过仿真实验给出了水动力系数。为了验证该模型的有效性,对AUV的深度控制、前进距离控制进行了仿真。仿真结果表明,该模型是有效的。     

A dynamic model of an underwater quadruped walking robot using Kane’s method

In this paper, the kinematics and dynamics of an underwater quadruped walking robot were derived based on Kane dynamic equations. This methodology allows construction of the dynamic model simply and incrementally. The velocity and angular velocity components of an underwater quadruped walking robot were served as the generalized velocities. The forces which contribute to dynamics of an underwater quadruped walking robot were determined by Kane＇s approach. The equations of hydrodynamic forces of an underwater quadruped walking robot were deduced. Hydrodynamic coefficients were determined by experiments. The dynamic model was established by obtaining the generalized active forces and the generalized inertia forces. Numerical simulations of the walking behavior on underwater flat ground were implemented to verify the dynamic model of an underwater quadruped walking robot. Simulation results show that the dynamic model is correct.     

目标高精度定位技术中的摄影测量算法

文章论述了双摄像测量的基本原理和双摄影测量算法,对测量算法进行了理论误差分析并给出了试验结果。     

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.     

CameraLink接口的高速电子存储系统设计

为了满足高速数字图像摄像机的视频数据实时存储的需求,该文给出了一种基于NandFlash的高速电子存储系统的设计。高速电子存储系统具有CameraLink摄像机接口、存储数据的文件管理功能和FTP网络下载功能,最大存储容量为3．84TB,最大数据写入速度可以达到3．2Gbps。     

追越状态下船舶临界失控水动力干扰区研究

基于船舶操纵运动数学模型和船-船水动力干扰数学模型,提出了由于船间水动力干扰导致的船舶临界失控发生的条件,分析追越状态不同船舶横向间距、不同船舶速度以及不同水深吃水比等条件下船船干扰力和力矩与船舶横向力、船舶舵力及力矩间的关系,研究船舶临界失控区的尺度,证明船舶临界失控水动力干扰区的存在,给出了船舶临界失控水动力干扰区随船舶横向间距、船舶速度及水深吃水比的变化规律.追越船转船力矩失控区在(-0.6～-0.5)L,追越船速度提高,临界失控干扰区尺度减小;被追越船干扰力临界失控区在(-1～1)L,转船力矩失控区域在船尾方向(-0.5～0.5)L.