ROV attitude control based on multi-motor cooperative propulsion北大核心CSCD

[目的]为了提高遥控水下航行器(ROV)在复杂水下环境中的姿态控制性能,开展多电机协同推进的ROV姿态控制研究。[方法]首先,针对多电机系统的结构和算法,分别提出一种基于PID速度补偿器的偏差耦合结构和一种新型非奇异终端滑模控制(SMC)算法,并设计一种新颖的基于多电机协同推进的ROV姿态控制方法;然后,建立ROV的运动学和动力学模型,开展推进器组推力建模分析、解耦简化ROV动力学模型研究;最后,设计一种ROV滑模姿态控制器。[结果]仿真结果表明,所提的结构和算法可提高多电机系统的抗干扰性、同步性和快速响应能力,进而提高ROV姿态控制系统的稳定性与鲁棒性。[结论]所提方法可为ROV姿态控制提供一种新的可用方案。     

水平定向钻数据采集及远程监控系统研究

文中针对油气长输管道水平定向钻施工,研发了数据采集及远程监控系统。通过数据采集装置将钻机施工中的关键数据进行实时采集、处理和远程无线传输,由手机APP进行远程监控,实现了工程项目的远程管理,预测后续施工中可能出现的问题,降低施工风险,提高施工效率。     

Time-series analysis of remote-sensed chlorophyll and environmental factors in the Santa Monica–San Pedro Basin off Southern California

The time-series of remote-sensed surface chlorophyll concentration measured by SeaWiFS radiometer from September 1997 to December 2001 and the relevant hydrological and meteorological factors (remote-sensed sea surface temperature, atmospheric precipitation, air temperature and wind stress) in Santa Monica Bay and adjacent waters off southern California were analyzed using wavelet and cross-correlation statistical methods. All parameters exhibited evident seasonal patterns of variation. Wavelet analysis revealed salient long-term variations most evident in air temperature during El Niño 1997–1998 and in wind stress during La Niña 1998–1999. Short-period (<100 days) variations of remote-sensed chlorophyll biomass were mostly typical to spring seasons. Chlorophyll biomass was significantly correlated with air temperature and wind stress: an increase of chlorophyll biomass followed with 5–6-day time lag an increase of wind stress accompanied by a simultaneous decrease of air temperature. The mechanism of these variations was an intensification of phytoplankton growth resulting from the mixing of water column by wind stress and entrainment of nutrients into the euphotic layer.     

管道基础施工在不良地质条件下的处理

分析柳州市不良地质的特征 ,根据多年施工管道基础积累的经验 ,提出了满足技术要求、施工方便、节省投资的处理方法 ,为以后管道基础的设计、施工提供参考     

CDMA在视频监视系统中的应用

简单介绍码分多址(CDMA)的基本原理及性能;然后利用CDMA传输技术,设计一个无线视频图像传输系统。最后,介绍该系统的结构、基本原理以及在试验视频监视系统中的应用。     

基于实时视景仿真技术的海上航标监管系统

海上航标系统是海上交通安全保障体系的重要组成部分。结合上海海事局厦门航标处的航标日常管理与实时监控的实际业务需求,开展了利用实时视景仿真技术与电子海图相结合构建海上航标监管系统的应用研究和系统实现等工作。该系统的实现,有利于航标设置方案的审定与选择,有利于监控者对现场环境的把握和应急决策。     

地铁屏蔽门系统构成分析

文章较详细地介绍了广州地铁使用的屏蔽门系统,重点是它的机械和电气部分的组成和作用.     

电力Modem在冷藏箱监控报警系统中的应用

文章从系统硬件、软件、通讯三方面介绍美国YORK公司开发的大型集装箱船舶冷藏集装箱集中监控系统REFCON,可供同行借鉴。     

Distribution of suspended sediment in the coastal sea off the Ganges–Brahmaputra River mouth: observation from TM data

Remote sensing technique was applied to estimate suspended sediment concentration (SSC) and to understand transportation, distribution and deposition of suspended sediment in the estuary and throughout the coastal sea, off the Ganges–Brahmaputra River mouth. During low river discharge period, zone of turbidity maximum is inferred in the estuary near the shore. SSC map shows that maximum SSC reaches 1050 mg/l in this period. Magnitude of SSC is mainly owing to resuspension of the bottom surface sediments induced by tidal currents flowing over shallow water depths. The influence of depth on resuspension is farther revealed from the distribution and magnitude of SSC along the head of Swatch of No Ground (SNG) submarine canyon. During high river discharge period, huge river outflow pushed the salt wedge and flashes away the suspended sediments in the coastal sea off the river mouth. Zone of turbidity maximum is inferred in the coastal water approximately within 5–10 m depth of water, where the maximum SSC reaches 1700 mg/l. In this period, huge fluvial input of the suspended sediments including the resuspended bottom sediments and the particles remaining in suspension for longer period of time since their initial entry control mainly the magnitude of SSC. In the estuary near the shore, seasonal variation in the magnitude of SSC is not evident. In the coastal sea (>5 m water depth), seasonal influence in the magnitude of SSC could be concluded from the discrepancy between SSC values of two different seasons. Transportation and deposition of suspended sediments also experiences seasonal variations. At present, suspended sediments are being accumulated on the shallow shelf (between 5 and 10 m water depth) in low discharge period and on the mid-shelf (between 10 and 75 m water depth) during high discharge period. An empirical (exponential) relationship was found between gradual settle down of suspended sediments in the coastal sea and its lateral distance from the turbidity maximum.