网络遥操作机器人系统视频传输及同步技术

研制了一种新颖的应用于网络遥操作机器人系统的网络视频流传输系统,该系统基于C/S模型并采用MPEG4视频编码器对图像进行编解码,实现了机器人现场视频的实时采集、编码、传输和播放。此外,对网络遥操作机器人系统的视频、音频和力信息的传输同步问题展开了研究。实验证明所研制的系统不仅能保证机器人现场图像传输的实时性,而且能较好地实现多信息的同步。     

基于SPH方法的M型快艇入水载荷仿真分析

[目的]为研究M型快艇典型截面结构入水过程中受到的水动力载荷,[方法]基于光滑粒子动力学(SPH)液-气两相流算法,模拟平板和弓形模型的入水过程,以验证所用算法的精确性。在此基础上,模拟M型快艇典型截面结构的入水过程,并与相关文献的试验结果进行比较。[结果]结果显示:两种结构入水过程的仿真结果与试验结果吻合较好。M型快艇入水过程中存在二次砰击现象,即在主船体斜升角较大时会导致第1次砰击载荷较小,若斜升角过大时第2次砰击过程中结构则受到的砰击载荷会显着增加。[结论]研究结果表明,SPH两相流算法可以很好地模拟M型快艇入水过程,斜升角的设计大小应适当。     

基于双核DSP的科氏质量流量计并行信号处理

科里奥利质量流量计可直接测量介质质量流量与密度,因而被广泛应用于海洋石油领域。针对单处理器难以保证CMF信号处理实时性要求的问题,基于双核DSP设计了多任务分布的CMF并行信号处理方法。完成数据采集与数字滤波计算任务的预处理进程与完成频率检测与相位差检测任务的后处理进程以并行方式分布在双核DSP中,2个进程之间通过核间中断进行同步。为了验证相位差检测实时性与精度,构建了CMF信号处理验证平台。实验结果表明,基于双核DSP的CMF并行信号处理方法具有更高的精度与实时性。     

三维空间入水弹道测量的新方法

本文给出了只用加速度计不用陀螺或其它角运动敏感的传感器测量空间弹道参数的新方法。由于鱼雷导弹样武器模型在实验的发射阶段和入水阶段受到巨大的加速度和减速,同时又由于它们系长细比相当大的细长体,只用加速度计就比用陀螺有很大优越性,因为加速度计耐冲击、质量和体积都小。文中指出,为了测量六个弹道参数,至少要用六个加速度计,但为了提高试验准确度,本文也提出了用七个加速度计,九个加速度计和十个加速度计的测量方案,并提出相关的数据处理方程的解法。本文还就细长体实验模型对布置加速度计位置的限制,进行了分析,提出降低数据处理方程的条件数,避免出现病态方程和优化加速度计位置的方法。文章还给出了能得到高精度的试验数据处理方法。     

结构物自由落水砰击现象的数值模拟研究(英文)

To solve the problems concerning water entry of a structure, the RANS equations and volume of fluid(VOF) method are used. Combining the user-defined function(UDF) procedure with dynamic grids, the water impact on a structure in free fall is simulated, and the velocity, displacement and the pressure distribution on the structure are investigated. The results of the numerical simulation were compared with the experimental data,and solidly consistent results have been achieved, which validates the numerical model. Therefore, this method can be used to study the water impact problems of a structure.     

Numerical simulation of the water entry of a structure in free fall motion

To solve the problems concerning water entry of a structure, the RANS equations and volume of fluid （VOF） method are used. Combining the user-defined function （UDF） procedure with dynamic grids, the water impact on a structure in free fall is simulated, and the velocity, displacement and the pressure distribution on the structure are investigated. The results of the numerical simulation were compared with the experimental data, and solidly consistent results have been achieved, which validates the numerical model. Therefore, this method can be used to study the water impact problems of a structure.     

Experimental investigation of structural system capacity with multiple fatigue cracks

Few experimental data sets exist in the literature to support the development and evaluation of digital twins predicting structural degradation. The literature is especially sparse for system tests where multiple failures occur and interact. In this work, a laboratory-level experiment is conducted to mimic many of the properties of larger and more complex marine structures with redundant load paths, failure interaction, and component-to-system level integration. In the experiment, such properties are reflected by a hexagon tension specimen with four propagating fatigue cracks tested under displacement-controlled loading. The applied loading cycles and corresponding crack lengths are recorded as the major time-varying data of degradation, with the resisting force at maximum extension used as the system capacity. A novel computer vision method is used to measure the crack length. Strain gauges are also used to monitor the structure’s status. The experimental data is presented and analyzed in this paper. The resulting data sets can be used to evaluate the performance of different digital twin updating approaches.     

机载布放式AUV入水冲击仿真研究

机载布放式AUV是利用载机运送至特定海域上空,在一定条件下通过空投方式进入水下,完成预定工作的自主水下航行器。AUV入水时会受到巨大的载荷冲击,严重时会导致机体折断、元器件失灵,甚至引起弹道失控。为此,文章采用计算流体力学(Computational Fluid Dynamics,CFD)方法对机载布放式AUV的入水冲击问题进行了数值仿真研究。对不同入水速度、不同入水角度下AUV受力过程进行了计算,得出了不同入水条件下的速度响应曲线和压力响应曲线,可为机载布放式AUV的机体结构设计和投放条件研究提供参考。     

基于显式有限元方法的二维楔形刚体入水砰击载荷并行计算预报

局部砰击载荷是在船舶首部结构设计时重点关注的问题。文章基于显式有限元方法,选用任意拉格朗日—欧拉算法(ALE),针对某30°二维楔形刚体入水砰击问题,开展了数值预报工作。针对模型网格密度开展了收敛性分析。数值预报的加速度、砰击压力等时域结果与已公开发表的模型实验的结果进行了比较,吻合非常好。鉴于在微机上数值计算时间比较长的问题,文中探讨了并行计算技术在模拟中的应用。     

Uncertainty due to discretization on the ALE algorithm for predicting water slamming loads

Numerical uncertainty due to discretization on the Arbitrary Lagrangian-Eulerian (ALE) Finite Element method is investigated in the study. The paper quantifies uncertainty using two ITTC recommended methods, and also applies a constant Courant-Friedrichs-Lewy (CFL) number based discretization approach, instead of performing the independent grid and time-based discretization recommended by ITTC. As a case study, water entry of a flat bottom rigid and flexible plate is simulated considering various entry velocities. The total slamming loads and structural responses on both the rigid and elastic bottom plates are predicted and validated against available experimental data. Results indicate that numerical errors due to discretization differ in the various parameters and from case to case. They do affect the analysis of slamming loads and associated structural responses, and the hydroelasticity analysis as well. The hydroelasticity effects on the slamming force generally increase as the entry velocity increases, however, the quantitative results differ much for models with different grids. For example, when the hydroelasticity effect is estimated using the finer model, the deviation of the total slamming force on the elastic plate relative to the one on the rigid body are 56%, 57%, and 63% respectively for the three constant entry velocities, whereas the estimations are −27%, −4% and 3% with the coarser model. The study concludes that the uncertainty due to discretization in ALE is not just case-specific, but also parameter specific. The uncertainty quantification procedures with a constant CFL number based refinement are recommended to investigate the uncertainty comparing to the individual grid and time step study, in particular for the ALE solution where the time step is adjusted automatically as the grid changes. Thus, consideration should be given to updating the ITTC guidelines to incorporate the constant CFL based discretization approach.     

波流作用下圆柱体入水特性的三维数值模拟研究

结构在实际海况中入水受到多种载荷的共同作用,同时还伴随波浪作用的影响,因此该过程是一个强非线性的过程。针对结构在波、流中入水过程的特点,将入射波(波、流)引入非线性双渐进法,研究三维刚体圆柱体在波、流及波流联合作用下入水过程运动响应及姿态的变化,计算结果与试验结果符合得较好,非线性双渐进法适用于分析三维刚体波、流中入水问题。结果表明在近波面附近,结构受波浪作用明显,入水相位、浪级、流速及波流速度矢量差异对结构入水运动速度及轨迹影响明显。     

三维实船首部结构入水砰击载荷预报

首先对三维回转体结构入水砰击问题进行仿真研究,并与文献中的试验结果进行对比,从而验证仿真方法计算三维结构入水砰击问题的可行性;其次研究三维实船首部入水砰击过程,分析实船首部结构砰击压力与入水速度、结构曲率的关系,并提出该首部结构的砰击压力预报公式。     

波浪作用下月池开口对钻井船水动力的影响

结合模型试验与频域数值计算结果,分析月池对船体水动力性能的影响,并对模型试验与数值计算的RAO、月池敞开和封闭的RAO、运动统计结果和附加质量系数进行对比。分析结果显示:月池开口会增大横摇和垂荡运动幅值,并且减小船体的横摇固有周期;当外部激励使月池发生共振时,月池内流体产生的附加质量会发生剧烈变化。因此,月池开口对船体水动力性能会产生一定负面影响,作业时,应当避免发生共振现象。     

基于CFD的导管调距桨尺度效应研究

常规螺旋桨在进行水动力实验时,需要满足临界雷诺数的要求,这样,实桨的尺度效应就可以忽略。但是,对于非常规螺旋桨,如导管螺旋桨,尺度效应能否忽略值得研究,因为机翼型导管和螺旋桨水动力性能各自随几何尺寸变化的规律不一致。基于CFD计算方法,对某导管调距桨的尺度效应进行数值研究。在获得可靠的数值模拟方法后,数值模拟了两个螺距比和两个进速下不同尺寸导管螺旋浆的流场。比尺包括1、1.7、3.4、4.25、8.5和17共6个几何尺寸。计算结果表明,导管螺旋桨敞水性能的尺度效应比预期的要明显。随着尺寸增大即雷诺数增大,导管的推力先略有增加后基本不变,螺旋桨的扭矩和推力略有下降,但效率有所增加;小螺距比工况下的尺度效应要比大螺距比的大。     

海上栅格化信息网络视频业务优化应用研究

海上栅格化信息网络需依托各类无线通信资源,在岸海空天等各类平台之间传送实时画面。在窄带无线通信条件下传输高质量的视频图像成为当前亟待解决的关键问题。针对这一问题,论文分析了海上栅格化信息网络视频通信特点,提出了基于信息效用的宏块级码率分配方法,有效地提升了海上栅格化信息网络视频业务关键区域的编码质量。仿真实验表明,该方法在平均编码质量不下降的同时,有效地提升了重点区域的编码质量以及抗误码扩散的能力。     

Wave impact underneath horizontal decks

The problem of water impact on a fixed horizontal platform deck from regular incident waves was studied. Two-dimensional potential flow was assumed, and the resulting boundary-value problem was solved by three alternative numerical methods, a method based on a generalization of the impact theory by Wagner, and two different nonlinear boundary-element methods. The Wagner-based method used a von Karman approach during the water exit phase, i.e., when the wetted surface decreases. Experiments of the impact on an idealized platform deck have been performed to validate the theory. Comparisons show that the Wagner-based method yields good results for the water entry phase, when the wetted deck area increases, but poor results when the wetted area diminishes. The boundary-element methods compare well with experiments for the entire impact process. A Kutta condition is necessary at the aft body–free surface intersection during water exit and when the flow separates from the aft edge. Gravity effects matter for the water exit phase.     

液位控制BP模型的设计与仿真

基于MATLAB的神经网络工具箱与BP网络理论,介绍在MATLAB环境下发电厂液位控制BP模型的设计方法,并进行仿真试验,得出了预测模型的最优参数。仿真结果表明,此方法有效可行,可使非线性系统具有较好的跟踪性能。     

通信信号调制样式的自动识别

针对卫星通信信号中常用的数字信号调制样式的自动识别问题,提出一种基于人工神经网络（ArtificialNeuralNet,ANN）的识别算法,该算法在几乎没有先验信息的条件下,以几种调相信号为基本模型,通过双隐层人工神经网络获取频谱特征,进而判别出不同信号的调制样式。仿真及实测数据验证表明,该算法在低信噪比条件下,随着神经元组合数量的增加,数字调制样识别的正确率有明显提高。     

A study of fatigue crack propagation at a web stiffener on a longitudinal stiffener

Predicting fatigue crack growth after its detection during in-service inspection is necessary to prevent a loss of serviceability, such as the oil and/or water tightness of critical compartments. This paper focuses on the most typical fatigue cracks that start at the weld joint between a flat bar stiffener on a transverse web frame and the flange of a longitudinal stiffener on a bottom plate or inner bottom plate. An experiment is carried out to observe the fatigue crack propagation for two kinds of flat bars at the abovementioned connection. The experimental results, especially the surface crack growth on the flange (which dominates during the total fatigue life of the longitudinal stiffener), are compared with crack growth curves predicted using a few existing formulas. Based on the comparative study, a formula that shows the best agreement with the experiment results is selected. Weld toe magnification factors for the web stiffener are computed from the crack propagation rates measured in the experiment, and two equations for the magnification factors versus crack depth are developed for two types of web stiffeners. The selected existing formula and the proposed equations are applied to two connections at the inner bottom and side longitudinal bulkhead of an LNG carrier. The equivalent stress approach based on a long-term distribution is employed to avoid the complexity involved in dealing with the actual stress history. Using this prediction, the remaining service life until an oil or water leakage occurs at a tank boundary can be estimated when a fatigue crack at the connection is detected.     

Two-dimensional numerical simulation of water splash phenomena with and without surface tension

Two-dimensional numerical analyses were conducted and analyzed to simulate water splash produced by free falling object models starting from the resting position. The equilateral prism-shaped object models were allowed to fall onto the free surface of the water. The moving-particle semi-implicit (MPS) method was used to solve the unsteady Navier-Stokes equation for incompressible fluid flows with and without the surface tension effect. Froude numbers of 0.75, 1.0, and 1.25 were used with different model sizes for the entry velocity at the free surface. Splashes obtained by numerical computation closely agreed with the experimental results. The surface tension force, the Froude number, and the Weber number were found in these calculations to play major roles in determining various types of splash shapes. Model size was found to influence splash phenomena, even if the Froude number remained the same. The dependencies on these two nondimensional numbers and the fundamental law of similarity on water splash with and without the surface tension effect were thoroughly investigated in this research. Several two-dimensional numerical simulations are presented in this article to describe the hydrodynamic behaviors of water splash with and without the surface tension effect.