水下涡轮发动机动力推进系统数学模型

为了维持水下开式循环涡轮发动机系统的高性能和经济性, 针对系统对于工况变化极为敏感的工作特点, 计算了喷管在各种工况下的出口速度, 分析了变转速、变压力条件下的涡轮输出转矩, 建立了适用于系统优化和新型控制器设计的系统数学模型。以设计压力比为关键参数, 取该模型的稳态特性, 可得到由系统转速、航速、燃烧室压力、航深、推进剂耗量以及设计压力比构成的封闭代数方程, 以多速制组合航程最大为寻优目标, 可完成系统所有设计参数的优化。实践证明采用该模型可使系统经济性提高8%以上。     

海洋拖曳系统对船舶操纵性能的影响

将拖曳母船、拖缆和拖曳体视为一个相互作用的整体,利用耦合边界条件,将拖缆顶端和底端的张力与其产生的力矩,分别计入船舶操纵性运动方程和拖曳体六自由度运动方程,结合拖缆的有限差分方程,建立了船/缆/体耦合运动模型,采用数值计算方法,对比分析了海洋拖曳系统对船舶操纵性产生的影响.计算结果表明:当计入拖缆和拖曳体耦合影响后,船舶稳态运动时的速度会降低,改变量为3％～5％;船舶回转机动时,速度、回转半径与横摇角会降低,改变量分别为2％～3％、2％～4％和11％～21％.采用船/缆/体耦合运动模型计算得到的船舶操纵性能符合实际,可为预报海洋拖曳系统的运动信息提供理论依据.     

Nonlinear control for autonomous underwater glider motion based on inverse system method

Autonomous underwater gliders are highly efficient, buoyancy-driven, winged autonomous underwater vehicles. Their dynamics are multivariable nonlinear systems. In addition, the gliders are underactuated and difficult to maneuver, and also dependent on their operational environment. To confront these problems and to design an effective controller, the inverse system method was used to decouple the original system into two independent single variable linear subsystems. The stability of the zero dynamics was analyzed, and an additional closed-loop controller for each linear subsystem was designed by sliding mode control method to form a type of composite controller. Simulation results demonstrate that the derived nonlinear controller is able to cope with the aforementioned problems simultaneously and satisfactorily.     

Automatic wireless power supply system to autonomous underwater vehicles by means of electromagnetic coupler

With the aim of sending electric power to autonomous underwater vehicles （AUVs）, an automatic wireless power supply system by means of electromagnetic coupler was proposed. An equivalent circuit of the electromagnetic coupler with compensating capacitors was presented to analyze the performance of the system. The magnetizing inductance and leakage inductance, which are important for choosing compensating capacitors, were calculated by finite element analysis （FEA） methods. Then the voltage gain, power loss and system efficiency were analyzed to optimize the winding turns. Finally, a phase-shift full bridge zero-voltage-switching converter and an electromagnetic coupler were produced. The experimental results demonstrated that the proposed system has a high voltage gain with small variation and sufficient power feeding.     

Formation control of underwater mobile sensing networks

Formation control is essential for an underwater mobile sensing network (UMSN), and an ad hoc network which wirelessly connects underwater vehicles of sensing and/or observing types via acoustic communications, to fulfill mobile sensing tasks. The problem of formation control for a UMSN with varying topology is studied in this paper. The methodology of synthesizing distributed formation controller which stabilizes a UMSN with varying topology is proposed on the basis of the stability analysis of linear time-varying systems.     

水下不分散混凝土配筋梁抗弯性能试验

为了研究水下不分散混凝土结构的性能,进行了水下不分散混凝土配筋梁与普通钢筋混凝土配筋梁的抗弯性能对比试验.试验结果表明,水下不分散混凝土配筋梁的抗弯性能与普通钢筋混凝土配筋梁的抗弯性能接近.因此,可以用计算普通钢筋混凝土梁受弯的理论计算水下不分散混凝土配筋梁的受弯.     

水下公路隧道的评述

我国公路隧道是在高速公路建设大发展中而突飞猛进的，据交通部，国家统计局闻新普查资料表明：截止2000年我国公路隧道已建成1678处，总长度约624.3余公里。     

基于专家系统的公交运营调度系统结构研究

提出以专家系统为核心,以Internet为信息平台发展基于实时信息的智能公交运营调度系统的设想。根据系统的目标和特点,提出了系统的功能结构、内部运行结构和组织实施框架,最后描述了系统的实际工作过程。     

强机动超空泡水下航行器空间运动控制面布局

针对超空泡航行器航向舵后置布局在强机动航行时舵效不足的问题, 建立了一种全新的兼顾直航与机动运动的控制面布局模式, 首次提出了非对称分布艏舵的超空泡航行器控制面总体方案, 采用双自由度空化器作为控制面, 水平偏转控制航向, 上下偏转控制俯仰和深度, 且在空化器下部复合抗横滚鳍片。针对某超空泡水下航行器进行了系统动态特性仿真分析, 横滚剩余力矩约从0.1s衰减至0, 极限横滚角小于0.1°。分析结果表明: 以空化器作为艏部航行舵替代常规布局的尾部航向舵, 可以显著提高舵效。     

A low-cost testbed of underwater mobile sensing network

Comprised by a swarm of acoustically linked and cooperative autonomous underwater vehicles (AUVs) with onboard sensors, an underwater mobile sensing network (UMSN) will be a complementary means to fixed observatory networks, e.g. seafloor observatory networks and moored buoy arrays. It has obvious advantages over a single large AUV in higher efficiency due to parallel observation, stronger robustness to vehicle failures and lower cost. Although an UMSN can be viewed as a counterpart of wireless mobile sensing networks for air and terrestrial applications, it is much more challenging due to poor performance of underwater acoustic communication, poor performance of underwater positioning and high degree of uncertainty in vehicle dynamics and underwater environment. In order to verify key technologies involved in an UMSN, e.g. cooperation of multi-AUVs based on acoustic communication, a low cost testbed has been developed for experimental study. The design of both hardware and software is introduced. Also the results of a functional test for verification of the effectiveness of the testbed are presented.     

高速公路信息系统的研究

主要论述了高速公路数据通信系统的数据传输方式、网络拓扑结构、系统设备配置、相关通信规程和通信软件。     

如何控制水下灌注混凝土施工质量

从几个方面介绍对水下灌注混凝土施工质量的控制。     

钻孔桩水下混凝土质量控制的探讨

结合钻孔灌注桩的施工实践,介绍水下混凝土施工质量控制的要点,简析造成断桩的原因,提出预控断桩的措施。     

Wavelet moment invariants extraction of underwater laser vision image

Wavelet moment invariants are constructed for object recognition based on the global feature and local feature of target, which are brought for the simple background of the underwater objects, complex structure, similar form etc. These invariant features realize the multi-dimension feature extraction of local topology and invariant transform. Considering translation and scale invariant characteristics were ignored by conventional wavelet moments, some improvements were done in this paper. The cubic B-spline wavelets which are optimally localized in space-frequency and close to the forms of Li＇s （or Zernike＇s） polynomial moments were applied for calculating the wavelet moments. To testify superiority of the wavelet moments mentioned in this paper, generalized regression neural network （GRNN） was used to calculate the recognition rates based on wavelet invariant moments and conventional invariant moments respectively. Wavelet moments obtained 100% recognition rate for every object and the conventional moments obtained less classification rate. The result shows that wavelet moment has the ability to identify many types of objects and is suitable for laser image recognition.     

公路计量收费模式研究

阐述了公路计重收费政策的实施背景,比较分析了国内基于不同计费基础的不分档完全、分档完全、不完全计重收费模式及基于不同惩罚方式的计重收费模式,从基于构建"和谐交通"和实现治超最终目标的角度,提出了以不分档完全计费基础结合经济手段、行政手段作为计重收费模式改进方向.     

专用通信有线传输系统的方案研究

传输系统是城市轨道交通正常运行必须的信息传输载体和基础网络。本文针对目前几种专用通信有线传输系统技术方案进行探讨研究,并对其技术经济。网络结构、自愈保护方式等方面进行比较,以供轨道交通监控系统建设参考。     

公路计重收费模式研究

阐述了公路计重收费政策的实施背景,比较分析了国内基于不同计费基础的不分档完全、分档完全、不完全计重收费模式及基于不同惩罚方式的计重收费模式,从基于构建“和谐交通”和实现治超最终目标的角度,提出了以不分档完全计费基础结合经济手段、行政手段作为计重收费模式改进方向。     

企业战略生态系统初探

战略生态系统是战略生态学研究的核心.本文从战略生态系统的组成、结构及系统演化与发展等方面进行了探讨,为企业识别自身战略生态系统的构成及发展阶段提供了重要工具.     

水下盾构隧道施工管片上浮控制

以天津地铁3号线13标段盾构穿越新开河为背景,研究了盾构穿越河底粘土层、粉质粘土层条件下的管片上浮控制问题.研究结果印证了粘土、粉质粘土地层条件下注浆扩散跨过渗透注浆阶段,直接进入压密注浆阶段的结论;同时表明：在河底土层为粘土、粉质粘土地层条件下,管片上浮以局部管片上浮为主,局部管片上浮控制的决定性因素为壁后注浆动态上浮力和连接螺栓抗剪力,控制局部管片上浮的根本性方法是控制壁厚同步注浆压力.笔者还提出,盾构穿越新开河河底时,控制管片上浮的注浆压力不超过0.25 MPa,实际注浆压力为0.15~0.20 MPa,并在实践中取得了良好效果.