基于粒子群遗传搜索算法的水下结构内部激励力源识别

文章针对水下弹性结构,提出一种识别结构内部激励力源的匹配场处理方法及基于结构辐射声场的广义拷贝场概念,并提出采用粒子群遗传融合搜索算法对最优力源强度进行匹配搜索。以水下自由声场中的单层圆柱壳体为研究对象,采用数值计算方法建立了结构辐射声场传递函数拷贝场,并对匹配搜索算法进行了数值仿真分析。在消声水池中进行了水下单层圆柱壳体辐射声场测试,将测试结果与拷贝场进行了匹配处理。仿真结果与试验结果均表明,这种力源识别匹配场处理方法可以有效地针对结构内部的力源强度进行分析排序,利用匹配识别的结果进行辐射噪声预报时,预报精度很高。     

使用粒子群优化模型开展水下管道冲刷研究中的ANFIS网络优化方法研究（英文）

In general, submerged pipes passing over the sedimentary bed of seas are installed for transmitting oil and gas to coastal regions.The stability of submerged pipes can be threatened with waves and coastal flows occurring at coastal regions. In this study, for the first time, the adaptive neuro-fuzzy inference system(ANFIS) is optimized using the particle swarm optimization(PSO) algorithm, and a meta-heuristic artificial intelligence model is developed for simulating the scour pattern around submerged pipes located in sedimentary beds. Afterward, six ANFIS-PSO models are developed by means of parameters affecting the scour depth.Then, the superior model is detected through sensitivity analysis. This model has the function of all input parameters. The calculated correlation coefficient and scatter index for this model are 0.993 and 0.047, respectively. The ratio of the pipe distance from the sedimentary bed to the submerged pipe diameter is introduced as the most effective input parameter. PSO significantly improves the performance of the ANFIS model. Approximately 36% of the scour depths simulated using the ANFIS model have an error less than 5%, whereas the value for ANFIS-PSO is roughly 72%.     

基于粒子群优化卡尔曼滤波的水下机器人信号处理

在卡尔曼滤波的基础上,引入粒子群优化算法,对卡尔曼滤波方法进行改进,提出基于粒子群优化的卡尔曼滤波器模型,从而提高水下机器人测量数据的精度,降低系统噪声和量测噪声所带来的误差。水池仿真试验结果表明改进的滤波方法有效、实用。     

水下船舶清洗技术综述（英文）

This paper presents a comprehensive review and analysis of ship hull cleaning technologies. Various cleaning methods and devices applied to dry-dock cleaning and underwater cleaning are introduced in detail, including rotary brushes, high-pressure and cavitation water jet technology, ultrasonic technology, and laser cleaning technology. The application of underwater robot technology in ship cleaning not only frees divers from engaging in heavy work but also creates safe and efficient industrial products. Damage to the underlying coating of the ship caused by the underwater cleaning operation can be minimized by optimizing the working process of the underwater cleaning robot. With regard to the adhesion technology mainly used in underwater robots, an overview of recent developments in permanent magnet and electromagnetic adhesion, negative pressure force adhesion, thrust force adhesion, and biologically inspired adhesion is provided. Through the analysis and comparison of current underwater robot products, this paper predicts that major changes in the application of artificial intelligence and multirobot cooperation, as well as optimization and combination of various technologies in underwater cleaning robots, could be expected to further lead to breakthroughs in developing next-generation robots for underwater cleaning.     

基于粒子群改进算法的水下滑翔机路径优化

水下滑翔机以其低功耗、低成本和低噪声等优势在海洋科研、环境监测、资源探测和军事侦察等领域具有广阔的应用前景。基于效率最优原则的水下滑翔机路径规划对降低滑翔机的功耗和快速到达指定位置至关重要。基于水下滑翔机效率模型的路径规划问题是一种非线性混合整数规划问题,针对此类问题在建立水下滑翔机效率模型的基础上提出粒子群改进算法。利用该算法,在效率最优原则下对水下滑翔机到达指定位置的路径进行优化。通过与其他算法比较可知,该算法能够比较快速地找到质量较高的最优解,适合解决非线性混合整数规划问题。     

水下圆柱冲刷的时间演变（英文）

Temporal evolutions of scour at submerged circular cylinders were investigated. Flow visualization was carried out around the cylinders over plane, under developed and equilibrium scour holes. Video analysis technique was used to formulate the equations for determining the diameter of the horseshoe vortex around the submerged cylinders, which is also verified from the vector diagrams drawn using the velocity measurements. The scour process similar to live bed scour was noticed around the downstream cylinder. The diameter of the horseshoe vortex is found to depend on the diameter of respective cylinder, submergence ratio,spacing between the cylinders and skew angle. This formulation along with the dislodgement and transportation of a single sediment particle is further incorporated in the proposed model for determining the time variation of scour around the submerged cylinders. It is evident from the results that the upstream cylinder shelters the downstream cylinder and thereby reduces the scour at the downstream cylinder. Proposed model is further extended to incorporate the effect of non-uniformity of the sediment particles on the time variation of scour depth. The results indicate significant reduction of scour depth of around 6% and 35% for upstream and downstream cylinders respectively due to the formation of the armor layer. The model is also compared with the local scour component of field data around cylindrical bridge piers to establish the differences in the scour process around a partially submerged cylinder and fully submerged tandem and skewed cylinders.     

基于少量测点的水下辐射噪声评估模型（英文）

文章针对复杂结构的水下辐射噪声实时评估问题,提出了一套基于工况传递路径法的线谱条件下理论模型,在确保辐射噪声评估准确性的同时,减少了传感器的使用数量。模型与工况分类相结合,提高了辐射噪声的评估精度。之后对该模型进行了数值仿真和湖上试验验证,结果表明,提出的模型简单有效。频段辐射噪声评估误差小于2 dB,多数线谱峰值频率处误差小于2.5 dB。该研究对船舶噪声评估具有参考意义。     

金属导爆索网栅结构水下爆炸声学特性研究（英文）

为了获得连续水下爆炸声源,文章设计了金属导爆索网栅结构,并开展了水下爆炸压力测试和气泡脉动实验,研究了金属导爆索网栅结构水下爆炸的声压级特性,水下爆炸的声持续时间,对应的混响效应,利用Hilbert-Huang变换对水下爆炸信号的频谱特性进行了分析。研究结果表明:金属导爆索网栅结构水下爆炸可根据设计连续产生多个脉冲冲击波信号,形成近似平稳的连续波,随后产生的气泡脉动和混响效应能够明显提高水下爆炸声的持续时间;金属导爆索网栅结构具有很强的声功率,水下爆炸声压级最高能够达到249 d B,爆炸60 ms后金属导爆索的爆炸声压级仍在200 d B以上;金属导爆索网栅结构水下爆炸声频率范围广,在100 kHz以下低频段能量最高。金属导爆索网栅结构水下爆炸脉冲信号频率成分丰富,具有低频和瞬时的特点,且大部分集中在100 kHz以下,尤以50 kHz以下的最为明显;脉冲信号具有多个能量峰值,能量值较集中,波动能量基本上都集中在频率为100 kHz范围以内,尤以50 kHz以下的低频能量最大,高于100 kHz以上频段的能量的分量很小。脉冲冲击波的个数和声持续时间可由金属导爆索网栅的排列方式和长度控制,脉冲冲击波间的时间间隔可调,发生装置稳定易控。     

全电动水下控制系统及其对水下歧管阀的影响（英文）

Subsea development is moving constantly toward simplification, digitalization, and cost-out strategies because the exploration and production of hydrocarbons are moving toward deeper and remote sea water areas. Usage of all-electric subsea technology instead of hydraulic technology is growing and will be the future of subsea systems due to the former's environmental and functional advantages and reduced costs. The benefits of all-electric subsea systems are health, safety, and environment(HSE)and improved reliability, flexibility, and functionality compared with traditional hydraulic-electrical systems. Existing electrohydraulic technology for a typical subsea system, hydraulic and electric actuators, and subsea manifold valves including valve types and selection philosophy have been reviewed in this paper. Some major worldwide oil companies such as Equinor and Schlumberger have successful experiences with subsea electric actuators. Considering the benefits of all-electric technology especially in terms of cost and HSE, as well as successful experiences of two major oil companies, further research in this area is warranted. One of the gaps in existing reviewed literature is the effect of using all-electric actuators for manifold valves. Thus,three main questions related to electric actuator selection, requirement of safety integrity level(SIL), and effect of using electric actuators on manifold valve selection have been addressed and answered. Forty hydraulic actuated manifold valves from nine past subsea projects in different parts of the world, mainly Africa and Australia, have been selected for the analysis of all-electric actuators. Results show that 93% of the valves require spring-return electric actuators, whereas 7% can be operated with conventional electric actuators without any spring. The manifold valves do not require SIL certification because they are not connected to an emergency shut down system. Introducing the electric actuators to the manifold valve will not change the valve selection philosophy.     

倒谱域水下目标回波特征提取（英文）

The analysis and characteristic extraction of target echo characteristics are important in underwater target detection and recognition. Rigid acoustic scattering components are generally used as major echo contributors with relatively stable characteristic information. Previous studies focus on echo characteristics from a single angle, thereby limiting the amount of extracted characteristic information. This paper aims to establish a full-angle rigid echo components model and overcome the difficulty of the extraction of time delay characteristics of narrow-band acoustic scattering echoes. On the basis of the analysis of the target echo highlight model, the echo characteristics of rigid acoustic scattering components are extracted in the cepstrum domain, and a wavelet process is proposed to enhance the effect of time delay estimation. Experimental data indicate that the extracted time delay characteristics accord with the rigid echo characteristics of underwater target, thereby validating the effectiveness of the cepstrum method.     

基于组合自动优化策略的水下机器人型线设计（英文）

In this paper, a hybrid automatic optimization strategy is proposed for the design of underwater robot lines. Isight is introduced as an integration platform. The construction of this platform is based on the user programming and several commercial software including UG6.0, GAMBIT2.4.6 and FLUENT12.0. An intelligent parameter optimization method, the particle swarm optimization, is incorporated into the platform. To verify the strategy proposed, a simulation is conducted on the underwater robot model 5470, which originates from the DTRC SUBOFF project. With the automatic optimization platform, the minimal resistance is taken as the optimization goal; the wet surface area as the constraint condition; the length of the fore-body, maximum body radius and after-body's minimum radius as the design variables. With the CFD calculation, the RANS equations and the standard turbulence model are used for direct numerical simulation. By analyses of the simulation results, it is concluded that the platform is of high efficiency and feasibility. Through the platform, a variety of schemes for the design of the lines are generated and the optimal solution is achieved. The combination of the intelligent optimization algorithm and the numerical simulation ensures a global optimal solution and improves the efficiency of the searching solutions.     

基于双判据故障检测法的水下机器人航向容错系统设计（英文）

This paper proposes a heading fault tolerance scheme for operation-level underwater robots subject to external interference. The scheme is based on a double-criterion fault detection method using a redundant structure of a dual electronic compass. First, two subexpansion Kalman filters are set up to fuse data with an inertial attitude measurement system. Then, fault detection can effectively identify the fault sensor and fault source. Finally, a fault-tolerant algorithm is used to isolate and alarm the faulty sensor. The program can effectively detect the constant magnetic field interference, change the magnetic field interference and small transient magnetic field interference, and conduct fault tolerance control in time to ensure the heading accuracy of the system. Test verification shows that the system is practical and effective.     

基于γ界面捕捉模型的近场水下爆炸数值模拟（英文）

随着对水下爆炸现象研究的逐步深入,近场水下爆炸的数值模拟研究越来越受到重视。近场水下爆炸数值模拟当中的主要难点在于多相流运动以及界面捕捉方法的研究。文章提出一种较为稳定的近场水下爆炸数值模拟方法,其包含了五阶WENO重构以及HLLC近似黎曼求解器的格式,对于多相流界面的捕捉方法基于γ模型。文中的求解格式通过了一维激波管问题以及二维轴对称问题的验证,计算结果与理论解和实验结果吻合较好。在此基础上将该方法推广到近场水下爆炸过程中冲击波传播以及近水面爆炸现象的模拟,模拟结果较为满意。该文的研究方法能够为后续的近场水下爆炸过程中的空泡以及水射流的研究提供指导。     

水下目标几何声散射的形态学研究（英文）

In this paper, a new method based on morphologic research named reconstruction cross-component removal(RCCR) is developed to analyze geometrical scattering waves of an underwater target. Combining the origin of the cross-component in Wigner-Ville distribution, the highlight model of target echoes and time-frequency features of linear frequency-modulated signal can remove cross-components produced by multiple component signals in Wigner-Ville distribution and recover the auto-components of output signals. This method is used in experimental data processing, which can strengthen the real geometric highlights, and restrain the cross components. It is demonstrated that this method is helpful to analyze the geometrical scattering waves, providing an effective solution to underwater target detection and recognition.     

对一型潜器的水下振动响应分析（英文）

文章基于三维水弹性方法,分析了一型潜水器水下航行中的振动响应特性,通过求解干模态的广义坐标响应及对应的附连水质量,确定了干模态频率和湿谐振频率的对应关系。该文预报的水下响应曲线的峰值频率得到了水声试验测试结果的印证,说明了三维水弹性方法在求解水下结构振动响应问题上的有效性。文中最后对潜器尾部结构进行了改进,改进前后速度响应幅值曲线的比对表明,增加尾部纵桁结构的刚度对抑制潜器的尾部振动有明显的效果。     

基于粒子群优化算法的水下航行器深度控制研究

提出了一种基于粒子群优化算法的水下航行器深度控制器参数优化设计方法。针对水下航行器运动参数变化的特性,采用粒子群优化算法收敛速度快、寻优特性好等特点,将其应用到控制器参数的优化设计中。仿真结果表明,利用粒子群优化算法进行优化设计的水下航行器深度控制器具有良好的控制性能。     

水下气体释放源附近的流型建模（英文）

Recent progress in calculating gas bubble sizes in a plume, based on phenomenological approaches using the release conditions is a significant improvement to make the gas plume models self-reliant. Such calculations require details of conditions Near the Source of Plume(NSP);(i.e. the plume/jet velocity and radius near the source), which inspired the present work. Determining NSP conditions for gas plumes are far more complex than that for oil plumes due to the substantial density difference between gas and water. To calculate NSP conditions, modeling the early stage of the plume is important. A novel method of modeling the early stage of an underwater gas release is presented here. Major impact of the present work is to define the correct NSP conditions for underwater gas releases, which is not possible with available methods as those techniques are not based on the physics of flow region near the source of the plume/jet. We introduce super Gaussian profiles to model the density and velocity variations of the early stages of plume, coupled with the laws of fluid mechanics to define profile parameters. This new approach, models the velocity profile variation from near uniform, across the section at the release point to Gaussian some distance away. The comparisons show that experimental data agrees well with the computations.     

试验型水下滑翔机的动力学分析及实验（英文）

水下滑翔机是一种新型的无推进装置的水下运载器,它是由净浮力来驱动的,同时通过内部的直线驱动器来改变重心的位置以实现姿态的调节。对于大多数水下滑翔机,浮力机构是通过改变自身排水体积来实现的,文中介绍了一种变重量的水下滑翔机的设计、动力学分析以及实验过程,该浮力调节机构主要由单向水泵和三位五通电磁阀组成,最大下潜深度为30米。文中介绍了水下滑翔机的运动方程和动力学特性,并且给出了在稳定时刻的解,并且通过计算流体力学的方法对水下滑翔机的水动力特性进行了分析。仿真和实验结果证明了该水下滑翔机的可靠性及实用性。     

基于粒子群K均值聚类的空中目标识别

舰艇编队面临的空中威胁日益复杂多样,正确、快速地识别目标是赢得对空防御作战的前提。在分析各传感器测量得到的空中目标威胁特征指标的基础上,将舰艇编队防空作战目标识别问题转化为最优聚类问题,建立基于粒子群聚类的目标类型识别模型。通过主成分分析将样本各特征值标准化、降维投影到新的特征空间,引入粒子群优化算法构建最优聚类识别模型,实例分析表明该方法有效,计算速度快,降低了实用的复杂度,提高了目标识别的可靠性。     

一种基于节点鉴别的水下传感器网络协同干扰方案（英文）

Cooperative jamming (CJ) is one of the important methods to solve security problems of underwater acoustic sensor networks (UASNs). In this paper, we propose a Cooperative Jamming Scheme based on Node Authentication for UASNs to improve the effect of CJ by selecting suitable jamming source for found illegal nodes. In the node authentication, all nodes will be identified by their trust value (TV). TV is calculated according to three types of evidence:channel-based trust evidence, behavior-based t...