基于时间反演和单站天线的导体目标微波成像

为克服强散射体环境、多径效应等因素对目标成像的影响,利用时间反演法的自适应聚焦特性,研究了导体目标微波成像算法.将需要成像的目标轮廓用有限项三角级数逼近,散射问题用时域有限差分法模拟,逆散射问题转换成受限制的优化问题,引入遗传算法优化待求的三角级数的系数,仅用单站天线完成多散射体环境中二维导体目标的图像重建.为验证算法的有效性,对2个算例进行了数值仿真.     

纯方位被动目标运动分析的衰减记忆卡尔曼滤波算法

针对纯方位被动目标跟踪中扩展卡尔曼滤波器容易发散，从而导致滤波精度差而且收敛速度慢的问题，文中将水下纯方位被动目标运动分析中的扩展卡尔曼滤波算法改进为衰减记忆卡尔曼滤波算法．通过对当前测量数据的利用，减小了历史数据对滤波的影响程度．对比仿真分析表明，滤波效果有所改善，提高了精度和收敛速度．     

水下目标低频散射特性的波叠加解法

针对运用边界积分方程法研究低频散射特性时,存在的表面奇异积分和特征频率处解的非惟一性等问题,将波叠加法引入到水下目标低频散射研究中.对刚性球体的低频散射计算表明,该方法较边界积分方程法不仅消除了奇异解和多值问题,而且具有更高的计算速度和精度,适用的频率范围更宽,可用于水下目标低频散射问题的研究.分析表明影响其计算精度的因素主要是虚源空间位置、目标表面与虚源表面划分精细程度.     

跟随模式BiSAR动目标成像

机载双站合成孔径雷达(BiSAR)对地面运动目标的检测与成像是雷达成像技术中一个重要研究内容.当地面目标运动时,目标回波信号方位向多普勒频率发生变化,带来图像位置偏移和散焦等问题.文中给出了跟随模式的BiSAR几何结构,在此基础上建立了地面成像区域目标的运动模型,进而研究了目标的不同运动分量对BiSAR成像的影响和BiSAR对动目标的检测和成像技术,并给出了计算机仿真结果.     

基于水动力系数敏感性指数的水下航行器运动方程简化研究

针对水下航行器操纵运动方程,引入水动力系数敏感性指数的概念.选取了2种典型运动形式进行仿真计算,对某水下航行器水动力敏感性指数进行了合理分级,并以此为根据对水下航行器操纵运动方程进行了简化.对比结果表明,采用仿真计算的方法研究水动力系数与水下航行器操纵性的关系及运用敏感性指数评估水动力系数对操纵性的影响不失为一条可行的途径.     

水下混凝土钢筋锈贸易市场检测技术及应用

水下混凝土中钢筋锈蚀是影响钢筋混凝土结构耐久性的一个重要问题，也是水下建筑物安全鉴定过程中经常遇到的问题。结合工程结构安全检测实践，介绍了运用半电池电位对水下混凝土中钢筋锈蚀进行检测的原理、方法、评价准则及应用效果，并对提高混凝土中钢筋锈蚀检测的可靠性进行了探讨。     

一种改进的多脉冲宽带相关声成像算法

提出了一种多脉冲宽带相关声成像的逐点聚焦算法．分析了多脉冲宽带相关成像的基本理论和直观成像算法，指出了该算法中距离徙动等插值运算对运算量和分辨率有较大影响，在进行相关理论分析的基础上对算法作了相应的改进．实验结果表明，该改进算法是多脉冲宽带相关声成像的有效算法．     

一种基于三枚主动全向浮标的水下目标定位方法

反潜飞机通常采用基于手工作图的多枚主动全向浮标的水下目标定位方法,该方法存在求解时间长且容易出错的问题.为解决多枚主动全向浮标对水下目标的自动定位问题,文中推导了基于三枚主动全向浮标的水下目标定位方法,并通过仿真试验验证其有效性.该方法简单、高效,具有较高的定位精度,可直接应用于机载反潜火控系统,完成对目标位置的自动解算.     

大深度水下航行体引起的水底压力变化

水下航行体引起的水底压力变化是航行体的重要目标特性之一,可用于水下运动目标探测和水中兵器研制.基于船舶水动力学势流理论,建立了水下航行体水底压力计算模型.利用HessSmith方法,对大深度水下航行体的压力场分布进行了计算,分析了航行体水压场沿纵向和潜深的变化规律,计算结果和实验结果有较好的一致性.     

雷电信号对船舶轴频电场检测算法影响的研究

针对现有船舶轴频电场检测均未考虑雷电信号对其影响,实测了因雷电引起的1～10Hz频段内的水下电场信号,总结了该信号的特征,并分析了其对船舶轴频电场检测算法的影响.提出通过调整轴频电场检测算法中数据窗时间长度、滑动数据窗的时间间隔和特征值大于门限值的持续时间来消除雷电信号对船舶轴频电场检测算法的影响.通过对实测船舶轴频电场和雷电信号的验证表明,该方法行之有效.     

Saliency motivated pulse coupled neural network for underwater laser image segmentation

The detection range of underwater laser imaging technology achieves 4—6 times of detection range of conventional camera in intervening water medium, which makes it very promising in oceanic research, deep sea exploration and robotic works. However, the special features in underwater laser images, such as speckle noise and non-uniform illumination, bring great difficulty for image segmentation. In this paper, a novel saliency motivated pulse coupled neural network(SM-PCNN) is proposed for underwater laser image segmentation. The pixel saliency is used as external stimulus of neurons. For improvement of convergence speed to optimal segmentation, a gradient descent method based on maximum two-dimensional Renyi entropy criterion is utilized to determine the dynamic threshold. On the basis of region contrast in each iteration step, the real object regions are effectively distinguished,and the robustness against speckle noise and non-uniform illumination is improved by region selection. The proposed method is compared with four other state-of-the-art methods which are watershed, fuzzy C-means, meanshift and normalized cut methods. Experimental results demonstrate the superiority of our proposed method to allow more accurate segmentation and higher robustness.     

复值小波在湖底回波特征提取中的应用

提出了一种应用复值小波变换进行湖底回波特征提取的方法:采用线性相位的复db小波,对复解析信号进行多尺度的复值小波变换,然后提取合适尺度上的幅度信息作为目标识别的特征矢量.结合实测数据的分析表明,利用复值小波变换提取的幅度特征是一种有效、稳健的特征,能获得较高的正确识别率.复值小波变换也可以采用Mallat快速算法,因此这种方法得到特征矢量维数少,使用时实时性能好,便于工程实现.     

Research of underwater self-reconfigurable system

This article describes a novel underwater robot, which is called underwater self-reconfigurable system （USS）. USS is studied and developed by Shanghai Jiao Tong University. It is formed by a quantity of the same modules and works in group. Based on that, USS can change its form while working in the complicated underwater structures according to different tasks. New multi-jaw underwater docking system, piston style regulator and clamshell-like sampling module are designed for USS, these developments address the problems of underwater docking, floating condition adjusting and sampling. Besides, the gaits like wriggle, creeping, swimming and fourlegged moving have been successfully implemented in tank and lake test, which verifies the validity of the concept.     

Simultaneous localization and mapping of autonomous underwater vehicle using looking forward sonar

A method of underwater simultaneous localization and mapping (SLAM) based on on-board looking forward sonar is proposed. The real-time data flow is obtained to form the underwater acoustic images and these images are pre-processed and positions of objects are extracted for SLAM. Extended Kalman filter (EKF) is selected as the kernel approach to enable the underwater vehicle to construct a feature map, and the EKF can locate the underwater vehicle through the map. In order to improve the association efficiency, a novel association method based on ant colony algorithm is introduced. Results obtained on simulation data and real acoustic vision data in tank are displayed and discussed. The proposed method maintains better association efficiency and reduces navigation error, and is effective and feasible.     

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.     

激光雷达距离成像精度改进方法

成像激光雷达是一种有源成像系统,使用脉冲激光发射器和面阵接收器产生3D距离图像,具有广范围精度和宽范围门等特性。文中通过静态弥散宽度对图像模糊的影响分析,提出了时间分辨信号分布模型和改进范围精度分析方法。通过激光雷达测距系统试验分析表明,利用该模型得到的最佳静态弥散宽度对距离成像精度有显著影响,能够在白天强背景环境下对室内和室外的10 m和1700 m目标进行距离成像。在室内成像中,当静态弥散宽度为43.4μm时获得的最优测距精度为0.06 m,在室外成像中,获得了测距误差为0.25 m的分米级3D图像。该方法能够有效地提高激光雷达成像距离和成像精度,从而提高交通流测距和测速的精度。     

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.     

An range-free localization scheme for large scale underwater wireless sensor networks

In this paper, we study an area localization problem in large scale underwater wireless sensor networks (UWSNs). The limited bandwidth, the severely impaired channel and the cost of underwater equipment all make the underwater localization problem very challenging. Exact localization is very difficult for UWSNs in deep underwater environment. We propose a range free method based on mobile detachable elevator transceiver (DET) and 3D multi-power area localization scheme (3D-MALS) to address the challenging problem. In the proposed scheme, the ideas of 2D multi-power area localization scheme (2D-ALS) and utilizing DET are used to achieve the simplicity, location accuracy, scalability and low cost performances. The DET can rise and get down to broadcast its position. And it is assumed that all the underwater nodes underwater have pressure sensors and know their z coordinates. We evaluate the performances of 2D-ALS and our proposed 3D-MALS schemes under both ideal and non-ideal channel propagation conditions, in terms of localization error and localization ratio. The simulation results show that our proposed scheme is much more efficient than the 2D-ALS.     

敷设聚脲的吸声模型改进粒子群算法优化

为了提高敷薄吸声层的水下小目标的隐身性能,以敷设聚脲的多层结构为基本吸声模型,推导了模型的反射系数计算公式.针对材料优化的应用需求,将粒子群算法的局部算法和全局算法相结合,改进粒子群算法的优化策略,得到了动态混合粒子群算法,提高了收敛能力和搜索精度.利用该算法对多层吸声模型的材料参数进行寻优,结果表明:当吸声材料杨氏模量近似为频率的分段线性函数时,其吸声性能最优.在此基础上,建立了提高模型吸声性能的理论方法,并进行了实例验证,结果表明,该方法可使模型吸声性能在140～500 kHz范围内达到-10dB以上.     

水下不分散混凝土柱受压性能试验研究

基于跨江、跨海、深水港工程的环境特点,工程中采用大量水下不分散混凝土材料,进行了水下不分散混凝土短柱的轴心和偏心受压实验,分析了水下不分散混凝土的破坏形态和承载能力.试验结果表明,水下不分散混凝土的抗压性能与普通钢筋混凝土的抗压性能具有相似的特征.