基于双目视觉的AUV避障模拟研究

提出了一种基于双目视觉的自治水下机器人（AUV）避障模拟方法.为了模拟AUV在复杂海洋环境中对未知环境的感知以及避障过程,设计了AUV避障模拟实验系统.介绍了AUV避障模拟平台的总体结构和参数设计.应用双目立体视觉系统模拟水下声呐,并建立了模拟前视声呐的模型.通过对双目视觉系统进行标定,确定校正系统的内参数和外参数,使校正后的视觉系统建立了图像输入和输出的映射关系,并采用视差法获取被测目标的深度信息.对于目标的避障问题,提出了一种基于速度势场的避障方法,利用相对速度的极坐标,建立由水平面速度势场和垂直面速度势场组成的三维速度势场.当机器人利用视觉传感器获取到障碍物信息时,通过调整速度矢量实现动态避障.模拟实验证明了AUV的避障模拟方法是可行和有效的.     

基于电子海图的船舶避碰技术的研究

通过对智能避碰过程中本船及目标船的相关参数、合适的选取船舶碰撞危险度的评价集以及各个因素对碰撞危险度的影响权重的研究,根据模糊理论建立船舶碰撞危险度评价模型.在评价模型的基础上结合简单的船舶运动模型,通过搜索出能使本船碰撞危险度最低的行动来建立避碰动作决策模型.采用Visual Studio 2008开发环境,在电子海图中对提出的模型进行实验仿真,实验结果验证其模型的正确性和合理性.     

基于危险度分析的危险品运输三维仿真方法研究

危险品由于自身的危险性,在运输途中若发生交通事故或泄漏事故,将会导致危及公共安全和人民群众的生命财产安全、环境污染的严重后果.为此建立了综合船舶碰撞危险度和船舶所载危险品危险度的综合危险度指标体系,并以此为基础建立了基于危险度分析的危险品运输三维仿真模型.     

船舶碰撞危险度模型优化

介绍船舶碰撞危险度的研究概况,阐述空间碰撞危险度的概念及理论模型,根据船舶在开阔海域能见度良好情况下的操纵实际,对碰撞危险度模型进行优化,使之更适用于决策避碰.     

全新的碰撞危险度在自动雷达标绘仪中的应用及实现

目前描述船舶碰撞危险程度的传统模型存在缺陷,有时甚至给出与事实不相符的结果.文中针对ARPA的需要和现有船舶碰撞危险度模型的不足,在分析船舶交叉点、船舶碰撞点、船舶冲突区的基础上,应用船舶安全矢量、船舶安全矢量的模、船舶安全系数和船舶碰撞危险度对多艘船舶会遇时的碰撞危险度作出判断,计算并排序.给出了多船避碰流程图,为船舶自动避碰决策系统提供选择和参考,并通过计算机编程予以实现.     

基于AIS的船舶碰撞危险度模糊评判模型

在AIS信息环境的基础上,利用模糊数学的评判理论,把影响船舶碰撞危险度的主要因素DCPA、TCPA、会遇两船间的距离、目标船方位、目标船舷角、会遇两船的航速比以及各影响因素的权值等作为评判船舶碰撞危险度的参数,模糊量化各因素对碰撞危险度的影响,从而比较合理准确地确定船舶间的碰撞危险度.     

基于模糊集合理论的船舶碰撞危险度评估

针对船舶避碰决策过程中碰撞危险度计算方法准确性不高的问题,提出了一种基于模糊集合理论的船舶碰撞危险度评估方法.该方法选取最近会遇距离、最近会遇时间、两船间距、相对方位角和船速比5个因素组成船舶碰撞危险度的影响因素集,确定因素集中各参数的隶属度函数,利用层次分析法确定影响因素集中各参数的权值,由模糊集合理论构建碰撞危险度评估模型.对两船交叉相遇、对遇和追越3种不同的会遇情形进行仿真实验,结果表明,该评估模型准确度更高,且对危险目标船具有更强的辨识性.     

舰船水下标量电位的混合建模研究

针对舰船水下电、磁场分布特征,提出对舰船水下标量电位进行混合建模研究,也就是以水下标量电位为线索,将舰船等效为水平电流线和几个离散的三分量电偶极子的组合,通过测量舰船下方某平面上的标量电位分布,拟合出混合模型中的未知参量.在实验室中进行了验模,结果表明该方法中待定参数少,实际测量容易进行,计算量小,模型稳定,比较适合用来对舰船水下静态电、磁信号进行模型研究.     

山区双车道公路路侧危险度对安全影响的分析研究

为探明路侧危险度对安全的具体影响规律,本文做了深入的调研和分析．分析结果表明：路侧危险度和路侧事故率是偏弱的负相关关系,而与全部事故率、碰撞事故率是偏弱的正相关关系;在综合考虑接入口密度、道路线形、交通组成、路侧危险度等因素构建的综合事故预测模型中,路侧危险度只在碰撞事故预测模型中为正向影响系数,在其他模型中为非显著影响。进一步分析发现,路侧危险度对全部事故率的影响是按二次抛物线先降低后持续上升,对碰撞事故率影响是按二次抛物线持续上升,对路侧事故率影响是按二次抛物线持续下降．基于分析结果,确定了路侧危险度事故减少因子,并对路侧危险度对碰撞事故的影响做了细致分析．     

基于船舶领域和MMG的最晚施舵点/CRI研究

提出了一种基于MMG和船舶领域的LSP计算模型,以及改进的空间碰撞危险度（space collision risk index,SCRI）/时间碰撞危险度（time collision risk index,TCRI）模型,并进行了计算机仿真.结果表明：水动力模型精度可满足研究与实践要求;基于二分法的LSP模型能快速、可靠收敛;LSP和SCRI/TCRI模型更符合海员通常做法和避碰规则的公认理解.     

Stability Analysis of Two-Point Mooring Autonomous Underwater Vehicle

Static stability analysis of the two-point mooring autonomous underwater vehicle(AUV) is presented.The mathematic model is a set of equilibrium equations describing the attitude of the AUV.The mooring lines are regarded as inelastic catenaries,and five degrees of freedom of AUV are considered.The stability of the system is represented by inequality conditions between several physical quantities and the corresponding limitations.We analyze stability of the prime AUV and find that the AUV has a flow-following tendency,which makes the swing angle big.The result shows that the two-point mooring AUV can remain stable under 2.5 kn ocean current speed,and it will weigh anchor when the speed is greater than 3 kn.Subsequent parametric study reveals the influence of the designing parameters on the stability.     

Analysis of motion in longitudinal plane of negative buoyancy vehicle flying fish II

This article describes an experimental prototype flying fish II and builds a dynamic model that is a novel type of autonomous underwater vehicle (AUV) under the condition of negative buoyancy vehicle (NBV) without large buoyancy mechanism. Compared with the AUV Remus100, the flying fish II can cruise with double speeds within the same range and dimensions. The static stability and motion modes of flying fish II in the longitudinal plane are analyzed through the linear system theory. The flying fish II has static stability in the longitudinal plane and the motion mode is related to metacentric height.     

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.     

全局路径规划中基于改进可视图法的环境建模

主要针对静态已知环境下的全局路径规划作了研究,在切线图和Voronoi图的基础上,考虑安全性与路径最优化,论文采用一种改进的可视图法建立环境模型和确定AGV向目标点运动的有效路径．与传统的可视图法把障碍物的顶点作为图的节点、把障碍物的边作为弧相比,这种改进的方法把障碍物顶点连线的中点作为节点,把这些节点间的某些边线作为弧．最后使用遗传算法进行全局路径规划,并对规划出的各节点采用十进制任意编号,把路径编码成定长的十进制染色体串,通过MATLAB仿真,结果证明了该方法的可行性．     

H_∞ Autopilot Design for Autonomous Underwater Vehicles

The design approach of H∞ autopilot for autonomous underwater vehicles (AUVs) is proposed. Comprised by the three sub-controllers,i.e. speed,heading and depth controllers,the designed autopilot has advantage over existing H∞ control of AUVs. The overshoot in speed,heading and depth control systems under step commands is restricted by refining the weighting function for robust stability. The dynamic performance of heading and depth control systems is improved by feeding back yaw rate and pitch angle,respecti...     

Numerical modeling of dual-pulse shock test machine for simulating underwater explosion shock loads on warship equipments

In order to qualify shock resistance performance of shipboard equipments and simulate real underwater explosion environment, a novel dual-puise shock test machine is proposed. The new machine will increase testing capability and meet special shock testing requirement. Two key parts of the machine, the velocity generator and the shock pulse regulator, play an important role in producing the positive acceleration pulse and the succeeding negative acceleration pulse, respectively. The generated dual-pulse shock for test articles is in conformity with an anti-shock test specification. Based on the impact theory, a nonlinear dynamic model of the hydraulically-actuated test machine is established with thorough analysis on its mechanism that involves conversion of gas potential energy and dissipation of kinetic energy. Simulation results have demonstrated that the proposed machine is able to produce a double-pulse acceleration shock in the time domain or a desired shock response spectrum in the frequency domain, which sets up a base for the construction of the machine.     

Nonlinear pitch control of an underwater glider based on adaptive backstepping approach

Underwater gliders are highly efficient and long-ranged autonomous underwater vehicles. The typical dynamic modeling in the vertical plane is of multi-input multi-output(MIMO), which is underactuated while easily affected by the ambient environment. To resolve the problems of MIMO, the dynamic model is transformed into a single-input single-output(SISO) system with two dubious parameters, and an adaptive backstepping controller is designed and applied in this paper. A Lyapunov function has been established with the total energy of the system converged in the controller. Contrast result of simulation has demonstrated that the derived nonlinear controller has higher tracking precision and faster response than the proportional-integral-derivative(PID) control method,which indicates its excellent capability to deal with the controlling problems of underwater gliders.     

基于视觉需求的城市水下特长隧道光环境评价与优化综述

为提高城市水下特长隧道的行车安全和运输效率, 总结了城市水下特长隧道光环境典型问题与改善措施, 分别从舒适性、经济性、设置依据、安装形式等方面对洞口遮光设施、出入口加强照明、景观装饰、视线诱导系统4种隧道光环境改善措施进行了比较分析; 依据马斯洛需求层次理论对驾驶人视觉需求进行分层, 提出了包含事故分析、评价体系、优化思路、优化方法的城市水下特长隧道光环境评价体系与优化研究框架。分析结果表明: 城市水下特长隧道光环境主要有出入口的明暗适应、道路线形变化引起的视距不足、中部的视觉参照信息不足、隧道整体空间路权不清晰的问题; 设置视线诱导系统是一项低成本、有效的光环境优化方法, 能满足驾驶人在不同隧道路段上的视觉差异化需求; 驾驶人视觉需求由低到高可以分为功能性、安全性、舒适性、美观性, 并依次对应相应的基本型、安全型、舒适型、韵律型视觉参照系, 可构建以空间路权、人因与驾驶任务、差异化、韵律性为指标的评价体系来评价城市水下特长隧道光环境; 城市水下特长隧道光环境优化应将视线诱导和加强照明相结合, 主要通过视线诱导系统来重构视觉参照系, 隧道接近段、入口段、中间段普通区、出口段应以舒适型视觉参照系为优化目标, 中间段提醒区及唤醒区则应构建韵律型视觉参照系。      

分层海洋环境对潜艇腐蚀相关静态电磁信号的影响研究

来源于腐蚀及防腐电流的静态电、磁信号是潜艇水下新的重要的目标特性.为掌握分层海洋环境对其水下分布特征的影响,采用三层平行分层导电媒质模型模拟海洋环境、水平直流电偶极子模拟潜艇腐蚀相关电磁场源,通过数值仿真,研究环境电导率、海洋水深、分层界面等因素对潜艇腐蚀相关静态电场和静态磁场的影响.仿真分析结果表明,分层海洋环境对场有明显影响,且存在普通规律.     

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.