Analysis of characteristics of foreign unmanned surface vehicle swarm combat application and proposed countermeasures北大核心CSCD

无人船(USV)集群作为未来海上军事运用的重要组成力量,是各国海上无人装备的重要发展方向。首先,通过梳理总结当前国外无人船集群发展战略规划与运用现状,对无人船集群作战关键技术进行归纳分析,从集群自组网通信、战场态势感知、集群协同任务分配等3个方面剖析无人船集群相关技术的研究进展;然后,对无人船集群在军事上运用的典型样式和主要效益进行分析及研判;最后,总结分析当前应对无人船集群的难点,并对无人船集群应对的技术发展予以展望。     

Numerical analysis of cavitating propeller and pressure fluctuation on ship stern using a simple surface panel method “SQCM”

This paper presents a calculation method for the pressure fluctuation induced by a cavitating propeller. This method consists of two steps: the first step is the calculation of propeller sheet cavitation, and the second step is the calculation of pressure fluctuation on the ship stern. It is for practicality that we divide the method into two steps but do not calculate these steps simultaneously. This method is based on a simple surface panel method “SQCM” which satisfies the Kutta condition easily. The SQCM consists of Hess and Smith type source panels on the propeller or cavity surface and discrete vortices on the camber surface according to Lan’s QCM (quasi-continuous vortex lattice method). In the first step, the cavity shape is solved by the boundary condition based on the free streamline theory. In order to get the accurate cavity shape near the tip of the propeller blade, the cross flow component is taken into consideration on the boundary condition. In the second step, we calculate the cavitating propeller and the hull surface flow simultaneously so as to calculate the pressure fluctuation including the interaction between the propeller and the hull. At that time, the cavity shape is changed at each time step using the calculated cavity shape gotten by the first step. Qualitative agreements are obtained between the calculated results and the experimental data regarding cavity shape, cavity volume and low order frequency components of the pressure fluctuation induced by the cavitating propeller.     

Monocular visual servo-based stabilization control of underactuated unmanned surface vehicle北大核心CSCD

［Objectives ］ Aiming at the accurate posture stabilization problem of an under-actuated unmanned surface vehicle (USV) in GPS-denied environments, a monocular visual servo stabilization control scheme is proposed based on homography.［Methods］By virtue of the homography decomposition technique, posture errors with an unknown scale factor are directly reconstructed from current and desired images, which thoroughly removes the calibration of extrinsic camera parameters and priori information on visual targets; with respect to the under-actuation constraint, a periodic function to persistently excite the yaw angle is incorporated into the continuous time-variant output feedback controller, allowing the USV to be stabilized in the absence of image depth, movement velocities and model parameters.［Results］Under the framework of the Lyapunov theory, the closed-loop visual servo system of the USV is rigorously proven to be asymptotically stable by Barbalat lemma.［Conclusions］By installing an onboard monocular camera, USV posture errors can be precisely stabilized with the aid of the proposed visual servo strategy, providing significant technique support for practical applications including docking, berthing, dynamic positioning, etc. © 2022 Journal of Clinical Hepatology. All rights reserved.     

Application research on intelligent technology of unmanned surface vessel engine room北大核心CSCD

全自主无人舰船正在受到越来越多的关注,机舱智能化技术是无人舰船长航程全自主运维的基础,是实现其任务使命的重要保障。首先综述国内外机舱智能化技术的发展现状,然后,从无人舰船机舱智能化的任务需求出发,分析机舱智能化应用管控的对象范围,并归纳出机舱智能化5个方面的能力目标图像。进而,基于“应用-控制-现场”分级,提出机舱智能化技术应用总体架构和系统组成,以及实现机舱智能化的技术途径。最后,对未来无人舰船的机舱智能化技术发展重点进行讨论。提出的目标图像和应用方案,对无人舰船机舱智能化技术应用总体研究和机舱智能化技术发展具有一定参考意义。     

Calculation of vaulted magnetic field above ship using equivalent surface magnetic charge北大核心CSCD

[目的]为了获得舰船上方不同高度平面磁场数据,解决舰船上方拱顶磁场推算到平面磁场的问题,提出用面磁荷法进行舰船上方的磁场推算。[方法]从等效源理论出发,利用拱顶磁场数据进行反演建模,将舰船磁场等效为面磁荷产生的磁场,用面磁荷正演舰船上方的磁场。将面磁荷法推算出的磁场与舰船实际磁场进行对比,验证面磁荷法的可行性。[结果]通过数值仿真计算,舰船磁场垂直分量推算的相对均方根误差为0.44%;利用磁性船模进行实验分析,磁场垂直分量推算的相对均方根误差为7.64%。[结论]仿真和船模实验分析表明,利用面磁荷法进行磁场推算,其推算值与测量值较为吻合,推算的相对均方根误差较小,具有较高的精度,可用于实际工程计算。     

Path planning method for unmanned surface vehicle with controllable distance from obstacles北大核心CSCD

[目的]为了解决水面无人艇(USV)路径规划中安全性和平滑性方面的问题,提出一种与障碍物距离可控的USV路径规划方法。[方法]首先,结合雷达图像生成栅格化环境信息,利用维诺场算法(VFA)为每个栅格添加危险势场并建立航行界限;其次,建立与航行界限关联的危险度函数对A^(*)算法的评价函数进行改进,利用改进的A^(*)算法进行路径规划;最后,针对航行路径转向角较大的问题,采用梯度下降法(GDM)进行航行路径的平滑处理,得到满足USV实际航行要求的连续平滑路径。[结果]仿真结果表明,所提路径规划方法通过设置不同的航行界限可以实现路径与障碍物之间距离的控制且平滑性符合航行要求。[结论]该方法在USV路径规划过程中具有一定的合理性和有效性,可为USV自主避障决策提供参考。     

A coupled FDM–FEM method for free surface flow interaction with thin elastic plate

A partitioned approach by the coupling finite difference method (FDM) and the finite element method (FEM) is developed for simulating the interaction between free surface flow and a thin elastic plate. The FDM, in which the constraint interpolation profile method is applied, is used for solving the flow field in a regular fixed Cartesian grid, and the tangent of the hyperbola for interface capturing with the slope weighting scheme is used for capturing free surface. The FEM is used for solving structural deformation of the thin plate. A conservative momentum-exchange method, based on the immersed boundary method, is adopted to couple the FDM and the FEM. Background grid resolution of the thin plate in a regular fixed Cartesian grid is important to the computational accuracy by using this method. A virtual structure method is proposed to improve the background grid resolution of the thin plate. Both of the flow solver and the structural solver are carefully tested and extensive validations of the coupled FDM–FEM method are carried out on a benchmark experiment, a rolling tank sloshing with a thin elastic plate.     

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Distributed and Redundant Design of Ship Monitoring and Control Network

The world trend in ship automation is to integrate the monitoring, intelligent control and systematic management of the instruments and equipments both on bridge and in engine room. The paper presents a design scheme of the ship integrated monitoring and operating system based on two layers distributed and redundant computer network. The lower layer network is the field bus network connected mainly by CAN bus; the upper one is the PC local network in TCP/IP protocol, which consisted of a database server, monitoring and operating computers, industrial computers and a set of switches. Distributed schemes are fully applied to both software and hardware. This paper specifically describes the composition, software distribution and redundant technology of the upper local network and gives some important sample codes for the implement of the redundant and distributed design. The technologies here have been proved in the many applications and it may be applied to other industrial fields.     

Analysis and Comparison of Range-Range Positioning Mode and Hyperbolic Positioning Mode

Three key factors are discussed, which affect positioning accuracy of range-range positioning mode and hyperbolicpositioning mode.Based on the error elliptical theory, the expressions of positioning error and of positioning geometric factor ofrange-range positioning mode and hyperbolic positioning mode are derived, and the positioning error and the blind positioningarea of two different positioning modes are analyzed. According to the requirement of navigation area, an optimum positional     

Wetlands preservation and management: A rejoinder‐economics,science and beyond

Note

This article is a short response to a critique by William Odum and Stephen Skjei of an earlier article by this author in this Journal entitled “Wetlands Preservation and Management on Chesapeake Bay: The Role of Science in Natural Resource Policy.”; It is a continuation of themes begun in that paper. It focuses on the question of determining the social value of wetlands preservation and the contradictory positions which ecologists fall into when discussing the value of wetlands.     

河海大学Water Science and Engineering创刊

国家新闻出版总署日前正式批复，同意河海大学创办英文期刊Water Science and Engineering（水科学与水工程）。该刊为季刊，面向国内外公开发行，国内统一连续出版物号为：CN32—1785／TV。     

Building both friendship and trade bridges

The POrt Of BQSton 15 NeW巨ngland,S major full serviee Portand gatewayfor trade,aeeounting for aP-Proximatelyg,000」obsandeontributinganestimated$8 billion to the了egionaleeonomy ofthe NortheastUnitedstates. Thesix一stateNew Englandregion 15made uP ofthestatesof Mas3aehusetts,Conneetieut,Rhode lsland,Maine,NewHamPshire,and论rmont.New Englandlseonsideredto be oneof the mostafflUentregionsin the USA.The Port of Bostonhas a strong lmPort and exPortmarketwithaPProxirnately 60%of New…     

Numerical investigation of turbulence near a sheared air–water interface. Part 2: Interaction of turbulent shear flow with surface waves

Large-eddy simulations (LES) of the interactions between turbulent shear flow and surface waves are presented. The formation mechanism of Langmuir circulation and its contribution to the vertical momentum transport are investigated in detail. The effect of surface waves is modeled in two ways in the LES runs. One model includes only the phase-averaged effect of the waves as an added source term in the momentum equation, and the other model includes the full effect of the waves by use of the fully nonlinear conditions of the air-water interface. Langmuir circulations are clearly indicated in both cases, indicating that the phase-averaged effect is essential for the formation of this circulation. It is shown that the formation of Langmuir circulations enhances the vertical transport of momentum. As a result, the mean velocity gradient and the streamwise component of the turbulence intensity are decreased, while the spanwise and interface normal components are increased. Examination of the turbulence energy budget equations shows that production is due to the interaction between the vorticity and the Lagrangian drift as the phase-averaged effect of the wave becomes the dominant source of turbulence. Received: August 17, 2000 / Accepted: December 22, 2000     

Navigator and diplomat Zheng He remembered

The year 2005 witnesses a number of large-scalecommemorative activities to celebrate the great navigator anddiplomat Zheng He (1371-1435) all over the country. Widelyconsidered to be an important person in the history of Chinesenavigation, Zheng He led hi…     

Review and pros-pects ofr China''''s economy

The Chinese economy grew 8 per cent in 2002. The speedy growth of China's economy in 2002 was fuelled by booming exports and the central government efforts to stimulate domestic demand. Preliminary figures from the National Bureau of Statistics suggest that the country's gross domestic product (GDP) reached 10.2 trillion yuan (US$1.23 trillion) in 2002, an increase of 8 per cent from the previous year. 2002 is a year for which we have a whole host of things to rejoice over, to remember, and to toast. The momentous 16th National Congress of the Communist Party of China, which selected a new leadership for our country, was the biggest event on China's