基于尺度不变特征的水下图像双向定位配准(英文)

For the purpose of identifying the stern of the SWATH(Small Waterplane Area Twin Hull) availably and perfecting the detection technique of the SWATH ship's performance, this paper presents a novel bidirectional image registration strategy and mosaicing technique based on the scale invariant feature transform(SIFT) algorithm. The proposed method can help us observe the stern with a great visual angle for analyzing the performance of the control fins of the SWATH. SIFT is one of the most effective local features of the scale, rotation and illumination invariant. However, there are a few false match rates in this algorithm. In terms of underwater machine vision, only by acquiring an accurate match rate can we find an underwater robot rapidly and identify the location of the object. Therefore, firstly, the selection of the match ratio principle is put forward in this paper; secondly, some advantages of the bidirectional registration algorithm are concluded by analyzing the characteristics of the unidirectional matching method. Finally, an automatic underwater image splicing method is proposed on the basis of fixed dimension, and then the edge of the image's overlapping section is merged by the principal components analysis algorithm. The experimental results achieve a better registration and smooth mosaicing effect, demonstrating that the proposed method is effective.     

Resistance and seakeeping numerical performance analyses of a semi-small waterplane area twin hull at medium to high speeds

The hydrodynamic analysis of a new semi-small waterplane area twin hull (SWATH) suitable for various applications such as small and medium size passenger ferries is presented. This may be an attractive crossover configuration resulting from the merging of two classical shapes: a conventional SWATH and a fast catamaran. The final hull design exhibits a wedge-like waterline shape with the maximum beam at the stern; the hull ends with a very narrow entrance angle, has a prominent bulbous bow typical of SWATH vessels, and features full stern to arrange waterjet propellers. Our analysis aims to perform a preliminary assessment of the hydrodynamic performance of a hull with such a complex shape both in terms of resistance of the hull in calm water and seakeeping capability in regular head waves and compare the performance with that of a conventional SWATH. The analysis is performed using a boundary element method that was preliminarily validated on a conventional SWATH vessel.     

新型小水线面双体船阻力和耐波性数值模拟分析（英文）

The hydrodynamic analysis of a new semi-small waterplane area twin hull(SWATH) suitable for various applications such as small and medium size passenger ferries is presented. This may be an attractive crossover configuration resulting from the merging of two classical shapes: a conventional SWATH and a fast catamaran. The final hull design exhibits a wedge-like waterline shape with the maximum beam at the stern; the hull ends with a very narrow entrance angle, has a prominent bulbous bow typical of SWATH vessels, and features full stern to arrange waterjet propellers. Our analysis aims to perform a preliminary assessment of the hydrodynamic performance of a hull with such a complex shape both in terms of resistance of the hull in calm water and seakeeping capability in regular head waves and compare the performance with that of a conventional SWATH. The analysis is performed using a boundary element method that was preliminarily validated on a conventional SWATH vessel.     

一种隧洞探测型AUV及其图像拼接方法研究

裂缝是输水隧洞最普遍的缺陷和潜在威胁,AUV巡检与拍摄输水隧洞中的裂缝,通过拍摄的水下图像进行处理,以确定裂缝位置。但由于水下环境极大限制了光视觉图像可视范围与分辨率,单幅水下图像所获得的视角范围有限,所以本文提出了基于SURF算法的AUV水下图像拼接方法研究。该方法首先在图像预处理阶段对水下图像进行去畸变与限制对比度自适应直方图均衡化处理,用于解决水下图像存在的畸变、对比度低、噪声严重等问题。接着将SURF特征点检测算法应用于水下图像配准当中,并与RANSAC算法相结合对特征点进行精确匹配,然后应用线性渐变融合算法实现水下图像融合,有效去除拼接缝隙,完成水下图像拼接,最终通过水池与外场实验拼接图像来验证该方法的正确性。     

Segmentation of complex objects'' sonar images using parameter-fixed MRF model

The effective method of the recognition of underwater complex objects in sonar image is to segment sonar image into target, shadow and sea-bottom reverberation regions and then extract the edge of the object. Because of the time-varying and space-varying characters of underwater acoustics environment, the sonar images have poor quality and serious speckle noise, so traditional image segmentation is unable to achieve precise segmentation. In the paper, the image segmentation process based on MRF (Markov random field) model is studied, and a practical method of estimating model parameters is proposed. Through analyzing the impact of chosen model parameters, a sonar imagery segmentation algorithm based on fixed parameters' MRF model is proposed. Both of the segmentation effect and the low computing load are gained. By applying the algorithm to the synthesized texture image and actual side-scan sonar image, the algorithm can be achieved with precise segmentation result.     

水下航行体降噪艉翼填角的数值模拟与试验研究

为降低水下航行体噪声,研究了艉翼填角的降噪效果。分析了水下航行体艉翼接合部马蹄涡影响螺旋桨伴流场的特征,认为马蹄涡对水下航行体噪声产生了不利影响。针对某无人水下航行体(UUV)设计了一种艉翼填角,运用CFD方法对该艉翼填角优化螺旋桨伴流场的效果进行了数值模拟,结果显示伴流场轴向速度的周向不均匀度系数下降35%-62%。将艉翼填角应用于该UUV,开展航行辐射噪声测量试验,结果显示艉翼填角使UUV航行噪声总声源级降低3.4 d B,尤其对低频噪声抑制较好。     

Segmentation of complex objects＇ sonar images using parameter-fixed MRF model

The effective method of the recognition of underwater complex objects in sonar image is to segment sonar image into target, shadow and sea-bottom reverberation regions and then extract the edge of the object. Because of the time-varying and space-varying characters of underwater acoustics environment, the sonar images have poor quality and serious speckle noise, so traditional image segmentation is unable to achieve precise segmentation. In the paper, the image segmentation process based on MRF （Markov random field） model is studied, and a practical method of estimating model parameters is proposed. Through analyzing the impact of chosen model parameters, a sonar imagery segmentation algorithm based on fixed parameters＇ MRF model is proposed. Both of the segmentation effect and the low computing load are gained. By applying the algorithm to the synthesized texture image and actual side-scan sonar image, the algorithm can be achieved with precise segmentation result.     

一种面向水下无人航行器的实效图像增强算法

针对水下图像存在严重模糊、对比度低、噪声多等问题,根据小波的时频特性及多分辨率特点,提出一种基于小波变换的水下模糊图像增强算法。利用小波变换对RGB图像进行二层小波分解,把原图分解为高、低频子带,利用导向滤波算法估计低频子带上的照射分量并进行去除;利用软阈值算法对高频子带上的图像边轮廓信息进行去噪和增强处理;对水下图像进行小波逆构,并进行伽玛校正;最后利用改进的灰度世界算法对水下图像进行颜色校正。试验结果表明,使用文章中算法处理所得到图像的对比度及信噪比都较高,且清晰度较高,满足水下无人航行器的要求。     

“润江1”科考船的尾涡抑制研究

通过对“润江1”科考船航行观测资料以及设计布置方案的分析,将过强尾流成因聚焦在船尾涡漩影响,并据此提出了尾涡抑制的相关方案.特殊的舵桨性能试验以及实船海试表明,尾涡抑制可以明显改善实船阻力性能,大幅提高舵桨推进效率和航行速度.     

基于多目标遗传算法的SWATH船稳定鳍优化设计

针对稳定鳍的各参数对SWATH船纵向运动性能具有较大影响的特点,建立了稳定鳍的多目标优化模型,并运用基于Pareto解的多目标遗传算法对其求解.然后,以SWATH-6A为例对稳定鳍进行了优化设计.从仿真结果来看,在相同条件下优化得到的稳定鳍能使SWATH船具有更好的纵向运动性能.因此,本文的优化方法是合理的、有效的,有一定应用价值.     

小水线面船触底搁浅强度分析研究

采用接触动力学理论,以MSC—DYTRAN为主要分析手段,仿真分析小水线面船触底搁浅过程,求出了典型小水线面船在触底过程中所受到的搁浅载荷、在搁浅载荷作用下的应力传播及分布规律、主要结构的强度性能,得出计算搁浅载荷的经验公式。     

海上长球首尾双体风电维护船阻力和耐波性能研究

近年来,海上风电场迅猛发展,风电维护船成为迫切需求。借鉴小水线面双体船优良的阻力性能和穿浪双体船优秀的耐波性能,根据中国海上风电场维护船航行的环境和使用特点,选用阻力和耐波性能优良的长球首尾双体船型作为风电场维护船型。在此基础上采用CFD数值仿真计算阻力性能,运用NAPA软件计算耐波性能。从而得到不同条件下较优良的船型,为海上风电维护船的设计提供一定的参考和借鉴。     

Performance decay of stern bearing based on lubrication numerical model and state parameters北大核心CSCD

[目的]为了实现对船舶艉轴承润滑状态的监测和评估,提出一种结合润滑性能衰变模型和支持向量机(SVM)算法的艉轴承润滑性能评估方法。[方法]针对船舶艉轴承润滑状态难以监测和识别的问题,建立轴承润滑衰变数值模型,并运用实验数据对该模型进行验证,研究载荷、粗糙度和半径间隙对润滑状态衰变机理的影响。基于SVM算法,构建润滑状态分类器,通过网格搜索算法优化超参数,利用不同润滑状态的数据集进行训练,最后实现对艉轴承润滑状态的评估。[结果]结果显示,随着外部载荷、粗糙度和半径间隙的增大,轴承润滑状态恶化的临界速度增大,动压润滑工作范围减小,混合润滑工作范围增大;由仿真数据集对润滑状态识别模型的验证表明,所提的润滑状态识别方法准确率达96.88%。[结论]所提方法能监测轴承的润滑性能特征,有效识别轴承的润滑状态。     

Biogeography-based combinatorial strategy for efficient autonomous underwater vehicle motion planning and task-time management

Autonomous Underwater Vehicles (AUVs) are capable of spending long periods of time for carrying out various underwater missions and marine tasks. In this paper, a novel conflict-free motion planning framework is introduced to enhance underwater vehicle’s mission performance by completing maximum number of highest priority tasks in a limited time through a large scale waypoint cluttered operating field, and ensuring safe deployment during the mission. The proposed combinatorial route-path planner model takes the advantages of the Biogeography-Based Optimization (BBO) algorithm toward satisfying objectives of both higher-lower level motion planners and guarantees maximization of the mission productivity for a single vehicle operation. The performance of the model is investigated under different scenarios including the particular cost constraints in time-varying operating fields. To show the reliability of the proposed model, performance of each motion planner assessed separately and then statistical analysis is undertaken to evaluate the total performance of the entire model. The simulation results indicate the stability of the contributed model and its feasible application for real experiments.     

一种使用二进制图像特征的被动声呐自动分类方法（英文）

This paper proposes a new method for ship recognition and classification using sound produced and radiated underwater. To do so, a three-step procedure is proposed. First, the preprocessing operations are utilized to reduce noise effects and provide signal for feature extraction. Second, a binary image, made from frequency spectrum of signal segmentation, is formed to extract effective features. Third, a neural classifier is designed to classify the signals. Two approaches, the proposed method and the fractal-based method are compared and tested on real data. The comparative results indicated better recognition ability and more robust performance of the proposed method than the fractal-based method. Therefore, the proposed method could improve the recognition accuracy of underwater acoustic targets.     

An automated approach to passive sonar classification using binary image features

This paper proposes a new method for ship recognition and classification using sound produced and radiated underwater. To do so, a three-step procedure is proposed. First, the preprocessing operations are utilized to reduce noise effects and provide signal for feature extraction. Second, a binary image, made from frequency spectrum of signal segmentation, is formed to extract effective features. Third, a neural classifier is designed to classify the signals. Two approaches, the proposed method and the fractal-based method are compared and tested on real data. The comparative results indicated better recognition ability and more robust performance of the proposed method than the fractal-based method. Therefore, the proposed method could improve the recognition accuracy of underwater acoustic targets.     

一种基于遗传算法和小波分解的刚性图像配准方法

为了实现快速、高精度的自动图像配准,提出了基于遗传算法和小波分解的图像配准方法。此方法在小波分解的基础上,以互信息为相似性测度利用遗传算法为搜索算法对图像进行一次配准,然后以特定步长在小范围内对配准参数进行修正,对图像进行二次配准。该方法实验结果表明该方法具有较快的速度且显著的改善了配准精度。     

管道挖沟动力定位工程船结构设计

管道挖沟动力定位工程船是一艘集首部拖缆作业系统、尾部拖缆作业系统以及其他多项水下作业功能的海底施工作业船舶,为配合其作业功能,对诸多大型作业设备进行结构加强,并创新性地设计凹形首柱拖缆槽和导缆圆尾。通过计算分析,对横剖面进行优化,校核总纵强度以及校核主要设备加强结构的局部强度,对船体振动进行评估并采取一定的减振措施。     

直/斜支柱SWATH的兴波阻力预报

斜支柱小水线面双体船(SWATH)除具备常规SWATH优异的阻力及耐波性能以外,还具有优良的隐身性能,目前世界上唯一一艘斜支柱SWATH是美国海军建造的“Sea Shadow”号。本文针对一型直支柱SWATH和自行开发的一型斜支柱SWATH,以Noblesse的新细长船兴波阻力理论为基础,开发了一种新的算法,所预报的兴波阻力与试验结果吻合良好。本文的工作可用于直／斜支柱SWATH船型的开发和优化。     

小水线面双体船抗冲击特性数值研究

文章介绍了小水线面双体船型的特点,阐述其在军事领域的应用和发展前景。运用数值仿真方法计算水下非接触爆炸作用下小水线面双体船的结构变形和冲击环境,分析此船型结构抗冲击特性和全船冲击环境特点,提出在抗冲击设计时的重点设计区域和优化方向,为其军事应用提供技术积累。