2017年IEEE海洋工程分会水下技术国际研讨会（英文）

正21–24 February 2017,Busan,South Korea Topics Unmanned Surface Vehicles(USV) Unmanned Underwater Vehicles(UUV) Vehicle Performance Control/Navigation/Localization Autonomy and Automation in Underwater Acoustics/Underwater Sensing Oceanic Renewable Energy Harvesting System Collaboration of Underwater Technology and Ocean Science and Fishery     

2016年第3届海岸和海洋工程国际会议（英文）

<正>April 8-9,2016,Tokyo,Japan The 2016 3rd International Conference on Coastal and Ocean Engineering(ICCOE 2016)will be held during April 08-09,2016 in Tokyo,Japan.ICCOE 2016,is to bring together innovative academics and industrial experts in the field of Coastal and Ocean Engineering to a common forum.The primary goal of the conference is to promote research and developmental activities in Coastal and Ocean Engineering.Another goal is to promote     

Simulation platform of navigation system for autonomous underwater vehicle

1 Introduction1 It is hoped the Autonomous Underwater Vehicle (AUV) can be fully autonomous, but the basis of this hope is that AUV can navigate and position accurately.Inertial navigation is the main navigation method for AUV, but accumulative error of t…     

水下航行器多普勒导航系统误差辨识与修正

水下航行器(Autonomous Underwater Vehicles,AUV)在水下往往采用航位推算定位方式.由于存在传感器误差,航位推算的定位误差是随着时间发散的,而直接准确检测这类误差非常困难.对多普勒导航系统进行导航误差分析,简化航位推算算法,在此基础上推导出一种新的辨识AUV导航误差参数的方法.仿真结果表明,该算法能够准确辨识AUV导航误差参数向量,可以有效提高AUV自主导航精度,且方法合理、简单.     

水下航行器三维航迹反演滑模跟踪控制

本文提出一种自治水下航行器(Autonomous Underwater Vehicles,AUV)三维轨迹跟踪控制算法。将AUV在三维空间的运动通过反演法和变结构滑模控制律设计出AUV航迹跟踪控制律,通过Lyapunov稳定性理论分析了系统的稳定性。在同时考虑加入外界干扰的条件下,使其控制效果在3个坐标轴上都能够达到稳定并且有平滑连续的输出结果,对外界干扰有较好的抑制作用。仿真结果表明了所提控制律的有效性。     

美海军最新式水中自动武器

进入21世纪以来，AUV的研制成功标志着“水中”自动探测武器出现了突飞猛进的进步。AUV是“Autonomous Underwater Vehicles”的简称，即“水下无人航行器”。水下无人航行器共有两种类型，有线型和无线型。20世纪建造、现在仍在使用的自主式水下无人航行器几乎都带电线或光纤电缆，主要通过远距离有线控制，因此被称为“遥控水下航行器”(Remotely Operated Vehicles)。21世纪建造的最新式水下无人航行器系无线型，主要通过人工智能自行判断和行动，是自由航行的AUV。下面，简要介绍一下美海军最新式水中自动武器。     

基于模糊自适应滑模方法的AUV轨迹跟踪控制

针对水下航行环境中自治水下机器人(Autonomous Underwater Vehicles,AUV)航迹精确跟踪问题,提出一种基于模糊自适应滑模方法的AUV航迹跟踪控制算法。在建立AUV系统动力学模型基础上,将其运动通过变结构滑模控制律结合模糊逼近设计出AUV航迹跟踪控制系统,采用模糊系统实现模型未知干扰的自适应逼近,基于Lyapunov稳定性理论,讨论了闭环系统的稳定性。在考虑加入外界干扰的条件下使用Matlab/Simulink软件,进行数值仿真,模拟轨迹跟踪能够达到稳定并且较平滑连续跟踪预定航迹,对干扰有较好的抑制作用。仿真结果表明了所提控制方法的有效性。     

北京海工展开辟水下机器人展示专区

正本刊讯(记者张涛)第七届中国(北京)国际海洋工程技术与装备展览会将于3月20日-22日举行,据了解,本次展会特别开设"水下机器人展示专区",受到参展商欢迎。水下机器人诞生于20世纪后半叶,分为遥控式水下机器人Remote Operated Vehicle(ROV)、拖曳式水下机器人Towing Underwater Vehicle(TUV)、无人无缆水下机器人Unmanned Underwater Vehicle(UUV)、智能水下机器人Autonomous Underwater Vehicle,(AUV),四     

基于卷积神经网络的AUV水下识别系统

为实现自主式水下机器人(Autonomous Underwater Vehicle, AUV)水下自主识别,搭建AUV硬件系统。通过OpenCV和Tensorflow,在LeNet-5卷积神经网络的基础上,利用13层卷积神经网络进行100次迭代训练试验。结果表明,该基于卷积神经网络的AUV水下识别系统的水下目标识别准确率能达到99.18%,能实现AUV对水下目标的自主识别。     

自主水下航行器同时定位与制图技术研究

为解决自主水下航行器(Autonomous Underwater Vehicle,AUV)的精确导航与探测问题,采用同时定位与制图(Simultaneous Localization and Mapping,SLAM)算法为核心,根据捷联式惯性导航设备(SINS)与AUV声呐组合的数据信息,采用扩展卡尔曼滤波器(EKF),研究一种基于惯性传感器与声呐的AUV定位与地图构建算法,对水下环境的EKF-SLAM算法进行仿真试验验证。仿真结果表明,经2次探测后,AUV定位精度获得较大提高,能够较好地完成AUV的水下导航、定位与探测任务。     

考虑层流—湍流转捩的近水面AUV水动力流的数值研究（英文）

Nowadays, Autonomous Underwater Vehicles(AUVs) are frequently used for exploring the oceans. The hydrodynamics of AUVs moving in the vicinity of the water surface are significantly different at higher depths. In this paper, the hydrodynamic coefficients of an AUV in non-dimensional depths of 0.75, 1, 1.5, 2, and 4D are obtained for movement close to the free-surface. Reynolds Averaged Navier Stokes Equations(RANS) are discretized using the finite volume approach and the water-surface effects modeled using the Volume of Fraction(VOF) method. As the operating speeds of AUVs are usually low, the boundary layer over them is not fully laminar or fully turbulent, so the effect of boundary layer transition from laminar to turbulent flow was considered in the simulations. Two different turbulence/transition models were used: 1) a full-turbulence model, the k-ε model, and 2) a turbulence/transition model, Menter's Transition-SST model. The results show that the Menter's Transition-SST model has a better consistency with experimental results. In addition, the wave-making effects of these bodies are studied at different immersion depths in the sea-surface vicinity or at finite depths. It is observed that the relevant pitch moments and lift coefficients are non-zero for these axi-symmetric bodies when they move close to the sea-surface. This is not expected for greater depths.     

面向一体化系统的USV水面回收AUV的水动力特性分析

针对未来高效的海洋作业方式,提出一种基于AUV(Autonomous Underwater Vehicle,AUV)和USV(Unmanned Surface Vehicle,USV)的一体化作业系统。基于一体化系统,设计了一种USV水面动对动回收AUV作业流程。以某便携式AUV为研究对象,仿真分析其在水面稳定航行特性,建立其相应的水动力模型,并经过外场试验验证了水动力模型和仿真结果的准确性和可靠性。以三体船型USV为仿真模型,分析USV航行尾流对其后方AUV航行在垂直面上三自由度的影响,通过仿真对比15种工况,得出USV速度、AUV速度以及舵角与回收可靠性之间的关系。     

重于水型AUV模糊路径规划与优化

为了实现重于水型自治潜器(Heavier-Than-Water Autonomous Underwater Vehicle,AUV)在未知水下环境中的局部路径规划。首先根据AUV的运动方程和机翼升力特性,在Matlab中建立动力学模型。设计模糊控制器,以声呐对障碍物探测得到的距离和方位信息作为输入量,实现了AUV在水下障碍物环境中的路径规划。最后,为提高AUV的能量利用效率,用遗传算法对模糊控制器的隶属度函数进行优化,并通过仿真试验证明了优化后AUV在避障期间能源消耗更少,说明该路径规划方法具有实际应用价值。     

全驱动自主水下机器人回收路径跟踪模糊滑模控制

为满足全驱动自主水下机器人(Autonomous Underwater Vehicle, AUV)的水下搜救、回收和海底地貌成像等实际任务的需求,对全驱动AUV路径跟踪控制应用方法进行研究。阐述“探海Ⅱ型”全驱动AUV回收系统的组成,建立该AUV的水平面和垂直面数学模型,设计一种模糊滑模路径跟踪控制器,并对其进行仿真和湖试试验。结果表明：该AUV运行可靠,能较好地完成回收路径跟踪任务,满足水下实际任务需求;研究的AUV路径跟踪控制器对全驱动型AUV及其他领域的路径跟踪控制具有借鉴意义。     

低速AUV航渡过程中减少洋流影响的方法

作为人类探索海洋和开发海洋的工具,自主水下航行器(Autonomous Underwater Vehicle,AUV)被广泛应用于海洋科学调查、水下勘察等民用任务,同时也用于执行监视、侦查、巡逻、攻击等军用任务。由于AUV往往采用低速航行,导致海洋环境特别是洋流对其影响较大。本文主要分析了洋流对低速AUV的影响机理,提出并分析了几种减小洋流影响的方法,证明通过增加航路控制点的方法可有效减小洋流影响。     

Planning method for AUV region detection under ocean current

In this paper we present two strategies of AUV (Autonomous Underwater Vehicle) region detection and an approach to decompose the detection region according to the direction of the ocean current. In the task of local detection and identification, the algorithm against the ocean current was proposed. In the tasks of closing obstacle, going back or moving, the fuzzy logic theory was used to solve the effect of ocean current. In one of our strategies the concept of weighted journey based on the angle between heading and ocean current is suggested and the TSP‘s exact optimal result is utilized to solve the global path planning. Simulations demonstrate the feasibility of this approach.     

深水AUV安全系统的设计与实现

安全性是AUV(Autonomous Underwater Vehicle)系统研究的重要内容。为解决传统设计只能对预先估计和实时监测故障作出反应等问题,依托实体深水AUV,设计出一套新的安全系统,构建主控单元和应急模块的安全冗余结构。主控单元选用基于PC/104总线的工控机设计,应急模块采用C8051F410设计。大量模拟故障仿真实验和AUV实际下水实验表明,该安全系统不仅扩大了故障或危险的应对范围,而且将各应急情况下AUV的抛载执行率提高至100%,可有效保障AUV系统的安全。     

AUV水下通信技术研究现状及发展趋势探讨

自主水下航行器(Autonomous Underwater Vehicle,AUV)在海洋水下环境监测、海洋资源勘探、水下特种作战等方面具有广阔应用前景。随着应用的不断加深,水下通信技术成为制约AUV发展的主要因素。本文首先对AUV实际应用场景的通信需求进行分析,结合水声通信、水下激光通信等水下通信技术的特点,得出不同场景下选择的水下通信技术。对当今世界各种先进的水下通信技术发展现状进行综合分析,为我国今后发展相关技术提供有益借鉴,并对AUV通信技术未来发展趋势进行探讨。     

带吊舱水下机器人运动建模与仿真(英文)

To provide a simulation system platform for designing and debugging a small autonomous underwater vehicle’s (AUV) motion controller, a six-degree of freedom (6-DOF) dynamic model for AUV controlled by thruster and fins with appendages is examined. Based on the dynamic model, a simulation system for the AUV’s motion is established. The different kinds of typical motions are simulated to analyze the motion performance and the maneuverability of the AUV. In order to evaluate the influences of appendages on the motion performance of the AUV, simulations of the AUV with and without appendages are performed and compared. The results demonstrate the AUV has good maneuverability with and without appendages.     

亚洲寻求共赢 合作促进发展——博鳌亚洲论坛2003年会举办在即

The meeting of the Board of Directors of Boao Fo rum for Asia (BFA) in Tokyo, which elected a new Secretary-General, decided the date and theme for Second Annual Conference. The Board of Directors of BFA, at its Tokyo meeting,