Seabed collision emergency decision-making of AUV based on safety domain model北大核心CSCD

［Objectives］To ensure safety and prevent seabed collisions in complex unknown underwater environments, this study proposes a seabed safety domain model and tiered emergency response strategies. ［Methods］A vertical motion simulation model is established and verified by surpassing the test results, then used to calculate the active and passive safety domain distance of an autonomous underwater vehicle (AUV), thereby establishing a seabed safety domain model. An AUV emergency control system and emergency strategies are then built on the basis of the dynamic safety domain model. The trim and distance from the seabed of the AUV are used to calculate the current and future risk factors. Based on the weighted sum, the comprehensive risk factor is employed to provide the AUV with emergency response strategies.［Results］Lake tests with the AUV sailing at a fixed depth and height show a strong dependency of the comprehensive risk coefficient on seabed height when it is close to the boundary of the AUV's active safety domain. In the opposite case, there is a weak dependency of the comprehensive risk coefficient on seabed height. The results show that the proposed AUV emergency control system can reduce emergency false alarms caused by frequently changing riverbed heights and sailing altitudes close to the seabed. In such cases, reasonable emergency strategies can be realized under complex rough terrain.［Conclusions］The AUV seabed safety domain model and tiered emergency response strategies based on vertical motion equations proposed herein can be applied to evaluate seabed collision risk in various cases. Finally, this paper provides emergency response strategies to avoid seabed collision accidents, which can enhance the safety of AUV navigation. © 2023 Chinese Journal of Ship Research. All rights reserved.     

面向刚度设计的 GFRP 和 VRB/GFRP 混合层合板应变能密度分布研究

针对 VRB/GFRP混合结构刚度优化设计复杂而耗时这一问题，利用有限元法分析了 GFRP铺层角度和铺层数量、VRB厚度分布形式对两种层合板刚度特性及各组分应变能密度分布的影响规律。研究结果表明，应变能密度越小能表征更好的刚度性能；抗弯与抗凹工况下，采用# （0/90） 铺层角度、增加 GFRP铺层数量以及 VRB采用 0.9-1.8-0.9 mm 的厚度分布形式时，VRB/GFRP层合板各组分的应变能密度分布更加均匀，从而获得更好的刚度性能。