AUV水下回收过程中的操纵性仿真研究

在建立自主水下航行器(简称 AUV)六自由度运动模型的基础上,基于势流理论建立了潜艇运动扰动流场对 AUV 扰动力的计算模型,并对回转体 AUV 在回收时靠近潜艇过程中的操纵性进行了仿真,仿真结果显示,AUV 在靠近潜艇的过程中,潜艇扰动流场对 AUV 深度和侧向位移有较大的影响,而对姿态角的影响较小,因此,回转体 AUV 可以稳定地完成水下的回收运动。     

基于支持向量机的水下机器人操纵运动参数辨识

根据平面运动机构试验所得到的水动力系数确定水下运载器的运动方程,应用最小二乘支持向量机对水下运载器的试验数据进行分析,辨识得到了水动力系数,并将辨识得到的参数同平面运动机构试验所确定的参数相比,验证了最小二乘支持向量机进行水下运载器操纵运动参数辨识的有效性。根据所辨识的水动力系数进行了模型验证,证明所辨识得到的水动力参数是可靠的。该方法对水下运载器的操纵和控制的研究有重要意义。     

一种基于单个移动信标的分布式节点定位算法

定位是无线传感器网络中最重要的功能之一。通过利用一个移动信标节点（装备GPS或提前设定了移动路线）来帮助各个未知节点进行自身定位。信标节点周期性的发送自己位置信息给周围的未知节点,未知节点通过非测距技术估计自身位置。信标节点的移动路径在文中也进行了探讨。仿真结果说明了本文方法的有效性。     

舰船电磁兼容性标准体系的构建

信息化条件下联合作战,战场电磁环境日益复杂,舰船装备面临的电磁兼容问题十分突出.电磁兼容性标准是开展舰船电磁兼容性工作的主要依据,是实现舰船电磁兼容性的基础.开展舰船电磁兼容性标准研究,建立舰船电磁兼容性标准体系,将电磁兼容性论证、设计和建造工作标准化和量化,对提高舰船电磁兼容性和满足舰船研制对电磁兼容的迫切需求具有十分重要的意义.本文在分析国内外舰船电磁兼容性标准的基础上,结合舰船电磁兼容性特点,按照提出的体系建立原则及方法,建立了舰船电磁兼容性标准体系,为舰船电磁兼容性工作提供技术支撑.     

工程设备管理系统（EEMS）

为了加强对工程设备的管理,促进港口企业的生产,深圳东湾集装箱码头有限公司研发了工程设备管理系统。介绍了开发这一系统的先进理念。分别介绍了利用这一系统进行设备管理、工单管理、项目管理、仓储及采购管理和预算管理的做法。该项目的实施有效地提高了公司管理水平。     

A shockwave profile model for traffic flow on congested urban arterials

In this paper a new traffic flow model for congested arterial networks, named shockwave profile model (SPM), is presented. Taking advantage of the fact that traffic states within a congested link can be simplified as free-flow, saturated, and jammed conditions, SPM simulates traffic dynamics by analytically deriving the trajectories of four major shockwaves: queuing, discharge, departure, and compression waves. Unlike conventional macroscopic models, in which space is often discretized into small cells for numerical solutions, SPM treats each homogeneous road segment with constant capacity as a section; and the queuing dynamics within each section are described by tracing the shockwave fronts. SPM is particularly suitable for simulating traffic flow on congested signalized arterials especially with queue spillover problems, where the steady-state periodic pattern of queue build-up and dissipation process may break down. Depending on when and where spillover occurs along a signalized arterial, a large number of queuing patterns may be possible. Therefore it becomes difficult to apply the conventional approach directly to track shockwave fronts. To overcome this difficulty, a novel approach is proposed as part of the SPM, in which queue spillover is treated as either extending a red phase or creating new smaller cycles, so that the analytical solutions for tracing the shockwave fronts can be easily applied. Since only the essential features of arterial traffic flow, i.e., queue build-up and dissipation, are considered, SPM significantly reduces the computational load and improves the numerical efficiency. We further validated SPM using real-world traffic signal data collected from a major arterial in the Twin Cities. The results clearly demonstrate the effectiveness and accuracy of the model. We expect that in the future this model can be applied in a number of real-time applications such as arterial performance prediction and signal optimization.     

Spatial impacts of road pricing: Accessibility, regional spillovers and territorial cohesion

Road pricing policies are gaining prominence in EU countries. These policies have positive impacts leading to mobility patterns which are socially and environmentally more desirable, but they also have negative impacts. One negative impact is to be found in regional accessibility, due to the increase in generalized transport costs. This study presents a methodology based on accessibility indicators and GIS to assess the accessibility impacts of a road pricing policy. The methodology was tested for the Spain’s road network considering two road pricing scenarios. It enables not only the more penalized regions to be identified but also negative road pricing spillover effects between regions. These effects are measured in terms of accessibility changes occurring in one region produced by charges implemented in another region. Finally, the study of accessibility disparities (by calculating inequality indexes for each of the scenarios considered), provides policymakers with useful information regarding the impact of road pricing policies from the point of view of territorial cohesion.     

井筒与输油管线的物理防蜡技术综述

文中通过对大量相关文献的分析总结,对目前各大油田常用的物理防蜡技术的发展历史、工作原理、适用环境以及使用条件进行了归纳、介绍,并对这些防蜡技术在实验室中的实验结果和近年来油田使用后的效果进行了分析总结.这些防蜡技术的分类介绍为各大油田在实践中面临不同采油条件和原油组分时筛选防蜡方法提供了理论性的依据,也为防蜡技术的进一...     

基于新型性能指标的冗余度机械臂重复运动规划之方案分析与验证

为解决冗余度机器人手臂在运动过程中出现的关节角偏差问题,探讨与分析了一种基于新型性能指标的二次型优化模型,以使机械臂的关节能实现重复运动.在考虑各种关节物理极限(如关节角度极限和关节速度极限)的情况下,该模型最终被转化为一个标准的二次型优化问题来求解.同时,基于负梯度法的原理分析和基于PUMA560的平面四连杆机械臂的计算机仿真结果表明,该方案具有可行性和有效性.     

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针对目前广泛应用于城市轨道交通信号系统中,基于IEEE802.11系列标准的两种WLAN传输方式——空间自由波和波导管. 简要分析两种传输方式的工程和技术特点. 深入分析WLAN射频覆盖和通信机制. 结合北京轨道交通亦庄、昌平线组合传输方法的应用实例,提出空间自由波和波导管进行组合的组合传输无线覆盖方式,并简要介绍车地无线通信系统的系统结构和工作方式,无线AP的性能特点和分布原则. 计算WLAN自由空间损耗、信号接收强度、链路系统裕量. 提出WLAN技术在信号系统车地通信中应用的前景.