基于双目视觉的水下连接器位姿测量方法

水下连接器的对接作业是水下工程作业的重要环节,针对目前依靠摄像机传回视频进行作业过程中存在的操作难度大、依赖操作员经验的问题,设计基于双目视觉的水下连接器位姿测量方法。该方法首先根据水下连接器的颜色特征确定检测范围,之后在检测范围中以水下连接器为模板进行初步定位,然后根据水下连接器端面的成像特点检测椭圆特征,并进行双目匹配获得相关三维点坐标,最后计算得出水下连接器的位姿。实验表明,该方法位置测量平均误差1.3%,姿态测量平均误差3.5°,可以较好地为水下连接器对接作业提供参考。     

AUV自主收放装置结构及控制系统设计

AUV技术对于提高海洋资源环境的勘测和开采效率具有重要意义。在AUV收放过程中,传统的回收方式是在母船上起吊回收,人为参与完成挂钩任务,这种方式受风浪的影响较大。为了提高AUV的使用保障能力,需要针对AUV的自主收放技术展开研究。基于AUV良好的实时性、连续性及可移动性的特点,本文设计一套AUV自主收放装置,可用于AUV的自动布放及回收。该装置由固定架、控制台、吊机装置、绞车、定滑轮、钢丝绳、收放架等组成。设计各部分的机械结构,并通过系统校核验证结构设计的合理性。同时,设计AUV收放存储装置控制系统,实现对机械液压执行器的精密控制、传感器的数据采集、系统状态参数显示、试验参数调整、工作状态监控和安全报警等功能,能够对控制系统的控制流程进行辅助判断和安全保障。解决了传统AUV收放技术的难题,提高了AUV收放的智能化水平。     

自主式水下滑翔机关键技术专利扩展分析

为解决目前自主式水下滑翔机的导航技术、水声通信以及组网技术3个分支专利数量较少,存在一定的技术瓶颈和技术壁垒的问题,本文基于自主式水下滑翔机的功能、效果、适用等技术需求,将其研究范围扩展至水下航行器领域,通过对扩展领域中导航技术、水声通信技术以及组网技术的专利申请进行多角度分析,得到了3个分支在扩展领域的专利申请趋势、主要技术来源地、活跃度以及国内主要申请人等结论,以对自主式水下滑翔机的研究进行技术支撑。     

用改进的前向神经网络预测铁路货运量

对影响铁路货运量的因素进行了分析。根据影响铁路货运量的诸因素的特点，介绍了一种改进的前向神经网络预测方法，并建立了铁路货运量前向神经网络预测模型。算例表明，其预测精度高于常规预测方法。     

基于人工神经网络的柴油机故障诊断

故障诊断是计算机模式识别领域的一个活跃课题。文中提出了基于人工神经网络的柴油机故障诊断方法，设计了适合该诊断系统的BP网络结构，并给出了一种基于黄金分割法改进的BP算法，用来自适应调整网络学习速率。仿真结果表明：该算法具有很快的学习速度和较高的学习精度，完全适用于柴油机故障诊断系统。     

潜艇均衡系统自流注水调节阀稳态噪声试验研究

本文模拟建立了潜艇均衡系统自流注水试验系统,对不同假海压力、不同系统流量、不同出口背压及串联2台调节阀时自流注水稳定过程振动噪声进行研究。结果表明:潜艇均衡注水振动噪声随着假海深度的增大而增大;空气噪声随流量调节阀开度的增大而增大,在流量调节阀开度为60°-70°之间,振动加速度及水动力噪声产生峰值;在出口背压为0-0.5 MPa之间时,振动噪声值均大于无背压状态,峰值为0.2 MPa;串联2台流量调节阀可大幅降低自流注水振动噪声。     

Who you are is how you travel: A framework for transportation mode detection using individual and environmental characteristics

With the increasing prevalence of geo-enabled mobile phone applications, researchers can collect mobility data at a relatively high spatial and temporal resolution. Such data, however, lack semantic information such as the interaction of individuals with the transportation modes available. On the other hand, traditional mobility surveys provide detailed snapshots of the relation between socio-demographic characteristics and choice of transportation modes. Transportation mode detection is currently approached using features such as speed, acceleration and direction either on their own or in combination with GIS data. Combining such information with socio-demographic characteristics of travellers has the potential of offering a richer modelling framework that could facilitate better transportation mode detection using variables such as age and disability. In this paper, we explore the possibility to include both elements of the environment and individual characteristics of travellers in the task of transportation mode detection. Using dynamic Bayesian Networks, we model the transition matrix to account for such auxiliary data by using an informative Dirichlet prior constructed using data from traditional mobility surveys. Results have shown that it is possible to achieve comparable accuracy with the most widely used classification algorithms while having a rich modelling framework, even in the case of sparse mobility data.     

Protective effect of polymer coating on the circular steel plate response to near-field underwater explosions

To understand the intrinsic strong interaction between the soft coating and near-field underwater explosion, a series of comparative live fire tests are implemented. Nine steel circular plates with three configurations (i.e. rubber coated plate, foam coated plate and bare plate) are tested using 1.5 g PETN detonator. The stand-off between the plate center and explosive charge is ranged from 3.41 to 1.14 times of the maximum bubble radius. The transient strain history of the plate and acceleration history of the metal base fixture are monitored. The whole explosion process including local cavitation and bubble motion is recorded by an APX-RS high speed camera. Test results show that the compressibility of coating layer is the dominative factor that controls its protective performance in the shock wave loading phase. The more compressible foam coating distinctly reduce the shock wave intensity by local cavitation before enters the densification phase, while the explosion bubble shape and even the direction of water jet can also be changed. But the attenuation performance in the bubble loading phase is not as optimistic as that in the shock wave phase because more deformation space is required while the core has often entered the densification phase.     

Impact assessment of extreme weather events on transport networks: A data-driven approach

The present paper presents a data-driven method for assessing the resilience of the European passenger transport network during extreme weather events. The method aims to fill in the gap of current research efforts regarding the quantification of impacts attributed to climate change and the identification of substitutability opportunities between transport modes in case of extreme weather events (EWE). The proposed method consists of three steps concerning the probability estimation of an EWE occurring within a transportation network, the assessment of its impacts and the passengers’ flow shift between various transport modes. A mathematical formulation for the proposed data-driven method is provided and applied in an indicative European small-scale network, in order to assess the impacts of EWE on modal choice. Results are expressed in passenger differentiated flows and the paper concludes with future research steps and directions.     

Controller design for gating traffic control in presence of time-delay in urban road networks

Recent studies demonstrated the efficiency of feedback-based gating control in mitigating congestion in urban networks by exploiting the notion of macroscopic or network fundamental diagram (MFD or NFD). The employed feedback regulator of proportional-integral (PI)-type targets an operating NFD point of maximum throughput to enhance the mobility in the urban road network during the peak period, under saturated traffic conditions. In previous studies, gating was applied directly at the border of the protected network (PN), i.e. the network part to be protected from over-saturation. In this work, the recently developed feedback-based gating concept is applied at junctions located further upstream of the PN. This induces a time-delay, which corresponds to the travel time needed for gated vehicles to approach the PN. The resulting extended feedback control problem can be also tackled by use of a PI-type regulator, albeit with different gain values compared to the case without time-delay. Detailed procedures regarding the appropriate design of related feedback regulators are provided. In addition, the developed feedback concept is shown to work properly with very long time-steps as well. A large part of the Chania, Greece, urban network, modelled in a microscopic simulation environment under realistic traffic conditions, is used as test-bed in this study. The reported results demonstrate a stable and efficient behaviour and improved mobility of the overall network in terms of mean speed and travel time.