Market based framework for multiple AUVs cooperation

A“Market” based framework for multiple AUVs team is introduced in this paper. It is a distributed meta-level task allocation framwork. The formulation and the basic concepts of the “Market” such as “goods” and “price” are discussed first, then the basic algorithm of the “auction”. The loosely coupled v-MDTSP tasks are considered as an example of the task allocation mission. A multiple AUV team controller and a detailed algorithm are developed for such applications. The simulation results show that the controller has the advantages such as robustness and low complexity and it can achieve better optimization results than the classical central controller （ such as GA） in some tasks. And the comparison of two different local solvers also implies that we should get the reasonable task allocation even not using the high quality algorithm, which can considerably decrease the cooperation computation.     

水下机器人递阶控制系统结构设计

为了简化水下机器人的控制系统设计,实现良好的人机界面,本文提出了解耦三级递阶控制系统结构,它包括由任务脚本和任务解释器组成的任务级控制、位置／姿态级控制和执行级控制。采用这种控制结构,大大缩短了开发周期,提高了软件模块的可重用性。     

基于信噪峭度比的水下目标动态谱增强算法研究

根据非高斯噪声环境中水下运动目标辐射线谱信号的四阶累积量对角切片特征,定义了信噪峭度比的概念,导出了其理论计算公式.理论分析表明,在一定条件下,信噪峭度比总是大于用自相关函数定义的信噪比,提出了基于信噪峭度比分析法的水下运动目标辐射线谱信号的四阶累积量对角切片谱特征增强新算法.用水下某目标辐射线谱的实测数据,对该算法的性能进行了仿真研究.结果表明,该算法具有良好的抑制非高斯噪声能力,且不必对噪声分布作高斯性假设.因此,该算法具有重要的工程应用价值.     

Flow Past an Accumulator Unit of an Underwater Energy Storage System:Three Touching Balloons in a Floral Configuration

An LES simulation of flow over an accumulator unit of an underwater compressed air energy storage facility was conducted. The accumulator unit consists of three touching underwater balloons arranged in a floral configuration. The structure of the flow was examined via three dimensional iso surfaces of the Q criterion. Vortical cores were observed on the leeward surface of the balloons. The swirling tube flows generated by these vortical cores were depicted through three dimensional path lines. The flow dynamics were visualized via time series snapshots of two dimensional vorticity contours perpendicular to the flow direction; revealing the turbulent swinging motions of the aforementioned shedding-swirling tube flows. The time history of the hydrodynamic loading was presented in terms of lift and drag coefficients. Drag coefficient of each individual balloon in the floral configuration was smaller than that of a single balloon. It was found that the total drag coefficient of the floral unit of three touching balloons, i.e. summation of the drag coefficients of the balloons, is not too much larger than that of a single balloon whereas it provides three times the storage capacity. In addition to its practical significance in designing appropriate foundation and supports, the instantaneous hydrodynamic loading was used to determine the frequency of the turbulent swirling-swinging motions of the shedding vortex tubes; the Strouhal number was found to be larger than that of a single sphere at the same Reynolds number.     

十字板强度推算的抗剪强度指标在箱简型基础设计计算中的应用

新型箱筒型防波堤基础稳定性计算与抗剪强度指标的取值密切相关。在天津港地区,上覆较厚的软粘土层,处于欠固结状态,含水率高,承载力低。在施工期稳定性分析中,目前以十字板强度在工程中应用最广泛,但十字板强度实际上是土体各滑动面的抗剪强度的小值,单一的十字板强度指标无法估算新型箱筒型基础的地基土压力及承载力等。基于十字板强度随深度线性分布的规律及摩尔-库伦抗剪强度原理,结合收集的大量十字板强度实测数据,通过回归统计分析推算出地基土的2个抗剪强度指标,可应用于新型箱筒型基础稳定性和承载力的计算。该方法具有一般性,还可用于软粘土土坡稳定分析。     

超大型沉井首次下沉关键问题研究

结合目前世界上平面尺寸最大的矩形沉井的建设,采用有限元分析和现场监控等手段.对沉井下沉方式、开挖方案、接高高度、地基承载力、下沉和稳定性间的关系进行了研究.排水下沉在施工效率和开挖可控性等方面优于不排水下沉,当有充足降水能力和对周边重要建筑物影响不大时优先采用.在结构受力方面,开挖形成的锅底越大隔墙墙底所受拉力越大;采...     

潜伏式武器水下施放后初始运动过程仿真

为了研究潜伏式武器从潜艇外部施放后初始阶段的运动规律,在分析潜伏式武器水下施放过程的基础上,推导武器从潜艇从运载装置施放后的水下纵平面运动数学模型,进行施放后初始阶段运动过程的仿真计算与分析。通过仿真对潜伏式武器水下施放后的初始阶段的运动规律及关键参数的影响进行了分析,仿真结果证明所建立的武器施放后初始阶段运动模型基本正确,能反映武器施放后初始阶段的基本运动规律。     

科考船水下辐射噪声的控制措施分析与应用

对某型科考船水下辐射噪声控制措施的针对性、施工便利性及成本控制等方面进行分析。结合实船测试结果，提出在科考船建造过程中，对于水下辐射噪声控制，船厂应根据减振降噪的有效性，重点关注影响大且便于实施的控制措施，而非追求控制措施的全面性，为平衡科考船水下辐射噪声控制和成本控制提供借鉴。     

半潜驳出运沉箱工艺在港口工程施工中的应用

介绍半潜驳出运沉箱工艺在烟台港、岚山港、厦门港的应用情况。     

大型沉箱没水安装施工新工艺

以汕头港广澳港区一期工程沉箱安装为例,介绍200t起重船没水安装近千吨沉箱的一种新工艺。