缆控水下机器人两型机械手的研制

本文介绍了我国自行研制的水下６００ｍ作业型缆控水下机器人的两型水下机械的主要技术性能及特点，笔者针对水下机器人的工作环境其工作特点，重点阐述了两型水机械手的设计，研制中的若干技术问题，并对水下机械手的设计观点和方法作了一些新的探索和尝试。     

自治式潜水器下水回收系统

本文介绍了作者研制的一个工作水深为1000米的自治式潜水器下水回收系统.该系统在没有专用母船的条件下,下水回收4级海况下作业的自治式潜水器.     

“探索者”号无缆水下机器人水下回收系统的设计与应用

本文详细介绍了“探索者”号无缆水下机器人在收系统设计思想及电控系统的实现方法，本系统分为水上水下两部分，ＲＯＶ式潜水平台型回收器，可在水下灵活运动，并可定向，定深，依靠电视跟踪技术和声纳定位技术实现回收器与水下机器人的对接。     

一个水下机器人路径规划系统的实现

我们用层次结构表示水下环境数据，以动态规划算法为核心，实现了一个水下机器人路径规划系统，本文介绍该系统的设计思路及路径规划的实现。     

小襟翼对自治式水下机器人潜浮运动的影响

无动力大纵倾角的下潜和上浮方式对自治式水下机器人具有很大的意义．但是这种潜浮方式却无法满足自治式水下机器人潜浮位置范围及航向控制的要求．采用在稳定翼上加装小襟翼的方法，即可以解决这一难题．本文介绍了小襟翼对自治式水下机器人无动力潜浮运动轨迹的影响，并通过自治式水下机器人的运动方程，结合“ＣＲ－０１”６０００ｍ自治式水下机器人的深海试验结果，对这一影响作了定性地分析．为通过试验找出最佳小襟翼提供了理论基础     

基于模型预测控制的自主水下机器人回收控制算法

针对自主水下机器人在水面回收控制中遇到的系统强耦合、多约束问题，提出一种基于模型预测控制的对接回收控制算法。通过对自主水下机器人动力学方程进行解耦，给出了水平面运动的动力学模型；对运动过程中的可见性约束和系统的输入约束进行公式化表述，使用模型预测控制框架进行带约束的最优化问题滚动求解，给出最优的系统控制输入。使用REMUS水下机器人的参数进行了MATLAB仿真，并根据对回坞导引控制性能的影响给出了最佳的预测时域，研究结果表明，该方法能够保证回坞过程中的可见性约束，回坞过程收敛性强、精度高，能够快速高效地完成自主水下机器人的水面回收。     

基于GPRS的水下滑翔机器人监控系统设计

水下滑翔机器人具有续航能力强、作业时间长等特点，适合于大范围海洋环境监测应用，可用于构建近海海洋环境立体监测网络。利用近海较好的GPRS网络覆盖条件，设计了基于GPRS网络的近海水下滑翔机器人监控系统。该监控系统不仅实现了在现场监控中心对水下滑翔机器人的监控，还可以通过Internet网络对水下滑翔机器人进行远程监控。文章详细介绍了监控系统的总体架构、GPRS终端硬件设计和系统软件设计。     

PC／104工控机在水下机器人测控系统中的应用设计

阐述了水下机器人测控系统的应用特点，介绍了ＰＣ／１０４嵌入式工控机在机器人本体及中继站测控系统中的应用设计。     

自治水下机器人的研发现状与展望

本文介绍了自治水下机器人的研究意义和分类定义.对水下机器人的研究现状和国内外有代表性的自治水下机器人型号进行了综述.讨论分析了水下机器人研究的的关键技术,包括智能水平,能源问题,导航系统,传感器系统,水下通讯技术和多水下机器人协作研究,并指出了水下机器人的未来发展方向.     

水下机器人路径规划系统及算法改进

本文介绍了某水下机器人的路径规划系统的结构，针对水池的工作环境，对已有的路径规划算法进行了改进，水池试验结果表明该智能水下机器人路径规划算法正确，路径规则系统运动可靠。     

The water-tank test of a novel underwater positioning system based on sensor networks

To provide highly precise position information for the navigation of an autonomous underwater vehicle (AUV) in a large area, we are developing a new underwater positioning system based on sensor networks. In this system, we set many standard stations on the sea surface and use a sound global positioning system (GPS). To lower the cost of nodes and simplify signal processing, we have proposed a new method based on sound propagation loss (SPL).This study describes a new information integration method to solve two problems: (1) the transmission path of the sound may be blocked by some obstacle; (2) the underwater nodes may get broken.     

Docking at pool and sea by using active marker in turbid and day/night environment

Nowadays, autonomous underwater vehicle (AUV) is playing an important role in human society in different applications such as inspection of underwater structures (dams, bridges). It has been desired to develop AUVs that can work in a sea with a long period of time for the purpose of retrieving methane hydrate, or rare metal, and so on. To achieve such AUVs, the automatic recharging capability of AUVs under the sea is indispensable and it requires AUVs to dock itself to recharging station autonomously. Therefore, we have developed a stereo-vision-based docking methodology for underwater battery recharging to enable the AUV to continue operations without returning surface vehicle for recharging. Since underwater battery recharging units are supposed to be installed in a deep sea, the deep-sea docking experiments cannot avoid turbidity and low-light environment. In this study, the proposed system with a newly designed active—meaning self-lighting—3D marker has been developed to improve the visibility of the marker from an underwater vehicle, especially in turbid water. Experiments to verify the robustness of the proposed docking approach have been conducted in a simulated pool where the lighting conditions change from day to night. Furthermore, sea docking experiment has also been executed to verify the practicality of the active marker. The experimental results have confirmed the effectiveness of the proposed docking system against turbidity and illumination variation.     

Mobile Underwater Sensor Networks for Protection and Security: Field Experience at the UAN11 Experiment

The EU‐funded project UAN (Underwater Acoustic Network) was aimed at conceiving, developing, and testing at sea an innovative and operational concept for integrating underwater and above‐water sensors in a unique communication system to protect offshore and coastline critical infrastructures. This work gives details on the underwater part of the project. It introduces a set of original security features and gives details on the integration of autonomous underwater vehicles (AUVs) as mobile nodes of the network and as surveillance assets, acoustically controlled by the command and control center to respond against intrusions. Field results are given of the final UAN project sea trial, UAN11, held in May 2011 in Norway. During the experimental activities, a UAN composed of four fixed nodes, two AUVs, and one mobile node mounted on the supporting research vessel was operated continuously and integrated into a global protection system. In this article, the communication performance of the network is reported in terms of round‐trip time, packet loss, and average delivery ratio. The major results of the experiment can be thus summarized: the implemented network structure was successful in continuously operating over five days with nodes seamlessly entering and exiting the network; the performance of the network varied greatly with fluctuations in the acoustic channel; the addition of security features induced a minor degradation in network performance with respect to channel variation; the AUVs were successfully controlled from a remote station through acoustic signals routed by the network. © 2013 Wiley Periodicals, Inc.     

水声信道的多模型模拟和试验

水声信道是一个时变的多径信道，且在不同的时间由于海面的状况不同而不同。为较好地实现水声通信．必须对各种水声信道进行较好地了解，研究出适合水下通信，尤其是水下实时通信的较为实际的模型，增加水下声通信的可靠性和水声实时通信的可懂率。该文在前期研究的基础上，将多模型方法应用于水下声信道的研究，并得出了相应的实验方法。     

一种基于分布式信息融合技术的水下机器人智能感知系统方案

水下机器人的研究和使用对人类开发海洋资源具 有重大意义．随着海洋探测深度的增加，自治水下机器人（AUV）正成为新的研究热点．为 解决AUV深海域探测所面临的通讯速率低和实时性问题，本文提出了“基于分布式信息融合 技术的水下机器人智能感知系统”的实施方案，并以贝壳抓取过程为实例，解释系统解决实 际问题的过程．     

基于有限时间系统同步的自治水下航行器回收控制

基于主-从系统状态同步的思想,提出了母艇在平面运动中回收自治水下航行器（Autonomous underwater vehicle,AUV）的一种控制方法. 在给出母艇和自治水下航行器的动力学模型基础上,建立了自治水下航行器（从系统）接收母艇（主系统）的状态信息并控制自身接近母艇的主从控制方案,使母艇自主回收水下航行器的问题转化为两者的运动状态同步问题. 利用有限时间稳定性理论,设计了一种在常值海流扰动影响下,自治水下航行器能够在有限时间内被母艇回收的滑模控制器,理论证明和仿真实例证实了该控制器的有效性.     

水声对抗仿真环境设计

该文以现代海战为背景，分析了水声对抗参与单元的技术性能参数及详细作战过程。利用系统仿真的方法，为各参与单元及水声环境建立了数学模型和仿真模型，利用结构化的设计思想，提出了建立水声对抗仿真系统的方法，给出了仿真系统的原理结构及实现过程。该系统利用VC 语言进行开发，具有良好的实用性、可扩展性和经济性。可用于水声对抗系统的研制、性能检测、效能评估和技术改进，同时也可用于水声对抗过程的模拟训练，具有良好的应用前景。     

海底管线检测系统的集成及实验研究

通过对虚拟仪器与全新的开放性、模块化仪器总线规范－PXI技术和特点的分析，提出了基于PXI的海底管线检测的虚拟仪器系统集成方案，设计了硬件与软件方案，利用LabWindows/CVI对该系统进行了编程。     

A practical and useful autonomous towed vehicle for port area inspection

This paper presents a novel underwater vehicle for port area inspection, which has various navigation modes (towed mode, autonomous mode and kite mode) to stand against fast and changeable sea currents. The property assures safe and reliable observation performance irrespective of current speed. Since in a port area sea currents are fast and complex, such a vehicle must be practical and useful for port area application. The unique point of the vehicle is the employment of an autonomous underwater vehicle (AUV) as a towed vehicle. In general, AUVs and towed vehicles are mutually contradictory. This paper describes the process of development to achieve the three different navigation modes. The system components and the results of computer simulations and towing tank tests to investigate the stability of the vehicle are presented. In addition, results of the first sea trial are also presented. These results show that the vehicle can navigate stably in the three different navigation modes.     

基于双目视觉的水下海参尺寸自动测量方法

水下捕捞机器人在进行海参捕捞作业时,需要对海参进行精选分级。然而光视觉系统在水中的折射现象严重影响了海参尺寸的精确测量。因此,利用水下双目标定方法,求解水下相机模型参数,消除水下光线折射造成的图像失真,并在此基础上,提出了一种水下海参自动检测与尺寸测量方法。在左目矫正图像上,利用预先训练的YOLOv3海参检测模型,进行海参自动检测和感兴趣区域定位,并利用双目矫正图像构建当前水下场景深度信息。利用融合颜色和场景深度信息的高斯模型,构建新颖的GrabCut-RGBD图像分割方法,在感兴趣区域上分割二维海参目标。利用凸包与旋转卡壳算法,在海参目标图像上寻找最佳尺寸测量点,通过三角测量获取最佳测量点三维坐标,实现海参尺寸的自动测量。实验结果表明,所提方法在0.5～1.5 m范围内平均误差为1.65%,能较好地实现海参尺寸的水下测量。