水声传感器网络实验平台监控软件的开发

水下实验是水声传感器网络研究的重要手段,然而进行水下实验将需要大量的人力、物力和时间。水声传感器网络实验平台是提高水下通讯实验效率的有效解决方案。本文设计开发了水声传感器网络实验平台的监控软件,作为整个实验平台的系统管理层,为整个实验平台提供友好的用户接口,对水声传感器网络水下实验的测量、调试和分析提供可靠灵活的技术支持。     

水下测速涡轮传感器动态实验研究

水下高速运动体可利用前置涡轮传感器来测量其自身运动速度。建立了水下测速涡轮传感器的动态方程,并分析了其在稳定加减速下的响应规律。利用高速水洞设备,设计了加减速的动态过程实验,并对实验结果进行了分析。理论分析和实验结果表明：动态模型与实验结果基本吻合,动态下的运动规律与稳态变化规律基本相符。与静态测量值相比,此水下涡轮测速方案在加减速过程中存在动态误差,其中加速过程误差较大,在实际测量中需要修正。     

水下自动武器后坐能量测试传感器的结构优化设计

为解决水下自动机运动参数测量过程中现有测速传感器内部铁心线圈产生涡流影响测量精度的问题,提出一种基于电磁感应原理的永磁型感应测速传感器的结构优化方法.以环氧树脂板代替传统传感器的金属铁芯,在其上用漆包线紧密缠绕一层线圈作为速度线圈,在速度线圈表面利用丝包线等间距正反多圈间绕而成位移线圈,并且在速度线圈与环氧树脂板之间加入一层坡莫合金片,保证线圈铁芯的高导磁率,提高传感器的灵敏度;同时设计了信号调理电路,并将其封装在传感器内部.经过试验验证:改进后的传感器灵敏度更高,动态特性更好,测试信号更精确,能更真实地反映自动机的运动规律.     

枪械自动机运动计算通用仿真软件的开发和应用

基于枪械动态设计数据库,建立了C/S结构的通用的自动机运动分析计算模型。结合面向对象的编程技术,开发一套界面友好、通用性和实用性较好的枪械自动机运动分析计算软件,该软件可支持枪械自动机的协同设计要求,运动分析计算具有较高的精度和实用性。     

水下发射装置壁温测量方法研究

水下枪械是用于水下作战部队的新枪种,水下枪械的膛壁温度测量,对比空气和水下发射时温度的变化对水下内弹道模型的符合参数取值有着重要的意义,同时枪管膛壁温度分布的变化对研究膛壁的烧蚀和提高身管寿命等都有帮助.为测量水下发射装置在发射过程中壁温的瞬态变化,设计了PtRt10-Pt 微热电偶,进行测试系统设计,对测试信号用小波分析的方法处理,得到了水下枪械不同固定点壁温的变化规律,为研究水下枪械发射过程温度变化及其他研究奠定了基础.     

超小型水下机器人智能定位系统

提出一种新的超小型水下机器人智能定位系统.融合短基线定位声纳、电子罗盘、X/Y倾角传感器和深度传感器组成超小型水下机器人定位的硬件系统,使用基于构件的方法开发了针对超小型水下机器人定位系统的水上控制计算机三维虚拟显示软件.使用马尔可夫自定位算法在实测定位声纳信号的间隙推算水下机器人的位置,提高定位速度,使其与姿态传感器同步.设计了定位算法有效性的测试实验,结果证明算法有效.     

一种新型枪械质心测试技术研究

枪械质心是轻武器枪械定型试验中必测的参数之一,质心与枪管轴线的偏移量将直接影响射击精度;针对枪械质心测量的高效率、高精度和智能化测试需要,介绍了一种采用力矩平衡法进行大型及轻小型枪械质心测量的智能化测试系统,系统以AT89C52单片机为核心,论述了电控系统、数据采集系统及通讯与接口系统原理,三个压力传感器信号经A/D转换器TLC1543转换后送入单片机处理,能够实现测量数据的自动采集、处理、保存及与上位机的实时通讯,达到实时测量枪械质心的目的;最后还对测试精度进行了分析.     

应变式传感器在水下测压的应用

由于水介质和空气介质的差异，使得在水中测压较之空气中有着较大的区别。论述了一种新型的应用于水下的自制应变式传感器的工作原理，在理论上解决了水下枪械膛压测试的技术难点，并给出了应用实例，分析了实验现象，得到了满意的实验结果。     

运动员冲击力实时监测系统

为了提高运动员训练的科学化水平,设计了由光电编码器、力传感器和点阵式液晶显示控制器组成的运动员冲击力实时监测系统,重点分析了系统冲击力大小、速度和功率的测量原理。实验结果表明:该系统对冲击力功率的测量精度可达0. 5%,且具有性价比高、稳定可靠的特点。     

散射式水下在线浊度传感器设计

针对环境在线监测系统中对浊度测量的要求,设计了散射式水下在线浊度传感器.传感器采用水下散射光测量法,介绍了浊度传感器的软硬件开发,包括水下浊度传感头、信号检测电路、MSP430单片机为核心的处理与控制部分及上位机程序.传感器具有水下在线测量、浊度标定、串口通信和数据存储等功能,其分辨力为0.1 NTU,精度为±2%,能满足环境在线监测系统中对水浊度测量的要求.     

自动雨量测量系统的温度补偿

在利用超声波测量降雨量的自动雨量测量系统中,由于温度对超声波速度的影响,使测量的准确度降低,达不到设计要求,所以需要对它进行温度补偿。通过对测量过程中可能产生的误差进行了分析,提出了利用单线温度传感器DS1820测量雨水温度,实现对超声波传输速度的精确计算,达到准确测量雨量的设计要求(优于1%)。     

图象处理技术在电子枪扭弯曲特性检测中的应用

电子枪是彩色显像管中一个及其重要的部件，它的合格与否直接影响到电视画面的显示质量；而影响电子枪质量的因素主要有电子枪的扭曲特性和弯曲持性两种，因而必须对这两种特性进行检测，针对电子枪与其基座连接处结构特点，提出了一种新颖的技术解决方案，综合应用图象放大和自适应二值化、图象滤波、Laplacian边缘检测和Hough变换等图象处理技术，对电子枪扭弯曲特性进行检测研究，检测出弯曲的平均绝对误差为0.01mm，扭曲的平均绝对误差为0.72′。实验结果表明，该检测方法精度高、速度快、检测结果准确可靠，检测系统性价比高。     

Cost Effective Smart System for Water Pollution Control with Underwater Wireless Sensor Networks: A Simulation Study

The underwater sensor network is a rapidly developing area of research with a wide range of applications such as data collection in the ocean, pollution monitoring, and ocean sampling. One of the most researched areas is the coverage of underwater sensor networks, which are the basis of many applications. The coverage is usually related to how effectively a network is monitored by the sensor. There are major problems in the ocean or marine region, especially in water pollution. Underwater pollution generally causes acidification, plastic residues, and toxins. Today, the determination of this pollution is carried out through a human surveillance monitoring process. Therefore, there is a need for an automatic and intelligent monitoring system to identify the formation of pollution. The proposed simulation model defines the intelligent sensor-based monitoring system that identifies and alarms the formation of underwater pollution. Aloha was chosen as the medium access protocol for the cost-effective system in which we designed the simulation model. The efficiency of the system has been shown to be more stable, cost-effective and manageable than the monitoring process involving the existing human surveillance by testing with the simulation model.     

基于霍尔电流传感器的电源监控系统设计

针对交直流电源线路中电流的实时监控问题,设计了一种基于霍尔电流传感器的电源监控系统。在该系统中,电流传感器CSNE151—100基于霍尔磁补偿原理,将被测电流转换为具有线性关系的电压信号。系统中的数字信号处理器（ DSP）采集传感器的测量值并通过控制开关实现对电源的过流保护。在实验室对系统进行了测试,实验结果表明：该电源监控系统具有响应速度快、测量精度高的优点。该系统已应用到工程实践中,工作稳定可靠,具有很好的实用价值。     

Development of a new underwater positioning system based on sensor network

In those days, the performance of underwater robot is improving because requirements for it are becoming higher and more complex than before. For those work, a highly precise and wide regional underwater positioning system is indispensable. However, the conventional positioning system that has three standard stations, is applicable for the field with no obstacle, because its principal depends on the time based measurement. Therefore, we developed a new underwater positioning system based on sensor network technology that is using a lot of standard stations equipping hydrophone and GPS sensor on the water surface. And decreasing the cost of sensor, we applied a simple method for measurement of distance, which is using sound power level. Therefore, this study has started with confirming the new principal for underwater positioning method. This paper is showing the availability with theoretical analysis and the performance of new method under the noise and reflection of sound in the water, and suggestions for the measures and an error compensation method. This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January 31–February 2, 2008     

基于多传感器信息融合的水下运动体速度测量

针对水下运动体测速中存在的难度大、精度低等问题,提出一种基于加速度计和机械测速装置的融合测速方法。该方法实质上是一种改良的模糊自适应卡尔曼滤波,在常规卡尔曼滤波的基础上,引入了自适应参数,并通过模糊控制器对残差的监控来实时调整自适应参数。经Matlab仿真和实际试验证实:该方法可以有效地提高卡尔曼滤波器的跟踪性,并改善滤波效果,适用于通用的水下运动体测速。     

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。     

Underwater Vehicle Localization with Complementary Filter: Performance Analysis in the Shallow Water Environment

Rapid development of underwater technology during the last two decades yielded more affordable sensors and underwater vehicles, and, as a result, expanded their use from exclusively offshore industry towards smaller interdisciplinary research groups. Regardless of application, knowing the location of the vehicle operating underwater is crucial. Relatively inexpensive solution is sensor fusion based on a dynamic model of the vehicle aided by a Doppler Velocity Log and a Ultra-Short Base Line position system. Raw data from the sensors are highly asynchronous and susceptible to outliers, especially in shallow water environment. This paper presents detailed sensor analysis based on experimental data gathered in shallow waters, identifies outliers, presents an intuitive and simple sensor fusion algorithm and finally, discusses outlier rejection. The approach has been experimentally verified on medium size remotely operated vehicle.     

A time differences of arrival‐based homing strategy for autonomous underwater vehicles

A new sensor‐based homing integrated guidance and control law is presented to drive an underactuated autonomous underwater vehicle (AUV) toward a fixed target, in 3‐D, using the information provided by an ultra‐short baseline (USBL) positioning system. The guidance and control law is first derived at a kinematic level, expressed on the space of the time differences of arrival (TDOAs), as directly measured by the USBL sensor, and assuming the plane wave approximation. Afterwards, the control law is extended for the dynamics of an underactuated AUV resorting to backstepping techniques. The proposed Lyapunov‐based control law yields almost global asymptotic stability (AGAS) in the absence of external disturbances and is further extended, keeping the same properties, to the case where known ocean currents affect the motion of the vehicle. Simulations are presented and discussed that illustrate the performance and behavior of the overall closed‐loop system in the presence of realistic sensor measurements and actuator saturation. Copyright © 2009 John Wiley & Sons, Ltd.