共查询到18条相似文献,搜索用时 156 毫秒
1.
本文对水下滑翔机器人的特点进行了详尽的分析.针对水下滑翔机器人控制系统的软、硬件组成特点和水下滑翔机器人工作原理,详细介绍了水下滑翔机器人嵌入式控制系统的软、硬件系统的组织机构.细致地阐述了软、硬件系统的设计理念与实现方法. 相似文献
2.
文在对水下滑翔机器人的特点进行分析的基础上,详细介绍了水下滑翔机器人嵌入式控制系统的软、硬件系统的设计方法.对DiskOnChip在QNX操作系统下的驱动以及QNX操作系统的移植过程作了详细的叙述,并给出了适用于该嵌入式控制系统运行的系统启动文件--BuildFile的主要内容及文件基本框架.根据QNX嵌入式实时分布式操作系统的独特性能,在水面控制系统中创造性的提出了利用QNX多控制台来实现对数据进行监控的方式,并开发了应用于该水下滑翔机器人的控制系统软件. 相似文献
3.
4.
5.
水下滑翔器是一种长续航新型水下机器人,利用其高效的驱动方式能够航行数月,因而相比其他无人水下自主航行器,滑翔器控制系统的可靠性显得尤为关键。根据水下滑翔器长续航的工作需求,结合其分布式控制系统的架构形式,设计了一种主从互转式应急控制技术。通过CPU互监控以及建立公共存储区等手段,实现了控制器异常情况下的非复位式热切换,保证了滑翔器重要动作部件的正常运行。试验结果表明,利用主从互转式控制方式,可以极大的减小了控制系统中主CPU宕机对滑翔器自主运行的影响,增加水下滑翔器的安全性能。 相似文献
6.
7.
8.
9.
塔式起重机远程安全监控管理系统设计 总被引:1,自引:0,他引:1
针对起重设备大范围、分布式工作模式和高效、安全运行作业的需求,设计了基于GPRS的远程监控系统,实现对起重设备群的安全监控。系统由远程监控中心、无线传输网络和机载监控前端组成,以ARM9和WinCE6.0为平台设计监控前端,对塔机运行进行监测与安全预警;采用GPRS和Internet网络实现了监控中心和监控终端之间的数据传输;利用Java设计了人性化的远程监控中心调度和管理软件,实现了监控中心对机群的同步监控与统一管理。现场运行证明该系统具有良好的性能。 相似文献
10.
11.
Ryan N. Smith Mac Schwager Stephen L. Smith Burton H. Jones Daniela Rus Gaurav S. Sukhatme 《野外机器人技术杂志》2011,28(5):714-741
Ocean processes are dynamic and complex and occur on multiple spatial and temporal scales. To obtain a synoptic view of such processes, ocean scientists collect data over long time periods. Historically, measurements were continually provided by fixed sensors, e.g., moorings, or gathered from ships. Recently, an increase in the utilization of autonomous underwater vehicles has enabled a more dynamic data acquisition approach. However, we still do not utilize the full capabilities of these vehicles. Here we present algorithms that produce persistent monitoring missions for underwater vehicles by balancing path following accuracy and sampling resolution for a given region of interest, which addresses a pressing need among ocean scientists to efficiently and effectively collect high‐value data. More specifically, this paper proposes a path planning algorithm and a speed control algorithm for underwater gliders, which together give informative trajectories for the glider to persistently monitor a patch of ocean. We optimize a cost function that blends two competing factors: maximize the information value along the path while minimizing deviation from the planned path due to ocean currents. Speed is controlled along the planned path by adjusting the pitch angle of the underwater glider, so that higher resolution samples are collected in areas of higher information value. The resulting paths are closed circuits that can be repeatedly traversed to collect long‐term ocean data in dynamic environments. The algorithms were tested during sea trials on an underwater glider operating off the coast of southern California, as well as in Monterey Bay, California. The experimental results show improvements in both data resolution and path reliability compared to previously executed sampling paths used in the respective regions. © 2011 Wiley Periodicals, Inc. 相似文献
12.
浮力驱动式水下滑翔机对我国海洋勘探和国防建设有着重要应用前景,根据水下滑翔机三维运动模型,以MATLAB/Simulink为平台完成了滑翔机建模和图形界面仿真工具的设计。并以此仿真软件进行算例计算。该仿真成本低廉,可广泛应用于一般的水下滑翔机设计方案验证。 相似文献
13.
14.
Shuang-shuang FAN Can-jun YANG Shi-lin PENG Kai-hu LI Yu XIE Shao-yong ZHANG 《浙江大学学报:C卷英文版》2013,14(8):583-599
Underwater gliders are efficient mobile sensor platforms that can be deployed for months at a time, traveling thousands of kilometers. Here, we describe our development of a coastal 200 m deep underwater glider, which can serve as an ocean observatory platform operating in the East China Sea. Our glider is developed based on dynamic model analysis: steady flight equilibrium analysis gives the varied range of moving mass location for pitch control and the varied vehicle volume for buoyancy control; a stability analysis is made to discuss the relationship between the stability of glider motion and the location of glider wings and rudder by root locus investigation of glider longitudinal- and lateral-directional dynamics, respectively. There is a tradeoff between glider motion stability and control authority according to the specific glider mission requirements. The theoretical analysis provides guidelines for vehicle design, based on which we present the development progress of the Zhejiang University (ZJU) glider. The mechanical, electrical, and software design of the glider is discussed in detail. The performances of glider key functional modules are validated by pressure tests individually; preliminary pool trials of the ZJU glider are also introduced, indicating that our glider functions well in water and can serve as a sensor platform for ocean sampling. 相似文献
15.
16.
以LPC2478为核心的嵌入式控制系统通过对多路传感器的数据采集,实现了波浪能滑翔器在海洋中的自主巡航监测环境。基于高斯大地线算法,计算出当前位置与预设位置的大地线距离和航向角偏差值;同时基于PID控制算法,计算出尾舵系统需要偏转的角度。2种算法构成了导航策略的算法体系,实现了波浪能滑翔器的视向跟踪和虚拟锚泊。同时,为保证导航信息的精准度,增加2组传感器:波高仪和流速仪,作为辅助导航传感器,从而建构了一个完整的控制波浪能滑翔器自主运行的导航系统结,在实际海洋试验中,取得了良好效果。 相似文献
17.
Kenichi Asakawa Kensuke Watari Hidetoshi Ohuchi Masahiko Nakamura Tadahiro Hyakudome Yasuhisa Ishihara 《Advanced Robotics》2016,30(1):41-49
A buoyancy engine with a swashplate-type axial piston pump was developed. Its oil extrusion and drawing properties under high hydraulic pressure were evaluated. This buoyancy engine is now installed in an underwater glider that will achieve long-term monitoring of ocean environments up to 2100 m depth in a designated area with lower operational costs. This bidirectionally functioning pump can control the amount of oil in extrusion and draw operations. When drawing oil under high pressure, the hydraulic pump and the electric motor, respectively, act as a hydraulic motor and an electric generator. The generated electric power is absorbed by a damping resistor. The oil-drawing and extrusion properties were measured using a large hyperbaric chamber that is able to produce an almost identical environment to that of actual operations. Results confirmed stable oil extrusion operations up to 21 MPa. Regarding oil-drawing properties, although it was measured only up to 10 MPa in the hyperbaric chamber, it can be inferred that the system can draw the oil and can control the buoyancy precisely up to 21 MPa by replacing the two-way ball valve with an electromagnetic latching solenoid valve. 相似文献