LDPC码在基于FH-FSK的AUV水声通信系统中的应用

水声信道严重的多途干扰和频率选择性衰落,将增加水声FH-FSK系统的平均误码率.此外,由于自主式水下交通工具(AUV)平台的运动特性,接收信号易产生时间选择性衰落,在接收端产生成串的突发错误甚至导致通信的中断.以上两方面因素将降低移动FH-FSK系统的可靠性,针对此问题,将多元低密度奇偶校验(LDPC)码与FH-FSK系统相结合,提出了一种基于多元LDPC码的水声FH-FSK系统.对比了基于二元LDPC码的FH-FSK系统与基于卷积码的FH-FSK系统的抗干扰性能,实验结果表明:前者具有更强的抗干扰能力.对比了基于多元LDPC码的FH-FSK系统与基于二元LDPC码的FH-FSK系统,仿真与实验结果表明:基于多元LDPC码的FH-FSK系统具有更强的抗干扰能力,可以进一步提高FH-FSK系统的可靠性.     

基于PNDSC 的欠驱动AUV编队控制器设计

针对含有模型不确定与未知海洋环境扰动下的欠驱动自主水下航行器(AUV)的编队控制问题, 提出一种基于预估器的神经网络动态面(PNDSC) 控制算法. 将动态面法引入控制器的设计中, 采用神经网络逼近AUV模型中的不确定项与海洋环境的扰动, 并结合预估器设计了神经网络权值的离散迭代更新率. Lyapunov 稳定性分析表明, 闭环系统所有信号是一致最终有界的. 仿真结果验证了所提出方法的有效性.

     

基于参数方差调节萤火虫算法的三维路径规划

为了提高萤火虫算法大范围搜索时的速度和精度,提出了一种参数方差调节萤火虫算法。首先分析基本萤火虫算法,在此基础上提出了参数方差调节萤火虫算法的核心思想：计算种群亮度的方差评估种群的敛散性,根据进程调节参数,进而达到改进萤火虫算法的目的,并给出了算法的实现步骤和流程;然后在四个优化测试函数中将参数方差调节萤火虫算法与基本萤火虫算法、遗传算法、粒子群算法进行比较和分析,发现参数方差调节萤火虫算法在测试中能迅速的找到符合精度要求的解,且成功率是100%,具有较好的稳定性,较之其他算法优势明显;最后通过构建计算能量消耗的目标函数在有实际背景和地理参数的自主式水下潜器三维路径规划的仿真实验中应用参数方差调节萤火虫算法,在三维海底环境中规划出符合要求的路,从而证明了参数方差调节萤火虫算法在三维路径规划中的实用性。     

UUV导航测速信息的灰色自适应滤波方法研究

针对水下无人航行器UUV（Unmanned Underwater Vehicle）的导航测速数据受海洋环境噪声影响大、处理实时性要求高的问题,提出了一种基于灰色动态预测和数据自适应融合的滤波方法。该方法考虑到UUV的速度在连续变化前提下可能存在的机动性,将基本的静态灰色预测模型改进为灰色动态预测模型,以获得速度数据的近似估计值。然后根据估计值和实际采样值之间的偏差,自适应的调整两者之间的权重系数进行融合,以实现实时的数据滤波。通过对UUV海上试验数据的验证,证明了该方法的有效性。     

A two‐step control approach for docking of autonomous underwater vehicles

This paper presents a novel integrated guidance and control strategy for docking of autonomous underwater vehicles. The approach to the base, and hence the control design, is divided in two steps: (i) in the first, at higher speed, the vehicle dynamics is assumed to be underactuated, and an appropriate control law is derived to steer the vehicle towards the final docking path, achieving convergence to zero of the appropriate error variables for almost all initial conditions; (ii) in the second stage, at low speed, the vehicle is assumed to be fully actuated, and a robust control law is designed that achieves convergence to zero of the appropriate error variables for all initial conditions, in the presence of parametric model uncertainty. Simulations are presented illustrating the performance of the proposed controllers, including model uncertainty and sensor noise. Copyright © 2014 John Wiley & Sons, Ltd.     

丹江口初期工程大坝上游面水下裂缝检查与处理

丹江口水利枢纽初期工程已运行40多年,其大坝混凝土已产生不同程度的裂缝等缺陷,为确保大坝加高后的结构安全,必须对坝体裂缝进行彻底处理。针对水下裂缝处理难度大的特点,分别从水下裂缝查找方法、裂缝分类、裂缝修补处理、处理效果检查等方面对处理全过程作了介绍。监测数据和大坝加高后的实际运行表明,裂缝缺陷已得到了有效控制和全面补强,为南水北调中线按期通水打下了坚实基础。     

能量平衡和延迟约束的水声网络路由协议

水声网络路由协议是水声网络研究的一个热点问题。水声网络路由协议面临着节点能量有限、带宽窄、高传播延迟等的限制。本文从能量和延迟角度出发,设计了一种能量平衡和延迟约束的路由协议。该协议通过感知周边节点能量和负载,使得节点在选择转发节点时尽量选择剩余能量高的节点,同时在网络负载较高时能有效避开网络拥塞区域,从而在能量均衡的同时降低数据包的端到端延迟。     

An underwater acoustic MAC protocol using reverse opportunistic packet appending

Underwater communication primarily utilizes propagation of acoustic waves in water. Its unique characteristics, including slow propagation speed and low data rates, pose many challenges to Media Access Control (MAC) protocol design. In most existing handshaking-based underwater MAC protocols, only an initiating sender can transmit data packets to its intended receiver after a channel reservation through a Request-to-Send (RTS)/Clear-to-Send (CTS) handshake. This conventional single-node transmission approach is particularly inefficient in underwater environments, as it does not account for long propagation delays. To improve channel utilization in high latency environments, we propose a novel approach that exploits the idle waiting time during a 2-way handshake to set up concurrent transmissions from multiple nodes. The sender can coordinate multiple first-hop neighbors (appenders) to use the current handshake opportunity to transmit (append) their data packets with partially overlapping transmission times. After the sender finishes transmitting its packets to its own receiver, it starts to receive incoming appended packets that arrive in a collision-free packet train. This not only reduces the amount of time spent on control signaling, but it also greatly improves packet exchange efficiency. Based on this idea, we propose an asynchronous, single-channel handshaking-based MAC protocol based on reverse opportunistic packet appending (ROPA). From extensive simulations (single- and multi-hop networks) and comparisons with several existing MAC protocols, including MACA-U, MACA-UPT, BiC-MAC, Slotted-FAMA, DACAP, unslotted Aloha, we show that ROPA significantly increases channel utilization and offers performance gains in throughput and delay while attaining a stable saturation throughput.     

基于MATLAB的水下地形冲刷过程模拟研究

基于水下地形实时监测技术,对河工模型水下地形冲刷发展过程进行了分析,在研究水下地形冲刷过程中,采用MATLAB为平台,对采集的数据进行了过滤处理,通过基于原始递归函数理论的曲线(面)拟合法对选取点进行插值得出水下地形冲刷过程随时间的变化曲线,用插值曲线对水下地形发展过程进行模拟,再与实测数据进行分析比较,结果证明该模拟方法可行,并对水下地形的冲刷过程研究具有一定参考价值。     

三峡库区白鹤梁题刻原址水下保护工程设计

三峡水利枢纽工程建成后,水库正常蓄水位将提高到175 m,库区有大量的文物需要保护。白鹤梁题刻既是国家级文物,也是三峡工程文物保护的重点,由于其特殊的地理条件和保护要求,保护方案几经论证才最终形成。介绍了用“无压容器”概念修建白鹤梁题刻原址保护工程方案的设计理念及主要设计成果。工程于2003年2月开工建设,2009年5月建成开馆。这一极具创新设想的工程实施,成为世界上唯一的遗址类水下博物馆,为水下文化遗产的原址保护提供了成功的工程范例。