挡水结构水下爆炸作用的离心模型试验

水下爆炸包括冲击波和气泡脉动,两者能量相当,均会对结构产生毁伤作用。水下爆炸载荷试验唯有在离心机内才满足相似关系,设计试验时宜在离心机负载范围内尽可能增加模型尺寸以减小边界效应。针对挡水结构,在离心机内布置压力传感器、高速摄像机、加速度计及应变片测试了冲击波、气泡脉动载荷及结构产生的动力响应。通过试验对比了水下爆炸和空爆产生的载荷,分析其引起结构动力响应的差异。对于水下爆炸,重力加速度的增加引起气泡脉动冲量的减小,而气泡脉动产生的峰值应变基本与气泡冲量呈线性关系,因而模拟气泡脉动对结构作用时应考虑重力效应。     

Adaptive tracking control of an autonomous underwater vehicle

This paper presents the trajectory tracking control of an autonomous underwater vehicle(AUV). To cope with parametric uncertainties owing to the hydrodynamic effect, an adaptive control law is developed for the AUV to track the desired trajectory. This desired state-dependent regressor matrix-based controller provides consistent results under hydrodynamic parametric uncertainties.Stability of the developed controller is verified using the Lyapunov s direct method. Numerical simulations are carried out to study the efficacy of the proposed adaptive controller.     

UWSNs中基于AUV移动的覆盖盲区修复算法

提出了一种水下无线传感器网络(UWSNs)中基于自主水下航行器(AUV)移动的覆盖算法。首先将要覆盖的区域网格化,然后以适当的策略遍历各个小格,从而实现盲区的覆盖修复。该算法克服了水下环境复杂未知、覆盖场景多样化而难以可靠覆盖的问题,同时使得AUV路径移动消耗最小化。文中还对3D场景和多AUVs协同等情况进行了分析和探讨。仿真实验表明,该算法在覆盖盲区规则、不规则或不连续等场景下均有较好的表现。     

基于变维卡尔曼滤波的UUV目标运动优化估计方法

为实现无人水下航行器精准、安全的跟踪目标从而高效地实现目标的信息采集,提出了一种针对该个体的目标运动优化估计方法。此方法通过建立目标运动模型,基于卡尔曼滤波基本原理,利用变维卡尔曼滤波的方法,达到UUV个体对目标运动状态准确估计的预期效果。为提高该方法的可行性,在利用最小化目标位置估计协方差矩阵完成目标运动轨迹估计及优化的过程中,考虑实际UUV机动时的最大速度限制、与目标最小距离的限制。文章详细阐述该方法的实现和步骤,并通过仿真实验验证了该优化算法的有效性。     

Evaluation on steel bar corrosion embedded in antiwashout underwater concrete containing mineral admixtures

This study aims the evaluation of the corrosion of steel bar embedded in antiwashout underwater concrete, which has rather been neglected to date. To that goal, accelerated steel bar corrosion tests have been performed for three series of steel bar-reinforced antiwashout underwater concrete specimens manufactured with different admixtures and under different environments. The three series of antiwashout underwater concrete were: concrete constituted exclusively by ordinary portland cement (OPC), concrete composed by ordinary portland cement mixed with fly-ash in 20% ratio (FA20) and concrete with ground granulated blast furnace slag is mixed in 50% ratio (BFS50). And, the three different environments were: manufacture in the air, in tap water, and in artificial seawater.Measurement results using half-cell potential surveyor showed that, among all the specimens, steel bar in OPC manufactured in artificial seawater was the first one that exceeded the threshold value proposed by ASTM C 876 with a potential value below − 350 mV after 14 cycles. And, the corresponding corrosion current density and concentration of water soluble chloride were measured as 0.3 μA/cm² and 0.258%. On the other hand, for the other specimens that are FA20 and BFS50, potential values below − 350 mV were observed later at 18 and 20 cycles, respectively.Results confirmed the expectation that mineral admixtures may be more effective in delaying the development of steel bar corrosion in antiwashout underwater concrete.     

基于正交小波变换的变步长盲均衡算法

提出了一种基于正交小波变换的变步长盲均衡算法。该算法将正交小波变换理论引入到常数模盲均衡算法中,充分利用小波变换对信号的去相关性及指数型变步长控制迭代过程的特性来加快收敛速度。与常数模算法及基于正交小波变换的盲均衡算法相比,该算法收敛速度快、稳态误差小、均衡效果好。水声信道盲均衡的仿真结果,验证了其的性能。     

基于平移不变小波变换的多普勒速度声纳输出信号处理

针对水下航行器组合导航系统所使用的多普勒速度声纳输出信号的特点,采用了平移不变小波变换的多分辨率分析的方法,利用Daubechies小波函数,采用了半软阈值去噪的方法,能够在低信噪比的情况下准确地估计多普勒声纳的频移,从含有噪声的多普勒输出信号中提取出原始信号.通过仿真实验表明:采用4层小波分解,算法计算量减小,有效地...     

基于距离门限的水声网络自适应路由协议

针对水声传感器网络长时延和高能耗的问题,提出了基于距离门限的自适应路由协议ARBDT（AdaptiveRouting Protocol Based on Distance Threshold）。该协议采用单路径逐跳信息传输方式,节省了路由开销;同时根据网络密集程度自适应地调整距离门限,抑制了冗余节点的回应,降低了控制包冲突的概率,使发送节点能快速获取转发节点。仿真结果表明,与SBR（Sector-Based Routing）协议相比,ARBDT协议能缩短时延,降低网络能耗,从而获得更好的性能。     

基于混合模型的舰船腐蚀相关静态电、磁场

为研究舰船水下腐蚀相关静态电场、磁场的分布特征,提出了以舰船水下标量电位为线索,对舰船进行混合建模,即将舰船等效为水平电流线和离散三分量电偶极子的组合,通过测量舰船下方某平面上的标量电位分布,对混合模型中的未知结构参量进行拟合,以建好的混合模型为基础对舰船水下腐蚀相关静态电、磁场进行研究.在实验室中模拟海洋环境,利用1∶100船模对建模方法进行了验证,并以建好的混合模型为基础,计算了船模水下腐蚀相关静态电、磁场的分布特征.实验结果表明混合模型结构简洁、实测数据量小、建模计算量小、模型稳定,比较适合用于舰船腐蚀相关静态电、磁场分布特点的研究.     

Hierarchical inversion‐based output tracking control for uncertain autonomous underwater vehicles using extended Kalman filter

In this study, a hierarchical inversion‐based output tracking controller (HIOTC) is developed for an autonomous underwater vehicle (AUV) subject to random uncertainties (e.g., current disturbances, unmodeled dynamics, and parameter variations) and noises (e.g., process and measurement noises). The proposed HIOTC respectively utilizes a combination of feedforward and feedback controls in a hierarchical structure based on the kinematic and dynamic models of the system. Moreover, to obtain uncontaminated or unavailable states for implementing the proposed control law, the extended Kalman filter (EKF) is employed to estimate the system states. Then, the position outputs, orientation, and velocity of the AUV are reached with guaranteed asymptotic stability. The robustness of the proposed HIOTC is verified through injection of random uncertainties into the system model. The closed‐loop stability of the proposed individual subsystems is respectively guaranteed to have uniformly ultimately bounded (UUB) performance based on the Lyapunov stability criteria. In addition, the asymptotic tracking of the overall system is demonstrated using Barbalat's lemma. Finally, the feasibility and effectiveness of the proposed control scheme are evaluated through computer simulations and it is shown that the overall system achieves good asymptotic tracking performance.