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.     

车牌图像色彩迁移与正则化约束去雾算法

针对雾天车牌图像模糊、车牌识别率低的问题,给出了车牌图像色彩迁移与正则化约束去雾算法。算法主要包含色彩迁移去雾和文本修复两个模块。采用MKL（Monge-Kantorovitch Linear Colour Mapping）色彩迁移算法,恢复雾天车牌颜色信息实现去雾;利用车牌的文本像素的强度和梯度特征对车牌图像进行正则化约束,实现车牌中文本的修复。实验结果表明,无论针对合成车牌雾图还是自然车牌雾图,去雾效果良好,且在薄雾、中等雾及浓雾三种不同雾度环境下都能够有效提高车牌识别率。     

潜艇水下毁伤试验综合测量与分析方法研究

为解决潜艇水下毁伤单次试验中测试测量要素与数据分析不够完备的问题,着眼单次试验获取尽可能多的有效试验数据,提出一种潜艇水下爆炸毁伤试验的综合测试测量方法,分试验前、试验中和试验后3个阶段对测量要素进行了较为全面的分析,并提出了相应的测点布设方案和试验数据处理方法,通过仿真试验对综合测量与分析方法进行探讨,指出了测试测量与数据分析时需要注意的问题,可为潜艇水下毁伤试验的开展提供参考.     

一种面向水下传感器网络的监测系统设计方法

当前水下监测系统缺乏统一的开发规范,软件可复用性低,难以快速、高效地进行系统设计与实现;提出了基于水下传感器网络的监测系统设计方法,将系统结构分为观测平台、本地观测服务器、数据服务器,从数据获取、数据管理、数据展示方面给出了软件的总体开发流程,并提出了统一的软件数据模型和软件开发模型;在数据模型中,对监测元数据以及监测数据进行规范化描述;在软件开发模型中,构建了可扩展的功能组件库,通过对组件进行配置,可快速生成满足用户需求的监测系统;通过在不同的应用开发中进行验证,证明该方法能够在保证系统质量的前提下,显著提高开发效率.     

Fuzzy deduction methods of selecting the underwater terrain navigation matching area

To overcome the problems of not describing terrain matching characteristics totally with a single terrain feature parameter in underwater navigation terrain database, an evaluation method named Vague set is proposed to describe the terrain suitability comprehensively based on the fuzzy decision making (FDM) method. The membership functions and non-membership functions of the Vague set are used to define the influence of the terrain map characteristics parameters on matching suitability, and comprehensive evaluation values of matching areas are obtained by the weighted score function method. Simulation results demonstrate that the terrain map suitability is positively proportional to the comprehensive evaluation value, while the matching position error is negatively proportional to the comprehensive evaluation value of the matching area. The Vague set can choose the optimal matching areaeffectively, and solve the problem that the single topographic map featurecannot evaluate suitability comprehensively.     

水下爆炸船体结构响应间断伽辽金法数值模拟

为求解水下爆炸强间断流场,采用Level Set方法定位多相流界面位置,应用虚拟流体方法处理邻近界面两侧物理量,并用RKDG方法进行空间和时间的离散,求解流场的Euler方程,并进行一维、二维评价,计算结果能够较好地反映水下爆炸冲击波产生、传播、反射和爆炸产物的膨胀等现象.最后,结合大型非线性有限元软件ABAQUS,模拟了船体板在水下爆炸载荷作用下的变形和响应特征.模拟结果表明,间断迦辽金法能够实现对水下爆炸船体结构响应精确模拟,板架结构响应与爆心距离成反比.     

Trajectory Simulation for Underwater Vehicle with Power-Lunched

The motion of combustion gas bubble produced by underwater ignition was developed based on Rayleigh-Plesset equation. Combining the bubble motion equation with the underwater launched vehicle motion equation in the longitudinal plane, a trajectory simulation model with power-launched was established. The hydrodynamic characteristics of underwater ignition at different depths and the trajectory analysis of the underwater vehicle with power-launched were given by simulation. The simulation results have a good agreement with experimental results, and show that the thrust peak caused by underwater ignition and the stable thrust both decrease slightly with the increase of the water depth, and the thrust peak will decline obviously by enlarging the initial radius of gas bubble; the thrust peak generated at the instant of ignition and the low-frequency oscillation of the stable thrust have no significant influence on the trajectory of underwater vehicle.     

Head Orientation Stability of Underwater Snake-Like Robot Swimming

In prior research,the orientation of head of the snake-like robot is changed according to the sinusoidal wave. To solve this problem,we propose Central Pattern Generator( CPG)-based control scheme with head-controller to stabilize the head of the underwater snake-like robot. The advantage of the CPG-based control scheme with head-controller is that the head of the underwater snake-like robot is direct to the target orientation during swimming. The relation between CPG parameters and orientation stability of head is discussed.The adaptation of the proposed method to environment changes is tested. The influences of CPG parameters and hydrodynamic forces on the orientation offset of head are investigated. The target orientation( the input of headcontroller) with an experimental optimization is calculated through a convenient method. To prove the feasibility of the proposed methodology,the different swimming modes have been implemented in our simulation platform.The results show that the oscillation of head’s orientation is inhibited effectively,and the proposed method has strong adaptation to environment and CPG parameters changes.