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.     

关于中压电缆网双环接线方式供电能力的分析

结合北京地区现阶段对相关技术的规定,以实际供用电方案为例,对中压电缆网双环接线方式的供电能力进行深入讨论。通过设计环网单元划分,发现某些条件下双环网供电能力可以得到进一步提升。     

聚乙烯电缆料的高速挤出技术

研究了聚乙烯绝缘料的高速挤出特性。结果表明：通过共混改性，添加合理的助剂及良好的工艺条件能较好地实现PE电缆绝缘料的高速挤出。     

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 OptiSystem 的海光缆链路传输性能仿真研究*

针对海光缆信息网络传输特性,采用OptiSystem软件建立了海光缆系统链路仿真模型,针对光纤中继段间距不同对链路传输性能影响进行了仿真分析,得出不同传输距离条件下误码率曲线,验证结果可为海缆通信系统工程的施工与设计提供理论依据。     

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.     

直流电桥法测量电缆故障点的距离

迅速、准确地探测故障点的位置对保证故障电缆的及时修复有着重要意义。介绍了电缆故障的性质和直流电桥法测量电缆故障点距离的原理，着重阐述了几种常用的电缆接地故障的测量方法，并提出在实际生产、施工中，应根据具体情况选取合理的仪器及测量方法，迅速、准确地探测故障点的位置，以保证故障电缆的及时修复。     

输电塔-线体系覆冰作用非线性分析

在重冰区,高柔大跨越输电塔-线体系在覆冰、风载等作用下具有强烈的耦合特性和非线性特征。推导了绝缘子、索以及边界条件的刚度表达式,以向家坝-上海±800kV特高压直流输电线路为例,建立了输电塔、导线、绝缘子以及边界条件的简化数值分析模型。对大跨越输电塔－线体系进行了7种工况下的静力非线性分析。分析表明,在导线均匀覆冰及风荷载作用下,铁塔构件的P-△效应较小;在不均匀覆冰工况下,导线不平衡荷载对铁塔产生扭转效应,铁塔受压支座节点和最大悬臂处单元的轴向压力和弯矩具有较明显的P-△效应,应考虑荷载非线性的不利影响。     

智能小区控制总线测试系统的设计

为解决国内智能建筑底层控制总线的性能测量问题,设计了一种基于TMS320F2812的智能小区控制总线通讯性能测试系统.对目前智能小区控制总线的通信故障进行分析,根据分析结果提出了总线电缆的测试项目,设计出了软件工作流程.最后将该系统成功用于实验室试验,得出相应检测结果,表明该系统具有一定的实用价值.