Vision-based system of AUV for an underwater pipeline tracker

This paper describes a new framework for detection and tracking of underwater pipeline,which includes software system and hardware system.It is designed for vision system of AUV based on monocular CCD camera.First,the real-time data flow from image capture card is pre-processed and pipeline features are extracted for navigation.The region saturation degree is advanced to remove false edge point group after Sobel operation.An appropriate way is proposed to clear the disturbance around the peak point in the process of Hough transform.Second,the continuity of pipeline layout is taken into account to improve the efficiency of line extraction.Once the line information has been obtained,the reference zone is predicted by Kalman filter.It denotes the possible appearance position of the pipeline in the image.Kalman filter is used to estimate this position in next frame so that the information of pipeline of each frame can be known in advance.Results obtained on real optic vision data in tank experiment are displayed and discussed.They show that the proposed system can detect and track the underwater pipeline online,and is effective and feasible.     

柔性仿金枪鱼月牙形尾鳍水动力分析

为研究鱼类高速游动机理,以金枪鱼月牙形尾鳍为对象,采用面元法计算分析了其非定常水动力性能。假设尾鳍在横移和摇摆的同时,以某一匀速向前运动,并假设其在弦向和展向以某一给定规律发生变形,以模仿柔性变形。探讨了前进速度、横移和摇摆的幅度、频率及其相位差对柔性尾鳍推进性能的影响,并与做相应运动的刚性尾鳍进行了对比。     

动力定位系统的模糊自适应控制

本文设计了一个用于海洋动力定位系统运动控制的模糊自适应控制器。文中提出了一种优化设计方法,使模糊控制性能接近最优,并保证了自适应控制的稳定性。仿真结果表明：该控制器有效、实用,在各种环境下都能取得满意的控制效果。该方法对于海上平台、动力定位船舶及潜器等控制系统都是适用的。     

各向均匀外压力作用下环肋圆柱壳的稳定特性

各向均匀外压力作用下的环肋圆柱壳，在总稳定方面会出现异常特性，例如，其稳定性不能正常地随其刚度的增加而增大。本文根据环肋圆柱壳在三种外力状态下（仅受轴向均匀外压，仅受横向均匀外压和各向均匀外压），总稳定性随几何参数变化的规律，从理论上详细说明了异常特性的实质是仅受轴向外压的特性，最后用模型实验结果证明理论分析与研究的正确性。