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《中国海洋大学学报(英文版)》2015,(4)
A dynamically positioned vessel, by the International Maritime Organization(IMO) and the certifying class societies(DNV, ABS, LR, etc.), is defined as a vessel that maintains its position and heading(fixed location or pre-determined track) exclusively by means of active thrusters. The development of control technology promotes the upgrading of dynamic positioning(DP) systems. Today there are two different DP systems solutions available on the market: DP system based on PID regulator and that based on model-based control. Both systems have limited disturbance rejection capability due to their design principle. In this paper, a new DP system solution is proposed based on Active Disturbance Rejection Control(ADRC) technology. This technology is composed of Tracking-Differentiator(TD), Extended State Observer(ESO) and Nonlinear Feedback Combination. On one hand, both TD and ESO can act as filters and can be used in place of conventional filters; on the other hand, the total disturbance of the system can be estimated and compensated by ESO, which therefore enhances the system's disturbance rejection capability. This technology's advantages over other methods lie in two aspects: 1) This method itself can not only achieve control objectives but also filter noisy measurements without other specialized filters; 2) This method offers a new useful approach to suppress the ocean disturbance. The simulation results demonstrate the effectiveness of the proposed method. 相似文献
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《中国海洋大学学报(英文版)》2020,(5)
As an important tool for marine exploration, the autonomous underwater vehicle(AUV) must home in and dock at a docking station(DS) to be recharged, repaired, or to exchange information at set intervals. However, the complex and hostile underwater environment makes this process challenging. This study proposes a real-time method based on polarized optical guidance for determining the position and attitude of the AUV relative to its DS. Four polarized artificial underwater landmarks are positioned at the DS, which are recognized by the AUV vision system. Compared with light intensity, the polarization of a light beam is known to be better maintained at greater propagation distances, especially in underwater environments. The proposed method, which is inspired by the ability of marine animals to communicate, calculates the pose parameters in less than 10 ms without any other navigational information. The simulation results reveal that the angle errors are small and the position errors are no more than 0.116 m within 100 m in the coastal ocean. The results of underwater experiments further demonstrate the feasibility of the proposed method, which extends the operating distance of the AUV beyond what is currently possible while maintaining the precision of traditional optical guidance. 相似文献
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应用神经网络建立水下拖曳体轨迹姿态水动力控制模型 总被引:2,自引:0,他引:2
以拖曳体的拖曳水池样机试验取得试验数据作为训练样本,采用LMBP算法,建立基于神经网络理论构建的可控制水下拖曳体轨迹与姿态水动力控制数值模型,并进行LMBP模型仿真检验。结果表明,利用所建全的神经网络模型对拖曳体在一定控制动作下的水动力响应预报是令人满意的。 相似文献
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针对水下潜器搭载的惯性导航系统圆锥运动这一复杂特性,研究经典多子样算法、优化多子样算法、扩展圆锥误差补偿算法和基于四元数微分方程迭代算法的姿态求解精度与适用性情况,并以圆锥运动作为测试输入进行仿真实验.结果表明,采用子样数大于3的迭代算法进行水下重力辅助惯性导航姿态解算,能够满足角度漂移小于1″/h的精度要求. 相似文献
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环境问题日益严重,污染土壤修复的要求便越来越迫切,应用表面活性剂治理污染土壤也得以广泛研究.对于以淋洗为主的表面活性剂治理土壤污染法,表面活性剂的吸脱附行为、增溶能力和毒性是淋洗工艺取得优良效果的关键.文中重点阐述了离子型、非离子型、复配表面活性剂体系和生物表面活性剂在土壤重金属污染、有机污染和土壤-重金属复合污染治理... 相似文献
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郑晓月 《成都信息工程学院学报》2010,25(1):26-29
论述了使用模拟退火元启发式搜索策略构造模糊分类系统的过程,目的是利用模拟退火原理研制一种精确的模糊分类器,改善与分类问题有关的搜索空间探索与发掘的性能,找到模糊if-then规则的优化集。算法可以从输入数据集中抽取精确的模糊分类规则,并在若干不同预定义类中将其应用于对新数据实例的分类。 相似文献
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为认识构造对五宫煤矿瓦斯赋存的控制,分析了瓦斯地质演化特征,探讨了构造样式及组合对瓦斯赋存的控制。研究表明,煤系沉积后发生两次生气作用,生成了较多瓦斯。断层以逆断层为主,封闭性较好;煤层受断层影响而发生结构变形,可吸附更多瓦斯。断层使矿井处于相对封闭的水文地质单元中,阻碍了瓦斯的逸散。褶皱受断层切割多呈单斜构造,瓦斯顺层向上逸散受断层封堵。研究区构造封盖层组合类型为褶皱逆断层类型,盖层透气性较差,有利于瓦斯的保存。 相似文献
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CHEN Jianwei CHEN Zhi LIU Shanshan GUO Wenjie LI Di MINAMOTO Toshifumi GAO Tianxiang 《中国海洋大学学报(英文版)》2021,20(1)
Environmental DNA(eDNA)metabarcoding has emerged as a potentially powerful tool to monitor invasive fish species.As an alternative(or complementary)tool for biodiversity monitoring,e DNA metabarcoding had been used to detect species in aquariums,which represents an important transit avenue for introducing non-indigenous species with high population densities.In this study,eDNA metabarcoding as well as morphological characterization were used to reveal the diversity of non-indigenous species in a large aquarium at Qingdao Underwater World.Environmental DNA metabarcoding of 14 water samples at five locations from the Big Water Tank detected 24 non-indigenous species and four putative non-indigenous operational taxonomic units(OTUs).In contrast,only 20 non-indigenous species were observed by morphological characterization.Some species undetected by morphological characterization,such as Oreochromis niloticus(Linnaeus,1758),are highly adaptable to various environments and/or have invaded preferred regions where they threaten native aquatic species.eDNA metabarcoding also detected seven local fishes that were not identified by morphological characterization.However,analysis of OTU diversity among stations and sample replications revealed that eDNA varied within and/or between stations.Increasing sampling effort as well as negative controls are required to increase the detection rate of species and to eliminate false-positive OTUs. 相似文献
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水下地形测量质量检查主要通过布设一定数量的检查线,通过比对检查线和主测线相交处一定范围的测点水深差值来衡量,还需检查主测线长度、检查线长度、各深度区间中误差、不符值比例等参数信息。主测线数据和检查线数据量一般都比较大,单纯依靠人工对比计算难以高效、准确实现。目前Python语言以其简洁易用、可扩展行强的优点逐渐成为主流编程语言。PyQt5是Python中一个广泛使用的GUI工具包,可方便构建图形用户程序。本文针对水下地形测量质量检查检测数据量大、检查参数多的特点,利用Python语言,基于PyQt5设计开发了一套水深比对检测系统,在山东省水库水下地形测量质量检查中得到了实际应用,取得了较好的效果。 相似文献
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随着水库在经济社会发展中所起的作用日趋明显,对水库的开发、治理更加重视,获取高精度的水库水下地形数据变得更加急迫.随着测深技术、差分GNSS技术以及姿态传感器的不断发展,基于GNSS的测深系统为水下地形测量提供了全新的解决方案.通过合理规划测线,经过声速改正、吃水改正,利用船载GNSS导航定位和测深仪采集测深数据,经转... 相似文献
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虚拟GIS数据模型的设计及其主动式面向对象数据库系统的实现 总被引:2,自引:2,他引:0
本文首先在分析地学虚拟环境和虚拟地理信息系统的同时 ,指出当前虚拟地理信息系统在数据模型上的不足 ;然后具体介绍了我们设计的虚拟地理信息系统数据模型 ,在该数据模型中通过引入结构对象 ,支持地理数据在空间数据库中的管理和在地学虚拟环境中表达 ;同时介绍了该数据模型基于主动式面向对象数据库的实现 ,并在其支持下的地理对象中引入了对象事件属性 ;最后文中给出系统应用示例图。 相似文献
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基于组件技术的GIS广义空间分析 总被引:11,自引:1,他引:10
地理信息系统只有充分结合空间分析才能满足各种决策支持需求。本文回顾了以往GIS与空间分析结合方式和特点,以及存在的制约因素,讨论了组件技术对GIS与空间分析结合的影响,认为采用组件技术将使得两者之间更易于结合,两个领域的研究者可以更为有效地进行分工合作,相互享有和利用对方的成果,从而在充分积累的基础上,最终将空间分析从GIS的应用层转变为其内核功能,实现两者之间的完全整合。 相似文献
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根据改进的离散趋近律设计了位置随动系统的滑模变结构控制算法,仿真结果表明:该算法不仅实现了系统对位置信号的跟踪,还克服了常规离散趋近律参数选择不当出现的抖振现象,是一种具有应用价值的非线性控制方法。 相似文献
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安全问题是会计信息系统的重要问题。探讨了基于网络的会计信息系统在操作系统控制、数据库管理、应用程序等方面的安全控制,并介绍了SQL Server的权限系统。 相似文献
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本文主要对移动数字城市应用平台服务端系统数据整合模块进行分析研究,通过对数据整合模块的总体结构进行设计与建构,分析模块核心功能的技术流程,并对数据整合功能的关键步骤进行系统阐述,总结出应用平台数据整合模块的实现途径。 相似文献
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VR-GIS技术在城市“数字防洪”中的应用 总被引:7,自引:1,他引:6
虚拟现实地理信息系统(VR-GIS)是一门综合虚拟现实和地理信息系统特征的新型技术,以此为基础构建的城市数字防洪系统在防洪决策中发挥了积极的辅助作用。本文以哈尔滨城区段三维数字防洪系统的开发为背景,探讨了VR-GIS应用于城市数字防洪的关键技术及其实现方法,包括防洪三维虚拟场景的构建技术,仿真数据库的建立与联合查询,洪水动态模拟等方面的相关技术和实现方法,为数字防洪系统提供了基础研究平台。 相似文献