Theory of underwater LIDAR with a complex modulated illumination beam

The main effects accompanying the propagation of an initially narrow complex modulated light beam in sea water are studied. Sea water, with respect to modulation waves, is shown to be similar to a medium with frequency dispersion with respect to electromagnetic waves; in the medium, the effects of the time focusing of a wave packet are possible. Based on the self-similar small-angle solution to the equation of radiation transfer, we estimate spatial-temporal characteristics of pulse-signal amplitude modulated by a complex signal. We propose a scheme for constructing underwater LIDAR using a complex modulated illumination beam and the processing of a received echo signal. The processing allows the separation of the modulated component and its matched filtration. Values of possible delays and broadening of the separated echo signal caused by dispersion properties of sea water are estimated.     

Model of an underwater imaging system with a complexly modulated illumination beam

The optical transfer functions of underwater imaging systems that use narrow beams modulated by a complex high-frequency signal to form an image are studied. Images of simple objects observed with the use of such systems are calculated. The image distortions caused by the interference of modulation waves are estimated, and a method for eliminating these distortions is proposed. The potential for improving the image quality through the application of complexly modulated illumination beams is demonstrated using explicit calculations.     

PC-104 模块在水下原位化学分析仪器中的应用

使用PC-104 嵌入式平台作为控制模块开发了流动注射分析仪的控制和采集系统, 实现了载流驱动、进样控制及CCD(charge coupled device)光谱数据采集等复杂功能。结果表明: PC-104 模块在复杂控制和海量数据采集方面具有很好的实用性, 能大大缩短开发周期, 为结构复杂的水下原位化学分析仪的开发提供良好的控制采集平台。     

PC-104模块在水下原位化学分析仪器中的应用

使用PC-104嵌入式平台作为控制模块开发了流动注射分析仪的控制和采集系统,实现了载流驱动、进样控制及CCD（charge coupled device）光谱数据采集等复杂功能。结果表明：PC-104模块在复杂控制和海量数据采集方面具有很好的实用性,能大大缩短开发周期,为结构复杂的水下原位化学分析仪的开发提供良好的控制...     

水声传播中线性调频脉冲信号的检测方法研究

本文分析了线性调频脉冲信号的特点并用脉冲压缩方法来检测线性调频信号波形，特别是用脉冲压缩方法来检测会聚区信号，更能体现脉冲压缩具有降低噪声均值，获得较高信噪比增益，提高距离分辨率的优点．     

海带育苗过程光照强度监测系统的设计与实现

海带(Laminaria japonica)是一种重要的食用藻类,在其生产过程中,育苗是最基础的环节。在海带育苗过程中光照强度因其变化性强、对幼苗影响显著等特点,被看作是一个重要监测指标。针对目前海带育苗光照强度监测方式落后、准确度和效率低的问题,本文基于相关研究成果,设计了一套由Wi-Fi通信和无线局域网加互联网通信方式组成的海带育苗光照强度监测系统。系统以移动客户端应用为主要业务控制中心,依据光照强度传感器、气象工作站等设备获取海带育苗车间内的光照情况以及外部环境参数,通过无线网关节点实现育苗环境信息和远程服务器的信息交换。通过开发系统应用层,实现移动设备客户端远程监控海带育苗光照参数的变化。实际的模拟生产测试表明,该系统性能稳定,实时监测、警报功能达到使用要求,提升了海带育苗生产的信息化水平,可对推动海带等藻类的精准养殖提供一定的参考。     

The range-averaged intensity model: a tool for underwater acousticfield analysis

The range-averaged intensity model (RAIM) long known as a powerful method for transmission loss estimation in waveguides, is extended to other aspects of the acoustic field: impulse response and angular pattern estimations at a receiver, general time spreading in a waveguide, signal fluctuations, reverberation levels, and ambient noise structure. An example of its application to a SOFAR propagation and detection case is presented. This method appears to be a very efficient and reliable analysis tool for many underwater acoustics configurations: particularly long-range horizontal telemetry and shallow-water sonar     

波浪滑翔机水下牵引机结构设计与分析

为满足对远洋环境进行长时间、大范围监测的实际需求,设计提出一种波浪动力滑翔机,该设备是一种无需携带能源即可实现自主航行的新型海洋监测平台,其主体结构由水面母船、水下牵引机和柔性缆绳三大部分组成。平台通过即时获取海洋中的波浪能、太阳能、风能作为行走的动力源,克服了传统海洋监测设备在能源供应上存在的短板。为进一步提升水下牵引机对波浪能的利用率,采用Ansys软件中的Fluent模块对水下牵引机进行水动力仿真研究,分析了侧翼板形状、侧翼板工作最大摆动角度以及侧翼板安装分布间距对滑翔机总体行走效率的影响。结果表明:NACA翼型侧翼板具有更好的水动力性能;随着最大摆动角度的增加,水下牵引机的推进效率先增大后减小,最大摆角在20°左右时,推进效果最佳;随着侧翼板分布间距的增大,水下牵引机的推进效率逐渐减小,分布间距在80 mm左右时,推进效果最佳。     

Design of wake-adapted contra-rotating propellers for high-speed underwater vehicles

Based on the lifting-surface vortex lattice model, a numerical design method of wake-adapted contra-rotating propellers (CRPs) for high-speed underwater vehicles is proposed. According to the given radial circulation distribution, the method can use prescribed camber line shapes to design maximum cambers and pitches of blade sections by controlling circulation at the leading edge, which makes the chordwise distribution of blade loading similar to that of NACA a = 0.8. It also can be performed under prescribed chordwise circulation distributions, where camber line shape and blade section pitch are designed. The Newton–Raphson iterative algorithm is utilised in the design of the pitch and camber. The radial circulation distribution of a set of CRPs for an underwater vehicle is used to redesign CRPs by the proposed method, and the design results are then validated via numerical simulations by solving the Reynolds-averaged Navier-Stokes equations. The results indicate that the proposed method is suitable for the design of CRPs with tapered hubs and skewed blades, and it also exhibits good mesh convergence. The CRPs designed with the given camber line shape and the given chordwise loading distribution both have relatively uniform pressure distributions, with the latter being superior.     

Design and implementation of time efficient trajectories for autonomous underwater vehicles

This paper discusses control strategies adapted for practical implementation and efficient motion of autonomous underwater vehicles (AUVs). For AUVs we would like efficiency in both the measured time and the energy consumption, the mission dictating the weight to put on each of these cost. As a first approach to this problem, we focus in this paper on time minimization. Based on the structure of the time optimal trajectories and of the pure motions, we develop an algorithm to design time efficient trajectories corresponding to piecewise constant thrust arcs with few actuator switchings. We do that by solving a new optimization problem where the unknowns are the time period between two actuator switchings as well as the values of the constant thrust arcs. We apply a direct method to compute the solutions numerically. With our algorithm, we gain considerable computational time. Moreover, with as few as three actuator switchings, the duration of our trajectories is within 10% of the optimal trajectories. Since our control strategies have a simple structure they can be implemented on a test-bed vehicle. For the experiments displayed in this paper we use a spherical underwater vehicle which exhibits with almost no preference of direction or orientation for movement; this gives us a very controllable and versatile vehicle.     

水下机器人耐压舱优化设计与结构分析

水下机器人的耐压舱设计要求在满足总体指标的前提下,最大限度地提高设计强度与稳定性,同时尽可能降低质量。本文使用ANSYS Workbench中的Design Explorer模块,对耐压舱进行快速优化设计,一次获得多个优化候选结果,经过对比分析得到最优设计方案。然后,针对装配形式进行接触分析,确保大压力条件下结构不会在接触面发生失效破坏。最后,对舱体结构进行稳定性分析,确保结构能够在大深度环境中不发生失稳破坏。本研究为水下机器人耐压舱体快速优化设计、强度和稳定性校核提供了参考。     

Design of a sliding mode fuzzy controller for the guidance and control of an autonomous underwater vehicle

This work demonstrates the feasibility of applying a sliding mode fuzzy controller to motion control and line of sight guidance of an autonomous underwater vehicle. The design method of the sliding mode fuzzy controller offers a systematical means of constructing a set of shrinking-span and dilating-span membership functions for the controller. Stability and robustness of the control system are guaranteed by properly selecting the shrinking and dilating factors of the fuzzy membership functions. Control parameters selected for a testbed vehicle, AUV-HM1, are evaluated through tank and field experiments. Experimental results indicate the effectiveness of the proposed controller in dealing with model uncertainties, non-linearities of the vehicle dynamics, and environmental disturbances caused by ocean currents and waves.     

水下弹性缆索动力学分析

以水下弹性缆索为研究对象,分析了处理缆索弹性的段前弹簧模型,发展了缆索的多体有限段模型,提出弹性缆段模型,将多体运动力学和弹性力学结合起来,用于求解弹性缆索的动力学响应。对于水下缆索所受的流场力,推导了流场分布力的质心等效力系,并通过揭示水下缆索的附加质量与缆索自身惯性的本质联系,得到了包含附加质量力影响的水下弹性缆索的动力学方程。对工程实例进行了仿真研究,结果与实际情况吻合良好。     

Application of the ALE technique for underwater explosion analysis of a submarine liquefied oxygen tank

The design of submarines has continually evolved to improve survivability. Explosions may induce local damage as well as global collapse to a submarine. Therefore, it is important to realistically estimate the possible damage conditions due to underwater explosions in the design stage. The present study applied the Arbitrary Lagrangian–Eulerian (ALE) technique, a fluid–structure interaction approach, to simulate an underwater explosion and investigate the survival capability of a damaged submarine liquefied oxygen tank. The Lagrangian–Eulerian coupling algorithm, the equations of state for explosives and seawater, and the simple calculation method for explosive loading were also reviewed. It is shown that underwater explosion analysis using the ALE technique can accurately evaluate structural damage after attack. This procedure could be applied quantitatively to real structural design.     

自主水下机器人水下接驳插拔传输与无线感应传输研究现状及对比分析

水下对接传输技术作为自主水下机器人（autonomous underwater vehicle,简称AUV）水下能源补给及数据传输的重要方式,受到国内外的重点关注,目前采用的水下对接传输方式主要分为接驳插拔传输及无线感应传输。在探究国内外AUV水下对接研究概况的基础上,归纳、总结以上两种传输方式的研究现状,分析对比其在对接传输效率、发展限制因素、对接控制技术等方面的区别。通过分析发现,接驳插拔传输在传输效率及功率方面具备优势,无线感应传输则具有更高的简易性、经济性。此发现为不同作业需求下传输方式的选择提供了基础。通过技术发展限制因素对比得出,在未来技术发展方向上,接驳插拔传输技术需提升系统稳定性、灵活性及费效比,无线感应传输需解决能量损耗、系统鲁棒性及涡旋损耗等问题。对两种传输技术未来发展前景及方向的预测,能够为AUV水下传输的发展提供重要参考。     

Recovery of underwater visibility and structure by polarization analysis

Underwater imaging is important for scientific research and technology as well as for popular activities, yet it is plagued by poor visibility conditions. In this paper, we present a computer vision approach that removes degradation effects in underwater vision. We analyze the physical effects of visibility degradation. It is shown that the main degradation effects can be associated with partial polarization of light. Then, an algorithm is presented, which inverts the image formation process for recovering good visibility in images of scenes. The algorithm is based on a couple of images taken through a polarizer at different orientations. As a by-product, a distance map of the scene is also derived. In addition, this paper analyzes the noise sensitivity of the recovery. We successfully demonstrated our approach in experiments conducted in the sea. Great improvements of scene contrast and color correction were obtained, nearly doubling the underwater visibility range.     

Radiative transfer modeling and analysis of spatially variant and coherent illumination for undersea object detection

Increasing the optical range of target detection and recognition continues to be an area of great interest in the ocean environment. Light attenuation limits radiative and information transfer for image formation in water. In this paper, the authors briefly review current methods of imaging and then describe a variation of the spatial interferometric technique that relies upon projected spatial gratings with subsequent detection against a coherent return signal for the purpose of noise reduction and image enhancement. A model is developed that simulates the projected structured illumination through turbid water to a target and its return to a detector. The model shows an unstructured backscatter superimposed upon a structured return signal. The model has been extended to predict what a camera would actually see, so that various noise-reduction schemes can be modeled. Finally, some water-tank tests are presented, validating original hypothesis and model predictions. The method is advantageous in not requiring temporal synchronization between reference and signal beams and may use a continuous illumination source. Spatial coherency of the beam allows for the detection of the direct return, while scattered light appears as a noncoherent noise term.     

Power cycle analysis of two-phase underwater ramjet

To predict the cycle and propulsive performance, and further instruct the integral engine design, an ideal power cycle model for a two-phase underwater ramjet is established. Four performance parameters are defined to evaluate overall performance of the two-phase underwater ramjet systems: transmission efficiency, propulsive efficiency, overall efficiency and specific impulse. Then, a scaled-down experimental ramjet engine was tested in a direct-connect ground testing system to validate the present model, and the predictions with present model compare favorably with experimental results. Subsequently, the influences of cruise velocity, air/water mass ratio and cruising depth on the theoretical performance of the two-phase underwater ramjet are discussed. The results indicate that one of the most outstanding advantages of two-phase underwater ramjet is its high propulsive efficiency with the order of 50–95%. As a result, the overall efficiency magnitude are as high as 30% at cruise speed of 100 m/s. Furthermore, regarding rules of specific impulse vs cruise velocity under a certain air/water mass ratio, the occurrence of peak specific impulse of order 400 s is observed.     

Quantitative photogrammetric analysis of digital underwater videoimagery

This paper presents a photogrammetric model for digital underwater video imagery, which has been mostly applied to qualitative analysis in the marine environment. With this model, quantitative analysis of underwater images is possible, e.g., to locate positions, calculate sizes, and measure shapes of objects from image features. The underwater photogrammetric model is based on a three-dimensional optical ray tracing technique which rigorously models imaging systems with multilens configurations and multiple refractions. The calibration procedure with two independent phases has been proven to be efficient in simplifying the computation and improving the calibration accuracy. With the current imaging system configuration and photogrammetric model, an accuracy of 0.8 cm in lateral directions and 1.2 cm along the depth direction for objects located about 2-3 m from the camera system in the object space is attainable. A PC-based digital underwater photogrammetric prototype system has been developed to implement the underwater photogrammetric model