Underwater autonomous manipulation for intervention missions AUVs

Many underwater intervention tasks are today performed using manned submersibles or remotely operated vehicles in teleoperation mode. Autonomous underwater vehicles are mostly employed in survey applications. In fact, the low bandwidth and significant time delay inherent in acoustic subsea communications represent a considerable obstacle to remotely operate a manipulation system, making it impossible for remote controllers to react to problems in a timely manner.Nevertheless, vehicles with no physical link and with no human occupants permit intervention in dangerous areas, such as in deep ocean, under ice, in missions to retrieve hazardous objects, or in classified areas. The key element in underwater intervention performed with autonomous vehicles is autonomous manipulation. This is a challenging technology milestone, which refers to the capability of a robot system that performs intervention tasks requiring physical contacts with unstructured environments without continuous human supervision.Today, only few AUVs are equipped with manipulators. SAUVIM (Semi Autonomous Underwater Vehicle for Intervention Mission, University of Hawaii) is one of the first underwater vehicle capable of autonomous manipulation.This paper presents the solutions chosen within the development of the system in order to address the problems intrinsic to autonomous underwater manipulation. In the proposed approach, the most noticeable aspect is the increase in the level of information transferred between the system and the human supervisor.We describe one of the first trials of autonomous intervention performed by SAUVIM in the oceanic environment. To the best knowledge of the authors, no sea trials in underwater autonomous manipulation have been presented in the literature. The presented operation is an underwater recovery mission, which consists in a sequence of autonomous tasks finalized to search for the target and to securely hook a cable to it in order to bring the target to the surface.     

Planar trajectory planning and tracking control design for underactuated AUVs

This paper addresses the combined problem of trajectory planning and tracking control for underactuated autonomous underwater vehicles (AUVs) on the horizontal plane. Given a smooth, inertial, 2D reference trajectory, the planning algorithm uses vehicle dynamics to compute the reference orientation and body-fixed velocities. Using these, the error dynamics are obtained. These are stabilized using backstepping techniques, forcing the tracking error to an arbitrarily small neighborhood of zero. Simulation results for a constant velocity trajectory, i.e. a circle, and a time-varying velocity one, i.e. a sinusoidal path, are presented. The parametric robustness is considered and it is shown that tracking remains satisfactory.     

一种多前缘多阈值的波形重构算法

为了改善近海测高精度,本文对近海测高波形的特征进行了研究,并在现有算法的基础上提出基于波前缘识别算法的多前缘多阈值波形重构方法.然后将该方法用于中国近海的卫星测高波形数据的处理,得到精度与分辨率更好的海面高数据.作为验证,将此海面高数据换算为重力异常并与船测重力进行比较,结果显示该方法可以明显提高卫星测高精度.     

线性体图像自动矢量化算法研究

依据线性体图像的特点,提出了一种最大长度原则下基于端点提取的自动跟踪矢量化算法。该算法通过对节点及其信息进行提取快速抓住线性体的总体拓扑结构,并以节点信息为指导对线性体进行矢量跟踪和直线提取解决了复杂的线性体交叉问题。算法具有精度高、抗噪性好和适应性强的特点。     

GPS信号跟踪的多径影响分析与仿真

多径信号是GPS定位的主要误差源之一。码和载波跟踪环是GPS接收机的重要组成部分，它们直接决定了接收机的性能，因此当前多径消除技术研究的核心即是从跟踪环内部着手研究。本文仔细分析了GPS接收机信号跟踪环以及多径信号对跟踪精度的影响，对伪距码与载波相位多径误差进行了比较，并且通过仿真结果和图表阐明了码和载波相位多径误差之间的协同关系。     

Strategy and Scenario for Radioastron Space VLBI Observations

Space VLBI's highly dynamic geometry, ability to access the space radio telescope (SRT) only via distant communication links, very expensive mission cost, and scientific goals define the basic strategy and scenario for mission control and radio source observations. These are very different from those for ground-based VLBI. Space VLBI strategy must be based on the limitation of SRT repointings, periodic orbit determination before astronomical observations, preliminary preparation and checking of space and ground facilities, and recommended observing sequences and modes. A control and observation scenario is considered for an in-orbit-checkout period, and also for short (1-orbit – 1 week) and long (1 week and more) observation sessions. Examples and illustrations are given for the Radioastron space VLBI Project.     

Analysis of mesoscale convective systems in Catalonia using meteorological radar for the period 1996–2000

The aim of this paper is to show a climatology of Mesoscale Convective Systems (MCS) in the NE of the Iberian Peninsula, on the basis of meteorological radar observations. Special attention was paid to those cases that have produced heavy rainfalls during the period 1996–2000. Identification of the MCS was undertaken using two procedures. Firstly, the precipitation structures at the lowest level were recognised by means of a 2D algorithm that distinguishes between convective and non-convective contribution. Secondly, the convective cells were identified using a 3D procedure quite similar to the SCIT (Storm Cell Identification and Tracking) algorithm that looks for the reflectivity cores in each radar volume. Finally, the convective cells (3D) were associated with the 2D structures (convective rainfall areas), in order to characterize the complete MCS. Once this methodology was presented the paper offers a proposal for classifying the precipitation systems, and particularly the MCS. 57 MCS structures were classified: 49% of them were identified as linearly well-organised systems, called TS (39%), LS (18%) and NS (43%). In addition to the classification, the following items were analysed for each MCS found: duration, season, time of day, area affected and direction of movement, and main radar parameters related with convection. The average features of those MCS show an area of about 25000 km², Z_max values of 47 dBz, an echotop of 12 km, the maximum frequency at 12 UTC and early afternoon and a displacement towards E-NE. The study was completed by analysing the field at surface, the presence of a mesoscale low near the system and the quasi-stationary features of three cases related with heavy rainfalls. Maximum rainfall (more then 200 mm in 6 h) was related with the presence of a cyclone in combination with the production of a convective train effect.     

基于713雷达回波实施人影作业指挥的技术方法

文章介绍了利用VC编程软件实现对713天气雷达dBZ文件自动读取、平显高显自动关联、自动分块、自动跟踪、自动预警以及自动判断是否可以实施人影作业的技术方法。     

地平式望远镜轴系误差对指向精度和跟踪精度的影响

采用球面几何的方法推导轴系位置误差对地平式望远镜指向、跟踪精度影响的计算模型.介绍2米级地平式望远镜轴系误差检测及数据处理方法.通过对目标星体指向、跟踪仿真,得到轴系位置误差对指向、跟踪精度影响规律,为轴系精度及轴系位置要求提供理论依据,并为后续控制修正提供参考模型.     

共和地震前兆起伏加剧的层次性与大震的跟踪预报

基于大震前前兆起伏加剧具有普适性的特征，本文研究了１９９０年共和Ｍｓ７．０地震前地震频次、小震调制比、地下水中氧含量及泉水流量等异常起伏加剧的多层次性。结果表明，各台大多数前兆异常可分出３个层次。综合分析各台前兆异常的起伏加剧现象，可以发现，该次地震前异常群体的演变过程可分为４个层次，本文结合孕震过程对４个层次进行了分析。根据大震前兆起伏加剧的多层次性可以对大震进行跟踪预报。