Multi-sensors data acquisition and information fusion for manned submersible vehicle

本文介绍了一种用于载人潜水器的导航传感器的数据采集及信息融合技术。航行控制计算机通过基于工业以太网的数据通信系统对各传感器进行数据采集,采用卡尔曼滤波器完成对各传感器数据信息的融合,以便提高数据的精度和控制系统的性能,并将结果送给监控计算机,用于载人潜水器的姿态显示。

Sedimentary processes and development of the Zenisu deep-sea channel, Philippine Sea

Zenisu deep-sea channel originated from a volcanic arc region, Izu-Ogasawara Island Arc, and vanished in the Shikoku Basin of the Philippine Sea. According to the swath bathymetry, the deep-sea channel can be divided into three,segments. They are Zenisu canyon, E-W fan channel and trough-axis channel. A lot of volcanic detritus were deposited in the Zenisu Trough via the deep-sea channel because it originated from volcanic arc settings. On the basis of the swath bathymetry, submersible and seismic reflection data, the deposits are characterized by turbidite and debrite deposits as those in the other major deep-sea channels. Erosion or few sediments were observed in the Zenisu canyon, whereas a lot of turbidites and debrites occurred in the E-W channel and trough axis channel. Cold seep communities, active fault and fluid flow were discovered along the lower slope of the Zenisu Ridge. Vertical sedimentary sequences in the Zenisu Trough consist of the four post-rift sequence units of the Shikoku Basin, among which Units A and B are two turbidite units. The development of Zenisu canyon is controlled by the N-S shear fault, the E-W fan channel is related to the E-W shear fault, and the trough-axis channel is related to the subsidence of central basin.

载人潜水器信息显示与存储技术

本文介绍了基于工业以太网的载人潜水器的信息显示与存储技术。详细地描述了该系统的软件结构及各相关模块的特点,并对系统中数据信息流的传递显示与存储做了详细的介绍。目前,该系统已在水池中进行了实验,实验效果良好。

一种基于视觉的水下机器人动力定位方法

以7 000 m载人潜水器的工程需求为背景,以水下单目摄像机为视觉传感器,进行了水下机器人动力定位方法研究。该动力定位方法利用视觉系统测量得到水下机器人与被观察目标之间的三维位姿关系,通过路径规划、位置控制和姿态控制分解,逐步使机器人由初始位姿逼近期望位姿并最终定位于期望位姿,从而实现了机器人的4自由度动力定位。通过水池实验验证了提出的动力定位方法,并且机器人能够抵抗恒定水流干扰和人工位置扰动。同时,该动力定位方法还可以实现机器人对被观察目标的自动跟踪。

载人潜器半物理虚拟仿真系统及其性能分析

为了缩短深海载人潜器控制系统的开发周期,测试系统性能,根据载人潜器的自身特点,构建和实现了载人潜器所有传感器、执行器设备模拟,以及潜器在海底实景的运动状态的半物理虚拟仿真系统。首先,以仿真系统的硬件架构和数据流程为基础,重点介绍了潜器设备模拟的软件体系结构;其次,在仿真平台上测试了各种网络数据的传输延迟,分析了其整体性能;最后,得出了潜器控制器设计的时间约束。现阶段整个系统已经开发成功,并投入运行到潜器控制系统的安装调试中。

一类载人潜水器的改进LQG控制研究

针对一类载人潜水器(MSV,MannedSubmersibleVehicle)在动力定位中多自由度之间存在的强耦合、非线性,以及系统参数的时变特性,文章采用带遗忘因子的递推最小二乘法和平方根法对系统参数进行辨识,然后在状态空间进行多输入多输出(MIMO)线性系统的最优控制研究。仿真结果表明,该两种改进LQG控制方法对于外界扰动以及系统的参数时变具有良好的控制效果,控制精度得到提高,为实际载人潜水器控制系统的多自由度动力定位控制提供了坚实的依据。

载人潜器串口设备转接工业以太网的实时性建模与分析

根据具体的需求,为载人潜器设计了一种基于工业以太网的内部数据通讯和控制系统,其数据通讯的实时性是衡量控制系统的一个重要指标,因此,为了分析串行数据通信系统的实时性能,据其选用的传感器和网络架构的特点,建立了串口数据包传送时间延迟的数学模型;并在潜器平台上,以实测数据试验误差验证了该模型的准确性和普遍性,从而为开发人员对各种串口设备的参数设置提供理论指导;最后用该模型分析了载人潜器串行数据传送的实时性。

载人潜水器信息显控系统

本文介绍了基于工业以太网的载人潜水器的信息综合显控系统。详细地描述了该系统的软件结构及各相关模块的特点,并对系统中各部分所实现的功能进行了详细的介绍。目前,该系统已在实验室进行了实验,实验效果良好。

模糊自适应PID控制在载人潜器动力定位中的应用研究

根据我国正在研制开发的某型载人潜器的特性及其对动力定位的要求 ,设计了一个模糊自适应PID控制器 ,通过模糊推理实现在线修改PID参数 ,仿真结果证明了这种方法具有良好的效果和应用性。

Main Progress of Microgravity Sciences and Space Life Sciences Research in China

The progress of the research activities on space material sciences, microgravity ‰uid physics and combustion, space life sciences and biotechnology research, fundamental Physics in China are brie‰y summarized in the present paper. The major space missions and experimental results obtained on board the Chinese recoverable/non-recoverable satellites and the Chinese manned spaceship named ``Shen-Zhou'' are presented summarily. The recent main activities of the ground-based studies in China are introduced in brief.

电潜泵井生产动态分析

提出了原油物性模拟的修正模型，其结果与PVT曲线具有良好的相关性。给出了电潜泵内流体温升及井筒中流体温度梯度的计算方法。通过引入井眼轨迹的描述与计算描述，成功地解决了弯曲井段的多相流计算问题，从而可以计算出任意井眼形状中的参数分布规律。在此基础上，借助于毛细管、动液面或泵特性测试资料，实现了对电潜泵井生产动态的模拟和分析，并在现场应用中收到了良好的效果。

Main Progress of Microgravity Sciences and Space Life Sciences Research in China

Wave loading on floating platforms by internal solitary waves

Morison's equation is used for estimating internal solitary wave-induced forces exerted on SPAR and semi-submersible platforms. And the results we got have also been compared to ocean surface wave loading. It is shown that Morison's equation is an appropriate approach to estimate internal wave loading even for SPAR and semi-submersible platforms, and the internal solitary wave load on floating platforms is comparable to surface wave counterpart. Moreover, the effects of the layers with different thickness on internal solitary wave force are investigated.

Geomorphology, sedimentary processes and development of the Zenisu deep-sea channel, northern Philippine Sea

The Zenisu deep-sea channel originates on the Izu-Ogasawara island arc, and disappears in the Shikoku Basin of the Philippine Sea. The geomorphology, sedimentary processes, and the development of the Zenisu deep-sea channel were investigated on the basis of swath bathymetry, side-scan sonar imagery, submersible observations, and seismic data. The deep-sea channel can be divided into three segments according to the downslope gradient and channel orientation. They are the Zenisu Canyon, the E-W fan channel, and the trough-axis channel. The sediment fill is characterized by turbidite and debrite deposition and blocky-hummocky avalanche deposits on the flanks of the Zenisu Ridge. In the Zenisu Canyon and the Zenisu deep-sea channel, sediment transport by turbidity currents generates sediment waves (dunes) observed during the Shinkai 6500 dive 371. The development of the Zenisu Canyon is controlled by a N-S shear fault, whereas the trough-axis channel is controlled by basin subsidence associated with the Zenisu Ridge. The E-W fan channel was probably affected by the E-W fault and the basement morphology.

A comprehensive investigation of an offshore active fault in the Western Sagami Bay, central Japan

Offshore active faults, especially those in the deep sea, are very difficult to study because of the water and sedimentary cover. To characterize the nature and geometry of offshore active faults, a combination of methods must be employed. Generally, seismic profiling is used to map these faults, but often only fault-related folds rather than fracture planes are imaged. Multi-beam swath bathymetry provides information on the structure and growth history of a fault because movements of an active fault are reflected in the bottom morphology. Submersible and deep-tow surveys allow direct observations of deformations on the seafloor (including fracture zones and microstructures). In the deep sea, linearly aligned cold seep communities provide indirect evidence for active faults and the spatial migration of their activities. The Western Sagami Bay fault (WSBF) in the western Sagami Bay off central Japan is an active fault that has been studied in detail using the above methods. The bottom morphology, fractured breccias directly observed and photographed, seismic profiles, as well as distribution and migration of cold seep communities provide evidence for the nature and geometry of the fault. Focal mechanism solutions of selected earthquakes in the western Sagami Bay during the period from 1900 to 1995 show that the maximum compression trends NW-SE and the minimum stress axis strikes NE-SW, a stress pattern indicating a left-lateral strike-slip fault.