基于LBL声信标的AUV快速精确定位

长基线声学定位系统是水下机器人广泛应用的外部导航设备。以对"CR-02"6000m自治水下机器人(简称AUV)技术的深入开发为背景,提出在原有长基线(LBL)定位系统的基础上增加导航功能的方案。由于海水介质非均匀性与复杂的时空变化特性,给基于测距的位置计算带来很大困难。采用平均声速法计算耗时小而误差大,波阵面定位法误差小而耗时大。为解决这个矛盾,根据AUV深度传感器给出的深度信息,采用本征声线快速计算方法解算AUV的水平面位置。与波阵面法、平均声速法进行了综合比较。仿真实验表明该方法具有优良的性能,满足AUV导航需要。

深水机器人低成本导航系统的位置估计方法研究

依据6000米自治水下机器人及其长基线声学定位系统现有的导航设备,将测距声信标和机器人载体携带的低成本导航传感器:涡轮式计程仪,压力传感器以及TCM2电子罗盘测量的导航数据相融合,分别提出两种基于EKF的导航数据融合算法,对机器人的位置以及水流参数进行估计,解决复杂环境下的深水机器人位置估计问题.蒙特卡洛仿真实验和湖上试验数据后处理表明,设计的位置估计算法收敛快,精度高,计算时间小,能够满足深水机器人的导航需要.

基于超短基线的缆控水下机器人动力定位

动力定位 (DynamicPositioning(DP) )技术是水下机器人的关键技术之一。因此针对当前动力定位主要在缆控水下机器人 (ROV)中应用的情况 ,给出了ROV动力定位技术的实施方法。通过声学定位技术确定ROV的坐标 ,计算出与期望位姿的差 ,将其作为神经网络控制器的输入量来控制ROV ,从而进行动力定位。同时还重点研究了ROV动力定位中的主要研究内容即水声定位技术和定位控制技术的构建。

Determination of dissociation constants of Strychnos alkaloids from Strychnos nux-vomica L. by capillary electrophoresis

An accurate capillary electrophoresis method was developed for the determination of dissociation constants of five Strychnos alkaloids from Strychnos nux-vomica L. The method relies on measuring the effective mobility of the solute as a function of the buffer pH. The mathematical relationship was strictly derived from the fundamental electrophoresis theory and the dissociation equilibrium of a weak base without any simplifications. Careful optimization of the running buffer permitted base-line resolution of the five structurally similar alkaloids.

Production of a base population and its responses to F-1 selection in the bay scallop, Argopecten irradians irradians Lamarck (1819)

A base population of the bay scallop, Argopecten irradians irradians Lamarck, was produced by crossing two cultured bay scallop populations. After 1 year of rearing, the top 10% truncation selection of the top 10% (i=1.755) was carried out in the base population of about 1300 adults. A control parental group with a an identical number to the select parental group was randomly selected from the entire population before isolation of the select parental group. The result showed that, at the larval stage, the growth rate of larvae in the selected line was significantly higher than that of the control (P < 0.05), and that the genetic gain was 6.78%. Owing to the lower density of control at the spat stage, the mean shell length of the control line was larger than that of the select line at day 100. When the same density was adjusted between two lines in the grow-out stage (from day 100 to 160), the daily growth rate of the selected line was significantly higher than that of the control line (P < 0.05). Survival of the select line was significantly larger than that of the control line in the grow-out stage. In conclusion, the results obtained from this experiment indicate that selective breeding from a base population with a high genetic diversity established by mass spawning between different populations appears to be a promising method of genetic improvement in bay scallop, A. irradians irradians Lamarck.

On-line observation of interlaminar damage by ultrasonic inspection

This paper explores an on-line experimental method to highlight the process of internal damage development in composites by taking advantage of ultrasonic inspection. A loading device, which can work together with an ultrasonic inspection system, was designed, and the interlaminar shear damage of a double-sided grooved specimen of composite was examined on-line with the system. A full view of the progressive internal interlaminar damage, seen only with difficulty by common inspection methods, was successfully achieved.

Asymptotic analysis based on K-S constitutive law for a rubber wedge compressed by a line load at its tip

In the present paper, a rubber wedge compressed by a line load at its tip is asymptotically analyzed using a special constitutive law proposed by Knowles and Sternberg (K-S elastic law) [J. Elasticity 3 (1973) 67]. The method of dividing sectors proposed by Gao [Theoret. Appl. Fract, Mech. 14 (1990) 219] is used. Domain near the wedge tip can be divided into one expanding sector and two narrowing sectors. Asymptotic equations of the strain-stress field near the wedge tip are derived and solved numerically. The deformation pattern near a wedge tip is completely revealed. A special case. i.e. a half space compressed by a line load is solved while the wedge angle is pi.

In Situ Synthesis Of Nanocrystalline Intermetallic Layer During Surface Plastic Deformation Of Zirconium

By means of a surface plastic deformation method a nanocrystalline (NC) intermetallic compound was in situ synthesized on the surface layer of bulk zirconium (Zr). Hardened steel shots (composition: 1.0C, 1.5Cr, base Fe in wt.%) were used to conduct repetitive and multidirectional peening on the surface layer of Zr. The microstructure evolution of the surface layer was investigated by X-ray diffraction and scanning and transmission electron microscopy observations. The NC intermetallic layer of about 25 gm thick was observed and confirmed by concentration profiles of Zr, Fe and Cr, and was found to consist of the Fe100-xCrx compound with an average grain size of 22 nm. The NC surface layer exhibited an extremely high average hardness of 10.2 GPa. The Zr base immediately next to the compound/Zr interface has a grain size of similar to 250 nm, and a hardness of similar to 3.4 GPa. The Fe100-xCrx layer was found to securely adhere to the Zr base. (c) 2007 Elsevier B.V All rights reserved.

An In-Situ Observation On Initial Aggregation Process Of Colloidal Particles Near Three-Phase Contact Line Of Air, Water And Vertical Substrate

The self-assembling process near the three-phase contact line of air, water and vertical substrate is widely used to produce various kinds of nanostructured materials and devices. We perform an in-situ observation on the self-assembling process in the vicinity of the three phase contact line. Three kinds of aggregations, i.e. particle-particle aggregation, particle-chain aggregation and chain-chain aggregation, in the initial stage of vertical deposition process are revealed by our experiments. It is found that the particle particle aggregation and the particle-chain aggregation can be qualitatively explained by the theory of the capillary immersion force and mirror image force, while the chain-chain aggregation leaves an opening question for the further studies. The present study may provide more deep insight into the self-assembling process of colloidal particles.

Theoretical analysis for mechanical erosion of carbon-base materials in ablation

This article derives and provides a theoretical analysis for the mechanical erosion of carbon-base materials in ablation. The theory of mechanical erosion based on a nondimensional critical roughness parameter is proposed, The important parameters in this analytical method are independent of the test, The analysis accounts for the heating, pressure, and shear forces acting on material particles exposed to the boundary-layer flow. For the validity of a theoretical analytical method a computational example is given. The theoretical results agree fairly with the experimental data.

Stress-distribution around a rigid line in dissimilar media

The elastic plane problem of a rigid line inclusion between two dissimilar media was considered. By solving the Riemann-Hilbert problem, the closed-form solution was obtained and the stress distribution around the rigid line was investigated. It was found that the modulus of the singular behavior of the stress remains proportional to the inverse square root of the distance from the rigid line end, but the stresses possess a pronounced oscillatory character as in the case of an interfacial crack tip.