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.

Structures on sliding base subject to horizontal and vertical motions

In this paper particular investigation is directed towards the combined effects of horizontal and vertical motions of real earthquakes to structures resting on sliding base. A simplified method is presented to treat the nonlinear effects of time dependent frictional force of the sliding base as a function of the vertical reaction produced by the foundation. As an example, the El Centro 1940 earthquake record is used on a structural model to show the structural responses due to a sliding base with different frictional and stiffness characteristics. The study shows that vertical ground motion does affect both the superstructure response and the base sliding displacement. Nevertheless, the sliding base isolator is shown to be effective for the reduction of seismic response of a superstructure.

含激电信息的人工源频率域电磁法正演研究——大功率人工固定源极低频电磁法激电效应预研究

ABSTRACT Base on Dias-model, this paper study the forward modeling to IP response with MT souece and CSAMT source with the author’s program，that is to provide the theoretical basis for extracting the IP information from the far field, near field and transition field in extremely low frequency electromagnetic sounding with artificial strong fixed source signal. The outline of the paper is as follows. Firstly, review the history of the complex-resistivity-model, and analyses the bases for choosing Dias model; meanwhile, effects and responses of each parameter in Dias model are analyses. Afterward, study the forward modeling to 1D layered model with MT source, numerically simulate the IP effects of classic geoelectric objects; Find the clear anomaly and relationship between the peak value of the amplitude anomaly ratio and phase anomaly difference with and without IP parameters to be considered within a frequency range. On the basis of the modeling of MT, Study the CSAMT modeling with a dipole-source, obtain the anomaly responses and the relationship between anomaly and characters of object. Base on the infinite line source, study the 2D IP effect of geoelectric objects with 2D modeling. Calculate the response with different source distance, object depth and different wall rock resistivity systemically. Finally, conclude the viewpoints and give the discussion of the result, and point out the lack of this research also.