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。

Searching the Rhone delta channel in Lake Geneva since François‐Alphonse Forel

In the late 19th century, F.A. FOREL led investigations of the Rhone River delta area of Lake Geneva that resulted in the dis- covery of a textbook example of a river-fed delta system containing impressive subaquatic channels. Well ahead of the marine counterparts, scientific observations and interpretations of water currents shaping the delta edifice for the first time documented how underflow currents carry cold, suspension-laden waters from the river mouth all the way to the deep basin. These early investigations of the Rhone delta laid the basis for follow-up studies in the 20th and 21th centuries. Sediment coring, water-column measurements, manned submersible diving, seismic reflection profiling and bathymetric sur- veying eventually provided a rich database to unravel the key erosional and depositional processes, further documenting the impact of human-induced changes in the catchment. With the merging of old and new scientific knowledge, today a comprehensive understanding prevails of how a delta changes through time, how its channels are formed, and what potential natural hazards may be related to its evolution. New and efficient bathymetric techniques, paired with novel coring operations, provided a time-series of morphologic evolution showing and quantifying the high dynamics of the delta/channel evolution in an unprecedented temporal and spatial reso- lution. Future investigations will continue to further quantify these dynamic processes and to link the evolution of the subaquatic domain with changes and processes in the catchment and with natural hazards. Its size, easy access, and large variety of states and processes will continue to make the Rhone delta area a perfect ‘laboratory’ in which general processes can be studied that could be upscaled or downscaled to other marine and lacustrine deltas.