Marine observation method based on multiple AUVs

本专利涉及一种基于多AUV的海洋观测方法，对局部区域的海洋特征进行自适应观测。其中包括，被观测海洋特征的环境模型用多个基函数线性表示；执行任务前，利用先验知识初始化模型参数；执行任务时，每台AUV包括一个局部滤波器、全局滤波器和规划器，局部滤波器根据在线采集的数据递归估计海洋特征环境模型的参数以实现环境状态的局部估计；全局滤波器负责将AUV局部滤波器得到的局部信息和其它AUV发送过来的信息进行融合实现环境状态的全局估计；每台AUV的规划器依据融合后的全局信息，构建本地目标函数进行自适应路径规划。本方法能够充分发挥多AUV的优势，提高海洋观测的可观性，减少AUV间的通信量，有效克服AUV间信息重复使用导致的过自信问题

高速进气道低马赫数不起动特性及马赫数影响规律

为了探究进气道低马赫数不起动时的振荡特性,本文结合一体化前体/进气道构型,通过非定常仿真手段,对比研究了来流马赫数变化对进气道低马赫数不起动振荡流场以及飞行器气动力的影响规律。结果表明:低马赫数不起动时出现了稳定的振荡周期,且周期随着来流马赫数的增大而增长。由于拥塞发生在喉道处,其振荡流场单纯地表现为口部分离包的涨大和缩小,并且沿程压力的均值和幅值都呈现出喉道高两头低的分布趋势,而马赫数的增大会加剧此趋势。喘振周期中升力系数CL和阻力系数CD的变化趋势大致相反,升阻比曲线则表现为随分离包吐出而增大、吞入而缩小的趋势。CL和CD随着马赫数增大是整体下降的,但是脉动幅值变化不大,升阻比对马赫数的变化也并不敏感。此外,在进气道实现自起动过程中,当喉道瞬时流量高于起动时的流量一定程度,口部分离包将完全吞入。但定常仿真难以准确模拟该吞入过程,因此定常仿真得到的自起动马赫数偏高

湖泊最低生态水位计算方法研究

对湖泊最低生态水位计算的年保证率法、湖泊形态分析法、天然水位资料法、功能法、曲线相关法和最低年平均水位法6种计算方法进行了论述,并选用其中的3种方法应用于博斯腾湖,计算结果表明,不同计算方法得到的结果并不相同,据此对不同计算方法的适用范围和优缺点进行了比较分析

黄土高原风成沉积物磁化率各向异性研究

中国黄土高原粉尘堆积以往注重从物源区携带粉尘的古风向,对粉尘沉积&rarr;固结期的古风向缺乏研究。本文评述了近年来应用黄土高原黄土、红粘土磁化率各向异性研究古季风风向变迁所取得的一些重要进展并指出磁化率各向异性最大轴和最小轴的方位和倾伏均与沉积&rarr;固结期风向变化密切相关。黄土磁组构结果与利用各种统计方法计算出的古风向在多个剖面与现代夏季风方向相似,由此推论黄土是冬季风带来的沙尘在经历夏季风携带的降雨洗礼后才固结而成。而在黄土之下的红粘土地层中的初步研究发现磁组构显示明显的西风带沉积特征,指出这一现象将在今后研究中继续深入探讨。</p

Research on Multi-AUV Formation Control Method Based on Improved Leader-follower Method

针对多自主水下机器人(多AUV)编队问题,提出了一种基于改进跟随领航者法的编队控制方法,通过仿真实验和湖上试验进行了验证。将对跟随者的航向和速度控制简化成单一的速度控制,并采用多级精准速度调控方法进行编队控制。然后,通过仿真实验对该方法进行初步验证,并确定关键控制参数。最后,建立一套队形评价指标,通过外场试验验证该方法有效性。试验结果表明:该编队控制方法在控制的快速性、准确性和稳定性等方面均表现很好。</p

一种水下潜标可扩展电源系统

本发明涉及一种水下潜标可扩展电源系统，该系统包括：电源母板和电源功能板；电源母板，用于接入外部电源，采集电源系统工作电压和电流反馈至上位机，同时为上位机与电源功能板提供通信数据信息的传输通道和用电电源；电源功能板，包括多个电源功能模块，根据电源母板接入的控制信号为潜标的用电设备提供数据传输接口和电源。本发明具有低功耗、稳定可靠、容错能力强等优点，电源功能板采用模块化设计理念，可根据潜标需求调整模块数量和功能，即插即用，扩展性强，同时适合用于其它要求扩展性强和功耗低的平台，具有较强的移植性

A research of multiple autonomous underwater vehicles cooperative target hunting based on formation control

The problem of multiple autonomous underwater vehicles (AUVs) cooperative target hunting is an important research topic for its potential applications, including military and civil. This paper proposes a method based on formation control to improve the efficiency and accuracy of target hunting. Firstly, AUVs run together to search the target in a large area where the target probably exists. At this stage, an improved leader-follower formation control algorithm is used to gather AUVs with the desired formation. Then after the recognition of the target, a route is planned for the pursuing of the target, and a formation control method based on the position feedback is presented to close and round up the target gradually. Finally, AUVs have the capacity to catch it. There is a standard set up to calculate the error of the formation control quantitatively. The field performance proves that AUVs can keep an expected formation well based on the formation control method to solve the problem of target hunting

Surveying of lake on Plateau using a portable TS-100 AUV

Aiming at the scientific research of lakes on the Tibetan Plateau, tow portable AUVs (Autonomous Underwater Vehicle) TS-100 were used to survey Karakul Lake. The lakebed terrain of Karakul was mapped, and the water profile parameters from inlet to outlet of the lake were observed continuously by a multiparameter sonde. In this paper, the TS-100 AUV is introduced firstly, and then describe the deployment of this vehicle on the lake. Finally, a method of original survey data processing is proposed based on the Kriging method, a 3D model of the lake was built, and the lake capacity was calculated by using this method

Clinical effect of external application of Rutongyu medicine film in the treatment of hyperplasia of mammary gland (乳痛愈药膜治疗乳腺增生病临床疗效观察)

Objective To observe the clinical effect of external application of Rutongyu medicine film in the treatment of hyperplasia of mammary gland. Methods Totally 96 patients with hyperplasia of mammary gland were randomly divided into the treatment group (n=48) and control group (n=48). The treatment group was treated by external application of Rutongyu medicine film, and the control group was treated with XiaoJinPian orally. The medication was taken for 2 menstrual cycles. The visual analogue scale (VAS) score of breast pain, duration of breast pain, and the maximum diameter of breast target mass were compared between the two groups before and after treatment, and the clinical efficacy was summarized and evaluated. Results After treatment, VAS score of breast pain, duration of breast pain, and maximum diameter of target mass in the two groups were significantly improved compared with those before treatment (P＜0. 01), and the improvement in the treatment group was better than that in the control group (P＜0. 01). The total effective rate of the treatment group was 89. 58%(43/48), which was significantly higher than 68. 75% (33/48)of the control group (P＜0. 05). Conclusion External application of Rutongyu medicine film can effectively treat hyperplasia of mammary gland, relieve pain and reduce breast mass. (目的 观察乳痛愈药膜治疗乳腺增生病的临床疗效。方法 96例乳腺增生病患者随机分为治疗组(n=48)与对照组(n=48)。治疗组给予乳痛愈药膜外敷, 对照组给予口服小金片治疗, 用药时间均为2个月经周期。比较2组患者治疗前后乳房疼痛视觉模拟评分(VAS)、乳房疼痛天数、乳房肿块最大径, 总结评估临床疗效。结果 治疗后两组组患者乳房疼痛VAS评分、乳房疼痛天数、肿块最大径均较治疗前改善(P＜0. 01), 且治疗组改善优于对照组(P＜0. 01)。治疗组总有效率为89. 58%(43/48), 高于对照组的68. 75%(33/48), 差异有统计学意义(P＜0. 05)。结论 乳痛愈药膜能够治疗乳腺增生症效果明确, 能有效缓解疼痛, 缩小乳房肿块。

激发态~(17)Ne双质子2p发射的实验

<正>在中国科学院近代物理研究所放射性束流装置RIBLL上完成了17Ne+197Au的实验,采用硅条探测器与CsI(Tl)+PIN探测器阵列进行运动学完全测量,研究了17Ne双质子发射的机制。实验选