激光水下扫描成像系统的图像修正机理

同步扫描系统可以克服后向散射，但同时也产生了两种非线性，一是扫描线速度的非线性，一是由于距离对光能衰减造成的非线性，两种非线性都需要修正，本文从原理上讨论水下激光成像时能量衰减的修正原理与修正方法，并给出仿真结果。     

Analysis and implementation of cross sync period underwater acoustical positioning techniques for underwater targets

I.IlltroductionWhenanactiveunderwateracousticalpositioningsystemissearchingforanunderwatertarget,itisnecessaryforittocompleteatransmittingandreceivingcycIewithineachworkingperiodinordertofindoutthelocationofthetargetcorrectly.Forexample,whenanunder-wateracoustica1synchronouspositioningsystemistrackinganunderwatertargetwithagivensynchr0nizingperiod,thepropagati0ntimeofthepositioningsignaltravellingfr0mthetaJrgettothearrayofthesystemshouldbelessthanthesynchronizingperiod0therwisetargetdis-tance…     

Thermal Analysis in Examination of Reduction of Blast Furnace Pellets

This paper presents applications of thermal analysis to observe the course of reduction of acidic pellets, metallurgical substances whose reducibility and strength are basic parameters of use in blast furnace processes. Both parameters depend on the mineral composition of the samples. The investigations included determination of the chemical and phase compositions of the initial samples and reduction products. Research was conducted on acidic pellets from Połtawa (Poland), applied in the T. Sendzimir Steelworks (Poland), in comparison with pellets from Brazil, Canada and Lebedyn (Russia). This revised version was published online in August 2006 with corrections to the Cover Date.     

Experimental investigation of the aquatic propulsion caused by localised flexural wave propagation in immersed wedges and plates

This paper describes the results of the experimental verification of the idea of wave-like aquatic propulsion of autonomous and man-inhabited vessels first published about 10 years ago by one of the present authors (V.V.K.). The idea is based on employing the unique type of localised flexural elastic waves propagating along edges of wedge-like structures immersed in water (wedge elastic waves). Such wedge-like structures supporting localised elastic waves can be attached like fish fins to a body of a small ship or a submarine and used for their propulsion. The proposed principle of employing localised flexural waves as a source of aquatic propulsion has been biologically inspired by the specific swimming mode used in nature by stingrays. To verify the idea experimentally, the first working prototype of a small catamaran using the above-mentioned wave-like propulsion via the attached rubber keel has been build and tested in Loughborough University. The tests have been carried out in two phases, in a water tank and then in open water. The test results have shown that the catamaran was propelled very efficiently and could achieve the speed of 36 cm/s, i.e., about one vehicle length per second, thus demonstrating that the idea of wave-like propulsion of small man-inhabited craft is viable. The reported proof of the viability of this idea may open new opportunities for marine craft propulsion, which can have far reaching implications.     

一种新型频域均衡器在水声通信中的应用

在传统频域均衡器的基础上,结合多载波频移键控调制方式的频谱结构,利用接收信号和参考信号的相关性及均衡器的滤波系数,提出了一种兼具均衡与解调功能的新型频域均衡器结构.该均衡器简单、有效地克服了水声信道中多径传播产生的码间干扰和频率选择性衰落等问题,简化了水声通信系统接收机的复杂度. 新型频域均衡器的解调原理以非相关解调算法为基础,但由于利用了均衡器的计算结果,其差错性能优于传统的非相关解调算法,计算机仿真试验表明,改进后的方法使差错性能提高了2 dB;实际水声通信实验表明,该均衡器能够有效地提高水声通信系统的可靠性,具有很好的应用前景.     

一种改进的AUVs变结构滑模控制策略研究

针对现有的变结构滑模控制切换面单一性会导致系统状态在原点处收敛缓慢的缺陷,对自主式水下机器人(AUVs)变结构滑模控制设计了折线型的切换面,并且进一步改进实现了速度控制和定点定速控制。改进的切换面由斜率不同的自线段构成,并在拐点处通过S型函数光滑过渡。将切换面的斜率减小到0时,则可以实现速度控制,同时为了消除速度控制的稳态误差,引进了采用能智积分方法的积分项。最后在某AUV上进行仿真实验,结果证实了应用折线型切换面可以减少控制系统的上升时间,提高反应速度;速度控制的稳态误差接近0,并很好地实现定点定速的控制效果。该方法可以有效用于AUVs的控制。     

爆炸载荷下脆性颗粒体系破碎特性的数值研究

试验发现,以球形TNT为中心爆源,球形玻璃珠构成的颗粒和球壳中发生破碎的颗粒体积分数随当量比(颗粒球壳的质量与TNT炸药的质量比)的增加呈现指数衰减规律。采用有限元与离散元耦合的连续非连续数值方法,揭示了中心炸药起爆后颗粒环壳内爆炸波的传播衰减和在环壳外界面反射后的稀疏卸载过程。由于爆炸波的短脉冲特性,颗粒内部应力场始终处于应力非均衡状态,采用应力均衡状态下颗粒破碎强度的Weibull分布会得到远高于试验测得的破碎颗粒体积分数。因此采用破坏波传播特征时间内的平均诱导应力而非瞬时诱导应力作为颗粒破碎强度的应力指标,并通过试验结果确定破坏波传播特征时间。考虑了应力传播的非均匀性对于颗粒破碎的影响,得到了平均诱导应力峰值的概率分布随比例距离的变化规律,结合修正后的颗粒破碎强度Weibull分布建立了破碎颗粒体积分数随比例距离的变化模型。     

阻尼对空爆荷载等效静载动力系数的影响

为考查阻尼参数对空爆荷载等效静载动力系数的影响,理论推导了空爆荷载下结构等效单自由体系弹塑性位移解及延性比解,设计并计算了阻尼比0.000 1～0.1、延性比1～4的20种典型工况的动力系数,并与现行抗爆设计规范动力系数公式结果进行了对比。结果表明:阻尼比小于0.000 1时可基本代表无阻尼状态,阻尼比0.01的动力系数比无阻尼的最大降低幅度为2.08%,数值差异很小,因此阻尼比为0.01以内时,可忽略阻尼对动力系数的影响;阻尼比0.05的动力系数比无阻尼的降低幅度约9.92%,数值差异较大,认为阻尼比0.05以上时将具有明显的经济效益;现行设计规范动力系数更适用于柔性结构体系,运用于刚性结构抗爆设计时,计算误差较大,对阻尼比较小的结构设计更不利。     

重力匹配导航的影响模式分析

从重力场匹配导航的改进TERCOM算法入手,针对采样长度、采样间隔以及重力测量误差对匹配结果的影响进行了系统分析,并在此基础上利用海洋年度重力测量数据设计了准实时仿真试验,结果表明:(1)采样长度对匹配结果有重要的影响,采样长度与重力基准图的分辨率比值在10~20之间时,能够获得较好的匹配效果;(2)适当增加采样间隔可以在一定程度上提高匹配的整体精度,但增加了匹配失效的风险,实际应用中采样间隔以2~4 min为宜;(3)重力测量白噪声误差对匹配结果影响相对较大,过大的误差将不能得到有效匹配,水下重力测量误差最好能控制在2 mGal以内。