Stabilization of coordinated motion for underwater vehicles

This paper presents a coordinating and stabilizing control law for a group of underwater vehicles with unstable dynamics. The coordinating law is derived from a potential that only depends on the relative configuration of the underwater vehicles. Being coordinated,the group behaves like one mechanical system with symmetry,and we focus on stabilizing a family of coordinated motions,called relative equilibria. The stabilizing law is derived using energy shaping to stabilize the relative equilibria which involve each vehicle translating along its longest(unstable) axis without spinning,while maintaining a relative configuration within the group. The proposed control law is physically motivated and avoids the linearization or cancellation of nonlinearities.     

Flow structures of gaseous jets injected into water for underwater propulsion

Gaseous jets injected into water are typically found in underwater propulsion,and the flow is essentially unsteady and turbulent.Additionally,the high water-to-gas density ratio can result in complicated flow structures;hence measuring the flow structures numerically and experimentally remains a challenge.To investigate the performance of the underwater propulsion,this paper uses detailed Navier-Stokes flow computations to elucidate the gas-water interactions under the framework of the volume of fluid(VOF) model.Furthermore,these computations take the fluid compressibility,viscosity,and energy transfer into consideration.This paper compares the numerical results and experimental data,showing that phenomena including expansion,bulge,necking/breaking,and back-attack are highlighted in the jet process.The resulting analysis indicates that the pressure difference on the rear and front surfaces of the propulsion system can generate an additional thrust.The strong and oscillatory thrust of the underwater propulsion system is caused by the intermittent pulses of the back pressure and the nozzle exit pressure.As a result,the total thrust in underwater propulsion is not only determined by the nozzle geometry but also by the flow structures and associated pressure distributions.     

水声测量用声脉冲瞬态抑制方法的研究

脉冲声技术是一种很常用的水声测量技术，但由于脉冲声存在着瞬态过程，严重影响了它在低频下的使用，本文中研究的水声测量用声脉冲瞬态抑制方法，通过瞬态抑制等效消除换能器的瞬态过程，从而为在有限尺寸水域内扩展水声测量低频限创造了条件。     

近程高速水声毫米波通信仿真与试验验证*

水声信道的严重双扩特性极大地限制了水声高速通信的稳健性。针对近程高速水声通信技术的需求,该文基于水声毫米波频段,提出了一种基于超奈奎斯特发射技术及高阶调制技术的单载波的水声毫米波通信技术。而超奈奎斯特发射技术以及高阶调制给接收机带来了极大的挑战:一是超奈奎斯特发射技术引入了严重的符号间干扰,二是高阶调制系统的符号检测对信道估计的精度要求很高。针对以上问题,该文提出了一种基于迭代信道估计技术的迭代软反馈DFE接收机技术。仿真实验表明:采用128QAM高阶调制时,在较为严重的多途衰落信道条件下,采用所提出的接收机可以在15 dB时实现无误码传输。信道水池试验证明:当通信带宽为300 kHz,通信符号率为300k符号/秒且采用64QAM调制时,在发射平台慢速运动的条件下可以实现900 kbps的净数据率,其相应的频谱利用率高达6 Bits/s/Hz。     

基于亮点模型的典型水下目标回波信号仿真

本文对典型水下目标回波信号进行了仿真研究。此仿真基于声纳目标回波的亮点模型理论,通过成分及时序分析,针对具有球冠形头部和圆柱壳体的典型水下目标的结构特征,建立计算模型并仿真回波信号。仿真结果与湖海试实验结果的对比表明此仿真模型与实际情况基本一致,可以为声纳信号处理、目标识别等方面的研究提供支持。     

Underwater Oil Wettability on Nanostructured Superamphiphobic Surface Tuned by Trapped Air Layer Continuity

When the superamphiphobic meshes are immersed in water, the rough structures on steel wires are filled with air. The nanostructured superamphiphobic surfaces were prepared on the stainless-steel mesh. By adjusting the mesh size of the surface, the continuity of trapped air layer on the superamphiphobic surface underwater could be controlled. Then the underwater oil-wetting behavior on the prepared superamphiphobic mesh was investigated. The oil droplet spread out on the superamphiphobic surface without mesh and exhibited an oil contact angle of about 0° under water. But the oil contact angle formed on the superamphiphobic mesh surfaces and extended with increasing mesh size. We thought the discontinuity of trapped air layer on the surface and the entry of water into interval between the steel wires should be responsible for these behaviors.     

基于滑模理论的水下机器人定深控制算法研究

水下机器人操控性能指标中对定深控制性能有较高要求,而水下机器人的运动具有强的非线性和耦合性,使得不同航速下的定深控制成为难点。建立了水下航行器的运动学模型,基于滑模理论设计了深度控制器和纵倾控制器,在MATLAB SIMULINK环境下搭建了深度控制仿真系统,数值仿真结果表明：滑模变结构控制器对于不同航行条件具有较强的适应性,同时深度的控制效果明显优于PID控制器。     

各种水下声源的发声机理及其特性

扼要综述了现有的七种水下声源产生技术,包括炸药爆炸声源、电声换能器声源、参量阵声源、流体动力式声源、电磁式声源、激光声源和等离子体声源。分析了这些声源的发声机理,结合其性能特点阐述了在实际中的不同应用,并对等离子体声源的机理、特点和实际应用进行了重点分析。列表归纳总结了各种水下声源的原理、主要性能和应用范围,为水下声源的应用拓展提供了依据。     

一种线性调频扩频水声通信的新同步方法

针对高速运动过程中的水声通信,提出一种新型稳健的同步方法。该方法充分利用线性调频（LFM）信号的自相关特性及LFM扩频水声通信解调原理。湖试结果表明该方法简单有效,能够消除同步误差累积。利用湖试数据进行的仿真结果表明:该方法在常速及变速运动情况下均有效;在水下24m/s高速运动、时变多途干扰、带内接收信噪比低于0dB时,数据率可达为100bit/s,误码率保持在10^-4左右。     

On the interactions of surface waves with immersed structures

The fluid forces resulting from wave interaction with large submerged structures may be calculated using numerical procedures based on the solution of the associated boundary-value problem. In this paper, the analysis of wave interaction with a fixed submerged object of arbitrary cross-section and infinite length using a two-dimensional boundary value formation based on linear diffraction theory is summarized. Subsequently, the application of the boundary element method to obtain a solution is presented. The numerical considerations are emphasized with particular reference to computational efficiency. Numerical results are presented in the form of dimensionless wave force plots for various structural shapes. In the case of a bottom-seated half cylinder, for which there exists a closed-form solution, comparisons are made between results generated using both boundary element and equivalent finite element approaches. In the case of a submerged cylinder, comparisons are made between boundary element derived values and experimental results. The boundary element results compare well with both the closed-form solution and the experimental values.