简介:Theaddedmasscoefficientandthewaterlevelindexformulasforthesame-phaseandanti-phasevibrationofrectangularliquidtanks'bulkheadswerederivedbasedondrymodetheory.Threefluid-structureinteractionnumericalmethodsincludingFluidFEMandFluidBEMwereusedinthiscase.ThecomparisonofnumericalandtheoreticalresultsbythepresentmethodshowsthatANSYS/FluidS0ismorecredible,theNASTRAN/VirtualMassMethodismoresuitableforengineeringcalculationsandresultsofthesame-phasevibrationbythepresentmethodismoreaccurate.
简介:S-surfacecontrolhasproventobeaneffectivemeansformotioncontrolofunderwaterautonomousvehicles(AUV).Howevertherearestillproblemsmaintainingsteadyprecisionofcourseduetotheconstantneedtoadjustparameters,especiallywheretherearedisturbingcurrents.Thusanintelligentintegralwasintroducedtoimproveprecision.AnexpertS-surfacecontrolwasdevelopedtotunetheparameterson-line,basedontheexpertsystem,itprovidesS-surfacecontrolaccordingtopracticalexperienceandcontrolknowledge.Topreventcontroloutputover-compensation,afuzzyneuralnetworkwasincludedtoadjusttheproductionrulestotheknowledgebase.ExperimentswereconductedonanAUVsimulationplatform,andtheresultsshowthattheexpertS-surfacecontrollerperformsbetterthananS-surfacecontrollerinenvironmentswithcurrents,producinggoodsteadyprecisionofcourseinarobustway.
简介:Arraycalibrationisimportantinengineeringpractice.Inthispaper,fastcalibrationmethodsforaULA'sgainandphaseerrorsbothinfarandnearfieldsareproposed.Inthefarfield,usingasinglesoundsourcewithoutexactorientation,thismethodhorizontallyrotatesthearrayexactlyonce,performseigenvaluedecompositionforthecovariancematrixofreceiveddata,thencomputesthegainandphaseerroraccordingtotheformulas.Inthenearfield,usingthesamesinglesoundsource,itisnecessarytorotatethearrayhorizontallyatmostthreetimes,buildequationsaccordingtogeometricrelations,thensolvethem.Usingtheformulaproposedinthispaper,sphericalwavesaremodifiedintoplanewaves.Theneigenvaluesdecompositionisperformed.Thesetwocalibrationmethodswereshowntobevalidbysimulationandarefast,accurateandeasytouse.Finally,ananalysisoffactorsinfluencingestimationprecisionisgiven.
简介:Oceanographicsurvey,orothersimilarapplicationsshouldbetheapplicationsofmultipleAUVs.Inthispaper,theskill&simulationbasedhybridcontrolarchitecture(S2BHCA)asthecontroller'sdesignreferencewasproposed.Itisamulti-robotcooperationorientedintelligentcontrolarchitecturebasedonhybridideas.TheS2BHCAattemptstoincorporatethevirtuesofthereactivecontrollerandofthedeliberativecontrollerbyintroducingtheconceptofthe"skill".Theadditionalonlinetasksimulationabilityforcooperationissupported,too.Asanapplication,amultipleAUVcontrolsystemwasdevelopedwiththree"skills"fortheMCMmissionincludingtwodifferentcooperativetasks.Thesimulationandtheseatrialsshowthatsimpletaskexpression,fastreactionandbettercooperationsupportcanbeachievedbyrealizingtheAUVcontrollerbasedontheS2BHCA.
简介:对AC-25S沥青混合料进行大、小马歇尔试验对比,指出小马歇尔设计法用于AC-25S沥青混合料的不足,并阐述大马歇尔设计法对于AC-25S沥青混合料设计的适用性,以对AC-25S沥青混合料大马歇尔设计法的技术标准进行优化。
简介:针对渤海油田伴生气中H2S浓度逐年升高及对套管选材提出更高要求的现状,开展H2S成因及套管选材研究。根据取样结果分析H2S含量分布特征,并进行地层产出水的水相检测,利用无菌操作台、恒温培养箱和自动高压灭菌锅等设备进行硫酸盐还原菌菌群富集和活性试验研究。引用时间相关性失重函数法,依据挂片试验数据和软件校核结果,推荐渤海油田套管选材。结果表明:该油田中的H2S是由硫酸盐还原菌代谢产生的,属于次生H2S,其浓度与油田的开发时间正相关;硫酸盐还原菌菌株的最佳生长条件为温度50~60℃,pH值约为7.5;3Cr材质的套管在渤海油田腐蚀的环境下长期腐蚀速率为0.075mm/a,综合强度校核结果,3Cr材质的套管能满足油田开发要求。