Shenyang Institute of Automation,Chinese Academy Of Sciences
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Design and Motion Performance Analysis of Turbulent AUV Measuring Platform
No full textThe use of a multi-functional autonomous underwater vehicle (AUV) as a platform for making turbulence measurements in the ocean is developed. The layout optimization of the turbulence package and platform motion performance are limitation problems in turbulent AUV design. In this study, the computational fluid dynamics (CFD) method has been used to determine the optimized layout position and distance of the shear probe integrated into an AUV. When placed 0.8 D ahead of the AUV nose along the axis, the shear probe is not influenced by flow distortion and can contact the water body first. To analyze the motion of the turbulence AUV, the dynamic model of turbulence AUV for planar flight is obtained. Then, the mathematical equations of speed and angle of attack under steady-state motion have also been obtained. By calculating the hydrodynamic coefficients of the turbulence AUV and given system parameters, the simulation analysis has been conducted. The simulation results demonstrated that the speed of turbulent AUV is 0.5-1 m/s, and the maximum angle of attack is less than 6.5 degrees, which meets the observation requirements of the shear probe. In addition, turbulence AUV conducted a series of sea-trials in the northern South China Sea to illustrate the validity of the design and measurement. Two continuous profiles (1000 m) with a horizontal distance of 10 km were completed, and numerous high-quality spatiotemporal turbulence data were obtained. These profiles demonstrate the superior flight performance of turbulence AUV. Analysis shows that the measured data are of high quality, with the shear spectra being in very good agreement with the Nasmyth spectrum. Dissipation rates are consistent with background shear. When shear velocity is weak, the measurement of dissipation rate is 10(-10) W Kg(-1). All indications are that the turbulence AUV is suitable for long-term, contiguous ocean microstructure measurements, which will provide data needed to understand the temporal and spatial variability of the turbulent processes in the oceans
一种甘蔗收获机割台仿形装置
No full text本发明属于甘蔗收获机技术领域，特别涉及一种甘蔗收获机割台仿形装置。包括触地部件、连接套筒、固定连接板、横梁及角位移传感器，其中固定连接板连接在横梁上，连接套筒可转动地安装在固定连接板上，触地部件与连接套筒连接，角位移传感器安装在连接套筒的一侧，角位移传感器用于采集触地部件的转动角度变化，从而检测地形高度的起伏变化。本发明可以实现甘蔗收获机对作业地形高度的实时性检测，能够将割台仿形装置模块化，安装简易，使用寿命长
一种水下机器人用压坠装置
No full text本发明属于水下机器人技术领域，特别涉及一种水下机器人用压坠装置。包括承载框架及设置于承载框架上的供电系统、释放器、控制舱、光纤管理系统、水面通讯系统及光学探测系统；释放器设置于承载框架的底部，用于与水下机器人连接；光纤管理系统用于光纤的管理和切断；水面通讯系统用于与水下机器人及水面母船进行通讯；光学探测系统用于水下光纤进行实时监测；控制舱用于控制释放器和光纤管理系统；供电系统用于为设置于承载框架上的设备进行供电。本发明可深入水下3000米级，以减少水面及浅水层的洋流对光纤的影响，避免光纤微缆受到过大的拉力而被拉断，进而起到保护光纤的目的
面向固定翼无人机海上回收的拦阻钩测试系统及方法
No full text本发明涉及一种面向固定翼无人机海上回收的拦阻钩测试系统及方法，其中模拟测试车可移动地设于导向架体中，缓冲架体两侧均设有带升降滑块的回收绳高度调节组件，所述滑块上设有回收绳转向组件，所述回收绳转向组件设有张力传感器，每个回收绳高度调节组件底端均设有回收绳收放组件，且回收绳两端分别绕过对应侧回收绳转向组件上的张力传感器后绕置于对应侧的回收绳收放组件中，所述模拟测试车下侧设有拦阻钩与所述回收绳配合，所述模拟测试车上设有参数捕捉模块，任一回收绳高度调节组件上设有云台摄像机。本发明测试成本低且能对拦阻钩动作时的瞬间进行深入分析，并通过试验测试可分析估算出回收绳的最优拉力以及拦阻钩最佳参数
一种面向化工的优先级升序可行性判定与软约束调整方法
No full text本发明涉及过程工业控制领域，具体是一种面向化工的优先级升序可行性判定与软约束调整方法，包括以下步骤：可行性判定与软约束调整初始化；硬约束可行性判定；逐级软约束调整并固化；确定稳态优化可行域。本发明针对化工过程现有优先级升序可行性判定与软约束调整的不完备性问题，在每一优先级下，同时引入所有优先级的硬约束以及当前优先级的软约束进行判定及调整，而后逐级完成直至所有优先级均实现可行性判定与软约束调整。该发明解决了现有优先级升序策略的不完备性，可有效提高相关过程控制工业软件的稳定性和可靠性，进而为相关化工过程的稳定操作运行提供保障
一种人机协作机器人铸件打磨控制方法
No full text本发明涉及一种人机协作机器人铸件打磨控制方法，通过两个手柄遥操作机器人打磨大型铸件，包括以下步骤：采集平动手柄的坐标，然后平滑处理采集的坐标；根据手柄的数据计算机器人各轴的位置偏移量，将其作为控制量控制机器人运动，实现对机器人的遥操作控制；在打磨时，以工具在工件坐标系中沿Z向的位移zcontrol为控制量，对工具与工件之间的接触力进行控制；在打磨时，将工具与工件之间的接触力实时反馈到操作人员的手上，使得操作人员在打磨过程中具有环境沉浸感。本发明能够实现对机器人的遥操作打磨控制，并对打磨时工具与工件之间的接触力进行控制与感知，可以实现对大型铸件表面任意可达位置的清理，提高铸件打磨效率并改善操作人员的作业环境
一种工业智能制造边缘计算任务调度方法
No full text本发明涉及一种工业智能制造边缘计算任务调度方法，设计工业智能制造边缘计算模型划分为边缘资源感知模型、边缘资源与任务调度模型、边缘智能计算等模型。边缘任务调度模型支持主动的任务调度，计算设备用户端到边缘代理弯管的传输速率与处理时间，得到终端用户卸载到边缘代理的任务量，并计算本地任务能量消耗，根据任务和能耗规划调度。本发明支持主动的任务调度，能够根据资源状态、服务感知、边缘计算节点间的联接带宽、计算任务的时延要求等，自动地在将任务拆分成多个子任务并分配到多个边缘计算节点上协同计算
针对AGV无线网络有序数据包的实时可靠传输调度方法
No full text本发明涉及工业无线网络技术，具体地说是针对AGV无线网络有序数据包的实时可靠传输调度方法。该方法包括AGV(Automated Guided Vehicle)网络架构和数据包传输机制设计，网络超帧结构设计，传输调度算法设计三个步骤。本发明方法综合考虑AGV网络中单个数据包有严格时延要求，数据包之间有传输顺序要求，上、下行链路易丢包的特点，以网络的传输可靠性作为衡量调度方法性能的指标，基于控制包生成顺序设计新的网络超帧。在每个超帧，根据上、下行链路的丢包率以及网络期望丢包率，为每条链路分配时隙个数。此外，动态调节网络期望丢包率从而在截止期内最大化网络的传输可靠性
Based on filtering and graph optimization positioning and mapping system
No full text针对室外大场景环境建图精度不高，地图出现重影和漂移等问题，提出一种融合滤波与图优化理论实时定位与建图系统。该系统由点云数据预处理、基于滤波紧耦合惯性里程计和后端位姿图优化等三部分构成。首先，点云数据预处理采用随机采样一致性算法分割地面，并提取地面模型参数构建后端优化中的地面约束因子。然后，前端紧耦合惯性里程计采用迭代误差状态卡尔曼滤波，以激光里程计作为观测值，IMU预积分结果作为预测值，通过构建联合函数，滤波融合得到较为精准的激光惯导里程计。最后，后端结合图优化理论引入闭环因子、地面约束因子以及帧与图匹配的里程计因子作为约束条件，构建因子图并优化地图位姿。其中闭环因子采用改进的扫描文本的闭环检测算法进行位置识别，可以降低环境误识别率。本文提出的算法在室外厂区楼栋，停车场以及室内车间等多个场景完成场景建图，在距离，水平和高程三个方向的累积偏差均控制10厘米左右，能够有效解决地图的重影和漂移问题，具有高鲁棒性和高精度。</p
Conceptual design of a long-range autonomous underwater vehicle based on multidisciplinary optimization framework
No full textThe endurance of a deep-sea AUV is closely related to its sailing resistance, the amount of carrying batteries and equipment load, which involves interactions among multiple disciplines. In this paper, in order to develop the conceptual design of a long-range AUV in the early stage, a multidisciplinary optimization design framework is presented for decision-makers to explore the given design space, which takes into account the coupling between the disciplines of hull form, structural design and energy use. A Self-adaptive Surrogate Ensemble (SASE) method is proposed to replace the expensive process of hydrodynamic analysis, a recommended approach by the China Classification Society (CCS) specification is applied to carry out the design of metallic pressure hulls, and the classical lamination theory and Tsai–Wu criteria are adopted in the design of composite pressure hulls. Finally, the evaluation model of AUV endurance is created from the perspective of energy capacity and consumption. The conceptual design of a 200 kg-class AUV is executed to maximize the endurance based on the proposed multidisciplinary optimization design framework. The results show that the most important factors that affect AUV endurance are the velocity and diameter, and the optimum velocity of the AUV increases with the load power. The Sea-Whale 2000 AUV was developed based on the optimal result and the excellent endurance performance in the sea trial validated the effectiveness of the proposed design method in the preliminary design process.</p