This work focuses on motion control of high-velocity autonomous underwater vehicle(AUV).Conventional methods are effective solutions to motion control of low-and-medium-velocity AUV.Usually not taken into consideratio...This work focuses on motion control of high-velocity autonomous underwater vehicle(AUV).Conventional methods are effective solutions to motion control of low-and-medium-velocity AUV.Usually not taken into consideration in the control model,the residual dead load and damping force which vary with the AUV’s velocity tend to result in difficulties in motion control or even failure in convergence in the case of high-velocity movement.With full consideration given to the influence of residual dead load and changing damping force upon AUV motion control,a novel sliding-mode controller(SMC)is proposed in this work.The stability analysis of the proposed controller is carried out on the basis of Lyapunov function.The sea trials results proved the superiority of the sliding-mode controller over sigmoid-function-based controller(SFC).The novel controller demonstrated its effectiveness by achieving admirable control results in the case of high-velocity movement.展开更多
A great number of pipelines in China are in unsatisfactory condition and faced with problems of corrosion and cracking,but there are very few approaches for underwater pipeline detection.Pipeline detection autonomous ...A great number of pipelines in China are in unsatisfactory condition and faced with problems of corrosion and cracking,but there are very few approaches for underwater pipeline detection.Pipeline detection autonomous underwater vehicle(PDAUV) is hereby designed to solve these problems when working with advanced optical,acoustical and electrical sensors for underwater pipeline detection.PDAUV is a test bed that not only examines the logical rationality of the program,effectiveness of the hardware architecture,accuracy of the software interface protocol as well as the reliability and stability of the control system but also verifies the effectiveness of the control system in tank experiments and sea trials.The motion control system of PDAUV,including both the hardware and software architectures,is introduced in this work.The software module and information flow of the motion control system of PDAUV and a novel neural network-based control(NNC) are also covered.Besides,a real-time identification method based on neural network is used to realize system identification.The tank experiments and sea trials are carried out to verify the feasibility and capability of PDAUV control system to complete underwater pipeline detection task.展开更多
认证数据结构(authenticated data structure,ADS)解决了数据外包存储场景下服务器的不可信问题,用户通过ADS可以验证不可信服务器返回查询结果的正确性与完整性,但数据拥有者的安全性难以保证,攻击者可以篡改数据拥有者存储的ADS,破坏...认证数据结构(authenticated data structure,ADS)解决了数据外包存储场景下服务器的不可信问题,用户通过ADS可以验证不可信服务器返回查询结果的正确性与完整性,但数据拥有者的安全性难以保证,攻击者可以篡改数据拥有者存储的ADS,破坏对查询结果的完整性、正确性验证.数据拥有者将ADS存储在区块链上,借助区块链的不可篡改性,可以解决上述问题.但现有ADS实现方案在区块链上维护成本较高并且大部分只支持静态数据的可验证查询,目前缺少一种针对区块链设计的高效ADS.通过分析智能合约的gas消耗机制与基于传统MHT的ADS的gas开销,提出一种新型ADS认证结构SMT,实现对流数据的高效可验证查询,并且在区块链上具备更低的gas消耗.从理论及实验出发,验证了SMT的高效性,通过安全性分析,证明了SMT的安全性.展开更多
基金Project(2011AA09A106)supported by the Hi-tech Research and Development Program of ChinaProjects(51179035,51779057)supported by the National Natural Science Foundation of ChinaProject(2015ZX01041101)supported by Major National Science and Technology of China
文摘This work focuses on motion control of high-velocity autonomous underwater vehicle(AUV).Conventional methods are effective solutions to motion control of low-and-medium-velocity AUV.Usually not taken into consideration in the control model,the residual dead load and damping force which vary with the AUV’s velocity tend to result in difficulties in motion control or even failure in convergence in the case of high-velocity movement.With full consideration given to the influence of residual dead load and changing damping force upon AUV motion control,a novel sliding-mode controller(SMC)is proposed in this work.The stability analysis of the proposed controller is carried out on the basis of Lyapunov function.The sea trials results proved the superiority of the sliding-mode controller over sigmoid-function-based controller(SFC).The novel controller demonstrated its effectiveness by achieving admirable control results in the case of high-velocity movement.
基金Project(2011AA09A106)supported by the Hi-tech Research and Development Program of ChinaProject(51179035)supported by the National Natural Science Foundation of ChinaProject(2015ZX01041101)supported by Major National Science and Technology of China
文摘A great number of pipelines in China are in unsatisfactory condition and faced with problems of corrosion and cracking,but there are very few approaches for underwater pipeline detection.Pipeline detection autonomous underwater vehicle(PDAUV) is hereby designed to solve these problems when working with advanced optical,acoustical and electrical sensors for underwater pipeline detection.PDAUV is a test bed that not only examines the logical rationality of the program,effectiveness of the hardware architecture,accuracy of the software interface protocol as well as the reliability and stability of the control system but also verifies the effectiveness of the control system in tank experiments and sea trials.The motion control system of PDAUV,including both the hardware and software architectures,is introduced in this work.The software module and information flow of the motion control system of PDAUV and a novel neural network-based control(NNC) are also covered.Besides,a real-time identification method based on neural network is used to realize system identification.The tank experiments and sea trials are carried out to verify the feasibility and capability of PDAUV control system to complete underwater pipeline detection task.
文摘认证数据结构(authenticated data structure,ADS)解决了数据外包存储场景下服务器的不可信问题,用户通过ADS可以验证不可信服务器返回查询结果的正确性与完整性,但数据拥有者的安全性难以保证,攻击者可以篡改数据拥有者存储的ADS,破坏对查询结果的完整性、正确性验证.数据拥有者将ADS存储在区块链上,借助区块链的不可篡改性,可以解决上述问题.但现有ADS实现方案在区块链上维护成本较高并且大部分只支持静态数据的可验证查询,目前缺少一种针对区块链设计的高效ADS.通过分析智能合约的gas消耗机制与基于传统MHT的ADS的gas开销,提出一种新型ADS认证结构SMT,实现对流数据的高效可验证查询,并且在区块链上具备更低的gas消耗.从理论及实验出发,验证了SMT的高效性,通过安全性分析,证明了SMT的安全性.
