山西省大水网水量调度分析

文章通过分析山西大水网覆盖区各水源间水量互补调度的可行性,提出四种不同干旱条件下的不同水量调度方式:正常年份"主水"自供;轻度、中度干旱年份"主水"为主,调用"客水"补给;严重干旱年份用好"主水",开源增加"客水";特大干旱年份"主水""客水"并举,各行业压缩供水。对山西省的水量调度有一定的参考价值。

Research on global path planning based on ant colony optimization for AUV

Path planning is an important issue for autonomous underwater vehicles （AUVs） traversing an unknown environment such as a sea floor, a jungle, or the outer celestial planets. For this paper, global path planning using large-scale chart data was studied, and the principles of ant colony optimization （ACO） were applied. This paper introduced the idea of a visibility graph based on the grid workspace model. It also brought a series of pheromone updating rules for the ACO planning algorithm. The operational steps of the ACO algorithm are proposed as a model for a global path planning method for AUV. To mimic the process of smoothing a planned path, a cutting operator and an insertion-point operator were designed. Simulation results demonstrated that the ACO algorithm is suitable for global path planning. The system has many advantages, including that the operating path of the AUV can be quickly optimized, and it is shorter, safer, and smoother. The prototype system successfully demonstrated the feasibility of the concept, proving it can be applied to surveys of unstructured unmanned environments.

Application of unscented Kalman filter to novel terrain passive integrated navigation system

To improve the navigation accuracy of an autonomous underwater vehicle （AUV）, a novel terrain passive integrated navigation system （TPINS） is presented. According to the characteristics of the underwater environment and AUV navigation requirements of low cost and high accuracy, a novel TPINS is designed with a configuration of the strapdown inertial navigation system （SINS）, the terrain reference navigation system （TRNS）, the Doppler velocity sonar （DVS）, the magnetic compass and the navigation computer utilizing the unscented Kalman filter （UKF） to fuse the navigation information from various navigation sensors. Linear filter equations for the extended Kalman filter （EKF）, nonlinear filter equations for the UKF and measurement equations of navigation sensors are addressed. It is indicated from the comparable simulation experiments of the EKF and the UKF that AUV navigation precision is improved substantially with the proposed sensors and the UKF when compared to the EKF. The TPINS designed with the proposed sensors and the UKF is effective in reducing AUV navigation position errors and improving the stability and precision of the AUV underwater integrated navigation.

基于AUV垂直面运动控制的状态增减多模型切换

自主水下机器人(autonomous underwater vehicle,AUV)系统垂直面运动具有强耦合性、非线性等特点导致AUV系统垂直面难以精确控制,且其纵倾角需控制在某一阈值内,以保证系统安全。根据以上控制要求与AUV垂直面运动模型特点,提出将其解耦为深度控制子模型与纵倾角控制子模型,构建AUV系统垂直面运动控制模型集,根据模型集所含两子模型特点,提出了状态变量增减的多模型切换的概念。基于切换系统稳定判据——共同Lyapunov函数法,提出了变加权多模型切换策略,实现了切换过程的稳定性,避免了切换过程的抖动问题。多次湖泊试验证明,加权多模型切换策略避免了由于期望深度变化而造成的执行机构饱和、深度和纵倾角超调量过大等问题,且改善了AUV系统深度运动的静动态控制品质。

Resistance Evaluation of Part of Leading Rice Varieties to Rice Blast in Guangxi Province

In order to determine the resistance of leading rice varieties to rice blast in Guangxi, three natural induction rice blast nurseries were established in Cenxi, Sanjiang and Yongfu. The resistance of the 45 leading rice varieties in Guangxi to rice blast was determined under conditions of spray inoculation and natural induction at seedling stage. The results showed that resistance frequencies of the 45 leading rice varieties ranged from 8.33% to 94.44%. Among the 45 tested varieties, there were 8 varieties of which the resistance frequencies were all higher than 80%, accounting for 17.78%; there were 11 varieties of which the resistance frequencies ranged from 50% to 80%, accounting for 24.44%; the resistance frequencies of the remaining varieties were all lower than 50%, accounting for 57.78% of the total tested varieties. The twoconsecutive-year determination results showed none of the 45 leading rice varieties showed resistance to rice blast. In 2010, there were 26, 12 and 7 varieties that were moderately sensitive, sensitive and greatly sensitive to rice blast respectively, accounting for 57.78%, 26.67% and 15.56% of the total tested varieties. In 2011, there were 16, 23 and 12 varieties that were moderately sensitive, sensitive and greatly sensitive to rice blast respectively, accounting for 35.56%, 51.11% and 13.33%. The overall resistance of the 45 leading rice varieties trended to be decreased year by year. So in rice production, they should be selected properly.

The Principal Component Analysis on Yielding and Agronomic Traits of Hybrid Rice of Liangyou 2111

In order to define the relationship between yield and important agronomic traits of two lines hybrid Uangyou 2111, the principal component analysis method was used to analyze the expadmental data of six test points in Yunnan Province. The results showed that the main factors influencing the production of Liangyou 2111 were grain number, grains seed number, panicle length, growth padod and panicle rate; then were 1 O00-grain weight, seed setting rate, effective panicle and highest stem tillers number; again was plant height. Therefore, when hybrid rice of Uangyou 2111 will be planted widely in yunnan province, we should focus on en- sudng the panicle traits, especially increase grain number and grain seed number, and coordinately develop other traits to achieve high yield.

Analysis of the Nationally Registered Rice Varieties in the Last Decade

The nationally registered rice varieties during 2006-2015 were analyzed and there were 49.4 varieties on average annually registered in the last decade. In terms of the structure of varieties, there was a decreasing trend for the proportion of three-line hybrid rice varieties but a rapid increase for that of two-line hybrid rice varieties. The percentage of rice varieties developed by scientific research institu- tions was decreasing but that developed by seed companies kept a rapid increase, indicating the commercial breeding conducted by seed companies has become a principal model in rice breeding. With regard to grain quality of varieties, the con- ventional rice varieties showed an increasing trend while the hybrid rice varieties had a decreasing trend in the proportion of high quality varieties, indicating hybrid rice needs improving more in grain quality in breeding programs.

Application of GA, PSO, and ACO Algorithms to Path Planning of Autonomous Underwater Vehicles

In this paper, an underwater vehicle was modeled with six dimensional nonlinear equations of motion, controlled by DC motors in all degrees of freedom. Near-optimal trajectories in an energetic environment for underwater vehicles were computed using a nnmerical solution of a nonlinear optimal control problem （NOCP）. An energy performance index as a cost function, which should be minimized, was defmed. The resulting problem was a two-point boundary value problem （TPBVP）. A genetic algorithm （GA）, particle swarm optimization （PSO）, and ant colony optimization （ACO） algorithms were applied to solve the resulting TPBVP. Applying an Euler-Lagrange equation to the NOCP, a conjugate gradient penalty method was also adopted to solve the TPBVP. The problem of energetic environments, involving some energy sources, was discussed. Some near-optimal paths were found using a GA, PSO, and ACO algorithms. Finally, the problem of collision avoidance in an energetic environment was also taken into account.

Optimization Analysis of Campus Topic Space in Colleges and Universities——A Case Study of the Colleges and Universities in Lishui, Zhejiang Province

University campus is the most important place for life, study, activity and experience of contemporary college students. It is helpful for students to survive and develop to create the topic space of campus. Taking the topic space of college campuses in Lishui City of Zhejiang Province as an example, the current situations are analyzed through questionnaire survey and field visit. The results show that uni- versity campus space needs a clear topic; the demands are generally large for the topics of exchange and communication, learning and thinking, sports and leisure in all kinds of space; the creation of these types of topic spaces should focus on the peaceful environment, beautiful scenery, privacy of the space and WlFI coverage.

Dynamic formation control for autonomous underwater vehicles

Path planning and formation structure forming are two of the most important problems for autonomous underwater vehicles(AUVs) to collaborate with each other.In this work,a dynamic formation model was proposed,in which several algorithms were developed for the complex underwater environment.Dimension changeable particle swarm algorithm was used to find an optimized path by dynamically adjusting the number and the distribution of the path nodes.Position relationship based obstacle avoidance algorithm was designed to detour along the edges of obstacles.Virtual potential point based formation-keeping algorithm was employed by incorporating dynamic strategies which were decided by the current states of the formation.The virtual potential point was used to keep the formation structure when the AUV or the formation was deviated.Simulation results show that an optimal path can be dynamically planned with fewer path nodes and smaller fitness,even with a concave obstacle.It has been also proven that different formation-keeping strategies can be adaptively selected and the formation can change its structure in a narrow area and restore back after passing the obstacle.

Nonlinear trajectory tracking control of a new autonomous underwater vehicle in complex sea conditions

Autonomous underwater vehicles (AUVs) navigating in complex sea conditions usually require a strong control system to keep the fastness and stability. The nonlinear trajectory tracking control system of a new AUV in complex sea conditions was presented. According to the theory of submarines,the six-DOF kinematic and dynamic models were decomposed into two mutually non-coupled vertical and horizontal plane subsystems. Then,different sliding mode control algorithms were used to study the trajectory tracking control. Because the yaw angle and yaw angle rate rather than the displacement of the new AUV can be measured directly on the horizontal plane,the sliding mode control algorithm combining cross track error method and line of sight method was used to fulfill its high-precision trajectory tracking control in the complex sea conditions. As the vertical displacement of the new AUV can be measured,in order to achieve the tracking of time-varying depth signal,a stable sliding mode controller was designed based on the single-input multi-state system,which took into account the characteristic of the hydroplane and the amplitude and rate constraints of the hydroplane angle. Moreover,the application of dynamic boundary layer can improve the robustness and control accuracy of the system. The computational results show that the designed sliding mode control systems of the horizontal and vertical planes can ensure the trajectory tracking performance and accuracy of the new AUV in complex sea conditions. The impacts of currents and waves on the sliding mode controller of the new AUV were analyzed qualitatively and quantitatively by comparing the trajectory tracking performance of the new AUV in different sea conditions,which provides an effective theoretical guidance and technical support for the control system design of the new AUV in real complex environment.

Actuator fault diagnosis of autonomous underwater vehicle based on improved Elman neural network

Autonomous underwater vehicles(AUV) work in a complex marine environment. Its system reliability and autonomous fault diagnosis are particularly important and can provide the basis for underwater vehicles to take corresponding security policy in a failure. Aiming at the characteristics of the underwater vehicle which has uncertain system and modeling difficulty, an improved Elman neural network is introduced which is applied to the underwater vehicle motion modeling. Through designing self-feedback connection with fixed gain in the unit connection as well as increasing the feedback of the output layer node, improved Elman network has faster convergence speed and generalization ability. This method for high-order nonlinear system has stronger identification ability. Firstly, the residual is calculated by comparing the output of the underwater vehicle model(estimation in the motion state) with the actual measured values. Secondly, characteristics of the residual are analyzed on the basis of fault judging criteria. Finally, actuator fault diagnosis of the autonomous underwater vehicle is carried out. The results of the simulation experiment show that the method is effective.

Analysis and innovation of key technologies for autonomous underwater vehicles

As the mission needs of the autonomous underwater vehicles(AUV) have become increasingly varied and complex,the AUVs are developing in the direction of systematism, multifunction, and clustering technology, which promotes the progress of key technologies and proposes a series of technical problems. Therefore, it is necessary to make systemic analysis and in-depth study for the progress of AUV's key technologies and innovative applications. The multi-functional mission needs and its key technologies involved in complex sea conditions are pointed out through analyzing the domestic and foreign technical programs, functional characteristics and future development plans. Furthermore, the overall design of a multi-moving state AUV is proposed. Then, technical innovations of the key technologies, such as thrust vector, propeller design, kinematics and dynamics, navigation control, and ambient flow field characteristics, are made, combining with the structural characteristics and motion characteristics of the new multi-moving state AUV. The results verify the good performance of the multi-moving state AUV and provide a theoretical guidance and technical support for the design of new AUV in real complex sea conditions.

H_∞ Robust Fault-Tolerant Controller Design for an Autonomous Underwater Vehicle’s Navigation Control System

In order to improve the security and reliability for autonomous underwater vehicle （AUV） navigation, an H∞ robust fault-tolerant controller was designed after analyzing variations in state-feedback gain Operating conditions and the design method were then analyzed so that the control problem could be expressed as a mathematical optimization problem. This permitted the use of linear matrix inequalities （LMI） to solve for the Hv controller for the system. When considering different actuator failures, these conditions were then also mathematically expressed, allowing the H∞ robust controller to solve for these events and thus be fault-tolerant. Finally, simulation results showed that the H∞ robust fault-tolerant controller could provide precise AUV navigation control with strong robustness.

Numerical computation and analysis of high-speed autonomous underwater vehicle (AUV) moving in head sea based on dynamic mesh

Autonomous underwater vehicles （AUVs） navigating on the sea surface are usually required to complete the communication tasks in complex sea conditions. The movement forms and flow field characteristics of a multi-moving state AUV navigating in head sea at high speed were studied. The mathematical model on longitudinal motion of the high-speed AUV in head sea was established with considering the hydrodynamic lift based on strip theory, which was solved to get the heave and pitch of the AUV by Gaussian elimination method. Based on this, computational fluid dynamics （CFD） method was used to establish the mathematical model of the unsteady viscous flow around the AUV with considering free surface effort by using the Reynolds-averaged Navier-Stokes （RANS） equations, shear-stress transport （SST） k-w model and volume of fluid （VOF） model. The three-dimensional numerical wave in the computational field was realized through defining the unsteady inlet boundary condition. The motion forms of the AUV navigating in head sea at high speed were carried out by the program source code of user-defined function （UDF） based on dynamic mesh. The hydrodynamic parameters of the AUV such as drag, lift, pitch torque, velocity, pressure and wave profile were got, which reflect well the real ambient flow field of the AUV navigating in head sea at high speed. The computational wave profile agrees well with the experimental phenomenon of a wave-piercing surface vehicle. The force law of the AUV under the impacts of waves was analyzed qualitatively and quantitatively, which provides an effective theoretical guidance and technical support for the dynamics research and shape design of the AUV in real complex environnaent.

Underwater Terrain-Aided Navigation Based on Multibeam Bathymetric Sonar Images

Underwater terrain-aided navigation is used to complement the traditional inertial navigation employed by autonomous underwater vehicles during lengthy missions. It can provide fixed estimations by matching real-time depth data with a digital terrain map, This study presents the concept of using image processing techniques in the underwater terrain matching process. A traditional gray-scale histogram of an image is enriched by incorporation with spatial information in pixels. Edge comer pixels are then defined and used to construct an edge comer histogram, which employs as a template to scan the digital terrain map and estimate the fixes of the vehicle by searching the correlation peak. Simulations are performed to investigate the robustness of the proposed method, particularly in relation to its sensitivity to background noise, the scale of real-time images, and the travel direction of the vehicle. At an image resolution of 1 m2/pixel, the accuracy of localization is more than 10 meters.

Three-dimensional neural network tracking control of autonomous underwater vehicles with input saturation

This paper addresses the problem of three-dimensional trajectory tracking control for underactuated autonomous underwater vehicles in the presence of parametric uncertainties,environmental disturbances and input saturation.First,a virtual guidance control strategy is established on the basis of tracking error kinematics,which resolves the overall control system into two cascade subsystems.Then,a first-order sliding mode differentiator is introduced in the derivation to avoid tedious analytic calculation,and a Gaussian error function-based continuous differentiable symmetric saturation model is explored to tackle the issue of input saturation.Combined with backstepping design techniques,the neural network control method and an adaptive control approach are used to estimate composite items of the unknown uncertainty and approximation errors.Meanwhile,Lyapunov-based stability analysis guarantees that control error signals of the closed-loop system are uniformly ultimately bounded.Finally,simulation studies are conducted for the trajectory tracking of a moving target and a spiral line to validate the effectiveness of the proposed controller.

Planning method for AUV region detection under ocean current

In this paper we present two strategies of AUV (Autonomous Underwater Vehicle) region detection and an approach to decompose the detection region according to the direction of the ocean current. In the task of local detection and identification, the algorithm against the ocean current was proposed. In the tasks of closing obstacle, going back or moving, the fuzzy logic theory was used to solve the effect of ocean current. In one of our strategies the concept of weighted journey based on the angle between heading and ocean current is suggested and the TSP's exact optimal result is utilized to solve the global path planning. Simulations demonstrate the feasibility of this approach.

Nitrate and Ammonium Leaching in Variable-and Permanent-Charge Paddy Soils

A variable-charge （VC） and a permanent-charge paddy soil （PC） were selected to study nitrate-N （NO3^--N） and ammonium-N （NH4^＋-N） leaching with N isotopes for one consecutive year. An irrigation and intermittent drainage pattern was adopted to mimic natural occurrence of rainfall during the upland crop season and drainage management during the flooded rice season. Treatments to each soil type were no-N controls （CK）, ^15N-labeled （NH4）2SO4 （NS）, and milk vetch （NV） applied at a rate equivalent to 238 kg N ha^-1 to unplanted lysimeters, totaling six treatments in triplicates. Results indicated that the soil type dominated N leaching characteristics. In the case of PC, NO3^--N accounted for 78% of the total leached inorganic N; NS was prone to leach three times more than the NV, being 8.2% and 2.4% of added ^15N respectively; and 〉 85% of leached NO3-N came from of the total inorganic N in leachate. Moreover, NH4^＋-N native N in the soil. In the case of VC, NH4^＋-N made up to 92% leaching was detected throughout the whole incubation, and was particularly high during the flooded season. NO3^--N leaching in VC occurred later at a lower rate compared to that in PC. The findings of this study indicate that NO3^--N leaching during the drained season in permanent-charge paddy soils and NH4^＋-N leaching in variable-charge soils deserve more attention for regional environmental control.

Dynamics Modeling and Simulation of Autonomous Underwater Vehicles with Appendages

To provide a simulation system platform for designing and debugging a small autonomous underwater vehicle＇s （AUV） motion controller, a six-degree of freedom （6-DOF） dynamic model for AUV controlled by thruster and fins with appendages is examined. Based on the dynamic model, a simulation system for the AUV＇s motion is established. The different kinds of typical motions are simulated to analyze the motion performance and the maneuverability of the AUV. In order to evaluate the influences of appendages on the motion performance of the AUV, simulations of the AUV with and without appendages are performed and compared. The results demonstrate the AUV has good maneuverability with and without appendages.