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自主水下航行器变浮力系统研究现状及控制技术 被引量:2
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作者 李奔 黄哲敏 +2 位作者 何斌 潘兴邦 徐国华 《中国舰船研究》 CSCD 北大核心 2022年第5期134-147,共14页
变浮力系统(VBS)在自主水下航行器(AUV)上的应用极大地提高了AUV的操纵性能、续航能力、对环境变化的适应能力以及完成多种任务的能力。AUV种类繁多,配置的VBS也各不相同,有必要深入研究AUV的变浮力系统及其控制技术。首先,针对AUV不同... 变浮力系统(VBS)在自主水下航行器(AUV)上的应用极大地提高了AUV的操纵性能、续航能力、对环境变化的适应能力以及完成多种任务的能力。AUV种类繁多,配置的VBS也各不相同,有必要深入研究AUV的变浮力系统及其控制技术。首先,针对AUV不同类型VBS的原理和特点进行详细说明,并总结其适用场景;然后,对VBS在AUV操纵控制上的典型应用进行介绍,包括均衡、悬停以及着陆、坐底等;接着,对变浮力AUV现有的浮力调节技术、浮力观测技术以及协同操控技术进行综述与评价;最后,对变浮力AUV的发展前景进行展望。 展开更多
关键词 变浮力系统 自主水下航行器 可变压载 混合式水下航行器
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Research on variable block size motion estimation algorithm for airborne image
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作者 王科 Huang Dongshan +1 位作者 Ma Li Zhang Yudong 《High Technology Letters》 EI CAS 2014年第3期321-327,共7页
A fast motion estimation algorithm for variable block-size using the "line scan and block merge procedure" is proposed for airborne image compression modules.Full hardware implementation via FPGA is discussed in det... A fast motion estimation algorithm for variable block-size using the "line scan and block merge procedure" is proposed for airborne image compression modules.Full hardware implementation via FPGA is discussed in detail.The proposed pipelined architecture based on the line scan algorithm is capable of calculating the required 41 motion vectors of various size blocks supported by H.264 within a 16 × 16 block in parallel.An adaptive rate distortion cost function is used for various size block decision.The motion vectors of adjacent small blocks are merged to predict the motion vectors of larger blocks for reducing computation.Experimental results show that our proposed method has lower computational complexity than full search algorithm with slight quality decrease and little bit rate increase.Due to the high real-time processing speed it can be easily realized in hardware. 展开更多
关键词 H.264 motion estimation line scan algorithm rate distortion optimization (RDO) FPGA block merge method
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Deformation analysis of an incompressible composite cylindrical tube subjected to end axial loads and internal constraint 被引量:1
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作者 ZHANG WenZheng YUAN XueGang +1 位作者 ZHANG HongWu REN JiuSheng 《Science China(Physics,Mechanics & Astronomy)》 SCIE EI CAS 2014年第1期113-121,共9页
In this paper,the problem of axially symmetric deformation is examined for a composite cylindrical tube under equal axial loads acting on its two ends,where the tube is composed of two different incompressible neo-Hoo... In this paper,the problem of axially symmetric deformation is examined for a composite cylindrical tube under equal axial loads acting on its two ends,where the tube is composed of two different incompressible neo-Hookean materials.Significantly,the implicit analytical solutions describing the deformation of the tube are proposed.Numerical simulations are given to further illustrate the qualitative properties of the solutions and some meaningful conclusions are obtained.In the tension case,with the increasing axial loads or with the decreasing ratio of shear moduli of the outer and the inner materials,it is proved that the tube will shrink more along the radial direction and will extend more along the axial direction.Under either tension or compression,the deformation along the axial direction is obvious near the two ends of the tube,while in the rest,the change is relatively small.Similarly,for a large domain of the middle part,the axial elongation is almost constant;however,the variation is very fast near the two ends.In addition,the absolute value of the axial displacement increases gradually from the central cross-section of the tube and achieves the maximum at the two endpoints. 展开更多
关键词 composite cylindrical tube incompressible neo-Hookean material end axial load axially symmetric deformation im-plicit analytical solution
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