This paper researches on a kind of control architecture for autonomous undelwater vehicle （AUV）. After describing the hybrid property of the AUV control system, we present the hierarchical AUV control architecture. ...This paper researches on a kind of control architecture for autonomous undelwater vehicle （AUV）. After describing the hybrid property of the AUV control system, we present the hierarchical AUV control architecture. The architecture is organized in three layers： mission layer, task layer and execution layer. State supervisor and task coordinator are two key modules handling discrete events, so we describe these two modules in detail. Finally, we carried out a series of tests to verify this architecture The test results show that the AUV can perform autonomous missions effectively and safely. We can conclude the control architecture is valid and practical.展开更多
There is a discharge control feature of construction diversion system with the upstream operational reservoir. The risk evaluation model of construction diversion is established by taking into consideration the risk f...There is a discharge control feature of construction diversion system with the upstream operational reservoir. The risk evaluation model of construction diversion is established by taking into consideration the risk factors of construction diversion system with discharge control feature as well as their composition. And the risk factors include the upstream operational reservoir discharge control, the interval flood and branch flood and the diversion system itself. And then based on analyzing of the conversion relation between risk index and investment index of diversion scheme, the risk control and conversion principals of diversion system are put forward, and the feasible diversion scheme model is built. At last, the risk and economic evaluation and scheme economic feasibility analysis method of diversion scheme are shown by an example of construction diversion scheme optimization with the discharge control condition of upstream hydropower station. The study is valuable for establishment and optimization of construction diversion scheme with upstream reservoir discharge control.展开更多
文摘This paper researches on a kind of control architecture for autonomous undelwater vehicle （AUV）. After describing the hybrid property of the AUV control system, we present the hierarchical AUV control architecture. The architecture is organized in three layers： mission layer, task layer and execution layer. State supervisor and task coordinator are two key modules handling discrete events, so we describe these two modules in detail. Finally, we carried out a series of tests to verify this architecture The test results show that the AUV can perform autonomous missions effectively and safely. We can conclude the control architecture is valid and practical.
基金National Natural Science Foundation of China ( No. 10902078 and No. 51079115)
文摘There is a discharge control feature of construction diversion system with the upstream operational reservoir. The risk evaluation model of construction diversion is established by taking into consideration the risk factors of construction diversion system with discharge control feature as well as their composition. And the risk factors include the upstream operational reservoir discharge control, the interval flood and branch flood and the diversion system itself. And then based on analyzing of the conversion relation between risk index and investment index of diversion scheme, the risk control and conversion principals of diversion system are put forward, and the feasible diversion scheme model is built. At last, the risk and economic evaluation and scheme economic feasibility analysis method of diversion scheme are shown by an example of construction diversion scheme optimization with the discharge control condition of upstream hydropower station. The study is valuable for establishment and optimization of construction diversion scheme with upstream reservoir discharge control.
