Semi-physical simulation of AUV pipeline tracking

Before the task of autonomous underwater vehicle(AUV) was implemented actually,its semi-physical simulation system of pipeline tracking had been designed.This semi-physical simulation system was used to test the software logic,hardware architecture,data interface and reliability of the control system.To implement this system,the whole system plan,including interface computer and the methods of pipeline tracking,was described.Compared to numerical simulation,the semi-physical simulation was used to test the real software and hardware more veritably.In the semi-physical simulation system,tracking experiments of both straight lines and polygonal lines were carried out,considering the influence of ocean current and the situation of buried pipeline.The experimental results indicate that the AUV can do pipeline tracking task,when angles of pipeline are 15°,30°,45° and 60°.In the ocean current of 2 knots,AUV could track buried pipeline.

Methodical Approach to the Development of a Radar Sensor Model for the Detection of Urban Traffic Participants Using a Virtual Reality Engine

New approaches for testing of autonomous driving functions are using Virtual Reality (VR) to analyze the behavior of automated vehicles in various scenarios. The real time simulation of the environment sensors is still a challenge. In this paper, the conception, development and validation of an automotive radar raw data sensor model is shown. For the implementation, the Unreal VR engine developed by Epic Games is used. The model consists of a sending antenna, a propagation and a receiving antenna model. The microwave field propagation is simulated by a raytracing approach. It uses the method of shooting and bouncing rays to cover the field. A diffused scattering model is implemented to simulate the influence of rough structures on the reflection of rays. To parameterize the model, simple reflectors are used. The validation is done by a comparison of the measured radar patterns of pedestrians and cyclists with simulated values. The outcome is that the developed model shows valid results, even if it still has deficits in the context of performance. It shows that the bouncing of diffuse scattered field can only be done once. This produces inadequacies in some scenarios. In summary, the paper shows a high potential for real time simulation of radar sensors by using ray tracing in a virtual reality.

Temperature stability of magnetic field for periodic permanent-magnet focusing system

In this study, finite element analysis based on an Ansoft Maxwell software was used to reveal the temperature stability of a magnet ring and the equivalent structural periodic permanent-magnet（PPM） focusing system. It is found that with the temperature increasing, the decrease rate of magnetic induction peak（Bz）maxof single magnet ring is greater than that of remanence Brof magnet in the range from room temperature to 200 °C, however,the PPM focusing system do have the same temperature characteristics of permanent-magnet materials. It indicates that the magnetic temperature properties of the PPM system can be effectively controlled by adjusting the temperature properties of the magnets. Moreover, the higher permeability of the magnets indicates the less Hcb, giving rise to lower magnetic induction peak （Bz）′max： Finally, it should be noted that the magnetic orientation deviation angle θ（／15°） of permanent magnets has little effect on the focusing magnetic field of the PPM system at different temperatures and the temperature stability. The obtained results are beneficial to the design and selection of permanent magnets for PPM focusing system.