Inverse speed analysis and low speed control of underwater vehicle

Inverse speed is a reversible maneuver.It is a characteristic of underwater vehicle at low speed.Maneuverability in the vertical plane at a speed lower than inverse speed is different from one at higher speed.In the process of underwater working for observation,AUV＇s cruise speed is always low.Therefore,the research on inverse speed is important to AUV＇s maneuverability.The mechanism of inverse speed was analyzed,and then the steady pitching equation was derived.The parameter expression of track angle in vertical plane was deduced.Furthermore,the formula to calculate the inverse speed was obtained.The typical inverse speed phenomenon of the flat body and the revolving body was analyzed.Then the conclusion depicts that,for a particular AUV with flat body,its inverse speed is lower than that of revolving body.After all the calculation and the analysis,a series of special experiments of inverse speed were carried out in the simulation program,in the tank and in the sea trial.     

融合环境信息和运动约束的改进A*算法研究

标准A*算法存在着无法考虑移动机器人运动特性及处理后的路径不利于移动机器人运动等问题。针对这一问题提出了一种新改进A*算法,通过环境信息引入障碍物权重系数来改进算法的启发函数并进行全局路径规划;优化搜索节点的选取方式和设定障碍物与路径之间的安全距离;基于对移动机器人的运动特性的考虑优化其路径,并在不同环境地图中与其他算法进行仿真实验对比分析。相关实验表明：基于新改进A*算法规划的路径始终与障碍物保持一定的安全距离;改进A*算法在时间上相比标准A*算法平均减少了80%,路径长度平均减少了2%,路径转角平均降低了82%。改进后算法相比其他算法在时间、搜索节点以及平滑度上有很大的改进,融合机器人环境信息和运动特性的规划路径算法可为移动机器人的路径规划提供一种新的方法。     

地震灾害下变压器的损毁情况及对策研究

归纳了地震灾害下变压器的三种主要损毁形式,从设备选型、安装和运行维护方面提出了提高变压器抗震性能的措施,进而从变压器的内部结构、变压器套管、变压器整体与基础的连接及变压器油箱外部易损附件四个方面提出了变压器抗震设计应注意的问题。     

乌东德水电站通风空调设计分析

介绍了该水电站的工程概况和通风空调系统设计特点。空调设计中,在确定室外空气计算参数时对乌东德气象参数进行了修正;根据水电站所处地形,提高了水电站取风点高程,从而减少了新风负荷;对厂房内气流组织进行了分析,水电站选择全面通风(未经降温除湿处理)与局部区域现地降温冷却相结合的方式,以满足厂内降温和通风换气要求。