水下擬人機 的英文怎麼說
中文拼音 [shuǐxiànǐrénjī]
水下擬人機
英文
underwater robot-
Fist of all, on the basis of the research of agone boffins, this author investigates the interaction mechanism of bolts and rock, and introduces the elastic ? lastic analytical resolution which is consist of the liner structure, the equivalent reinforced wall rock and the original wall rock in the simple loading from the equivalent well - proportioned view ; this solution is very important meaning for the engineering design. on the basis of coulomb friction model, the author introduces the finite element equation of the contact problem in order to provide the academic foundation for the application of msc. marc. finally, combining the engineering practice of the non - linear analysis of shield tunnel through yellow river of the south - north water transfer and using the model of friction, the author researched the evolution law of stress and displacement field in the structure of grouted rock bolts, and analyzed the effect to the stress and deformation of surrounding rock mass due to anchor supports
首先，在前人研究成果的基礎上，對錨桿與圍巖的相互作用機理進行研究，利用全長錨固錨桿的中性點理論，從等效均化的角度來考慮錨桿對圍巖的加固作用，並推導了在簡單荷載作用下，含有襯砌、等效加固后的圍巖、原始圍巖三者的彈塑性解析解，對工程設計有著重要的參考意義；在數值模擬方面，以考慮錨固圍巖滿足規則化庫侖摩擦模型為基礎，利用虛功原理推導了接觸問題的有限元方程的計算格式，為開發運用大型商用有限元軟體msc . marc提供了理論根據，也形成了本文的理論基礎：最後，論文以南水北調東線穿黃隧洞穩定性分析項目為工程實例，利用本文所述的接觸問題的摩擦模型理論，對錨桿支護結構的應力場、位移場的變化規律進行了研究，分析了加錨支護對隧洞圍巖應力、變形的影響。Based on the " fangsheng - i " robot fish of harbin engineering university auv lab, at first the analysis of the relations of pectoral fin ' s attack angle and lift in vertical plane is done in this paper, using the robot fish ' s hydrodynamic results by the panel method ' s, then setting up the motion model in vertical plane is done. finally animation the robot fish ' s motion in horizontal plane is finished
論文以哈爾濱工程大學軍用智能水下機器人國防重點實驗室的「仿生? 」號仿魚機器人為對象，利用面元法計算的仿魚機器人水動力結果，並分析了垂直面內胸鰭的攻角與升力的關系，建立了垂直面內的模型，根據軸變形模擬了仿魚機器人水平面內的直航和偏航。This paper analyzes the driving mechanism and motion realization of underwater gliders, presents the simulation result of its typical motion modes, then describes the overall arrangement of an underwater glider test model being designed, and finally discusses the design and selection of the glider ' s buoyancy adjusting mechanism, pitch adjusting mechanism and roll adjusting mechanism in detail
分析了水下滑翔機器人的驅動機理和運動實現，給出了水下滑翔機器人典型運動的模擬結果，並以正在設計的一水下滑翔機試驗樣機為研究對象，描述了樣機的整體結構布局，詳細研究了浮力調節機構、俯仰調節機構和橫滾調節機構的實現方法，並就樣機中各執行機構的設計實現進行了論述。The dissertation is mainly including four section : the first is the experiments done in the tank, which will supply the reliable information of imaging data ; the second is image edge detection by the use of the art of the zernkie moments, which is used to detect the liner and threaded edge of the object, the third is the underwater camera calibration technique, the forth is automatic positioning the location of the camera by used of the art of cross - ratio, the result of which is satisfied
本文工作分為四個部分：第一部分是水槽實驗部分，它為后續的工作提供了可靠的圖像數據信息；第二部分是基於zom距的直線、曲線邊緣提取技術及相關的與處理技術；第三部分，水下攝像機標定技術研究，基於改進的tsai演算法，採用逐步分解的標定策略。並探討了一種相對簡單的、靈活的標定技術；第四部分是攝像機定位技術研究，採用具有平移不變性的交比進行攝像機定位，模擬試驗的最大誤差不超過2 ，效果還是令人滿意的。The main tests and researches are as following : to study the ac flashover characteristic of composite insulator in different icing states by imitating tests in multifunctional artificial climate chamber, and analyze the effect of ice amount and icing water conductivity on flashover voltage, put forward a flashover mechanism by analyzing the icing flashover process. to study the ac flashover characteristic of composite insulator in different altitude and icing states together by imitating tests in multifunctional artificial climate chamber, and mainly analyze the effect of altitude ( air pressure ) and ice amount on flashover voltage, and investigate the flashover mechanism. to investigate the effect of high altitude and icing on the hydrophobicity of composite insulators
本文主要進行了以下試驗研究： 1 ）在多功能人工氣候室里模擬不同覆冰程度下合成絕緣子的交流閃絡特性，主要分析覆冰量和覆冰水電導率對閃絡電壓的影響，並對其覆冰閃絡過程進行機理分析； 2 ）在多功能人工氣候室里模擬不同海拔高度和覆冰程度綜合作用下合成絕緣子的交流閃絡特性，主要分析海拔高度（即氣壓）和覆冰量對閃絡電壓的影響，並進行閃絡機理分析； 3 ）研究高海拔和覆冰對合成絕緣子憎水性的影響。So, in this thesis research, the information fusion is not only a data disposal process from lowers to higher, but also the feedback from higher to lower, that means the higher takes part in the d ata fusion of lower. simulations and trials validate all these methods and the results of these show that it is very effective to improve the control performance of auv by applying data fusion technology to the motion control system
本文通過水下機器人的模擬試驗和海上智能作業試驗進行驗證，試驗結果表明，將多傳感器信息融合技術應用到水下機器人的運動控制系統中，提高了整個控制系統的可靠性和保障水下機器人的安全航行和完成任務，促進水下機器人智能控制技術的發展。Research on real - time simulation system of autonomous underwater vehicle
自治水下機器人實時模擬系統開發研究Motion analysis and simulation of underwater cleaning robot for ships
水下船體清刷機器人運動分析及模擬The methods of displaying slice about the three - dimensional emulation model are studied. they are follow three methods. the method to make multilayer horizontal slice ; the method to make multidirection and multiangle slice the method to make single oil layer display in three space. by above three methods the oil engineer can apprehend the underground oil reservoir structure very clearly
利用計算機圖形圖象處理技術，研究對地下油藏模擬模型的切片顯示的方法，其中可完成多層水平片、可使人們在縱向空間對油藏有清晰的認識，完成多方向、多角度對油藏的垂直切片，使人們對油藏的整體構造有清晰的認識。Then, based on several existed ga methods, a ga methods was applied in the gpp problem with the auv s grid environmental model, and it was tested by the joint simulation experiment in the auv simulation system. the gpp method in ga based on apf was also developed by simulation test
然後在已有幾種遺傳演算法路徑規劃方法的基礎上，針對智能水下機器人的柵格化環境模型，用遺傳演算法進行了全局路徑規劃的研究，並且在水下機器人模擬系統中進行了聯調模擬驗證。In addition, the automatic acquisition of the fuzzy rules was tried. analyzing the result of the pool trial, we discussed the factors which affected the veracity and facility of the simulation system, and evaluated it. it is very significant for future work
論文還在水下機器人水池試驗結果初步分析的基礎上，討論了影響模擬系統準確性和真實性的各種因素，對模擬系統進行了綜合評價，對以後的工作有較大的指導意義。Based on the auv ' s motion simulation system, the basic fuzzy logic controller is established using manual trial - and - error process at first
論文基於水下機器人的運動模擬系統，首先以手工試錯方式建立了基本的模糊控制器。It is built as an open platform for scientific research on groundwater circulation at different scale, resource and environment effects, water - salt flux variation at interface and effects on the global climate induced by human activities, assessments of regional groundwater and the detective technology, isotopes during the groundwater evolution, numerical simulation and predict technique
發揮我所尖端科研資源優勢，建設開放式創新研究平臺，主要支持開展不同時空尺度地下水循環演化過程、資源與環境效應及其動力學，層圈間不同界面水鹽通量變化及其對全球氣候變化和人類活動影響的響應機制，區域含水層系統探測技術與評價理論，地下水演化的同位素與數值模擬、預測技術等研究。The tingjing group is in putting into effect the course of mrpii system, a mrpii does not only regard one set of software to come to popularize and is regarding a management model to recommend ; by way of mrpii system and computer network, each department and post can be covered by the system on universal ground a staff can get any information that relates with oneself vocational work by way of the cross - domain communication at any time, gain the various policy decision supports of real time quantification, carrying on operation process imitates, not only can quicken the rate of progress planning the work such as formulation and cost accounting etc greatly, and still economize that the report form and data shortened whole vocational work period in the delay that the difference function circulated between the department, and retrenched the personnel of work, and raise the efficiency managing work conquer the solid foundation for business process reengineering ( bpr ), takes mrpii as the foundation, bpr has been in progress in the company and builded performance " s evaluation system
引入mrp管理系統是提高管理水平的一個有效途徑。天健集團在實施mrp系統的過程中，不是把mrp僅僅作為一套軟體來推廣而是作為一個管理模式來引進的；通過mrp系統和計算機網路，各部門和崗位可以普遍地被系統覆蓋，員工通過網路隨時可以得到與自己業務有關的任何信息，取得實時量化的各種決策支持，進行業務流程模擬，不僅可以大大加速了計劃制訂、成本核算等工作的進度，還節省了報表、數據在不同職能部門之間流通的延誤，縮短了整個業務周期，精簡了事務性的人員，提高了管理工作的效率。還為實現組織的扁平化提供了條件，為流程重組打下了堅實的基礎。Specifically, in terms of mechanism, the evolutionary mechanisms and regularities of water cycle and accompanying processes of river basins under the effects of high intensity mankind activities will be revealed ; in terms of modeling methodology, an integrated simulation system will be constructed for the “ natural - artificial ” binary water cycle and related processes of river basins to create the basic theories and methods of high efficiency water resources utilization ; and, in terms of application basis, quantitative criteria and patterns will be created for high efficiency water resources utilization and integral control of water cycle in water scarce areas
具體來說，在機理層面上，揭示高強度人類活動作用下的流域水循環及其伴生過程演變機理與規律；在模型方法層面，構建流域「天然人工」二元水循環及相關過程綜合模擬系統，形成水資源高效利用的基礎理論與方法；在應用基礎層面，提出缺水地區水資源高效利用和水循環整體調控的定量標準與模式。Then, how to implement the xbdi - agent in java is discussed in detail, which include the definition of class and rcl message, the process of mental states updating. lastly, the results of simulation are described. it has been proved that xbdi model is suitable for the tasks in simulation scenario
最後，文中描述了多水下機器人的模擬場景，然後具體探討了xbdi模型的java語言實現，包括類定義、消息定義和心智狀念更新過程，並給出了模擬結果。The thesis introduces the biot ' s three - dimension consolidation theory based on absolute linear - elastic theory ; the thesis designs the pit dewatering scheme of hand - dug piles support of shenyang subway ' s shenyang station construction ; the thesis uses finite element program to simulate the influence on around environments caused by pit dewatering, and finds the change laws of earth mass inner stress and the effect parameters on the surface deformation on the basis of reasonable hypothesis and the analysis of ground water exploitation progress. combined with stochastic medium theory, the thesis introduces dewatering subsidence coefficient, sets up the predicting model of the surface deformation caused by dewatering, and develops the computing program ; by application of program on a single well of underwater exploitation, it is proved that the program is feasible, so the prediction of the surface deformation caused by underwater exploitation is realized
本文介紹了基於線彈性本構關系的biot理論；設計了擬建沈陽地鐵沈陽站點人工挖孔樁支護施工的基坑降水方案；利用有限元程序，模擬了基坑降水對周圍環境的影響；在合理假設的基礎上，分析了地下水開采過程中，地層應力的變化規律，找到了影響地面變形的參數；與隨機介質理論相結合，通過引入采水下沉系數建立了地下水開采引起地面變形的預計計算模型，並編制了電算化程序；通過某單井開采實例驗證了該方法的可行性，實現了地下水開采引起地面變形的預計。The control system of the auv for environmental protection has been successfully simulated
我們成功地對水下環保機器人的運動控制系統進行了模擬。To the question autonomous underwater vehicle local path planning, the real - time path planning system based on fuzzy control is designed. this system solves the path planning problem in the complicated environment. the simulation results verified the way presented in this paper is effective
針對水下機器人局部路徑規劃問題，設計了基於模糊控制規則的水下機器人實時運動規劃系統，該系統能解決復雜環境下的運動規劃問題，模擬實驗驗證了所提方法的有效性。In this paper, we give a brief introduction to the structure of an autonomous underwater vehicle ( auv ) for environmental protection firstly, secondly we discuss the control system of the auv, thirdly discusses the way of real - time path planning for auv by dynamic programming, finally we simulate the proposed control system and the path planning method by means of computer and give the simulation results of it
這促使人們開發無人水下環保機器人對水域進行勘察和監測。本文首先對自治型水下環保機器人的結構方案作了簡要的介紹，然後重點討論了水下環保機器人的運動控制系統以及利用動態規劃方法進行實時的路徑規劃，最後對總的運動控制系統進行了計算機模擬。分享友人