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Motion Control of Underwater Vehicle Based on Least Disturbance BP Algorithm

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Journal of Marine Science and Application 2002年第1期1卷 16-20页

作者： LIU Xue-min, LIU Jian-cheng, XU Yu-ruCollege of Shipbuilding engineering, harbin engineering university, harbin 150001 , China harbin engineering university College of Shipbuilding Engineering Harbin China (GRID:grid.33764.35) (ISNI:***)

Up to now, some technology of neural networks are developed to solve the non-linearity of researched objects and to implement the adaptive control in many engineering fields, and some good results were achieved. Though it puts some questions over to design application structure with neural networks, it is really unknowable about the study mechanism of those. But, the importance of study ratio is widely realized by many scientists now, and some methods on the modification of that are provided. The main subject is how to improve the stability and how to increase the convergent rate of networks by defining a good form of the study ratio. Here a new algorithm named LDBP (least disturbance BP algorithm) is proposed to calculate the ratio online according to the output errors, the weights of network and the input values. The algorithm is applied to the control of an autonomous underwater vehicle designed by HEU. The experimental results show that the algorithm has good performance and the controller designed based on it is fine.

关键词： BP algorithm of neural networks dynamic ratio least disturbance autonomous underwater vehicle

Prepration and Properties of Ti3SiC2 and Ti3SiC2 Composites

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Prepration and Properties of Ti3SiC2 and Ti3SiC2 Composites

国际材料科学与工程学术研讨会

作者： LIU Ai-dong (Department of Materials Science and engineering, harbin engineering university, harbin 150001, China)

TiSiC is a newly-developed high-Performance ceramic. It not only has the merits or metals, such as good heat conductivity and electricity at room temperature, good thermal shock resistance, easy to machine and high temperature plasticity, but also has the merits of ceramics, such as high yield strength and melting Point, excellent thermal ability, high strength at high temperature, good oxidation

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机器鱼的运动仿真方法

系统仿真学报 2004年第12期16卷 2643-2646页

作者：彭之春庞永杰哈尔滨工程大学船舶工程学院哈尔滨150001

采用轴变形方法模拟机器鱼的运动。根据用面元法计算的机器鱼水动力结果和垂直面内胸鳍的攻角与升力的关系,建立了机器鱼的运动模型,并采用轴变形方法模拟了机器鱼在水平面内的直航运动。根据仿真试验结果的误差可以认为,该方法实现的... 详细信息

采用轴变形方法模拟机器鱼的运动。根据用面元法计算的机器鱼水动力结果和垂直面内胸鳍的攻角与升力的关系,建立了机器鱼的运动模型,并采用轴变形方法模拟了机器鱼在水平面内的直航运动。根据仿真试验结果的误差可以认为,该方法实现的运动仿真与真实的鱼的运动基本一致,这对以后的工作有较大的指导意义。

关键词：仿生学机器鱼计算机仿真轴变形

Vehicle lateral stability control based on single neuron network

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Vehicle lateral stability control based on single neuron net...

2010 Chinese Control and Decision Conference

作者： Jinzhu Zhang,Hongtian Zhang harbin engineering university,harbin 150001,China

According to the nonlinear and parameter time-varying characteristics of vehicle lateral stability control,a novel algorithm of vehicle lateral stability control based on single neuron network was *** on self-learning and adaptive ability of single neural network,the parameters of vehicle lateral stability controller were self-tuning on-line and the problem of large computation time brought by traditional PID control was avoided,in which the parameters of reference model of the controlled system must be identified with large calculation *** hardware in loop simulation platform is established based on the LabVIEW system,and the vehicle lateral stability control system is tested on the *** results of the simulation show this algorithm can effectively make vehicle keep and track the desired direction,and has good robustness and adaptability for vehicle lateral stability control system.

关键词： single neuron network vehicle lateral stability hardware in loop simulation

IMAGE WAVELET DENOISING USING THE ROBUST LOCAL THRESHOLD

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Journal of Electronics(China) 2002年第1期19卷 8-13页

作者： LinKezheng ZhouHongyu 等 AutomationCollege HarbinEngineeringUniversityHarbin150001 harbinuniversityofScienceandTechnology Harbin150080

This paper suggests a scheme of image denoising based on two-dimensional discrete wavelet transform. The denoising algorithm is described with some operators. By thresholding the wavelet transform coefficients of noisy images, the original image can be reconstructed correctly. Different threshold selections and thresholding methods are discussed. A new robust local threshold scheme is proposed. Quantifying the performance of image denoising schemes by using the mean square error, the performance of the robust local threshold scheme is demonstrated and is compared with the universal threshold scheme. The experiment shows that image denoising using the robust local threshold performs better than that using the universal threshold.

关键词： Wavelet transform Denoising Threshold Image process

Simulation of Tensile Behavior of Nickel Foam

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稀有金属材料与工程 2011年第S3期40卷 224-227页

作者： Zhao Mingjuan 1, Zhang Xiaolan 1, Zhao Longzhi 1,3, Zhang Jinsong 2 1 Key Laboratory of Ministry of Education for Conveyance and Equipment, East China Jiaotong university, Nanchang 330013, China 2 Institute of Metal Research, Chinese Academy of Sciences, Shenyang 110016, China 3 Key Laboratory of Superlight Materials & Surface Technology, Ministry of Education, harbin engineering university, harbin 150001, China E China Jiaotong Univ Key Lab Minist Educ Conveyance & Equipment Nanchang 330013 Peoples R China harbin Engn Univ Minist Educ Key Lab Supertight Mat & Surface Technol Harbin 150001 Peoples R China Chinese Acad Sci Inst Met Res Shenyang 110016 Peoples R China

Nickel foam is widely used as the electrode, the catalyst carrier, sound absorption material and other application fields. The tensile behavior of the open cell nickel foam which is one of the most important parameters in the design process was investigated with the finite element method based on ANSYS software in this paper. The effects of strain rates and temperature on the yield strength of the nickel foam were obtained. The results show that the yield strength exhibit a nonlinear reduction with the increases of the temperature for the elastic bending of the struts of the reinforcement grew quickly depending on the temperature. However, the yield strength increases slowly with the improvement of the strain rate because the strain rate neither change the internal structure and properties such as the porosity and the aperture, nor alter the external circumstance in order to change the internal properties such as the temperature. The results of the simulation accord with those of the experiments, which is very important to understand the tensile behavior of the foam materials.

关键词： nickel foam ANSYS yield strength temperature strain rate

LD-pumped Ho,Tm:YLF microchip laser

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Journal of Marine Science and Application 2003年第1期2卷 71-75页

作者： SUN Jing-hua, ZHANG Xin-lu College of Science, harbin engineering university, harbin 150001,China College of Science Harbin Engineering University Harbin 150001China

A simple rate equation model for 2μm Tm,Ho:YLF laser is given to study laser dynamics. Under low pump power, the explicit formulae for the threshold pump power and the relation between output power and incident power are obtained. The present model provides a straightforward procedure to design the laser resonator and the optical coupling system for optimization. At the same time, the experimental results are reported. At room temperature the slope efficiency is 22.4% and the typical lasing threshold is about 328mW. The theory is in good agreement with experiment.

关键词： Tm,Ho:YLF room temperature laser diode rate equation.

ON SUSLOV'S MISCONCEPTION AND H(?)LDER'S IMPERFECTION

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Acta Mechanica Solida Sinica 1994年第4期7卷 306-317页

作者： Liang Lifu (harbin engineering university,harbin 150001,P.R.China)Liang Zhonghong (harbin Institute of Technology,harbin 150001,P.R.China)

In this paper,by studying the domain of selection of the variables participating in variation operations,we prove that Suslov's point of view that the processes of variation and differentiation are not permutable in non-holonomic systems is a *** also prove that Hlde's point of view that the processes of variation and differentiation are permutable in non-holonomie systems has an *** work presented in this paper has solved the problem of the d-δ permutable property in non-holonomic systems.

关键词： variation differentiation non-holonomic systems permutable property domain of selection

Research on Campus Crisis Prevention System of Universities in China

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Research on Campus Crisis Prevention System of Universities ...

The Second International ISCRAM Workshop on Information Systems for Crisis Response and Management

作者： Wei Kang harbin engineering university Huaquan Ma Jiamusi university

＜正＞The management of university campus crisis should be focused on *** on the research of the characteristics and classification of campus crisis,this thesis studied the prevention system of campus crisis in the universities in *** the function and principle of campus crisis prevention,the thesis also points out that the campus crisis prevention system should contains crisis information warning and monitoring system centered by highly efficient management structure,crisis training system,consulting and coordinating system and complete laws and regulations.

关键词： university Campus crisis management Prevention system