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Neural network identification for underwater vehicle motion control system based on hybrid learning algorithm

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High Technology Letters 2012年第3期18卷 243-247页

作者： Sun yushan wang Jianguo wan Lei Hu Yunyan Jiang Chunmeng State Key Laboratory of Autonomous Underwater Vehicle Harbin Engineering University Harbin 150001 P. R. China China Ship Development and Design Center Wuhan 430064 P. R. China Humanities Department City College of Wuhan University of Science and Technology Wuhan 430083 P. R. China

Based on the structure of Elman and Jordan neural networks, a new dynamic neural network is constructed. The network can remember the past state of the hidden layer and adjust the effect of the past signal to the current value in real-time. And in order to enhance the signal processing capabilities, the feedback of output layer nodes is increased. A hybrid learning algorithm based on genetic algorithm （GA） and error back propagation algorithm （BP） is used to adjust the weight values of the network, which can accelerate the rate of convergence and avoid getting into local optimum. Finally, the improved neural network is utilized to identify underwater vehicle （UV）＇ s hydrodynamic model, and the simulation results show that the neural network based on hybrid learning algorithm can improve the learning rate of convergence and identification nrecision.

关键词： underwater vehicle (UV) system identification neural network genetic algo-rithm (GA) back propagation algorithm

Study on Limited Filamentous Sludge Bulking Test in A/O Activated Sludge Process

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Agricultural Science & Technology 2014年第9期15卷 1620-1623页

作者：万玉山孙凌峰贾春霞李娜雷春生常州大学环境与安全工程学院江苏常州213164

[Objective] This study aimed to make use of the limited filamentous sludge bulking characteristics to purify water quality and save energy. [Method] The effects of dissolved oxygen （DO） on sludge bulking were explored by changing the DO con- centration in the aerobiotic pool of NO system from the low load （0.25 kg COD/（kg MLSS.d）） and the medium to high load （0.55 kgCOD/（kg MLSSod））. [Result] In the NO activated sludge system, when the sludge load was 0.25 kg COD/（kg MLSS.d）, DO=1.5 mg/L, the sludge index was at around 250, while when the sludge load- ing was 0.55 kg COD/（kg MLSS.d）, DO=1.5 mg/L, the sludge index was close to 300, occurring the limited filamentous bulking. The bulked sludge still showed high removal rates to COD, SS, nitrogen and phosphorus. [Conclusion] It could improve the oxygen transfer rate and reduce the aeration rate at low DO conditions to achieve energy-saving.

关键词： A/O process Limited filamentous sludge bulking Sludge load Energy saving

Discussion on Comprehensive Treatments of Sewage Sludge and Mine Wastewater in Small Towns

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Agricultural Science & Technology 2014年第8期15卷 1376-1379页

作者：万玉山黄利孙凌峰贾春霞雷春生常州大学环境与安全工程学院江苏常州213164

An engineering technology for the comprehensive treatments of sewage sludge and mine wastewater in smal town was introduced. As fil ing materials, gangue to fil in the col apse basin, construction waste, household refuse and ex-cess sludge as wel as clay were mixed with water into organic fil ing soil, turning the waste sludge into useful soil matrix, which solved the difficulties in growing plants in the reclaimed land that lack of organic soil. The col apse basin was de-signed into oxidation pond, wetland and land infiltration system to treat industrial wastewater and domestic wastewater, realizing the up-to-standard release after sewage treatment.

关键词： Sludge Wastewater Col apse basin Oxidation pond

Quartz-Ferberite Oxygen Isotope Geothermometer and Its Geological Applications

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Acta Geologica Sinica(English Edition) 1992年第3期66卷 271-281页

作者： Ding Tiping Liu yushan wan Defang Liu Zhijian Li Jincheng Zhang Guilan Institute of Mineral Deposits, Chinese Academy of Geological Sciences, Beijing Institute of Mineral Deposits Chinese Academy of Geological Sciences Beijing

Experiments for oxygen isotope exchange between ferberite and water were carried out and the followingequation on oxygen isotope fractionation between ferberite and water against temperature was obtained:Combining this equation with the equation of Clayton et al. (1972) on oxygen isotope fractionation be-tween quartz and water, an equation on oxygen isotope fractionation between quartz and ferberite was ob-tained:The Bigeleison-Mayer function method was used to calculate the oxygen isotope fractionation betweenquartz and ferberite. The theoretical curve obtained agrees with the experimental calibration results quite wellin the temperature range of *** above calibrated equation has been used in 5 world famous tungsten deposits to determine their tem-peratures of formation. The results show that the temperature range for an idividual deposit determined by thisgeothermometer agrees with those obtained from fluid inclusion determination and other isotopegeothermometers.

关键词： geothermometer oxygen isotope quartz--ferberite

Nonlinear dynamical stability of gap solitons in Bose-Einstein condensate loaded in a deformed honeycomb optical lattice

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Chinese Physics B 2021年第12期30卷 529-538页

作者： Hongjuan Meng yushan Zhou Xueping Ren Xiaohuan wan Juan Zhang Jing wang Xiaobei Fan Wenyuan wang Yuren Shi College of Physics and Electronic Engineering Northwest Normal UniversityLanzhou 730070China Key Laboratory of Atomic and Molecular Physics&Functional Materials of Gansu Province Northwest Normal UniversityLanzhou 730070China

We investigate the existence and dynamical stability of multipole gap solitons in Bose-Einstein condensate loaded in a deformed honeycomb optical *** lattices possess a unique band structure,the first and second bands intersect at a set of so-called Dirac *** can result in the merging and disappearance of the Dirac points,and support the gap *** find that the two-dimensional honeycomb optical lattices admit multipole gap *** multipoles can have their bright solitary structures being in-phase or *** also investigate the linear stabilities and nonlinear stabilities of these gap *** results have applications of the localized structures in nonlinear optics,and may helpful for exploiting topological properties of a deformed lattice.

关键词： gap soliton Bose-Einstein condensate deformed honeycomb optical lattice

二维正方晶格Compass-XY模型的方向序和拓扑序（英文）

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计算物理 2016年第2期33卷 229-233,249-252页

作者：李玉山万文芝菏泽学院物理系山东菏泽274015 北京科技大学物理系北京100083

采用Monte Carlo方法研究二维正方晶格Compass-XY模型,通过调节过渡参量α,计算了降低交换相互作用的阻挫对方向序和拓扑序的影响.结果表明,方向序和拓扑序之间的转变是一个逐渐过渡的过程,并不存在明显的界限.在某一范围内,这两种序是... 详细信息

采用Monte Carlo方法研究二维正方晶格Compass-XY模型,通过调节过渡参量α,计算了降低交换相互作用的阻挫对方向序和拓扑序的影响.结果表明,方向序和拓扑序之间的转变是一个逐渐过渡的过程,并不存在明显的界限.在某一范围内,这两种序是相互重叠的,难以区分.阻挫的降低,易于形成拓扑序,同时会抑制方向序.当阻挫变得足够弱时,方向序被破坏.

关键词：方向序拓扑序 Compass-XY模型

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一种基于注意力机制的AUV控制层指令理解方法

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机器人 2012年第4期34卷 406-410,417页

作者：李岳明万磊孙玉山张国成哈尔滨工程大学水下机器人技术重点实验室黑龙江哈尔滨150001 哈尔滨工程大学船舶工程学院黑龙江哈尔滨150001

为了更好地衔接水下机器人(AUV)规划层与控制层,参考Itti视觉注意力模型,提出了基于注意力机制的规划指令理解模型,建立了规划指令理解与再次规划环节.通过使用模糊推理的方法对指令元素特征、指令元素显著性进行分析处理,得到规划指令... 详细信息

为了更好地衔接水下机器人(AUV)规划层与控制层,参考Itti视觉注意力模型,提出了基于注意力机制的规划指令理解模型,建立了规划指令理解与再次规划环节.通过使用模糊推理的方法对指令元素特征、指令元素显著性进行分析处理,得到规划指令注意力聚焦;根据注意力聚焦进行再次规划,保证规划层关注的状态得到优先执行.仿真实验表明文章提出的规划指令理解环节实现了对规划层指令意图的获取,使规划指令得到更好地执行,有效地改善运动控制效果,提高了控制层的智能水平.

关键词：水下机器人(AUV) 指令理解注意力模型规划

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基于分段腐蚀的高功率包层光剥离器实验研究

激光与光电子学进展 2024年第13期61卷 319-323页

作者：于珊唐吉龙万志强魏志鹏长春理工大学高功率半导体激光国家重点实验室吉林长春130022 长春理工大学中山研究院广东中山528437

为提高高功率光纤激光器的光束质量,降低制作成本,避免剥除包层光时出现异常高温,基于20/400μm的国产传能光纤,以低成本的玻璃蒙砂膏(TBS-307)为腐蚀剂,通过分段腐蚀法制备了长度为5 cm的5段分段式中心对称结构的包层光剥离器。在将包... 详细信息

为提高高功率光纤激光器的光束质量,降低制作成本,避免剥除包层光时出现异常高温,基于20/400μm的国产传能光纤,以低成本的玻璃蒙砂膏(TBS-307)为腐蚀剂,通过分段腐蚀法制备了长度为5 cm的5段分段式中心对称结构的包层光剥离器。在将包层光剥离器分别正向和反向接入测试系统的情况下,输入488 W泵浦光功率时,输出功率均只有15.3 W左右,功率衰减系数达15 dB。在没有水冷散热的条件下,剥离器的激光输入端的三段最高工作温度稳定在120℃左右,且整体温度分布比较均匀,没有发现明显的异常热点。上述内容表明所制作的包层光剥离器可以满足高功率光纤激光器的应用要求,达到降低成本,提高光束质量和稳定性的目的。

关键词：包层光剥离器光纤激光器分段腐蚀传能光纤

基于VxWorks的水下机器人嵌入式导航系统的研究

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应用基础与工程科学学报 2009年第6期17卷 899-909页

作者：孙玉山王建国万磊王波哈尔滨工程大学水下智能机器人技术国防科技重点实验室黑龙江哈尔滨150001 哈尔滨工程大学船舶工程学院黑龙江哈尔滨150001

构建了基于VxWorks嵌入式操作系统的智能水下机器人组合导航系统,详细阐述了水下机器人导航系统软、硬件体系结构.硬件采用基于PC104总线的多板卡嵌入式系统,导航系统核心处理器采用Intel公司的PIIX-4芯片处理器以及VxWorks实时嵌入式... 详细信息

构建了基于VxWorks嵌入式操作系统的智能水下机器人组合导航系统,详细阐述了水下机器人导航系统软、硬件体系结构.硬件采用基于PC104总线的多板卡嵌入式系统,导航系统核心处理器采用Intel公司的PIIX-4芯片处理器以及VxWorks实时嵌入式操作系统.文中还详细阐述了导航系统软件信息流程、数据处理及基于强跟踪卡尔曼滤波的船位推算算法.最后通过自主目标搜索、长距离航行试验等海试验证了该导航系统的可行性与可靠性.

关键词：嵌入式系统智能水下机器人 VxWorks 导航船位推算