摘要：In order to achieve the functional requirements of multi-moving state, a new autonomous underwater vehicle(AUV) provided with the functions such as the submarine vectorial thrust, landing on the sea bottom, wheel driving on the ground and crawling on the ground was designed. Then five new theories and methods were proposed about the motion mechanism of the AUV such as vectorial thruster technology, design of a new wheel propeller, kinematics and dynamics, navigation control and the ambient flow field in complex sea conditions, which can all conquer conventional technique shortages and predict the multi-moving state performance under wave disturbance. The theoretical research can realize the results such as a vectorial transmission shaft with the characteristics of spatial deflexion and continual circumgyratetion, parameterized design of the new wheel propeller with preferable open-water performance and intensity characteristics satisfying multi-moving state requirements, motion computation and kinetic analysis of AUV's arbitrary postures under wave disturbance, a second-order sliding mode controller with double-loop structure based on dynamic boundary layer that ensures AUV's trajectory high-precision tracking performance under wave disturbance, fast and exact prediction of the ambient flow field characteristics and the interaction mechanism between AUV hull and wheel propellers. The elaborate data obtained from the theoretical research can provide an important theoretical guidance and technical support for the manufacture of experimental prototype.

摘要：As the mission needs of the autonomous underwater vehicles(AUV) have become increasingly varied and complex,the AUVs are developing in the direction of systematism, multifunction, and clustering technology, which promotes the progress of key technologies and proposes a series of technical problems. Therefore, it is necessary to make systemic analysis and in-depth study for the progress of AUV's key technologies and innovative applications. The multi-functional mission needs and its key technologies involved in complex sea conditions are pointed out through analyzing the domestic and foreign technical programs, functional characteristics and future development plans. Furthermore, the overall design of a multi-moving state AUV is proposed. Then, technical innovations of the key technologies, such as thrust vector, propeller design, kinematics and dynamics, navigation control, and ambient flow field characteristics, are made, combining with the structural characteristics and motion characteristics of the new multi-moving state AUV. The results verify the good performance of the multi-moving state AUV and provide a theoretical guidance and technical support for the design of new AUV in real complex sea conditions.

摘要：随着社会经济的不断发展和人们生活水平的提高,人们对广告设计专业的重视程度逐渐加深,各个行业对广告设计与制作人才的需求量也逐渐增加。从当前平面广告设计授课的实际过程来看,仍然存在一定的问题,影响平面广告授课质量和人才培养的水平。论文主要结合平面广告设计授课中的常见问题进行探究,指出具体的解决对策,希望能够为社会提供更加专业可靠的广告人才。

摘要：低频减载是防止电力系统频率下降,维护电力系统频率稳定的有效措施。当电力系统发生严重故障导致系统频率下降时,及时切除一定的负荷进而保证系统频率回升到正常的工作范围,从而保障电力系统的稳定运行。针对低频减载缺乏实时监视统计的问题,重点对低频减载的实时监视功能进行了设计与应用,通过图形等方式进行展示,以提高地级调度第三道防线管理水平,使运维人员有效、实时了解低频减载的动作情况,有效避免因拒动导致的切除负荷不足进而导致事故扩大。

摘要：针对P11耐热钢采用钨极氩弧自动焊进行多层单道窄间隙焊接,对接头进行金相试验和力学性能测试,重点探讨并总结了窄间隙钨极氩弧多层单道焊接接头组织的分布特征及与硬度的对应关系。测试结果表明:接头中的填充焊道组织为铁素体和屈氏体,粗、细晶区呈交互层叠状分布,组织较母材细小,硬度高于母材;盖面焊道组织以回火马氏体和粒状贝氏体为主,组织粗大且出现了网状屈氏体,硬度较填充焊道组织高;焊接热影响区中铁素体+珠光体组织呈条带状分布,与焊缝内组织相近。接头拉伸试验结果表明接头各区域抗拉强度较为均匀,与组织分析结果相吻合。冲击试验结果表明接头各区域冲击吸收能量均满足设计要求。

摘要：在轨迹跟踪过程中,自动导引小车的控制模型通常不会考虑万向轮从动对AGV主体的作用,由于忽略了这一影响因素,控制系统很容易出现不稳定状态。通过改进万向轮的模型,在动力学方面研究万向轮的特性,研究其结构参数对AGV动力学模型的影响,并提出驱动力矩的补偿方式。通过对万向轮动力学特性的补偿,实现AGV控制模型可靠性的提升。

摘要：通过对多点激励功率谱再现振动试验控制算法研究.设计基于偏相干分析理论的振动试验系统频响矩阵辨识策略,针对系统频响矩阵存在奇异点及系统频响矩阵为长方矩阵情形,设计基于求解频响矩阵广义逆和矩阵最小范数最小二乘解的Moore-Penrose逆系统解耦算法。针对传统差分修正驱动谱控制算法中存在系统功率谱自谱为负数或零值问题,通过引进比例均方根反馈修正算法,设计改进的功率谱均衡控制策略,有效避免功率谱均衡过程中自谱产生负值或零值问题。多点激励功率谱再现振动试验表明,改进的功率谱均衡控制策略对多点激励系统具有可靠、高精度的控制效果。

摘要：为研究反应器内的微生物种群关系,以强化污水脱N处理,本试验采用上流式曝气生物滤池,以生活污水为原水,在水力负荷、pH值以及溶解氧(DO)方面对微生物进行生化反应和结构优化的影响情况进行了研究．试验结果表明,污染物负荷对2级滤池的种群竞争具有重要作用,适当地控制负荷可使反应器在各自的优化状态下运行．pH<8．5对维持长时间短程硝化可行性不大,但是控制ρ(DO)<1．8 mg／L,在一定负荷时,利用在较低的ρ(DO)条件下氨氧化菌的比增殖速率比亚硝酸盐氧化菌的比增殖速率高的特点,亚硝酸盐积累率可以达到 84％,有利于短程硝化反硝化反应器的工艺设计．

摘要：为提高802.11无线局域网中视频传输的质量,802.11工作组引入增强的分布式信道接入协议,但是这个协议没有充分考虑视频数据的特点。在研究该网络协议的基础上,提出一个改进的跨层自适应映射策略。在传输控制的过程中考虑视频包的重要性和当前的网络状态,能提高802.11网络中视频传输的质量。将该算法仿真结果与其它算法进行比较,比较结果表明,该算法在802.11无线局域网中的视频传输质量优于其它算法。

摘要：主要描述利用TNA方法进行爆炸物检测系统中的软件模块化设计,由于在系统开发过程中需要对算法进行调试,因此要求软件能够实现算法调整的灵活性以及自由的扩充性。整个系统共分为数据获取、元素分析以及识别定位三大模块,各个大模块又细分为不同的小模块。通过模块化的设计,能够在系统的搭建过程中自由的改进算法以及增加功能,提高开发效率。