A great number of pipelines in China are in unsatisfactory condition and faced with problems of corrosion and cracking,but there are very few approaches for underwater pipeline detection.Pipeline detection autonomous ...A great number of pipelines in China are in unsatisfactory condition and faced with problems of corrosion and cracking,but there are very few approaches for underwater pipeline detection.Pipeline detection autonomous underwater vehicle(PDAUV) is hereby designed to solve these problems when working with advanced optical,acoustical and electrical sensors for underwater pipeline detection.PDAUV is a test bed that not only examines the logical rationality of the program,effectiveness of the hardware architecture,accuracy of the software interface protocol as well as the reliability and stability of the control system but also verifies the effectiveness of the control system in tank experiments and sea trials.The motion control system of PDAUV,including both the hardware and software architectures,is introduced in this work.The software module and information flow of the motion control system of PDAUV and a novel neural network-based control(NNC) are also covered.Besides,a real-time identification method based on neural network is used to realize system identification.The tank experiments and sea trials are carried out to verify the feasibility and capability of PDAUV control system to complete underwater pipeline detection task.展开更多
For solving the difficult problem of leakage detection in city gas pipelines, a method using acoustic technique based on instantaneous energy (IE) distribution and correlation analysis was proposed. Firstly, the basic...For solving the difficult problem of leakage detection in city gas pipelines, a method using acoustic technique based on instantaneous energy (IE) distribution and correlation analysis was proposed. Firstly, the basic theory of leakage detection and location was introduced. Then the physical relationship between instantaneous energy and structural state variation of a system was analyzed theoretically. With HILBERT-HUANG transformation (HHT), the instantaneous energy distribution feature of an unstable acoustic signal was obtained. According to the relative contribution method of the instantaneous energy, the noise in signal was eliminated effectively. Furthermore, in order to judge the leakage, the typical characteristic of the instantaneous energy of signal in the input and output end was discussed using correlative analysis. A number of experiments were carried out to classify the leakage from normal operations, and the results show that the leakages are successfully detected and the average recognition rate reaches 93.3% among three group samples. It is shown that the method using acoustic technique with IED and correlative analysis is effective and it may be referred in other pipelines.展开更多
The paper designs a peripheral maximum gray differ-ence(PMGD)image segmentation method,a connected-compo-nent labeling(CCL)algorithm based on dynamic run length(DRL),and a real-time implementation streaming processor ...The paper designs a peripheral maximum gray differ-ence(PMGD)image segmentation method,a connected-compo-nent labeling(CCL)algorithm based on dynamic run length(DRL),and a real-time implementation streaming processor for DRL-CCL.And it verifies the function and performance in space target monitoring scene by the carrying experiment of Tianzhou-3 cargo spacecraft(TZ-3).The PMGD image segmentation method can segment the image into highly discrete and simple point tar-gets quickly,which reduces the generation of equivalences greatly and improves the real-time performance for DRL-CCL.Through parallel pipeline design,the storage of the streaming processor is optimized by 55%with no need for external me-mory,the logic is optimized by 60%,and the energy efficiency ratio is 12 times than that of the graphics processing unit,62 times than that of the digital signal proccessing,and 147 times than that of personal computers.Analyzing the results of 8756 images completed on-orbit,the speed is up to 5.88 FPS and the target detection rate is 100%.Our algorithm and implementation method meet the requirements of lightweight,high real-time,strong robustness,full-time,and stable operation in space irradia-tion environment.展开更多
基金Project(2011AA09A106)supported by the Hi-tech Research and Development Program of ChinaProject(51179035)supported by the National Natural Science Foundation of ChinaProject(2015ZX01041101)supported by Major National Science and Technology of China
文摘A great number of pipelines in China are in unsatisfactory condition and faced with problems of corrosion and cracking,but there are very few approaches for underwater pipeline detection.Pipeline detection autonomous underwater vehicle(PDAUV) is hereby designed to solve these problems when working with advanced optical,acoustical and electrical sensors for underwater pipeline detection.PDAUV is a test bed that not only examines the logical rationality of the program,effectiveness of the hardware architecture,accuracy of the software interface protocol as well as the reliability and stability of the control system but also verifies the effectiveness of the control system in tank experiments and sea trials.The motion control system of PDAUV,including both the hardware and software architectures,is introduced in this work.The software module and information flow of the motion control system of PDAUV and a novel neural network-based control(NNC) are also covered.Besides,a real-time identification method based on neural network is used to realize system identification.The tank experiments and sea trials are carried out to verify the feasibility and capability of PDAUV control system to complete underwater pipeline detection task.
基金Project(51004005) supported by the National Natural Science Foundation of ChinaProject supported by Open Research Fund Program of Beijing Engineering Research Center of Monitoring for Construction Safety (Beijing University of Civil Engineering and Architecture), China
文摘For solving the difficult problem of leakage detection in city gas pipelines, a method using acoustic technique based on instantaneous energy (IE) distribution and correlation analysis was proposed. Firstly, the basic theory of leakage detection and location was introduced. Then the physical relationship between instantaneous energy and structural state variation of a system was analyzed theoretically. With HILBERT-HUANG transformation (HHT), the instantaneous energy distribution feature of an unstable acoustic signal was obtained. According to the relative contribution method of the instantaneous energy, the noise in signal was eliminated effectively. Furthermore, in order to judge the leakage, the typical characteristic of the instantaneous energy of signal in the input and output end was discussed using correlative analysis. A number of experiments were carried out to classify the leakage from normal operations, and the results show that the leakages are successfully detected and the average recognition rate reaches 93.3% among three group samples. It is shown that the method using acoustic technique with IED and correlative analysis is effective and it may be referred in other pipelines.
文摘The paper designs a peripheral maximum gray differ-ence(PMGD)image segmentation method,a connected-compo-nent labeling(CCL)algorithm based on dynamic run length(DRL),and a real-time implementation streaming processor for DRL-CCL.And it verifies the function and performance in space target monitoring scene by the carrying experiment of Tianzhou-3 cargo spacecraft(TZ-3).The PMGD image segmentation method can segment the image into highly discrete and simple point tar-gets quickly,which reduces the generation of equivalences greatly and improves the real-time performance for DRL-CCL.Through parallel pipeline design,the storage of the streaming processor is optimized by 55%with no need for external me-mory,the logic is optimized by 60%,and the energy efficiency ratio is 12 times than that of the graphics processing unit,62 times than that of the digital signal proccessing,and 147 times than that of personal computers.Analyzing the results of 8756 images completed on-orbit,the speed is up to 5.88 FPS and the target detection rate is 100%.Our algorithm and implementation method meet the requirements of lightweight,high real-time,strong robustness,full-time,and stable operation in space irradia-tion environment.
