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In order to solve the four degrees of freedom dynamic positioning control problem under the wave disturbance for UUV(Unmanned Underwater Vehicle), disturbance observer based backstepping sliding mode controller is proposed. Firstly, the four degrees of freedom dynamic positioning simplified motion mode is established, then the sliding mode control law is designed based on backstepping method. Secondly,...
Since Unmanned Underwater Vehicle (UUV) operates underwater autonomously, an improved algorithm of object recognition and location for UUV is proposed in this paper. Firstly, the binocular camera is calibrated by Lenz distortion model; Secondly, the acceptable threshold for object recognition is used in the conventional Gaussian Mixture Model (GMM)to establish the classified recognition model. By...
In order to ensure the images captured by UUV with low contrast and noise accurately matched, an improved corner detection method is proposed. First, The Harris algorithm combined with contourlet transform is applied to detect corners in multi-scale and multi-direction, which overcomes the impact of losing information of corner and position offset. Second, the FAST with adaptive threshold is used...
As switched reluctance machines (SRM) generally offer a simple and robust design, they are very suitable for an aircraft main engine fuel pump drive which needs to be actuated by fault-tolerant drives. In this paper two different fault-tolerant SRM topologies for fuel pump drive in aircraft are analytical compared: Firstly a 6/4-topology with two identical motors on one axis as a dual-redundancy drive...
Recently research and development concerning applications of high temperature superconducting (HTS) transformers have been progressed actively in the world. Besides the HTS rated current capability, it is also essential to develop the relevant and precise performance test and protection systems for HTS transformers. This paper mainly presents elementary test and protection methods of HTS transformers...
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