Yan Zheping

Design and Implementation of Marine Environmental Information Observation System Based on UUV

A marine environmental information observation system based on UUV was designed and implemented to overcome the deficiency of marine environment observation mode through surface ship which is severely affected by the marine environment, unable to observe snugly and near sea bottom. This system comprises surface support subsystem and UUV subsystem, may navigate according to a pre-loaded mission plan and at the same time, can observe the planned marine environment information. The results of Qiandao lake experiments showed that the UUV system realized to observe the temperature, salinity, depth, current profile and submarine topography and geomorphology in predetermined water region. And the post processing results are consentaneous with the lake actual information. It indicates that the observational data are accurate, authentic and trustworthy.

Design of Multi-channel and Distributed Wireless Communication Network Architecture for UUVs

In order to get reliable communication no matter under the water or above the surface, a kind of multi channel and distributed wireless communication network architecture for UUVs was presented. This network architecture includes underwater communication, surface communication and internal communication. Underwater communication is acoustic modem, and the surface communication consists of RF, Wi-Fi, BeiDou. Internal communication portal is TCP/UDP. In order to avoid interference and decrease the navigation resistance, a four-in-one compact antenna is designed which is installed on UUV’s inverted pole style elevating mechanism. Through repeated tests in Qiandao lake, Zhejiang province, the acoustic communication distance under the water is validated to 11.2km, the RF 12km, the Wi-Fi 300m, the BeiDou communication system could communicate even in the ravine. So the distributed communication system on the UUV is reliable and effective.

Intelligent Co-ordinate control for mating process of underwater vehicle based on TFPN

In order to reduce time and improve the probability of successful matting it is useful to co-ordinate between the movement control and mating process of the underwater vehicle. Because it is hard to control with the common method under the condition of mating process, the hierarchical intelligent control is introduced. Timed fuzzy Petri net (TFPN), which is the integration of PN and fuzzy reasoning, is used in the design of coordinate level of hierarchically intelligent control. It made the control process better in reflecting the characteristics of time-driven, event-driven, fuzzy information and so on. The test shows that TF-PN could shorten the time of mating and enhance the efficiency.In order to reduce time and improve the probability of successful matting it is useful to co-ordinate between the movement control and mating process of the underwater vehicle. Because it is hard to control with the common method under the condition of mating process, the hierarchical intelligent control is introduced. Timed fuzzy Petri net (TFPN), which is the integration of PN and fuzzy reasoning, is used in the design of coordinate level of hierarchically intelligent control. It made the control process better in reflecting the characteristics of time-driven, event-driven, fuzzy information and so on. The test shows that TF-PN could shorten the time of mating and enhance the efficiency.