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- 저자 : Xiang-rui Ran (검색결과 3 건)
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Thruster fault diagnosis method based on Gaussian particle filter for autonomous underwater vehicles
Yu-shan Sun,Xiang-rui Ran,Yueming Li,Guocheng Zhang,Ying-hao Zhang 대한조선학회 2016 International Journal of Naval Architecture and Oc Vol.8 No.3
Autonomous Underwater Vehicles (AUVs) generally work in complex marine environments. Any fault in AUVs may cause significant losses. Thus, system reliability and automatic fault diagnosis are important. To address the actuator failure of AUVs, a fault diagnosis method based on the Gaussian particle filter is proposed in this study. Six free-space motion equation mathematical models are established in accordance with the actuator configuration of AUVs. The value of the control (moment) loss parameter is adopted on the basis of these models to represent underwater vehicle malfunction, and an actuator failure model is established. An improved Gaussian particle filtering algorithm is proposed and is used to estimate the AUV failure model and motion state. Bayes algorithm is employed to perform robot fault detection. The sliding window method is adopted for fault magnitude estimation. The feasibility and validity of the proposed method are verified through simulation experiments and experimental data.
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Thruster fault diagnosis method based on Gaussian particle filter for autonomous underwater vehicles
Sun, Yu-shan,Ran, Xiang-rui,Li, Yue-ming,Zhang, Guo-cheng,Zhang, Ying-hao The Society of Naval Architects of Korea 2016 International Journal of Naval Architecture and Oc Vol.8 No.3
Autonomous Underwater Vehicles (AUVs) generally work in complex marine environments. Any fault in AUVs may cause significant losses. Thus, system reliability and automatic fault diagnosis are important. To address the actuator failure of AUVs, a fault diagnosis method based on the Gaussian particle filter is proposed in this study. Six free-space motion equation mathematical models are established in accordance with the actuator configuration of AUVs. The value of the control (moment) loss parameter is adopted on the basis of these models to represent underwater vehicle malfunction, and an actuator failure model is established. An improved Gaussian particle filtering algorithm is proposed and is used to estimate the AUV failure model and motion state. Bayes algorithm is employed to perform robot fault detection. The sliding window method is adopted for fault magnitude estimation. The feasibility and validity of the proposed method are verified through simulation experiments and experimental data.
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Cheng Zuo-Hui,Fan Fang-Fang,Zhao Jin-Zhong,Li Rui,Li Sheng-Cai,Zhang En-Jia,Liu Yu-Kun,Wang Jue-Ying,Zhu Xiang-Run,Tian Yong-Ming 한국응용곤충학회 2020 Journal of Asia-Pacific Entomology Vol.23 No.4
The microemulsion formulation (hereafter formulation) of curcuma oil and its acaricidal efficacy against Tetranychus cinnabarinus Boisduval (Acari: Tetranychidae) were optimized in the laboratory to evaluate their spray effectiveness of oviposition inhibition and repellence. Ethovision XT6 was used to analyse the effects of the sublethal concentrations (LC 20 ) of curcuma oil and the formulation on the behaviors of T. cinnabarinus. The results showed that Tween-80 was the best surfactant, Isopropanol was the best co-surfactant and K m = 2:1 was the best condition for the formulation. The prepared microemulsions are stable under conditions of centrifugation and incubation for extended periods. The results showed that the effect of the spray bioassays of the formulation against T. cinnabarinus continuously increased during the experiment, but for curcuma oil almost no longer increase observed when the exposure time went beyond 24 h. Moreover, compared with curcuma oil (LC 50 = 0.716%), the spray bioassay of the formulation (LC 50 = 0.035%) was stronger against T. cinnabarinus. The repellency of the formulation to T. cinnabarinus was stronger with increasing exposure time, but that of curcuma oil declined after 12 h of exposure. The mobile distance of T. cinnabarinus treated with the formulation continuously declined during the experiment but that due to the curcuma oil almost no longer declined when the treatment time reached 12 h. The maximum mobile frequency of T. cinnabarinus treated by curcuma oil and the formulation was recorded at 6 h and 12 h, respectively. Thus, the formulation is a promising candidate as a botanical acaricide of green vegetables.
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