高精度的协同导航定位是多自主水下航行器(MAUVs)协同作业的基础,协同导航算法是多 AUV 协同的关键技术.针对双领航者广播通信模式下的多 AUV 协同导航系统,基于移动长基线(MLBL)导航理论,提出并建立了一种虚拟移动长基线(SMLBL)协同导航模型,应用加权最小二乘法,设计了基于单向水声通信的协同导航算法,使得跟随 AUV 内、外部导航信息得到有效融合.仿真结果表明,该算法可大幅度提高跟随 AUV 的导航定位精度.

High precision cooperative navigation and localization are the bases for multiple autonomous underwater vehicles(MAUVs) cooperation, and cooperative navigation algorithm is the key technique of multiple AUVs cooperation. In a multiple AUVs cooperation system composed of two leader AUVs with high precision navigation sensors and mul-tiple follower AUVs with low precision navigation sensors, assuming the follower AUVs receive the broadcast informa-tion from the leader AUVs using acoustic communication equipments, the distance between leader and follower AUVs, as well as the leader AUVs position information, can be obtained. In this paper, a cooperative navigation system model is established by taking the leader AUVs as the synthetic moving long baseline(SMLBL) nodes, a multiple cooperative navigation algorithm is proposed based on one-way acoustic broadcast communication from leader AUVs, and effective fusion of the internal and external navigation information of the follower AUVs is ach

主要介绍基于网络的师生协同创新作业评价系统的设计过程。通过分析目前作业评价存在的问题，运用网络B/S架构、ASP语言和ACCESS数据技术相结合，构建出有效解决问题的评价系统。系统通过实践运用取得了良好的效果。

This paper describes the design process of work assessment system of teacher-student collaborative innovation based on network. Through the analysis of the current evaluation problems, combining the network B/S architecture, ASP Language and ACCESS data technology, the effective problem-solving evaluation system has been constructed and the system has achieved good results in practice.

以某重机企业为背景,分析了单件离散型生产作业排程的特征,提出多目标协同优化问题。基于改进的田口质量损失函数,确立质量、工期与成本之间的非线性关系,综合考虑单件离散型的约束条件,构建了生产作业排程多目标协同优化模型。集成仿真技术和遗传算法,为模型求解提供了有效方法。最后将模型和算法应用到企业的生产实践中,验证了其实用性和有效性,为解决单件离散型生产排程问题提供了科学方法。

Heavy machinery enterprise as research object, this paper analyses the feature of production scheduling for one-piece discrete manufacturing and proposes the collaborative multi-objective optimization problem. Based on the improved Taguchi loss function, nonlinear relationship of quality, delivery and cost is established. And the multi-objective collaborative optimization model of production scheduling is created as well as synthetically considering of one-piece discrete constraints. The effective solution was explored for solving the model Integrating simulation technique and genetic algorithm. Further, through the enterprise empirical study, the practicability and validity of the model and algorithm is verified. This study provides scientific method of production scheduling for one-piece discrete and improves the efficiency and scientific of the production scheduling.

阐述了煤炭企业在市场化竞争中所面临的问题,介绍了基于BI的煤炭企业协同管理平台的建设思路,设计了煤炭企业协同管理平台功能结构,详细阐述了煤矿管理系统、选煤管理系统、物流管理系统、客户管理系统、生产计划中心和商业智能中心6个子系统的功能模块,该平台能够提高煤炭企业在部门间协同作业的能力和对市场的反应速度,提高煤炭企业在市场中的竞争力。

The current situation and existing problems of coal enterprises were described, and the construction thought of collaborative management platform for coal enterprises based on business intelligence (BI)was introduced?In addition,the functional structure of the platform was designed,in which the functional modules of six subsystems were described in detail,incluG ding coal mine management system,coal dressing management system,logistics management system,custom management system,production planning center and business intelligence cenG ter?The research showed that the platform can enhance the competitiveness of coal enterprises in the market via improving the collaborative ability of different sections and their response speed to market change.

鉴于多自主式水下航行器(autonomous underwater vehicle,AUV)协同作业中时钟同步技术的重要性,设计了一种基于数字信号处理器(digital signal processor,DSP)的精确时钟同步方案。首先分析了时钟同步过程中误差的来源,并提出了线性回归和卡尔曼滤波算法,对误差进行了有效补偿,确保AUV时钟与全球定位系统(global positioning system,GPS)时钟精确同步。然后利用DSP、GPS模块以及恒温晶振完成了时钟同步控制的硬件实现,时钟校准实验表明,该控制算法大大提高了时钟同步过程中的授时精度和频率稳定度,满足多AUV协同作业在时钟同步方面的需求。

In view of the importance of clock synchronization technology in the collaboration missions of multiple AUVs( autonomous underwater vehicles ) , we designed a scheme of accurate clock synchronization based on DSP ( digital signal processor ) .This paper first analyzes the sources of the errors in the process of clock synchronization and proposed the linear regression and Kalman filter algorithms ,to ensure that the errors have been compensated for effectively and to ensure the accurate synchronization of the AUV clock with GPS clock .Then the clock synchroniza-tion controller has been designed and completed using DSP , GPS and the Oven-Controlled Crystal Oscillator ( OCXO) .Finally, the clock calibration experimental results and their analysis show preliminarily that the control al -gorithm greatly improved the timing accuracy and frequency stability and met the requirement in clock synchroniza -tion for multiple AUV collaboration .