Abstract: The invention discloses an integrated detection method of electromagnetic searching, locating and tracking for subsea cables. After being launched into water, the cable-tracking AUV carries out primary Z-shaped reciprocating sailing to search the electromagnetic signal of the target subsea cable, when the electromagnetic signal reaches a preset threshold value, the AUV executes the cable-tracking detection. In the tracking process, if the target electromagnetic signal intensity is lower than the preset threshold, it is determined that subsea cable tracking is lost. At this time, the secondary Z-shaped cable-researching route planning and tracking are performed based on the lost point. In the process that the AUV autonomously tracks and detects the subsea cable, relative locating between AUV and subsea cable is performed based on the electromagnetic signal radiated by the subsea cable, and autonomous tracking control under the guidance of the electromagnetic locating signal is performed.

Abstract: The disclosure provides a method and system for hierarchical disturbance rejection depth tracking control of an underactuated underwater vehicle, and the depth tracking of the underactuated underwater vehicle is divided into kinematic layer guidance and dynamic layer pitch tracking. Adaptive line of sight guidance is used in the kinematic layer to convert a depth error into a desired pitch angle and to estimate and compensate an angle of attack to reject disturbance introduced by an unmeasurable true angle of attack. Based on the above, in the dynamic layer, the active disturbance rejection sliding mode pitch tracking method is used to observe a composite disturbance including an unknown dynamic model and an environmental disturbance by using the active disturbance rejection framework. The model is compensated as a unified integral series type, a sliding mode control law is finally designed to resist an observation error, and a control elevator angle is calculated.

Abstract: Disclosed are a non-singular finite-time control method and system for prescribed performance dynamic positioning of unmanned boat, which belong to the field of automatic control of unmanned boats. The method includes obtaining a difference between the actual measured position and the desired position of the unmanned boat to obtain a position error of the unmanned boat; performing prescribed performance transformation on the unmanned boat position error; constructing a non-singular finite-time virtual velocity law as a reference velocity for unmanned boats; obtaining the difference between the reference speed and the actual measured speed to obtain the speed tracking error; calculating the fuzzy supervisory saturation compensated law and adaptive fuzzy approximation term; constructing a non-singular finite-time dynamical controller to output control commands; applying a force or moment to the unmanned boat to adjust the propeller speed of the unmanned boat, thereby realizing positioning of the unmanned boat.

Abstract: The disclosure discloses a trajectory optimization method and device for accurately deploying marine sensors under water. The method includes the following steps. 1. Randomly select N sets of initial control variables within a range. 2. Input all of N sets of xi to the sensor's underwater glide kinematics and dynamics models, and calculate the smallest distance between N actual deployment positions and target deployment positions. 3. Determine whether the number of iterative operations is less than the preset value, if yes, perform global random walk and local random walk on N sets of xi, obtain N sets of xi again, and return to step 2; otherwise, go to step 4. 4. Output the control variable xi corresponding to ?s(x)nminmin and the corresponding trajectory as the optimal control variable and optimal trajectory. The disclosure can improve the accuracy of prediction on the underwater three-dimensional trajectory of the marine sensor.

Abstract: The invention discloses an integrated detection method of electromagnetic searching, locating and tracking for subsea cables. After being launched into water, the cable-tracking AUV carries out primary Z-shaped reciprocating sailing to search the electromagnetic signal of the target subsea cable, when the electromagnetic signal reaches a preset threshold value, the AUV executes the cable-tracking detection. In the tracking process, if the target electromagnetic signal intensity is lower than the preset threshold, it is determined that subsea cable tracking is lost. At this time, the secondary Z-shaped cable-researching route planning and tracking are performed based on the lost point. In the process that the AUV autonomously tracks and detects the subsea cable, relative locating between AUV and subsea cable is performed based on the electromagnetic signal radiated by the subsea cable, and autonomous tracking control under the guidance of the electromagnetic locating signal is performed.

Abstract: A method detects mechanical equipment parts. The method includes: obtaining an image of a part; extracting a feature from the image using a machine learning model, identifying a type of surface defect on the basis of the feature to obtain an identification result; and determining whether to replace the part on the basis of the identification result and a predetermined standard of the part. The method reduces the difficulty of detecting a part, can accurately identify a surface defect of the part and determine whether the part needs to be replaced, thereby improving the work efficiency, and shortens the time for mechanical equipment to stop operating for maintenance, thus improving the operating efficiency of the mechanical equipment. The method is automatically executed by a computer, thereby avoiding manually checking errors, improving the accuracy of detection results, and thus improving the reliability of operation of the mechanical equipment.

Abstract: The disclosure discloses a trajectory optimization method and device for accurately deploying marine sensors under water. The method includes the following steps. 1. Randomly select N sets of initial control variables within a range. 2. Input all of N sets of xi to the sensor's underwater glide kinematics and dynamics models, and calculate the smallest distance between N actual deployment positions and target deployment positions. 3. Determine whether the number of iterative operations is less than the preset value, if yes, perform global random walk and local random walk on N sets of xi, obtain N sets of xi again, and return to step 2; otherwise, go to step 4. 4. Output the control variable xi corresponding to ?s(x)nminmin and the corresponding trajectory as the optimal control variable and optimal trajectory. The disclosure can improve the accuracy of prediction on the underwater three-dimensional trajectory of the marine sensor.

Abstract: A fabric softening composition including from about 1% to about 90% by weight of a fabric softening active, optionally from about 1% to about 25% by weight of a principal solvent having a ClogP of less than about 3, from about 0.05% to about 15% by weight of a malodor controlling agent, and the balance being adjunct ingredients. The malodor controlling agent is selected from the group consisting of a quaternary ammonium antimicrobial agent, cyclodextrin or mixtures of these ingredients. The present invention also relates to a method for reducing malodor by applying such a composition to a fabric article, and drying the fabric article as well as the use of such a composition on fabric articles to reduce malodor impression. An article for reducing and inhibiting the expression of malodor impression is also provided.

Abstract: A fabric softening composition including from about 1% to about 90% by weight of a fabric softening active, optionally from about 1% to about 25% by weight of a principal solvent having a ClogP of less than about 3, from about 0.05% to about 15% by weight of a malodor controlling agent, and the balance being adjunct ingredients. The malodor controlling agent is selected from the group consisting of a quaternary ammonium antimicrobial agent, cyclodextrin or mixtures of these ingredients. The present invention also relates to a method for reducing malodor by applying such a composition to a fabric article, and drying the fabric article as well as the use of such a composition on fabric articles to reduce malodor impression. An article for reducing and inhibiting the expression of malodor impression is also provided.