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Sonar images have some characteristics such as low resolution, strong echo disturbance, small object regions and obscure object edges, so the satisfied results can't be obtained by the global enhancement algorithm. An adaptive local enhancement algorithm is proposed in this paper, and the evaluation function is defined by edge numbers, edge intensity and(More)
General Detection Remotely Operated Vehicle (GDROV) is a kind of open-frame remotely operated underwater vehicle designed for the inspection of cracks, crevices and other potential problems of the dams. It is difficult to model the GDROV precisely. A fuzzy direct adaptive controller based on fuzzy basic functions is designed for GDROV motion control system.(More)
Aiming at the problems that fuzzy neural network controller has heavy computation and response lag, a T-S fuzzy neural network based on hybrid learning algorithm was proposed. Immune genetic algorithm was used to optimize the parameters of membership functions off line, and the neural network was used to adjust the parameters of membership functions on line(More)
A motion control strategy consisting of both position and speed control was designed for different work assignments of Autonomous Underwater Vehicles (AUV). To provide a form that will be suitable for simulation and control purposes, a general mathematical model of underwater vehicles was derived based on the six degrees of freedom nonlinear equations of(More)
According to the characteristic of unmanned surface vehicle(USV) based on water-jet propulsion, four-degree of freedom maneuvering motion equation was established. External forces acting on USV were divided into gravity, buoyancy, inertial hydrodynamic force, viscous hydrodynamic force, dynamic lift force and water-jet force. Momentum theorem was used to(More)
According to the characteristic of unmanned surface vehicle(USV) based on water-jet propulsion, four-degree of freedom maneuvering motion equation was established. External forces acting on USV were divided into gravity, buoyancy, inertial hydrodynamic force, viscous hydrodynamic force, dynamic lift force and water-jet force. Besides MFC frame, Creator and(More)
This paper proposes a method for optimized the Unmanned Surface Vehicle (USV) structure based on a combination of iSIGHT optimization software and the parameterized model of geometry and finite element. The finite element model of the vehicle was established by using the parameterize language (ANSYS Parametric Design Language) of ANSYS based on the study of(More)
CONCLUSION The melanoma-associated antigens A1, -A9, -A11 (MAGE-A1, -A9, -A11) are relatively tumor-specific in laryngeal squamous cell carcinoma (LSCC), and could be ideal antigens for LSCC immunotherapy. In addition, MAGE-A9 probably is a poor prognostic marker for LSCC patients. OBJECTIVE The MAGE-A family belongs to Cancer/testis antigens (CTA).(More)