Considering the problem of invalid data caused mismatch of wavenumber spectrum which contained in turbulence observation data, an algorithm of turbulent wavenumber spectrum matching based on SVM is proposed. Category labels are obtained from pre-processed raw data by cross validation algorithm, and then the optimum parameters of the classifier are got through SVM learning algorithm. Sea trial data validation results indicate that the algorithm has high matching accuracy, and provides a new way to calculate the turbulence wavenumber spectrum matching.

This paper presents a novel sub-pixel corner detection algorithm for camera calibration. In order to achieve high accuracy and robust performance, the pixel level candidate regions are firstly identified by Harris detector. Within these regions, the center of gravity (COG) method is used to gain sub-pixel corner detection. Instead of using the intensity value of the regions, we propose to use corner response function (CRF) as the distribution of the weights of COG. The results of camera calibration experiments show that the proposed algorithm is more accurate and robust than traditional COG sub-pixel corner detection methods.

Turbulence played an important role in the evolution of the seawater energy and exchange. Multi-scale, long-term, fixed-point and continuous sampling is a new research direction in the turbulence observation. This dissertation designed high-capacity and no-vibration data storage solutions aiming at long-term, continuous turbulence observations. First a multi-scale submerged buoy observing platform is designed. Base on the turbulence observing platform, a multi-parameter data acquisition and no vibrations storage system is designed. This paper describes the hardware and software design implementation of large-capacity data storage arrays in details as well as the readability and easy operation of the transplant of FatFS. Actual test and sea trial prove the design can be achieved large-capacity data access of long-term observation of ocean turbulence base on the submerged buoy.

In this paper a method of on-line adaptation to illumination is proposed for mobile robot based on omni-directional in a changing illumination environment. Illumination condition is represented by an average luminance distribution of a reference object in a time series images. Illumination change is detected by computing the KL-divergence between two different distributions. A dual-threshold strategy is used to classify the current illumination into known conditions or an unknown one. According to illumination the robot decides to switch to a corresponding color calibration or learn a new one. Experiments have been carried out on the soccer robot M-TR. Experimental results show the efficiency of the proposed method.

Pressure hull is an important part of an underwater glider, on which the study was designed to ensure that it has sufficient strength and stability, the smallest weight, as well as the maximum internal deployment of space and load capacity. In order to find the best initial design solution of the pressure hull, this paper analyzes the design process of underwater vehicle systematically. After the shape and material selection of the main body and end cover, structural analysis and size optimization of pressure shell for autonomous underwater glider carried out by the finite element analysis tool Ansys Workbench, and the simulation results paves the way for the pressure test verification.