In this paper,three different modeling ranges were selected in the structural analysis for a hydropower house.The analysis was carried out using ABAQUS 6.6.The modeling range has a remarkable effect on finite element ...In this paper,three different modeling ranges were selected in the structural analysis for a hydropower house.The analysis was carried out using ABAQUS 6.6.The modeling range has a remarkable effect on finite element method(FEM) calculation result at the middle position of typical cross-sections where the concrete is relatively thin,and at the region close to turbine floor.If the ventilation barrel,floor slabs and columns above turbine floor are excluded from FEM model,the maximum rise difference of pedestal structure increases by about 24% compared with that of the whole model.It is indicated that different modeling ranges indeed affect FEM calculation result,and the structure above turbine floor in the FEM model should be included.展开更多
An improved network flow algorithm, which includes the minimum cost network flow and the same period network flow, is proposed to solve the optimization of cascaded hydroelectric power plants in a competitive electric...An improved network flow algorithm, which includes the minimum cost network flow and the same period network flow, is proposed to solve the optimization of cascaded hydroelectric power plants in a competitive electricity market. The typical network flow is used to find the feasible flow and add the discharge water to different cascaded hydroelectric power plants at the same step. The same period network flow is used to find the optimal flow and add the power output at a different step. This new algorithm retains the advantages of the typical network flow, such as simplicity and ease of realization. The result of the case analysis indicates that the new algorithm can achieve high calculation precision and can be used to calculate the optimal operation of cascaded hydroelectric power plants.展开更多
The research object was high 120 m concrete gravity dam of the Angara Bratsk hydroelectric power plant. The state of the concrete dam is estimated based on the results of continuous supervision performed by site perso...The research object was high 120 m concrete gravity dam of the Angara Bratsk hydroelectric power plant. The state of the concrete dam is estimated based on the results of continuous supervision performed by site personnel as well as periodic monitoring. According to the classification of the interrelations in the system ＂concrete-environment＂, there were selected some important parts of dams and a comprehensive analysis of concrete was executed on these parts. Concerning the complex research of concrete, a combination of full-scale tests with core-sampling has been proposed. Core samples tests had an object to study the deep concrete layers and to determine the specific indicators such as strength, density, porosity, comparative diameter of capillary pores, CaO content in cement stone and others. Obtained findings and recommended criteria can be applied when selecting technologies for constructing dams that guarantee their durability in the north.展开更多
Hydroelectric power equipment consists of a hydro-turbine and a hydrogenerator whose weldments have the features of complicated construction and large bulk as well as some parts operating under water. With the increas...Hydroelectric power equipment consists of a hydro-turbine and a hydrogenerator whose weldments have the features of complicated construction and large bulk as well as some parts operating under water. With the increase of unit rating of the hydroelectric power equipment, the application field of high strength steel and dissimilar steel has been enlarged. What to be introduced in this paper is the development of the welding technology of large hydroelectric generating equipment in China since the 1970s, and the development orientation of its welding construction and procedure in the future.展开更多
A hydroelectric power generator, which is able to extract the water flow energy from the hydroelastic response of an elastically supported rectangular wing, is experimentally investigated. An electric motor is used to...A hydroelectric power generator, which is able to extract the water flow energy from the hydroelastic response of an elastically supported rectangular wing, is experimentally investigated. An electric motor is used to excite pitching oscillations of the wing. Both the wing and the electric motor are supported by leaf springs which are designed to work both as a linear guide for the sway oscillations and as elastic elements. The wing mass in sway direction necessary to achieve a hydroelastic response is obtained by utilizing a mechanical snubber mechanism. The appropriate load to generate electricity is provided by magnetic dampers. In the previous paper, the generating power rate and the efficiency were examined through the experiments with a single wing model, and the feasibility of the flapping wing hydroelectric power generator was verified. In this paper, the influence of the neighboring wings is examined by using two experimental apparatuses, with the intention of achieving a practical cascade wing generator. Tests revealed that the cascade moving in-phase with the neighboring wings at narrower intervals has a higher rate of electric power generation.展开更多
Deregulation and liberalization of electric power industry, among other things, has created new requirements for the market participants. The power system engineer, operator, and, in general, the market participants a...Deregulation and liberalization of electric power industry, among other things, has created new requirements for the market participants. The power system engineer, operator, and, in general, the market participants are being faced with requirements for which they do not have adequate training and the proper software tools. In this framework, among others, a pure hydro-generation company has to operate its hydro units, throughout the operating day, trying to fulfill the market clearing schedule or a bilateral contract, and modify the program in the intra-day energy markets if necessary （or more suitable） as real-time operation is getting closer. In this scenario the objective is to maximize the hydroelectric power plant profit from selling energy in the spot market or by means of bilateral contracts. In this paper the optimal operation of a head-dependent hydroelectric power station in bilateral market-short-term hourly hydro resource scheduling for energy is obtained.展开更多
Preface On October 13, 1958, in the county town of Deyang in southwestern China, a new power equipment manufacture enterprise-Dongfa ng Electric Machinery was es tablished, which had been placed
This paper presents the modelling, simulation and analysis of the dynamic behaviour of a mixed power network of 2.78 GW including hydro, thermal and wind power plants. The modelling of each power plant is described. T...This paper presents the modelling, simulation and analysis of the dynamic behaviour of a mixed power network of 2.78 GW including hydro, thermal and wind power plants. The modelling of each power plant is described. The set of parameters of the turbine speed governor of the hydroelectric power plant is determined with a specific identification procedure to achieve stable operation for different cases such as interconnected, isolated or islanded operation. The analysis of the stability of the entire mixed islanded power plant is investigated through time domain simulations for different sets of controllers parameters and for different disturbances （load rejection and turbulent wind speed profile）.展开更多
In this paper, a hybrid improved particle swarm optimization （IPSO） algorithm is proposed for the optimization of hydroelectric power scheduling in multi-reservoir systems. The conventional particle swarm optimizati...In this paper, a hybrid improved particle swarm optimization （IPSO） algorithm is proposed for the optimization of hydroelectric power scheduling in multi-reservoir systems. The conventional particle swarm optimization （PSO） algorithm is improved in two ways： （1） The linearly decreasing inertia weight coefficient （LDIWC） is replaced by a self-adaptive exponential inertia weight coefficient （SEIWC）, which could make the PSO algorithm more balanceable and more effective in both global and local searches. （2） The crossover and mutation idea inspired by the genetic algorithm （GA） is imported into the particle updating method to enhance the diversity of populations. The potential ability of IPSO in nonlinear numerical function optimization was first tested with three classical benchmark functions. Then, a long-term multi-reservoir system operation model based on IPSO was designed and a case study was carried out in the Minjiang Basin in China, where there is a power system consisting of 26 hydroelectric power plants. The scheduling results of the IPSO algorithm were found to outperform PSO and to be comparable with the results of the dynamic programming successive approximation （DPSA） algorithm.展开更多
A risk situation of organic pollutants accumulation in the sediments of the dams from Cascade “Middle Iskar” (NW Bulgaria) is simulated in the present study. The aim is risk modelling of organic pollution in lake se...A risk situation of organic pollutants accumulation in the sediments of the dams from Cascade “Middle Iskar” (NW Bulgaria) is simulated in the present study. The aim is risk modelling of organic pollution in lake sediments and on base of the investigated key chemical and enzymological parameters to risk assessment. A model process in lab scale with addition of whey as a source of organic pollutants was simulated. Two situations near to real conditions were studied: 1) at a decreased concentration of organic pollutants (chemical oxygen demand was 0.265 gO<sub>2</sub>.kg<sup>-1</sup>) in the case of discharge of sediments downstream of the river (control situation);2) at an accumulation of organic pollutants (chemical oxygen demand was 1.463 gO<sub>2</sub>.kg<sup>-1</sup>) in the sediments (risk event). The dynamics of chemical oxygen demand (COD), concentration of proteins and lactose as well as of the key enzymological indicators (phosphatase activity index—PAI, anaerobic dehydrogenase activity, protease and ?-galactosidase activities) were investigated. The data from Risk Assessment showed that there is a hazard from higher protein concentration at the end of the process in comparison with the control situation. The risk about COD and lactose concentration during the risk modelling was acceptable. The obtained results showed that the PAI can be used as an indicator for early warning of the organic pollution with protein nature.展开更多
Rural communities in third world countries are concerned over land use changes resulting from resource exploitation. This is the case for the Bumbuna watershed in Sierra Leone following impoundment of the Bumbuna rese...Rural communities in third world countries are concerned over land use changes resulting from resource exploitation. This is the case for the Bumbuna watershed in Sierra Leone following impoundment of the Bumbuna reservoir in 2009. Farmers have increased activities along the riparian zones in protest against inundation of their farmlands. The dam operators warn this practice would threaten sustainable power supply;the farmers contend the reservoir is increasing and taking over their farms. However, it is difficult to resolve this issue without a means of quantifying the change and developing early warning systems for land cover in the watershed. This research presents a case for the use of remotely sensed Landsat data for quantification of land cover change and the development of predictive models to inform preparedness for imminent problems that may arise from land use practices. In situ water loggers, in combination with manual readings, recorded water levels in 30-minute intervals since 2009. These datasets combined with spectral values of Landsat 7 and Landsat 8 for the development of regression algorithms for predictive purposes. Digital photographs and satellite imagery illustrated the changes in land cover over time (a 33% water rise and 44% NDVI change from 2009 to 2015). These visual and spectral pictures confirm the usefulness of remotely sensed data for early warning systems in the watershed. Results of the regression analysis show Band 1 (Blue) and Band 4 (NIR) as statistically significant predictors for water level in the reservoir. The tests accounted for 84% (R2) of the data with p-values less than α at the 0.05 confidence level. However, future trials of the model will consider reducing the 4.6 error margin to minimize deviations from the observed data.展开更多
Aims and Scope Journal of Hydrodynamics(ISSN 1001-6058,e-ISSN 1878-0342)publishes articles in a wide spectrum of hydrodynamic research.It covers advances in theoretical and applied studies of hydrodynamics,and involve...Aims and Scope Journal of Hydrodynamics(ISSN 1001-6058,e-ISSN 1878-0342)publishes articles in a wide spectrum of hydrodynamic research.It covers advances in theoretical and applied studies of hydrodynamics,and involves wide areas of applications,such as naval architecture and ocean engineering,water conservancy and hydroelectric power engineering,mechanical engineering,chemical engineering,energy exploration,environmental engineering,bio-engineering,etc.展开更多
Complex phenomena such as prolongedly undamped ultra-low frequency oscillation(ULFO)and eigenmode re-excitation are observed in the simulations of hydroelectric power systems.Emphases are put on nonlinearities and mod...Complex phenomena such as prolongedly undamped ultra-low frequency oscillation(ULFO)and eigenmode re-excitation are observed in the simulations of hydroelectric power systems.Emphases are put on nonlinearities and mode interactions,which cannot be analyzed by traditional eigen-analysis methods.In order to investigate the mechanism of the evolvement of the nonlinear dynamic process in ULFO,this paper proposes a method to analyze the mode interactions quantificationally.First,a disturbed trajectory is decoupled into a set of time-varying components.Second,transfer matrices of eigenmodes are extracted along the trajectory.Third,consecutive sequences of eigenvalues and trajectories of components are formed by a proposed technique.Based on the decoupled components and transfer matrices,the mechanisms of mode interactions and inheritance relationships between eigenmodes are analyzed.The causes and developments of the above complex phenomena are revealed by the proposed method in a test two-machine system.Meanwhile,the accuracy of the eigenmode matching technique is verified in the New England system.展开更多
Floating photovoltaic(FPV)systems are one of the globally emerging technologies of renewable energy production that tend to balance the water-energy demand by effectively saving the evaporated water from reservoirs wh...Floating photovoltaic(FPV)systems are one of the globally emerging technologies of renewable energy production that tend to balance the water-energy demand by effectively saving the evaporated water from reservoirs while generating electrical power.This study presents the performance analysis of a model FPV plant in an Indian reservoir.The Mettur dam reservoir located in Tamil Nadu,India with a hydroelectric power plant of 150-MW capacity is considered as a test case.The preliminary design of the FPV plant is proposed based on a detailed study of the key design elements and their suitability for Indian reservoirs.The proposed plant is numerically analysed for various tilt angles,mounting systems and tracking mechanisms in order to assess its potential power generation.A flat-mount system in landscape orientation was found to exhibit a high performance ratio.Further,a fixed-tilt FPV system with a panel slope of 10°and an FPV system with single-axis tracking were found to be suitable for the Mettur reservoir.Further,cost analysis of the FPV system is also presented along with the carbon-footprint estimation to establish the economic and environmental benefits of the system.The results show that the total potential CO_(2) saving by a FPV system with tracking is 135918.87 t CO_(2) and it is 12.5%higher than that of a fixed-mount FPV system.展开更多
Accurate velocity measurement of unmanned aerial vehicles(UAVs)is essential in various applications.Traditional vision-based methods rely heavily on visual features,which are often inadequate in low-light or feature-s...Accurate velocity measurement of unmanned aerial vehicles(UAVs)is essential in various applications.Traditional vision-based methods rely heavily on visual features,which are often inadequate in low-light or feature-sparse environments.This study presents a novel approach to measure the axial velocity of UAVs using motion blur images captured by a UAV-mounted monocular camera.We introduce a motion blur model that synthesizes imaging from neighboring frames to enhance motion blur visibility.The synthesized blur frames are transformed into spectrograms using the Fast Fourier Transform(FFT)technique.We then apply a binarization process and the Radon transform to extract light-dark stripe spacing,which represents the motion blur length.This length is used to establish a model correlating motion blur with axial velocity,allowing precise velocity calculation.Field tests in a hydropower station penstock demonstrated an average velocity error of 0.048 m/s compared to ultra-wideband(UWB)measurements.The root-mean-square error was 0.025,with an average computational time of 42.3 ms and CPU load of 17%.These results confirm the stability and accuracy of our velocity estimation algorithm in challenging environments.展开更多
基金Supported by National Natural Science Foundation of China(No.50539010)
文摘In this paper,three different modeling ranges were selected in the structural analysis for a hydropower house.The analysis was carried out using ABAQUS 6.6.The modeling range has a remarkable effect on finite element method(FEM) calculation result at the middle position of typical cross-sections where the concrete is relatively thin,and at the region close to turbine floor.If the ventilation barrel,floor slabs and columns above turbine floor are excluded from FEM model,the maximum rise difference of pedestal structure increases by about 24% compared with that of the whole model.It is indicated that different modeling ranges indeed affect FEM calculation result,and the structure above turbine floor in the FEM model should be included.
文摘An improved network flow algorithm, which includes the minimum cost network flow and the same period network flow, is proposed to solve the optimization of cascaded hydroelectric power plants in a competitive electricity market. The typical network flow is used to find the feasible flow and add the discharge water to different cascaded hydroelectric power plants at the same step. The same period network flow is used to find the optimal flow and add the power output at a different step. This new algorithm retains the advantages of the typical network flow, such as simplicity and ease of realization. The result of the case analysis indicates that the new algorithm can achieve high calculation precision and can be used to calculate the optimal operation of cascaded hydroelectric power plants.
文摘The research object was high 120 m concrete gravity dam of the Angara Bratsk hydroelectric power plant. The state of the concrete dam is estimated based on the results of continuous supervision performed by site personnel as well as periodic monitoring. According to the classification of the interrelations in the system ＂concrete-environment＂, there were selected some important parts of dams and a comprehensive analysis of concrete was executed on these parts. Concerning the complex research of concrete, a combination of full-scale tests with core-sampling has been proposed. Core samples tests had an object to study the deep concrete layers and to determine the specific indicators such as strength, density, porosity, comparative diameter of capillary pores, CaO content in cement stone and others. Obtained findings and recommended criteria can be applied when selecting technologies for constructing dams that guarantee their durability in the north.
文摘Hydroelectric power equipment consists of a hydro-turbine and a hydrogenerator whose weldments have the features of complicated construction and large bulk as well as some parts operating under water. With the increase of unit rating of the hydroelectric power equipment, the application field of high strength steel and dissimilar steel has been enlarged. What to be introduced in this paper is the development of the welding technology of large hydroelectric generating equipment in China since the 1970s, and the development orientation of its welding construction and procedure in the future.
文摘A hydroelectric power generator, which is able to extract the water flow energy from the hydroelastic response of an elastically supported rectangular wing, is experimentally investigated. An electric motor is used to excite pitching oscillations of the wing. Both the wing and the electric motor are supported by leaf springs which are designed to work both as a linear guide for the sway oscillations and as elastic elements. The wing mass in sway direction necessary to achieve a hydroelastic response is obtained by utilizing a mechanical snubber mechanism. The appropriate load to generate electricity is provided by magnetic dampers. In the previous paper, the generating power rate and the efficiency were examined through the experiments with a single wing model, and the feasibility of the flapping wing hydroelectric power generator was verified. In this paper, the influence of the neighboring wings is examined by using two experimental apparatuses, with the intention of achieving a practical cascade wing generator. Tests revealed that the cascade moving in-phase with the neighboring wings at narrower intervals has a higher rate of electric power generation.
文摘Deregulation and liberalization of electric power industry, among other things, has created new requirements for the market participants. The power system engineer, operator, and, in general, the market participants are being faced with requirements for which they do not have adequate training and the proper software tools. In this framework, among others, a pure hydro-generation company has to operate its hydro units, throughout the operating day, trying to fulfill the market clearing schedule or a bilateral contract, and modify the program in the intra-day energy markets if necessary （or more suitable） as real-time operation is getting closer. In this scenario the objective is to maximize the hydroelectric power plant profit from selling energy in the spot market or by means of bilateral contracts. In this paper the optimal operation of a head-dependent hydroelectric power station in bilateral market-short-term hourly hydro resource scheduling for energy is obtained.
文摘Preface On October 13, 1958, in the county town of Deyang in southwestern China, a new power equipment manufacture enterprise-Dongfa ng Electric Machinery was es tablished, which had been placed
基金supported by the National Basic Research Program of China (973 Program, No. 2013CB035904)the Innovative Research Groups of the National Natural Science Foundation of China (No. 51321065)the National Natural Science Foundation of China (No. 51439005)
文摘This paper presents the modelling, simulation and analysis of the dynamic behaviour of a mixed power network of 2.78 GW including hydro, thermal and wind power plants. The modelling of each power plant is described. The set of parameters of the turbine speed governor of the hydroelectric power plant is determined with a specific identification procedure to achieve stable operation for different cases such as interconnected, isolated or islanded operation. The analysis of the stability of the entire mixed islanded power plant is investigated through time domain simulations for different sets of controllers parameters and for different disturbances （load rejection and turbulent wind speed profile）.
基金supported by the National Natural Science Foundation of China (Grant No. 50679011)
文摘In this paper, a hybrid improved particle swarm optimization （IPSO） algorithm is proposed for the optimization of hydroelectric power scheduling in multi-reservoir systems. The conventional particle swarm optimization （PSO） algorithm is improved in two ways： （1） The linearly decreasing inertia weight coefficient （LDIWC） is replaced by a self-adaptive exponential inertia weight coefficient （SEIWC）, which could make the PSO algorithm more balanceable and more effective in both global and local searches. （2） The crossover and mutation idea inspired by the genetic algorithm （GA） is imported into the particle updating method to enhance the diversity of populations. The potential ability of IPSO in nonlinear numerical function optimization was first tested with three classical benchmark functions. Then, a long-term multi-reservoir system operation model based on IPSO was designed and a case study was carried out in the Minjiang Basin in China, where there is a power system consisting of 26 hydroelectric power plants. The scheduling results of the IPSO algorithm were found to outperform PSO and to be comparable with the results of the dynamic programming successive approximation （DPSA） algorithm.
文摘A risk situation of organic pollutants accumulation in the sediments of the dams from Cascade “Middle Iskar” (NW Bulgaria) is simulated in the present study. The aim is risk modelling of organic pollution in lake sediments and on base of the investigated key chemical and enzymological parameters to risk assessment. A model process in lab scale with addition of whey as a source of organic pollutants was simulated. Two situations near to real conditions were studied: 1) at a decreased concentration of organic pollutants (chemical oxygen demand was 0.265 gO<sub>2</sub>.kg<sup>-1</sup>) in the case of discharge of sediments downstream of the river (control situation);2) at an accumulation of organic pollutants (chemical oxygen demand was 1.463 gO<sub>2</sub>.kg<sup>-1</sup>) in the sediments (risk event). The dynamics of chemical oxygen demand (COD), concentration of proteins and lactose as well as of the key enzymological indicators (phosphatase activity index—PAI, anaerobic dehydrogenase activity, protease and ?-galactosidase activities) were investigated. The data from Risk Assessment showed that there is a hazard from higher protein concentration at the end of the process in comparison with the control situation. The risk about COD and lactose concentration during the risk modelling was acceptable. The obtained results showed that the PAI can be used as an indicator for early warning of the organic pollution with protein nature.
文摘Rural communities in third world countries are concerned over land use changes resulting from resource exploitation. This is the case for the Bumbuna watershed in Sierra Leone following impoundment of the Bumbuna reservoir in 2009. Farmers have increased activities along the riparian zones in protest against inundation of their farmlands. The dam operators warn this practice would threaten sustainable power supply;the farmers contend the reservoir is increasing and taking over their farms. However, it is difficult to resolve this issue without a means of quantifying the change and developing early warning systems for land cover in the watershed. This research presents a case for the use of remotely sensed Landsat data for quantification of land cover change and the development of predictive models to inform preparedness for imminent problems that may arise from land use practices. In situ water loggers, in combination with manual readings, recorded water levels in 30-minute intervals since 2009. These datasets combined with spectral values of Landsat 7 and Landsat 8 for the development of regression algorithms for predictive purposes. Digital photographs and satellite imagery illustrated the changes in land cover over time (a 33% water rise and 44% NDVI change from 2009 to 2015). These visual and spectral pictures confirm the usefulness of remotely sensed data for early warning systems in the watershed. Results of the regression analysis show Band 1 (Blue) and Band 4 (NIR) as statistically significant predictors for water level in the reservoir. The tests accounted for 84% (R2) of the data with p-values less than α at the 0.05 confidence level. However, future trials of the model will consider reducing the 4.6 error margin to minimize deviations from the observed data.
文摘Aims and Scope Journal of Hydrodynamics(ISSN 1001-6058,e-ISSN 1878-0342)publishes articles in a wide spectrum of hydrodynamic research.It covers advances in theoretical and applied studies of hydrodynamics,and involves wide areas of applications,such as naval architecture and ocean engineering,water conservancy and hydroelectric power engineering,mechanical engineering,chemical engineering,energy exploration,environmental engineering,bio-engineering,etc.
基金supported by the Program of State Grid Corporation of China“Theoretical BasisAlgorithmand Application of Trajectory Eigenvalue Method”
文摘Complex phenomena such as prolongedly undamped ultra-low frequency oscillation(ULFO)and eigenmode re-excitation are observed in the simulations of hydroelectric power systems.Emphases are put on nonlinearities and mode interactions,which cannot be analyzed by traditional eigen-analysis methods.In order to investigate the mechanism of the evolvement of the nonlinear dynamic process in ULFO,this paper proposes a method to analyze the mode interactions quantificationally.First,a disturbed trajectory is decoupled into a set of time-varying components.Second,transfer matrices of eigenmodes are extracted along the trajectory.Third,consecutive sequences of eigenvalues and trajectories of components are formed by a proposed technique.Based on the decoupled components and transfer matrices,the mechanisms of mode interactions and inheritance relationships between eigenmodes are analyzed.The causes and developments of the above complex phenomena are revealed by the proposed method in a test two-machine system.Meanwhile,the accuracy of the eigenmode matching technique is verified in the New England system.
文摘Floating photovoltaic(FPV)systems are one of the globally emerging technologies of renewable energy production that tend to balance the water-energy demand by effectively saving the evaporated water from reservoirs while generating electrical power.This study presents the performance analysis of a model FPV plant in an Indian reservoir.The Mettur dam reservoir located in Tamil Nadu,India with a hydroelectric power plant of 150-MW capacity is considered as a test case.The preliminary design of the FPV plant is proposed based on a detailed study of the key design elements and their suitability for Indian reservoirs.The proposed plant is numerically analysed for various tilt angles,mounting systems and tracking mechanisms in order to assess its potential power generation.A flat-mount system in landscape orientation was found to exhibit a high performance ratio.Further,a fixed-tilt FPV system with a panel slope of 10°and an FPV system with single-axis tracking were found to be suitable for the Mettur reservoir.Further,cost analysis of the FPV system is also presented along with the carbon-footprint estimation to establish the economic and environmental benefits of the system.The results show that the total potential CO_(2) saving by a FPV system with tracking is 135918.87 t CO_(2) and it is 12.5%higher than that of a fixed-mount FPV system.
基金supported by Shanghai Municipal Science and Technology Major Project under Grant No.2021SHZDZX0100.
文摘Accurate velocity measurement of unmanned aerial vehicles(UAVs)is essential in various applications.Traditional vision-based methods rely heavily on visual features,which are often inadequate in low-light or feature-sparse environments.This study presents a novel approach to measure the axial velocity of UAVs using motion blur images captured by a UAV-mounted monocular camera.We introduce a motion blur model that synthesizes imaging from neighboring frames to enhance motion blur visibility.The synthesized blur frames are transformed into spectrograms using the Fast Fourier Transform(FFT)technique.We then apply a binarization process and the Radon transform to extract light-dark stripe spacing,which represents the motion blur length.This length is used to establish a model correlating motion blur with axial velocity,allowing precise velocity calculation.Field tests in a hydropower station penstock demonstrated an average velocity error of 0.048 m/s compared to ultra-wideband(UWB)measurements.The root-mean-square error was 0.025,with an average computational time of 42.3 ms and CPU load of 17%.These results confirm the stability and accuracy of our velocity estimation algorithm in challenging environments.
