共查询到19条相似文献，搜索用时 203 毫秒
1.
Development and experiments of the Sea-Wing underwater glider 总被引：1，自引：0，他引：1
Underwater gliders,which glide through water columns by use of a pair of wings,are efficient long-distance,long-duration marine environment observatory platforms.The Sea-Wing underwater glider,developed by the Shenyang Institute of Automation,CAS,is designed for the application of deep-sea environment variables observation.The system components,the mechanical design,and the control system design of the Sea-Wing underwater glider are described in this paper.The pitch and roll adjusting models are derived based on the mechanical design,and the adjusting capabilities for the pitch and roll are analyzed according to the models.Field experiments have been carried out for validating the gliding motion and the ability of measuring ocean environment variables.Experimental results of the motion performances of the glider are presented. 相似文献
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Hybrid-driven underwater glider is a new type of unmanned underwater vehicle, which combines the advantages of autonomous underwater vehicles and traditional underwater gliders. The autonomous underwater vehicles have good maneuverability and can travel with a high speed, while the traditional underwater gliders are highlighted by low power consumption, long voyage, long endurance and good stealth characteristics. The hybrid-driven underwater gliders can realize variable motion profiles by their own buoyancy-driven and propeller propulsion systems. Stability of the mechanical system determines the performance of the system. In this paper, the Petrel-Ⅱ hybrid-driven underwater glider developed by Tianjin University is selected as the research object and the stability of hybrid-driven underwater glider unitedly controlled by buoyancy and propeller has been targeted and evidenced. The dimensionless equations of the hybrid-driven underwater glider are obtained when the propeller is working. Then, the steady speed and steady glide path angle under steady-state motion have also been achieved. The steady-state operating conditions can be calculated when the hybrid-driven underwater glider reaches the desired steady-state motion. And the steady-state operating conditions are relatively conservative at the lower bound of the velocity range compared with the range of the velocity derived from the method of the composite Lyapunov function. By calculating the hydrodynamic coefficients of the Petrel-Ⅱ hybrid-driven underwater glider, the simulation analysis has been conducted. In addition, the results of the field trials conducted in the South China Sea and the Danjiangkou Reservoir of China have been presented to illustrate the validity of the analysis and simulation, and to show the feasibility of the method of the composite Lyapunov function which verifies the stability of the Petrel-Ⅱ hybrid-driven underwater glider. 相似文献
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Combining high precision numerical analysis methods with optimization algorithms to make a systematic exploration of a design space has become an important topic in the modern design methods. During the design process of an underwater glider''s flying-wing structure, a surrogate model is introduced to decrease the computation time for a high precision analysis. By these means, the contradiction between precision and efficiency is solved effectively. Based on the parametric geometry modeling, mesh generation and computational fluid dynamics analysis, a surrogate model is constructed by adopting the design of experiment (DOE) theory to solve the multi-objects design optimization problem of the underwater glider. The procedure of a surrogate model construction is presented, and the Gaussian kernel function is specifically discussed. The Particle Swarm Optimization (PSO) algorithm is applied to hydrodynamic design optimization. The hydrodynamic performance of the optimized flying-wing structure underwater glider increases by 9.1%. 相似文献
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The European Space Agency will launch the first salinity satellite for remotely sensing the global soil moisture and ocean salinity (SMOS) at a sun-synchronous orbit in 2009. One of the payloads on the satellite is a synthetic aperture microwave radiometer (MIRAS), which is an innovative instrument designed as a two-dimensional (2D) interferometer for acquiring brightness temperature (TB) at L-band (1.4 GHz). MIRAS allows measuring TB at a series of incidences for full polarizations. As the satellite travels, a given location within the 2D field of view is observed from different incidence angles. The authors develop a new scheme to retrieve the sea-surface salinity (SSS) from SMOS’s TB at multi-incidence angles in a pixel, utilizing the properties of emissivity changing with incidence angles. All measurements of a given Stokes parameter in a pixel are first fitted to incidence angles in three order polynomial, and then the smoothed data are used for retrieving the SSS. The procedure will remove the random noise in TB greatly. Furthermore, the new method shows that the error in retrieved SSS is very sensitive to the system biases in the calibrated TB of the sensor, but the error in the retrieval is also a system bias, which can be corrected by post-launch validation. Therefore, this method may also serve as a means to evaluate the calibration precision in TB. 相似文献
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Down-scaled regional ocean modeling system (ROMS) for high-resolution coastal hydrodynamics in Korea 总被引：1，自引：0，他引：1
A down-scaled operational oceanographic system is developed for the coastal waters of Korea using a regional ocean modeling system(ROMS).The operational oceanographic modeling system consists of atmospheric and hydrodynamic models.The hydrodynamic model,ROMS,is coupled with wave,sediment transport,and water quality modules.The system forecasts the predicted results twice a day on a 72 h basis,including sea surface elevation,currents,temperature,salinity,storm surge height,and wave information for the coastal waters of Korea.The predicted results are exported to the web-GIS-based coastal information system for real-time dissemination to the public and validation with real-time monitoring data using visualization technologies.The ROMS is two-way coupled with a simulating waves nearshore model,SWAN,for the hydrodynamics and waves,nested with the meteorological model,WRF,for the atmospheric surface forcing,and externally nested with the eutrophication model,CE-QUAL-ICM,for the water quality.The operational model,ROMS,was calibrated with the tidal surface observed with a tide-gage and verified with current data observed by bottom-mounted ADCP or AWAC near the coastal waters of Korea.To validate the predicted results,we used real-time monitoring data derived from remote buoy system,HF-radar,and geostationary ocean color imager(GOCI).This down-scaled operational coastal forecasting system will be used as a part of the Korea operational oceanographic system(KOOS) with other operational oceanographic systems. 相似文献
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An empirical orthogonal function analysis has been applied to solving the forecast problem of the monthly mean sea surface temperature for the East China Sea and the adjacent waters. The data matrix of the original sea surface temperature fields can be separated into two components, /'. e. the spatial and the temporal components. According to the properties of its spatial component that almost does not change with time and through the extrapolation of its temporal component, the prediction for large area sea surface temperature will be achieved. The time coefficients for temporal component are predicted by means of traverse and vertical time series method.On the basis of forecasting for these two years, it has been proved that the method objectively reflected the internal relations and interactions of sea surface temperature among the stations of water area. The results of the suggested method are better than the predicted method for a collection of each individual stations. The mean absolute error of p 相似文献
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Three-dimensional hydrodynamic model of Xiamen waters 总被引：3，自引：0，他引：3
Abstract-A semi-implicit and Eulerian-Lagrangian finite difference method for three-dimensionalshallow flow has been extended to a more complete system of equations incorporating second-momentturbulence closure model and transport equations of salinity and temperature. The simulation for flood-ing and drying of mudflats has been improved. The model is applied to Xiamen waters. Based on exten-sive survey data, water level elevation, temperature and salinity field along the eastern open boundaryand at the Jiulong River inlets and runoffs are analyzed, specified and calibrated. The computed resultsshow good agreement with the measured data, reproduce flooding, emergence of large and complexmudflat region. 相似文献
8.
《中国海洋工程》1989,(3)
ADI method is adopted to establish a two-dimensional tidal current numerical model for Beilun Harbor based on the hydrologic data and sediment data. The current conditions of the site where the second stage project is going to be carried out are described. The analysis and calculations for the deposition and erosion in the harbor basin are performed, which provides references for the construction of the harbor. The effect of the pile group on the current is simulated by increasing the sea bed roughness which can be determined with empirical equations of artificial roughness. The method is considered to be applicable after verification with field data. The test has provided experiences for future mathematical modelling to simulate the open type hydraulic structures. 相似文献
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Resulting from the rising levels of atmospheric carbon, ocean acidification has become a global problem. It has significant impacts on the development, survival, growth and physiology of marine organisms. Therefore, a highprecision sensor is urgently needed to measure the pH of sea-water. Iridium wire with a diameter of 0.25 mm is used as the substrate, and an Ir/Ir(OH)_x pH electrode is prepared by a one-step electrochemical method in a Li OH solution at the room temperature. A scanning electron microscope(SEM) observation reveals that it is coated with nanoscale particles. In laboratory tests, the electrode exhibits a very promising pH response, with an ideal Nernst slope(56.14–59.52), fast response, good stability and long life-span in tested pH buffer solutions. For a sea trial,four pH electrodes and one Ag/Ag Cl reference electrode are integrated with a self-made chemical sensor, and a profile detection of nearly 70 m is implemented near Newport Harbor, California on August 3, 2015. The results reflect that the pH value measured by the sensor is very close to the data given by Sea-Bird 911 plus CTD, with a difference value ranging from 0.000 075 to 0.064 719. And the sensor shows a better data matching degree in 0–40m water depth. In addition, the high precision and accuracy of the sensor make it possible to use in the ocean observation field. 相似文献
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This paper describes a new framework for object detection and tracking of AUV including underwater acoustic data interpolation, underwater acoustic images segmentation and underwater objects tracking. This framework is applied to the design of vision-based method for AUV based on the forward looking sonar sensor. First, the real-time data flow (underwater acoustic images) is pre-processed to form the whole underwater acoustic image, and the relevant position information of objects is extracted and determined. An improved method of double threshold segmentation is proposed to resolve the problem that the threshold cannot be adjusted adaptively in the traditional method. Second, a representation of region information is created in light of the Gaussian particle filter. The weighted integration strategy combining the area and invariant moment is proposed to perfect the weight of particles and to enhance the tracking robustness. Results obtained on the real acoustic vision platform of AUV during sea trials are displayed and discussed. They show that the proposed method can detect and track the moving objects underwater online, and it is effective and robust. 相似文献
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为满足水下滑翔器连续获取海洋剖面水文动力高质量数据的应用需求,利用自主研制的电磁感应式电导率传感器,集成快速响应的热敏电阻与压力传感器,以PIC18F2520单片机为电路系统的核心控制器,设计出一种适用于水下滑翔器搭载的微型化、低功耗、重量轻的SZQ1-1新型CTD传感器。该CTD测量仪经实验室多次标定,数据质量达到海试要求。2016年10月,该CTD传感器与海鸟SBE19 Plus在青岛胶州湾进行了海试比测。海试结果证明,该CTD传感器与SBE19 Plus测量结果相近,实时获取的温、盐、深剖面数据精度满足水下滑翔器的搭载要求。 相似文献
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水下滑翔机是开展海洋无人移动观测的重要平台,其实际航行轨迹往往与预设路径存在较大差异,多台水下滑翔机协同观测时,难以始终保持预设的组网阵列。本研究提出一种基于牛顿力学积分的水下滑翔机群协同控制算法,根据水下滑翔机群出、入水的异步性调节水下滑翔机入水前的运动参数。基于对水下滑翔机受力分析,利用牛顿力学积分还原水下滑翔机在海洋中的运动状态,进而运用水下滑翔机群的协同控制算法同时约束多台水下滑翔机的运动,并开展仿真实验。实验结果证明该算法能够使多台水下滑翔机较好地保持预设组网阵列,从而可对目标海域进行协同观测。 相似文献
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水下滑翔机是一种浮力驱动的无人水下自治观探测平台, 具有持续性、鲁棒性、自主性等特点, 是构建海洋观测技术体系重要的水下航行器之一。文章从水下滑翔机发展历程、运行方式和专用传感器展开, 基于国内外海洋学文献综述研究, 重点对水下滑翔机在典型海洋现象观测应用方面进行总结。水下滑翔机的运行稳定性、长时续, 观测高分辨率、低成本的特点, 满足了对海洋中尺度涡、内波、湍流、环流/边界流和锋面的长时间、精细化立体观测要求; 鲁棒性、自主性的特点使其能够适应台风过境、地震、原油泄漏前后等紧急恶劣海洋状况的监测; 运行平稳、低噪声的特点使其成为声学监测与探测的良好平台。对比分析国内外的水下滑翔机(组网)应用状况可以发现, 国内水下滑翔机在传感器、数据处理和组网技术方面都需要进一步完善。最后总结并展望了国内外水下滑翔机面向海洋现象观测的应用。 相似文献
14.
水下滑翔机可以高效地观测海水的温度、盐度和压强等海洋参数,但由于热滞后效应,盐度数据,特别是在温度梯度较大的温跃层,会出现一定程度的偏差。本研究选取了3种目前常用的盐度热滞后订正方法,对带泵的“海翼号”水下滑翔机,于2019年8月在中北太平洋所观测的盐度数据因热滞后效应引起的偏差进行订正处理,与船载911型温盐深测量仪(Instrument for Measuring Conductivity Temperature and Depth,CTD)观测盐度进行对比,在比较了3种方法对滑翔机盐度订正前后下降和上升剖面偏差的减少程度、订正后剖面与船载CTD观测剖面的偏差大小和下降上升温盐曲线(T-S曲线)的一致程度后,得出了水下滑翔机盐度订正的最优方法,即在订正电导池中实际温度的前提下,采用计算机图形分割方法,最小化滑翔机机载CTD测得的下降和上升两个剖面T-S曲线围成面积所确定的目标函数,来确定合适的热滞后修正振幅和时间常数,从而修正下降和上升两个剖面之间盐度偏差。 相似文献
15.
Model-based feedback control of autonomous underwater gliders 总被引：6，自引：0，他引：6
We describe the development of feedback control for autonomous underwater gliders. Feedback is introduced to make the glider motion robust to disturbances and uncertainty. Our focus is on buoyancy-propelled, fixed-wing gliders with attitude controlled by means of active internal mass redistribution. We derive a nonlinear dynamic model of a nominal glider complete with hydrodynamic forces and coupling between the vehicle and the movable internal mass. We use this model to study stability and controllability of glide paths and to derive feedback control laws. For our analysis, we restrict to motion in the vertical plane and consider linear control laws. For illustration, we apply our methodology to a model of our own laboratory-scale underwater glider 相似文献
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For consideration of both the eccentric rotatable rigid body and the translational rigid body, the dynamic model of the underwater glider is derived. Dynamical behaviors are also studied based on the model and can be used as the guidance to underwater gliders design. Gibbs function of the underwater glider system is derived first, and then the nonlinear dynamic model is obtained by use of Appell equations. The relationships between dynamic behaviors and design parameters are studied by solving the dynamic m... 相似文献