共查询到20条相似文献，搜索用时 31 毫秒
1.
Animals display a variety of control surfaces that can be used for propulsion and maneuvering devises. For nonpiscine vertebrates, these control surfaces are primarily evolutionary modifications of the paired appendages (i.e., legs). The diversity of control surfaces can be classified with regard to the forces used for stability and maneuverability. For animals, the pertinent forces are pressure drag, acceleration reaction, and lift. These forces can be generated actively by motion of the control surfaces or passively from flows produced by movements of the body or external flow fields. Drag-based control surfaces are associated with paddling and rowing movements, where the limbs are oriented either in the vertical parasagittal plane or horizontal plane, respectively. The paddle is unstreamlined and has a triangular design with a broad distal end, thereby affecting a large mass of water. Appendages, which are used to generate lift-based forces, are relatively stiff hydrofoils. To maximize lift, the hydrofoil should have a crescent wing-like design with high aspect ratio. This shape provides the hydrofoil with a high lift-to-drag ratio and high propulsive efficiency. The tail flukes of cetaceans are streamlined control surfaces with a wing-like design. The flukes of cetaceans function in the hydrodynamic generation of forces for thrust, stability, and maneuverability. The three-dimensional geometry of flukes is associated with the production of lift and drag. Previous studies of fluke geometry have been limited in the number of species examined and the resolution of measurements. 相似文献
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For autonomous manipulation in water, an underwater vehicle-manipulator system (UVMS) should be able to generate trajectori9es for the vehicle and manipulators and track the planned trajectories accurately. In this paper, for trajectory generation, we suggest a performance index for redundancy resolution. This index is designed to minimize the restoring moments of the UVMS during manipulation, and it is optimized without impeding the performance of a given task. As a result, the restoring moments of the UVMS are decreased, and control efforts are also reduced. For tracking control of the UVMS, a nonlinear H∞ optimal control with disturbance observer is proposed. This control is robust against parameter uncertainties, external disturbances, and actuator nonlinearities. Numerical simulations are presented to demonstrate the performance of the proposed coordinated motion control of the UVMS. The results show that control inputs for tracking are reduced, and the UVMS can successfully track generated trajectories. 相似文献
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针对自治水下机器人(Autonomous underwater vehicle,AUV)推力器布置和控制仿真的困难性及以往电机仿真难以进行的缺点,提出1种进行多推力器运动仿真的方法,该方法建立的模型克服了推力器推力控制系统不能与电机结合的问题,能较好地反映推力器布置和电机的响应情况,可为AUV的运动控制、布置设计及控制系统开发等提供验证模型.针对流线型AUV CRanger-2的推力器布置情况,在对其建立推力器模型的基础上,利用模型对设定推力下的推力器控制进行仿真.仿真结果表明:该方法能够有效地模拟推力器布置既定情况下的电机运动与推力控制,可为水下机器人控制策略优化提供仿真平台. 相似文献
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海底滑坡会对海洋工程结构物造成严重破坏。滑移速度和距离是量化和分析海底滑坡的两个重要参数。目前BING等计算方法在模拟水下土体流动方面存在局限性,因此通过建立考虑土体固结和侵蚀效应的控制方程,选用摩擦流变模型,采用SPH深度积分算法,对海底滑坡进行了模拟研究。对比不同水深、坡度、接触摩擦系数和侵蚀率条件下的滑移体的速度、高度、长度的时程曲线,整理了最大滑移距离和速度,讨论变化规律。研究成果可为海底滑坡灾害预警和海底管线路由选址提供技术参考。 相似文献
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Study on the slope break belts in the Jurassic down-warped lacustrine basin in western-margin area, Junggar Basin, northwestern China 总被引：1，自引：0，他引：1
The Junggar Basin is one of the large-scale petroliferous basins in northwestern China. During the Jurassic Age it was a down-warped continental basin. Different types of slope break belts with different origins have been identified in the basin, including the fracture, flexure, erosional and depositional slope break belts. Fracture and flexure slope break belts were mainly developed in the western-margin area of the Junggar Basin. Slope break belts can be further divided into two types, which are basin margin and inner basin according to their geographical locations. Tectonic movements are the important origin mechanisms controlling the development of the slope break belts, such as deep-seated thrust structure, inherited paleouplift and secondary fracture movement in the basin. Obviously slope break belts are developed in episodes, developed in multi-stages and are differential in movements and can be inherited and transformed due to the changes of tectonic movements in different periods and different areas. Detailed studies indicate that slope break belts obviously control the strata onlap, the vertical lithologic succession and the vertical and lateral distribution of depositional systems. Slope break belts can control the distribution of different non-structural traps. 相似文献
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直流无刷电机驱动的水下电缆绞车系统 总被引：3，自引：0，他引：3
水下电缆绞车多采用液压驱动,但液压驱动存在无效动力转换,能源使用率不高,因此直流无刷电机驱动的水下电缆绞车具有实际意义。采用直流无刷电机驱动,不仅提高了水下电缆绞车系统的能源利用率,而且改善了系统的调速性能。与直流有刷电机相比,直流无刷电机可实现充油均压密封,更有利于在水下工作。介绍了直流无刷电机驱动水下电缆绞车的组成、功能及工作原理,针对研制的专用水下直流无刷电机,重点论述了其充油密封原理和工艺,并设计了一种全新的低成本高性能驱动控制电路。该水下电缆绞车系统已初步调试完毕,试验表明各项性能良好,即将投入实际应用。它具有结构简单,工作可靠,成本低的优点,因此在实际工程应用中具有推广意义。 相似文献
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We describe a multi‐stock, length‐based Bayesian assessment model for New Zealand spiny lobster (Jasus edwardsii) fisheries. This model allows simultaneous modelling of two or more stocks with a mixture of common and stock‐specific parameters: recruitment is always stock‐specific, but any other parameter can be specified as either common or stock‐specific. Common parameters are estimated from a wider base than they would be in a single‐stock model. The model's time step is flexible and can be changed during the period being modelled to accommodate better data quality in recent data. Other options include the capacity to estimate movements among stocks, allow density‐dependent growth, and choose among likelihood functions for the various data sets, between finite and instantaneous fishing dynamics and between two forms of selectivity curve. 相似文献
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Application of artificial neural networks in tide-forecasting 总被引：3，自引：0，他引：3
An accurate tidal forecast is an important task in determining constructions and human activities in ocean environments. Conventional tidal forecasting has been based on harmonic analysis using the least squares method to determine harmonic parameters. However, a large number of parameters are required for the prediction of a long-term tidal level with harmonic analysis. Unlike conventional harmonic analysis, this paper presents an artificial neural network (ANN) model for forecasting the tidal-level using the short term measuring data. The ANN model can easily decide the unknown parameters by learning the input–output interrelation of the short-term tidal records. Three field data with three types of tides will be used to test the performance of the proposed ANN model. The numerical results indicate that the hourly tidal levels over a long duration can be predicted using a short-term hourly tidal record. 相似文献
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Aaron Micallef Christian Berndt Douglas G. Masson Dorrik A.V. Stow 《Marine Geology》2008,247(1-2):46-60
This study documents the fractal characteristics of submarine mass movement statistics and morphology within the Storegga Slide. Geomorphometric mapping is used to identify one hundred and fifteen mass movements from within the Storegga Slide scar and to extract morphological information about their headwalls. Analyses of this morphological information reveal the occurrence of spatial scale invariance within the Storegga Slide. Non-cumulative frequency-area distribution of mass movements within the Storegga Slide satisfies an inverse power law with an exponent of 1.52. The headwalls exhibit geometric similarity at a wide range of scales and the lengths of headwalls scale with mass movement areas. Composite headwalls are self-similar.One of the explanations of the observed spatial scale invariance is that the Storegga Slide is a geomorphological system that may exhibit self-organized criticality. In such a system, the input of sediment is in the form of hemipelagic sedimentation and glacial sediment deposition, and the output is represented by mass movements that are spatially scale invariant. In comparison to subaerial mass movements, the aggregate behavior of the Storegga Slide mass movements is more comparable to that of the theoretical ‘sandpile’ model. The origin of spatial scale invariance may also be linked to the retrogressive nature of the Storegga Slide. The geometric similarity in headwall morphology implies that the slope failure processes are active on a range of scales, and that modeling of slope failures and geohazard assessment can extrapolate the properties of small landslides to those of larger landslides, within the limits of power law behavior. The results also have implications for the morphological classification of submarine mass movements, because headwall shape can be used as a proxy for the type of mass movement, which can otherwise only be detected with very high resolution acoustic data that are not commonly available. 相似文献
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Markus Pahlow Alain F. Vézina Heidi Maass Daniel G. Wright 《Progress in Oceanography》2008,76(2):151-191
Plankton ecosystems in the North Atlantic display strong regional and interannual variability in productivity and trophic structure, which cannot be captured by simple plankton models. Additional compartments subdividing functional groups can increase predictive power, but the high number of parameters tends to compromise portability and robustness of model predictions. An alternative strategy is to use property state variables, such as cell size, normally considered constant parameters in ecosystem models, to define the structure of functional groups in terms of both behaviour and response to physical forcing. This strategy may allow us to simulate realistically regional and temporal differences among plankton communities while keeping model complexity at a minimum.We fit a model of plankton and DOM dynamics globally and individually to observed climatologies at three diverse locations in the North Atlantic. Introducing additional property state variables is shown to improve the model fit both locally and globally, make the model more portable, and help identify model deficiencies. The zooplankton formulation exerts strong control on model performance. Our results suggest that the current paradigm on zooplankton allometric functional relationships might be at odds with observed plankton dynamics. Our parameter estimation resulted in more realistic estimates of parameters important for primary production than previous data assimilation studies.Property state variables generate complex emergent functional relationships, and might be used like tracers to differentiate between locally produced and advected biomass. The model results suggest that the observed temperature dependence of heterotrophic growth efficiency [Rivkin, R.B., Legendre, L., 2001. Biogenic carbon cycling in the upper ocean: effects of microbial respiration. Science 291 (5512) 2398-2400] could be an emergent relation due to intercorrelations among temperature, nutrient concentration and growth efficiency. A major advantage of using property state variables is that no additional parameters are required, such that differences in model performance can be directly related to model structure rather than parameter tuning. 相似文献
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In this paper, the movements of the analytical models of complete underwater tracked vehicle (UTV) and cutter bar (CB) tool systems on a surface as well as their movements up and down a slope in the up-cutting mode operation are fully studied and analyzed. First, the mathematical expression of the mechanics, for which the forces, moments, and energy from the CB to the UTV are analyzed, is related. Next, analyses on the systemic parameters and their sensitivity are conducted to observe the variations of the operational and geometric parameters, as well as the cutter-tool and material-condition effects on the force, moment, and power components. Also, a design process composed of seven typical steps is proposed as the reference of a trencher-machine design. The important design parameters of the trenching machine such as the length of the CB, the nose radius of the CB, and the height of the pivot point are designed according to the proposed design process; furthermore, these parameters are used for the estimation of the slope-angle range when the trencher system is working on the slope. To demonstrate the application of derived equations to practical problems of the machine design, a number of numerical simulations are performed. Through the numerical simulations, the important parameters of the system such as the tangential force, Ft, the tractive thrust, H, the normal reaction, V, the cutting moment, Mc, the maximum carrier weight, W, and the available power are analyzed. From these, as a reference data for the designing of a trencher machine, the previous design of the system can be improved. 相似文献
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The lifting motor pump is the core equipment of the deep-sea hydraulic pipeline lifting system, and its research results are one of the important technical reserves for the research and development of marine mineral resources. It is an essential capacity for lifting motor pump to allow coarse particles pass through the flow passages, to realize this requirement, an increased flowrate method is employed to design a wide flow passage for an innovative six-stage lifting motor pump. Based on Computational Fluid Dynamics (CFD), the anti-blocking performance of the lifting motor pump designed by the conventional method and the increased flowrate method are compared, which show that the latter is better than the former. Numerical simulations of the internal two-phase flow inside the innovative pump are presented, and the flow parameters such as pressure, velocity and particle trajectory are obtained. According to the design method of the six-stage lifting motor pump, a two-stage lifting motor pump is manufactured, and the relevant performance experiments are performed. The results obtained by numerical simulation is in a good agreement with the experimental ones, thus the validity and accuracy of the numerical model and method is verified. The innovative two-stage lifting motor pump can operate smoothly with low noise and no blockage occurs, and its performance meets the design goals and requirements. 相似文献
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A control scheme named the variable-lateral-force cavitator, which is focused on the control of lift force, drag force and lateral forces for underwater supercavity vehicles was proposed, and the supercavitating flow around the cavitator was investigated numerically using the mixture multiphase flow model. It is verified that the forces of pitching, yawing, drag and lift, as well as the supercavity size of the underwater vehicle can be effectively regulated through the movements of the control element of the variable-lateral-force cavitator in the radial and circumferential directions. In addition, if the control element on either side protrudes to a height of 5% of the diameter of the front cavitator, an amount of forces of pitching and yawing equivalent to 30% of the drag force will be produced, and the supercavity section appears concave inwards simultaneously. It is also found that both the drag force and lift force of the variable-lateral-force cavitator decline as the angle of attack increases. 相似文献
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《Marine Models》1999,1(1-4):39-81
CotSim is a size-structured metapopulation model of the crown-of-thorns (Acanthaster planci) on the central Great Barrier Reef (GBR). The populations of starfish and the coral cover on 269 individual reefs are modelled for up to 200 years. Starfish are represented as larvae, two age classes of juveniles and three size classes of adults. Coral can either be modelled as a single type or as two types each with a characteristic growth rate, equilibrium cover and susceptibility to starfish predation. Reefs are connected using simulated dispersal data for A. planci on the central GBR. These data were generated using a particle tracking program where simulated currents displaced particles representing dispersing larvae after an A. planci spawning episode. The dispersal data represented patterns expected from the 1976/77 to 1989/90 spawning season. The starfish growth model is a density-dependent matrix model. When coral cover is low, survival within classes is low and the transitions into larger classes is impeded. In contrast, at high coral cover the reverse patterns occur. Both the starfish and coral data are filtered through an interpretation model to generate observed patterns. The starfish interpretation model represents the important difficulty in detecting smaller adults. Results from the model using the default parameters correspond with published patterns of starfish/coral dynamics and the overall patterns of starfish outbreaks on the GBR.The model is an interactive event-driven 32-bit Windows application requiring Windows 95 or Windows NT 3.51/4.0. Most parameters are able to be altered by the user with three tabbed dialogue boxes (for the simulation, starfish and coral parameters). Biologically justifiable default parameters are provided for all parameters. Parameters and initial starfish populations are stored in simple coded ASCII files. Simulations are controlled using ‘Run’, ‘Pause/Continue’ and ‘Stop’ operations. Maps of the GBR illustrate the spatial and temporal structure of the metapopulation dynamics including the patterns of dispersal. Once paused, populations on individual reefs can be examined using two types of plots (time series and single time bar charts). Overall patterns can be displayed using latitude versus time plots of observed reef state. Starfish populations and coral cover can be edited, which enables users of the model to become associated with some of the key issues regarding large-scale starfish control programs. Results from the model can be written to ASCII files for additional analysis. The speed of a simulation is able to be controlled and colours for important graphical elements can be altered. CotSim includes indexed online context-sensitive help and a graphical install routine. The program adheres to published guidelines for Windows applications. 相似文献
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排桩与内支撑相结合的基坑支护结构是近几年兴起并迅速发展的1种支护方式。如何通过有效控制其变形使基坑工程安全又经济,是人们不断探索的课题。本文以青岛地区某实际深基坑为研究对象,运用理正深基坑三维协同计算对基坑开挖、支护进行了整体计算。对内支撑的平面布置进行分析,提出了水平桁架式、大直径环撑辐射式、多跨压杆式不同的支撑样式对基坑的整体受力及变形的影响参考值。对本工程内支撑的支撑间距进行分析,提出了合理的支撑间距值。另外,依据有关规定制定了监测方案,对监测结果进行了整理,并与理论计算值进行比对分析,得出一些有价值的结论,可以为类似工程的设计、施工和监测提供一些借鉴。 相似文献
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A theory is given for a two-dimensional wave power device which consists of a train of floating rafts whose wave-induced rotation about the hinges is used to generate energy. Ideal efficiency, wave forces and raft movements are studied by a linearized shallow water theory which is sufficiently simple to enable an investigation for optimum designs under a variety of criteria of efficiency and cost-effectiveness. For a sample raft train, a numerical theory for arbitrary wavelength is also applied, yielding results which are not essentially different from those by the long wave approximation. 相似文献
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We consider the role played by the sensor locations in the optimal performance of an array of acoustic vector sensors, First we derive an expression for the Cramer-Rao bound on the azimuth and elevation of a single far-field source for an arbitrary acoustic vector-sensor array in a homogeneous wholespace and show that it has a block diagonal structure, i.e., the source location parameters are uncoupled from the signal and noise strength parameters. We then derive a set of necessary and sufficient geometrical constraints for the two direction parameters, azimuth and elevation, to be uncoupled from each other. Ensuring that these parameters are uncoupled minimizes the bound and means they are the natural or “canonical” location parameters for the model. We argue that it provides a compelling array design criterion. We also consider a bound on the mean-square angular error and its asymptotic normalization, which are useful measures in three-dimensional bearing estimation problems. We derive an expression for this bound and discuss it in terms of the sensors' locations. We then show that our previously derived geometrical conditions are also sufficient to ensure that this bound is independent of azimuth. Finally, we extend those conditions to obtain a set of geometrical constraints that ensure the optimal performance is isotropic 相似文献