Trends in biorobotic autonomous undersea vehicles   总被引：1，自引：0，他引：1  

Bandyopadhyay  P.R. 《Oceanic Engineering, IEEE Journal of》2005,30(1):109-139

The emergence of biorobotic autonomous undersea vehicle (AUV) as a focus for discipline-integrated research in the context of underwater propulsion and maneuvering is considered within the confines of the Biorobotics Program in the Office of Naval Research. The significant advances in three disciplines, namely the biology-inspired high-lift unsteady hydrodynamics, artificial muscle technology and neuroscience-based control, are discussed in an effort to integrate them into viable products. The understanding of the mechanisms of delayed stall, molecular design of artificial muscles and the neural approaches to the actuation of control surfaces is reviewed in the context of devices based on the pectoral fins of fish, while remaining focused on their integrated implementation in biorobotic AUVs. A mechanistic understanding of the balance between cruising and maneuvering in swimming animals and undersea vehicles is given. All aquatic platforms, in both nature and engineering, except during short duration burst speeds that are observed in a few species, appear to lie within the condition where their natural period of oscillation equals the time taken by them to travel the distance of their own lengths. Progress in the development of small underwater experimental biorobotic vehicles is considered where the three aforementioned disciplines are integrated into one novel maneuvering device or propulsor. The potential in maneuvering and silencing is discussed.  相似文献   

Phototoxicity of pyrene and benzo[a]pyrene to embryo-larval stages of the Pacific oyster Crassostrea gigas     

Lyons BP  Pascoe CK  McFadzen IR 《Marine environmental research》2002,54(3-5):627-631

There is a growing body of evidence to suggest that certain polycyclic aromatic hydrocarbons (PAHs) pose a greater hazard to aquatic organisms than previously demonstrated, due to their potential to cause photo-induced toxicity when exposed to ultraviolet (UV) radiation. The consequences of photo-induced toxicity are reported here for embryo-larval stages of the pacific oyster Crassostrea gigas, following exposure to pyrene and benzo[a]pyrene. During laboratory investigations, significant increases in toxicity were observed in the presence of environmentally attainable levels of UV-radiation, compared with embryos exposed to PAH alone, at levels previously deemed to have little acute biological effect. The phototoxicity of pyrene and benzo[a]pyrene completely inhibited the development to the D-shell larval stage when embryos were simultaneously exposed to 5 microg l(-1) PAH and ultraviolet light (UVB = 6.3 +/- 0.1 microW/cm2 and UVA = 456.2 +/- 55 microW/cm2). A linear relationship was also demonstrated for benzo[a]pyrene phototoxicity with decreasing UV light intensity.  相似文献   

Cycling the representer algorithm for variational data assimilation with a nonlinear reduced gravity ocean model     

Hans E. Ngodock  Scott R. Smith  Gregg A. Jacobs 《Ocean Modelling》2007,19(3-4):101-111

The representer method was used by [Ngodock, H.E., Jacobs, G.A., Chen, M., 2006. The representer method, the ensemble Kalman filter and the ensemble Kalman smoother: a comparison study using a nonlinear reduced gravity ocean model. Ocean Modelling 12, 378–400] in a comparison study with the ensemble Kalman filter and smoother involving a 1.5 nonlinear reduced gravity idealized ocean model simulating the Loop Current (LC) and the Loop Current eddies (LCE) in the Gulf of Mexico. It was reported that the representer method was more accurate than its ensemble counterparts, yet it had difficulties fitting the data in the last month of the 4-month assimilation window when the data density was significantly decreased. The authors attributed this failure to increased advective nonlinearities in the presence of an eddy shedding causing the tangent linear model (TLM) to become inaccurate. In a separate study [Ngodock, H.E., Smith, S.R., Jacobs, G.A., 2007. Cycling the representer algorithm for variational data assimilation with the Lorenz attractor. Monthly Weather Review 135 (2), 373–386] applied the cycling representer algorithm to the Lorenz attractor and demonstrated that the cycling solution was able to accurately fit the data within each cycle and beyond the range of accuracy of the TLM, once adjustments were made in the early cycles, thus overcoming the difficulties of the non-cycling solution. The cycling algorithm is used here in assimilation experiments with the nonlinear reduced gravity model. It is shown that the cycling solution overcomes the difficulties encountered by the non-cycling solution due to a limited time range of accuracy of the TLM. Thus, for variational assimilation applications where the TLM accuracy is limited in time, the cycling representer becomes a very powerful and attractive alternative, given that its computational cost is significantly lower than that of the non-cycling algorithm.  相似文献   

Design of a 3D Chirp Sub-bottom Imaging System     

Jonathan M. Bull  Martin Gutowski  Justin K. Dix  Timothy J. Henstock  Peter Hogarth  Timothy G. Leighton  Paul R. White 《Marine Geophysical Researches》2005,26(2-4):157-169

Chirp sub-bottom profilers are marine acoustic devices that use a known and repeatable source signature (1–24 kHz) to produce decimetre vertical resolution cross-sections of the sub-seabed. Here the design and development of the first true 3D Chirp system is described. When developing the design, critical factors that had to be considered included spatial aliasing, and precise positioning of sources and receivers. Full 3D numerical modelling of the combined source and receiver directivity was completed to determine optimal source and receiver geometries. The design incorporates four source transducers (1.5–13 kHz) that can be arranged into different configurations, including Maltese Cross, a square and two separated pairs. The receive array comprises 240 hydrophones in 60 groups whose group-centres are separated by 25 cm in both horizontal directions, with each hydrophone group containing four individual elements and a pre-amplifier. After careful consideration, it was concluded that the only way to determine with sufficient accuracy the source–receiver geometry, was to fix the sources and receivers within a rigid array. Positional information for the array is given by a Real Time Kinematic GPS and attitude system incorporating four antennas to give position, heading, pitch and roll. It is shown that this system offers vertical positioning accuracy with a root-mean-square (rms) error less than 2.6 cm, while the horizontal positioning rms error was less than 2.0 cm. The system is configured so that the Chirp source signature can be chosen by software aboard the acquisition vessel. The complete system is described and initial navigational and seismic data results are presented. These data demonstrate that the approach of using fixed source-receiver geometry combined with RTK navigation can provide complete 3D imaging of the sub-surface.  相似文献   

Seasonal variation in trawl codend selection of northern North Sea haddock   总被引：1，自引：0，他引：1  

Ozbilgin  H.; Ferro  R.S.T.; Robertson  J.H.B.; Holtrop  G.; Kynoch  R.J. 《ICES Journal of Marine Science》2006,63(4):737-748

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Numerical modeling of long waves in shallow water using Incremental Differential Quadrature Method     

M.R. Hashemi  M.J. Abedini  P. Malekzadeh 《Ocean Engineering》2006,33(13):1749-1764

Incremental Differential Quadrature Method (IDQM) as a rapid and accurate method for numerical simulation of Nonlinear Shallow Water (NLSW) waves is employed. To the best of authors’ knowledge, this is the first endeavor to exploit DQM in coastal hydraulics. The one-dimensional NLSW equations and related boundary conditions are discretized in space and temporal directions by DQM rules and the resulting system of equations are used to compute the state variables in the entire computational domain. It was found that the splitting of total simulation time into a number of smaller time increments, could significantly enhance the performance of the proposed method. Furthermore, results of this study show two main advantages for IDQM compared with other conventional methods, namely; unconditional stability and minimal computational effort. Indeed, using IDQM, one can use a few grid points (in spatial or time direction) without imposing any stability condition on the time step to obtain an accurate convergent solution.  相似文献   

Modelling linear wave transformation induced by dissipative structures—Random waves     

R. Silva  M.A. Losada  P. Salles 《Ocean Engineering》2006,33(16):2174-2194

The relevant theory is presented and numerical results are compared with the analytical solution for the interaction of non-breaking waves with an array of vertical porous circular cylinders on a horizontal bed. The extension to the cases of unidirectional and multidirectional waves is obtained by means of a transfer function. The influence of the mechanical properties of porous structures and wave irregularity on wave transformation is analysed. Results for unidirectional and multidirectional wave spectra are compared to those obtained for regular waves. The model presented reproduces well the analytical results and provides a tool for analysing several engineering problems.  相似文献   

A review of eastern tropical Pacific oceanography: Summary     

M.F. Lavín  P.C. Fiedler  J.A. Amador  L.T. Ballance  J. Frber-Lorda  A.M. Mestas-Nuez 《Progress in Oceanography》2006,69(2-4):391

The collection of articles in this volume reviewing eastern tropical Pacific oceanography is briefly summarized, and updated references are given. The region is an unusual biological environment as a consequence of physical characteristics and patterns of forcing – including a strong and shallow thermocline, the ITCZ and coastal wind jets, equatorial upwelling, the Costa Rica Dome, eastern boundary and equatorial current systems, low iron input, inadequate ventilation of subthermocline waters, and dominance of ENSO-scale temporal variability. Remaining unanswered questions are presented.  相似文献   

Lagrangian measurements in the Kamchatka Current and Oyashio     

P. J. Stabeno  R. K. Reed  J. E. Overland 《Journal of Oceanography》1994,50(6):653-662

From 1988 to 1993, 23 satellite-tracked drifting buoys entered the Kamchatka Current. The buoy trajectories showed a well-formed, high-speed current that originated near Shirshov Ridge, and flowed southward through Kamchatka Strait. During some years, the buoys turned eastward at 50°N, while in other years they were transported as far south as Japan (40°N). Only one buoy entered the Sea of Okhotsk. Eddies were evident in many of the buoy trajectories. Greatest maximum daily velocities (>100 cm s^–1) were observed south of Kamchatka Strait, with 50–60 cm s^–1 being more common.  相似文献   

Quantitative distribution of meiobenthos in deep-water zones of the World Ocean     

V. O. Mokievskii  A. A. Udalov  A. I. Azovskii 《Oceanology》2007,47(6):797-813

An analysis of published and original data on the meiobenthos abundance in the depth interval from 100 to 9807 m (in total, 665 records, 445 of them obtained for depths exceeding 1000 m) revealed general regularities in its distribution. The influence of the sampling and data processing methods on the quantitative estimates of the meiobenthos abundance is considered to demonstrate changes in the proportions of the main meiobenthic taxa at different depths and to characterize latitudinal changes in the meiobenthos abundance. The dependence of the abundance of free-living nematodes, the most abundant group of metazoan meiobenthos, on trophic conditions is analyzed. No significant differences in the meiobenthos abundance in the samples obtained by box-and multicorers are established. It is shown that the share of nematodes in metazoan meiobenthos communities increases with the depth. In temperate latitudes, a distinct maximum in the population density confined to depths exceeding 1 km is observed. The quantitative distribution of the meiobenthos at the depths gradient is controlled by the bottom macrotopography and trophic conditions.  相似文献