Robust and adaptive path following for underactuated autonomous underwater vehicles   总被引：1，自引：0，他引：1  

K. D. Do  J. Pan  Z. P. Jiang 《Ocean Engineering》2004,31(16):1967-1997

This paper proposes a nonlinear robust adaptive control strategy to force a six degrees of freedom underactuated underwater vehicle with only four actuators to follow a predefined path at a desired speed despite of the presence of environmental disturbances and vehicle’s unknown physical parameters. The proposed controller is designed using Lyapunov’s direct method, the popular backstepping and parameter projection techniques. The closed loop path following errors can be made arbitrarily small. Interestingly, it is shown that our developed control strategy is easily extendible to situations of practical importance such as parking and point-to-point navigation. Numerical simulations are provided to illustrate the effectiveness of the proposed methodology.  相似文献   

Seismic evidence for pervasive deformation of oceanic sediments in the Eastern Equatorial Atlantic     

E.?J.?W.?JonesEmail author 《Geo-Marine Letters》2003,23(2):102-109

Seismic reflection profiles from the equatorial Atlantic off Africa between 12°N and 1°N reveal remarkably widespread deformation of oceanic sediments in an area lacking teleseismic activity. Uplift of abyssal plain sequences has occurred along the eastern extensions of large-offset fracture zones on the Mid-Atlantic Ridge. Between the major transforms pervasive deformation is imaged in the sedimentary column. Diapirism and faulting may have been associated with extensive fluid migration and sediment mobilization. The deformation occurred during the late Cenozoic and was probably related to reactivation of Cretaceous transforms.  相似文献   

Spatial and temporal patterns of cuttlefish (Sepia officinalis) abundance and environmental influences - a case study using trawl fishery data in French Atlantic coastal, English Channel, and adjacent waters   总被引：1，自引：0，他引：1  

Wang  Jianjun; Pierce  Graham J; Boyle  Peter R; Denis  Vincent; Robin  Jean-Paul; Bellido  Jose M 《ICES Journal of Marine Science》2003,60(5):1149-1158

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Comparison of the biology, dynamics, and secondary production of Talorchestia brito (Amphipoda, Talitridae) in Atlantic (Portugal) and Mediterranean (Tunisia) populations     

S. C. Gonalves  J. C. Marques  M. A. Pardal  M. F. Bouslama  M. El Gtari  F. Charfi-Cheikhrouha 《Estuarine, Coastal and Shelf Science》2003,58(4):901-916

The biology, population dynamics, and production of Talorchestia brito were studied at two sandy beaches located on the Atlantic (Portugal) and on the Mediterranean (Tunisia) coasts, respectively. The seasonal variation in abundance and the overall densities were similar in both populations. Reproduction occurred from February to September in the Atlantic, and from March to early November in the Mediterranean. The sex ratio was male biased in the Atlantic, and female biased in the Mediterranean. Based on data from the Atlantic population, both abundance and the proportion of reproductive females were positively correlated with temperature, while the proportion of juveniles in the population was positively correlated with temperature and sediment moisture. On average, individuals from the Atlantic were larger than the ones from the Mediterranean. Life span was estimated at six to nine months in the Atlantic, and five to eight months in the Mediterranean. Talorchestia brito was shown to be a semiannual species, with iteroparous females producing two broods per year, and exhibited a bivoltine life cycle. The minimum age required for males' and females' sexual differentiation and for female sexual maturation was shorter in the Mediterranean. Growth production (P) was estimated at 0.19 g m⁻² y⁻¹ ash free dry weight (AFDW; 4.3 kJ m⁻² y⁻¹) in the Atlantic population, and 0.217 g m⁻² y⁻¹ AFDW (4.9 kJ m⁻² y⁻¹) in the Mediterranean one. Elimination production (E) was estimated at 0.35 g m⁻² y⁻¹ AFDW (7.9 kJ m⁻² y⁻¹) in the Atlantic, and 0.28 g m⁻² y⁻¹ AFDW (6.3 kJ m⁻² y⁻¹) in the Mediterranean. The average annual biomass ( ) (standing stock) was estimated at 0.032 g m⁻² in the Atlantic beach, and 0.029 g m⁻² in the Mediterranean one, resulting, respectively, in ratios of 5.9 and 7.5 and ratios of 10.8 and 9.6. Like other talitrids, T. brito exhibited geographic variation in morphometrical characteristics, sex ratio, growth rates, life span, and reproduction period, with the Atlantic population presenting a slower life history.  相似文献   

Evaluation of mine tailings effects on a benthic marine infaunal community over 29 years   总被引：4，自引：0，他引：4  

Burd BJ 《Marine environmental research》2002,53(5):481-519

Benthic infaunal and sediment data collected over 29 years were used to examine the extent and geographic range of effects and recovery from submarine tailings deposition. Empirical data were used to determine extreme and moderate effects, and identify near-, mid- and far-field zones. A simple probability test using overlap in frequency distributions was then used to determine less obvious effects, identify "normal" or "reference" conditions, and verify the geographic range of effect zones. Tailings thickness and sediment particulate copper were elevated from the outfall to 16-20 km distant, particularly below discharge depth (50 m). Changes in tailings thickness and copper levels before, during and after mining showed three distinct impact zones below discharge depth: near-field (<5 km from outfall); mid-field (5-16 km); and far-field (20 + km). Consistent faunal declines during mining were noted at sediment particulate copper levels >300 microg g(-1), and sediment tailings thickness > 15-20 cm. Extreme impoverishment at these sediment levels were; < 100 animals/m2, <2.5 g/m2 biomass and <7 taxa per station. No stations with >300 microg g(-1) copper and 20 cm tailings had more than 40 taxa. Amphipods were particularly affected by tailings, with distributions reflecting the instability in sediments from heavy deposition and/or shifting of tailings due to resuspension. The probability testing method assumed that reference conditions existed in far-field stations. There was no difference in abundance distributions between near-, mid- and far-field zones. Total taxa per station during mining was significantly reduced (<45) in both near- and mid-field stations compared with far-field (less than 10% overlap in distributions). One midfield station in Quatsino Sound (23) was in reference condition throughout the study period. Post-closure stations in the near- and mid-field had total taxa numbers approaching far-field conditions (overlap of 62% in distributions). Within 3 years following closure, total taxa values were within the far-field range for all stations sampled. Biomass showed a distinct decline in the near-field during mining, but with more overlap in near-field and far-field distributions (27%) than for total taxa per station, and was returning to far-field conditions in the post-closure years. A multivariate (Bray-Curtis) measure of dissimilarity indicated that the near- and mid-field infaunal compositions were distinct from the far-field during mining (< 10% overlap in distributions). The mid-field composition overlapped more with the far-field in the post-closure years, but the near-field composition did not, suggesting that the mine tailings are still affecting the fauna. The most abundant taxon in each of the reference and near-field station groups both showed significantly distinct relative abundance distributions between near- and far-field stations. In summary, the probability method showed that species richness, biomass, species composition and indicator taxa were useful for differentiating affected and non-affected stations. Polychaetes recolonize stable tailings most quickly, and have dominated the tailings stations in the post-closure years. Amphipods have recolonized sporadically, but seem to be highly sensitive to tailings stability. There was no evidence of recovery in dominant bivalves or echinoderms within three years after mine closure.  相似文献   

Evaluation of long-term extreme response statistics of jack-up platforms   总被引：1，自引：0，他引：1  

M. J. Cassidy  P. H. Taylor  R. Eatock Taylor  G. T. Houlsby 《Ocean Engineering》2002,29(13):1603-1631

This paper is concerned with the models appropriate for the dynamic assessment of jack-ups, concentrating particularly on the long-term response due to random ocean waves and on work-hardening plasticity models used for spud-can response. A methodology for scaling of short-term statistics, calculated using a Constrained NewWave technique, is shown in a numerical experiment for an example jack-up and central North Sea location. The difference in long-term extreme response statistics due to various footing assumptions is emphasised. Results for two environmental load conditions are described (one excluding and one including wind and current effects) and the role of sea-state severity in the variation of short-term extreme response statistics is also highlighted.  相似文献   

Characterizing Observed Environmental Variability With HF Doppler Radar Surface Current Mappers and Acoustic Doppler Current Profilers: Environmental Variability in the Coastal Ocean   总被引：3，自引：0，他引：3  

Josh T. Kohut Hugh J. Roarty Scott M. Glenn 《Oceanic Engineering, IEEE Journal of》2006,31(4):876-884

A network of high-frequency (HF) radars is deployed along the New Jersey coast providing synoptic current maps across the entire shelf. These data serve a variety of user groups from scientific research to Coast Guard search and rescue. In addition, model forecasts have been shown to improve with surface current assimilation. In all applications, there is a need for better definitions and assessment of the measurement uncertainty. During a summer coastal predictive skill experiment in 2001, an array of in situ current profilers was deployed near two HF radar sites, one long-range and one standard-range system. Comparison statistics were calculated between different vertical bins on the same current profiler, between different current profilers, and between the current profilers and the different HF radars. The velocity difference in the vertical and horizontal directions were then characterized using the observed root-mean-square (rms) differences. We further focused on two cases, one with relatively high vertical variability, and the second with relatively low vertical variability. Observed differences between the top bin of the current profiler and the HF radar were influenced by both system accuracy and the environment. Using the in situ current profilers, the environmental variability over scales based on the HF radar sampling was quantified. HF radar comparisons with the current profilers were on the same order as the observed environmental difference over the same scales, indicating that the environment has a significant influence on the observed differences. Velocity variability in the vertical and horizontal directions both contribute to these differences. When the potential effects of the vertical variability could be minimized, the remaining difference between the current profiler and the HF radar was similar to the measured horizontal velocity difference (~2.5 cm/s) and below the resolution of the raw radial data at the time of the deployment  相似文献   

Filters for linear sea-wave prediction     

M.R. Belmont  J.M.K. Horwood  R.W.F. Thurley  J. Baker 《Ocean Engineering》2006,33(17-18):2332-2351

Deterministic sea-wave prediction (DSWP) models are appearing in the literature designed for quiescent interval prediction in marine applications dominated by large swell seas. The approach has focused upon spectral methods which are straightforward and intuitively attractive. However, such methods have the disadvantage that while the sea is aperiodic in nature, the standard discrete spectral processing techniques force an absolutely periodic structure onto the resulting sea surface prediction models. As it is the shape of the sea surface that is important in such applications, particularly near the end of the domain which is important, the standard windowing techniques used in signal processing work to reduce leakage artifacts cannot be employed. This has necessitated the use of end matching methods that can be both inconvenient and may reduce the fraction of the time for which legitimate predictions are available. As a result, an investigation has been undertaken of the use of finite impulse response prediction filters to provide the necessary dispersive phase shifting required in DSWP systems. The present work examines the theoretical basis for such filters and explores their properties together with their application to both long and short crested swell seas. It is shown that wide band forms of such filters are only convergent in the sense of distributions having both infinite duration impulse responses and asymptotically divergent first derivatives. However, appropriate band limitation can produce useful finite impulse responses allowing implementation via standard discrete convolution methods. It is demonstrated that despite the prediction filters having a non-causal impulse response such filters can be used in practice due to a combination of the asymmetric nature of the impulse response and the fundamental nature of the prediction process. The findings are confirmed against actual sea-wave data.  相似文献   

Habitat characteristics and spatial arrangement affecting the diversity of fish and decapod assemblages of seagrass (Zostera marina) beds around the coast of Jersey (English Channel)     

Emma L. Jackson  Martin J. Attrill  Malcolm B. Jones 《Estuarine, Coastal and Shelf Science》2006,68(3-4):421

Recent research and management plans for seagrass habitats have called for landscape level approaches. The present study examines the spatial utilisation of subtidal seagrass beds by fish and decapods around the coast of Jersey (49°N 02° W). A hierarchical scale of landscape configuration and the plant characteristics of eight seagrass beds were measured and the contributions of these variables as predictors of the properties of the fish and decapod assemblages were evaluated using multiple linear regression models. The results indicated that total diversity had a negative relationship with transect heterogeneity and total species number had a weak negative association with increasing fragmentation. Both total diversity and total species number showed a positive relationship with depth. In fact, in all models of species number and densities, values were higher in deeper seagrass beds. Total decapod density increased with aggregation of seagrass patches within a landscape. In addition to landscape configuration, smaller-scale structural changes in both canopy height and epiphyte load appeared to influence densities of decapod crustaceans. At night, fewer patterns could be explained by the independent variables in the model.  相似文献   

Distribution of population-based indicators across multiple taxa to assess the status of Gulf of Alaska and Bering Sea groundfish communities     

Mueter  Franz J.; Megrey  Bernard A. 《ICES Journal of Marine Science》2005,62(3):344-352

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