A hierarchical real-time control architecture for a semi-autonomous underwater vehicle   总被引：1，自引：0，他引：1  

Ji-Hong Li  Bong-Huan Jun  Pan-Mook Lee  Seok-Won Hong 《Ocean Engineering》2005,32(13):282-1641

This paper describes a real-time control architecture for Dual Use Semi-Autonomous Underwater Vehicle (DUSAUV), which has been developed at Korea Research Institute of Ships and Ocean Engineering (KRISO) for being a test-bed of development of underwater navigation and manipulator technologies. DUSAUV has three built-in computers, seven thrusters for six DOF motion control, one 4-function electric manipulator, one ballasting motor, built-in power source, and various sensors. A supervisor control system with GUI and a multi-purpose joystick is mounted on the surface vessel and communicates with vehicle through a fiber optic link. Furthermore, QNX, one of real-time operating system, is ported on the built-in control and navigation computers for real-time control purpose, while Microsoft OS product is ported in the supervisor computer for GUI programming convenience. A hierarchical control architecture, which consists of application layer, real-time layer and physical layer, has been developed for efficient control system of above complex underwater robotic system. The experimental results with implementation of the layered control architecture for various motion control of DUSAUV in an ocean engineering basin of KRISO is also presented.  相似文献   

长江口羽状锋海区浮游植物的生态研究：—昼夜分布动态   总被引：5，自引：0，他引：5  

杨蕉文  顾新根 《海洋学研究》1994,12(1):47-57

本文对长江口羽状锋海区浮游植物的昼夜变动进行了初步研究，结果表明，浮游植物数量的昼夜变化明显，潮汐作用是影响数量昼夜分布变化的主导因素，同时也与该地区浮游植物的水平分布有着密切的联系。  相似文献   

Identification of Pb sources in Yellow Sea sediments using stable Pb isotope ratios   总被引：1，自引：0，他引：1  

Man-Sik Choi  Hi-Il Yi  Shou Ye Yang  Chang-Bok Lee  Hyun-Ju Cha 《Marine Chemistry》2007

Rapid economic developments in East Asian countries have inevitably resulted in environmental degradation in the surrounding seas, and concern for both the environment and protection from pollutants is increasing. Identification of sources of contaminants is essential to environmental pollution management. In this study, the provenance of anthropogenic lead (Pb), a major pollutant of Yellow Sea sediments, was determined for river mouth sediments, including those of the Changjiang, Huanghe, Han, and Geum Rivers, and for age-determined shelf core sediments through the measurement of Pb isotope ratios in the HCl-leached fraction using multi-collector inductively coupled plasma-mass spectrometry (MC ICP/MS). Anthropogenic Pb has accumulated in shelf core sediments since 1910, and its isotope ratios were estimated as 0.863–0.866 and 2.119–2.125 for ²⁰⁷Pb/²⁰⁶Pb and ²⁰⁸Pb/²⁰⁶Pb, respectively, from the mixing relationships of the two endmembers. River mouth sediments exhibited enough distinction in anthropogenic Pb isotope ratios to be discriminated: 0.874 (2.144) in the Huanghe, 0.856 (2.129) in the Han, 0.857 (2.122) in the Geum, and 0.854 (2.101) in the Changjiang for ²⁰⁷Pb/²⁰⁶Pb (²⁰⁸Pb/²⁰⁶Pb), respectively. Although isotope ratios of geogenic Pb in sediments dating before 1910 showed narrow ranges (0.842–0.845 and 2.088–2.100 for ²⁰⁷Pb/²⁰⁶Pb and ²⁰⁸Pb/²⁰⁶Pb, respectively), distinct isotope ratios in each core permitted source identification of sediments in the Yellow Sea based on geographic locations and the geogenic Pb of each river. By comparing the isotope ratios of the estimated anthropogenic Pb to source-related materials, the provenances of anthropogenic Pb in Chinese river sediments were presumed to be Chinese coal or ore, which is also a major source of atmospheric particulate Pb. The anthropogenic Pb in the shelf core sediments in the northern Yellow Sea originated from northern Chinese cities such as Beijing and Tianjin through atmospheric pathways. Pb isotope ratios indicated that Pb in Korean river sediments was characteristic of local Korean ores.  相似文献   

厦门港湾和闽南-台湾浅滩海域鱼类感染吸虫的调查研究   总被引：1，自引：0，他引：1  

曹华 《台湾海峡》1991,(2)

本文根据1980～1986年厦门港湾和闽南-台湾浅滩海域的调查资料,报道了该海区鱼类感染复殖吸虫的概况。在我们检查的106种鱼类中,从其中54种的消化道和1种的体腔中发现复殖吸虫标本1269个,感染率为28.24%。本海区鱼类生态习性虽有差异,其感染率和阳性鱼的感染度可能有明显差异,但从总体上看,不同生态类群鱼类的吸虫密度分布甚为均匀。  相似文献   

西沙群岛海产蓝藻类的研究Ⅰ     

华茂森 《海洋科学集刊》1978,(12):59-68

我国西沙群岛海产蓝藻类的种类极为丰富。但迄今为止除黎尚豪报导过西沙群岛永兴岛的陆生习性的27种蓝藻外,尚未见过任何报告。本文为西沙群岛海产蓝藻类研究的第一部分。根据的材料是中国科学院海洋研究所1975年和1976年在西沙群岛采集的,计127号。本文仅报道11种,隶于颤藻科(Oscillatoriaceae)的6属,其中4种在我国为海产蓝藻的新记录。  相似文献   

闽江口第四纪地层中的孢粉、有孔虫、硅藻组合及其古地理意义   总被引：7，自引：1，他引：7  

杨蕉文  华棣  吴立成 《海洋地质与第四纪地质》1991,11(3):75-82

本文通过对闽江口琅岐岛钻孔的孢粉,有孔虫及硅藻的综合分析,发现第四纪地层中有五个孢粉组合带,五个硅藻组合带与一个微体化石层。结合~(14)C测年资料与沉积物特征认为该地区第四纪地层可以划分为晚更新世晚期与全新世(早期、中期、晚期)。气候演化依次为:冷干→温暖略干→温暖湿润→炎热潮湿→温暖略干。沉积相发展顺序为:冲积相、冲洪积相→河流相、湖沼相→湖沼相、河口相→海湾相→河口相。  相似文献   

Instrumentation and Numerical Analysis of Cylindrical Diaphragm Wall Movement During Deep Excavation at Coastal Area     

Dong Soo Kim  Byoung Chul Lee 《Marine Georesources & Geotechnology》2005,23(1):117-136

The lateral deflection of a cylindrical diaphragm wall and the associated ground movement induced by deep excavation are analyzed by performing site instrumentations and numerical analyses in the coastal area of Korea. Wall lateral deflection, rebar stress, and pore water pressure were measured and analyzed in eight directions. Variations of soil properties with the decrease of confining pressure are compared by performing various in situ tests before ad after excavation. To calculate the wall lateral deflection accurately, the effects of small strain nonlinearity, confining pressure, and the hysteresis loading/unloading loop developed during excavation are considered in the proposed numerical analysis. By comparing numerical results with measured ones, the importances of considering small strain nonlinearity and confining pressure reduction in the nonlinear (FEM) are emphasized. Also, the effects of wall stiffness on the performance of cylindrical diaphragm walls are studied for future similar excavation in the coastal area.  相似文献   

Changing anthropogenic influence on the Santa Monica Bay watershed     

Dojiri M  Yamaguchi M  Weisberg SB  Lee HJ 《Marine environmental research》2003,56(1-2):1-14

Santa Monica Bay is an open coastal embayment located directly seaward of Los Angeles, California. The Bay provides vital economic value through its water-dependent activities, such as swimming, diving, boating, and fishing. An increase from 100,000 residents in 1900 to 10 million in 2000 has imposed numerous environmental stressors on the Bay, including urbanization of the watershed. Pollutant discharges into the Bay increased throughout the early part of the century, but declined following passage of the Clean Water Act in 1972. Since that time, the predominant source of pollutant inputs has changed from point sources to non-point urban runoff. To assess how present-day and historical pollution interact to affect the environmental quality of Santa Monica Bay, three organizations collaborated on a multi-disciplinary study in 1997, towards which this volume is focused. This paper details the temporal patterns of anthropogenic influence on Santa Monica Bay to provide context for the papers that follow.  相似文献   

羊栖菜茎部愈伤组织再生苗的解剖学研究   总被引：1，自引：0，他引：1  

沈颂东  崔竞进  刘涛  姜文法  于华  宋洪泽 《中国海洋大学学报(自然科学版)》2001,31(1):85-88

利用石蜡切片法对羊栖菜纵裂主枝上愈伤组织再生苗的发生过程进行了形态解剖学观察。发现此种成苗方式是在主枝 (茎 )或假根处由外皮层分裂形成愈伤组织 ,再由愈伤组织分化成苗的一种无性繁殖方式。愈伤组织形成再生苗有望成为羊栖菜人工养殖种苗的来源之一。  相似文献   

耗散源函数及LAGFD-WAM海浪数值模式的改进   总被引：3，自引：0，他引：3       下载免费PDF全文

袁业立  华锋  潘增弟  孙乐涛 《海洋与湖沼》1993,24(4):367-376

本文是在LAGFD-WAM海浪模式方法基础上,根据破碎波统计理论给出了LAGFD耗散源函数形式。同时对LAGFD-WAM模式进行了改进并与WAM模式作了三种典型风场下的对比实验和实测结果检验,取得了较好的结果。  相似文献