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   

锯缘青蟹胚胎发育过程主要生化组成   总被引：8，自引：0，他引：8  

王桂忠  汤鸿 《台湾海峡》1995,14(3):280-283

锯缘青蟹胚胎３种主要生化组成以蛋白质含量为最高，脂类含量次之，碳水化合物含量最低。胚胎发育的结果导致三种主要生化组成含量降低，其中蛋白质减少了３９．０％，脂类、碳水化合物含量分别减少了１７．０％、７．７％，说明蛋白是青蟹胚胎发育的主要能源物质，这可能与动物适应热带、亚热带的水生环境有关。  相似文献   

酸雨的研究进展及厦门酸雨研究的趋势     

彭荔红  洪丽玉 《台湾海峡》1995,14(4):334-337

本文综述了国内外酸雨的研究现状；包括酸雨的来源、成因、模式、影响及防治对策；介绍了酸雨的研究趋势；并着重就厦门地区今后酸雨的研究方向提出也作者的看法。  相似文献   

官井洋大黄鱼标志放流技术与放流标志鱼早期生态习性的初步研究   总被引：10，自引：0，他引：10  

刘家富  翁忠钗  唐晓刚  关金藏  施学文  洪港船 《海洋科学》1994,18(5):53-58

用人工培育的大黄鱼幼鱼，经丁香酚溶液浸浴麻醉，体背系挂塑料牌，经 网箱暂养后于１９８７年１月２０日在官井洋中放流６ １２６尾。２个月内回捕４８３尾。 通过对回捕鱼及其捕捞实况调查，并结合定置网渔获物中天然大黄鱼及海区温盐 断面调查，对放流标志鱼早期的生态习性进行了初步研究。  相似文献   

山东沿海旅游业可持续发展对策研究   总被引：4，自引：1，他引：4  

盛红  董玉明 《海岸工程》2001,20(4):63-68

滨海旅游是旅游活动的重要组成部分 ,在我国具有广阔的发展潜力。在讨论了山东沿海旅游业发展中存在的问题的基础上 ,指出发展滨海旅游与滨海和海洋环境之间的相关关系 ,探讨了使山东沿海旅游业可持续发展的主要对策  相似文献   

Mathematical Models for Combined Refraction-Diffraction of Waves on Non-Uniform Current and Depth   总被引：12，自引：2，他引：12  

Hong Guangwen Professor  Research Institute of Coastal  Ocean Engineering  Hohai University  Xikang Road  Nanjing 《中国海洋工程》1996,(4)

Two mathematical models for combined refraction-diffraction of regular and irregular waves on non-uniform current in water of slowly varying topography are presented in this paper. Model I is derived by wave theory and variational principle separately. It has two kinds of expressions including the dissipation term. Model n is based on the energy conservation equation with energy flux through the wave crest lines in orthogonal curvilinear coordinates and the wave kinematic conservation equation. The analysis and comparison and special cases of these two models are also given.  相似文献   

Nutrient attenuation in a shallow,gravel-bed river. II. Spatial and temporal changes in nitrogen dynamics and community metabolism     

J. Christopher Rutherford  Roger G. Young  John M. Quinn  Robert J. Wilcock 《新西兰海洋与淡水研究杂志》2020,54(3):410-430

ABSTRACT

Instream processes alter the concentration and bioavailability of nutrients as they are transported downstream. By relating primary production and periphyton composition to changes in nutrient concentration in a gravel-bed river this study made inferences about recycling and attenuation. Where dissolved inorganic nitrogen (DIN) was abundant, concentrations decreased linearly with distance but by less than required to meet the nitrogen demand of primary production. Where DIN was barely measurable photosynthesis was reduced but only by 50%. We infer that recycling sustained primary production even when DIN concentrations were negligibly small. One implication is that DIN removal underestimates attenuation. Further experimental research on recycling and improved modelling is required to better quantify the length of streams adversely affected by nutrients.  相似文献   

A comparison of three marine ecosystems surrounding the Korean peninsula: Responses to climate change     

Ginger A. Rebstock  Young Shil Kang 《Progress in Oceanography》2003,59(4):357-379

This study uses a comparative approach to examine responses of marine ecosystems to climatic regime shifts. The three seas surrounding the Korean peninsula, the Japan/East Sea, the East China Sea and the Yellow Sea represent three contiguous but distinct ecosystems. Sampling has been carried out by the National Fisheries Research and Development Institute of South Korea since 1965, using the same methods in all three seas. Sampling was generally synoptic. Amplitude time series of 1st EOF modes for temperature, salinity, zooplankton biomass and concentrations of four major zooplankton taxa were used to determine whether the three marine ecosystems respond in a similar manner to climate variations. Temporal patterns of the variables were strongly similar among the three seas at decadal time scales, but very weakly similar at interannual scales. All three seas responded to a climatic regime shift that occurred in 1989. Temperature, zooplankton biomass and copepod concentrations increased in the late 1980s or early 1990s in all three seas. Concentrations of amphipods, chaetognaths and euphausiids also increased in the Japan/East Sea and the East China Sea, but not the Yellow Sea. The Yellow Sea ecosystem differs strongly from the other two seas, and water exchange between the Yellow Sea and the East China Sea is much weaker than that between the East China Sea and Japan/East Sea. Spatial patterns of zooplankton determined by the EOF analysis were closely related to currents and fronts in each of the three seas.  相似文献   

上新世——早更新世青藏高原北缘隆升的磁性地层学证据   总被引：9，自引：0，他引：9  

郑洪波  陈惠忠  靳鹤龄  李孝泽  董光荣 《海洋地质与第四纪地质》2002,22(2):57-62

对新疆叶城剖面西域砾岩及下伏第三纪地层的磁性地层学研究表明 ,西域砾岩的沉积时代为晚上新世至早更新世 ,磁性地层年龄为 3.5至 <1.8Ma。阿图什组沉积于早上新世 ,古地磁年龄为 4 .6～ 3.5 Ma。阿图什组以砂岩和粉砂岩为主夹薄层砾岩 ,为河流相及冲积扇前缘相。西域砾岩以厚层砾岩为主夹风成粉砂岩 ,为典型洪积—冲积扇堆积。西域砾岩的沉积反映了青藏高原北缘晚上新世至早更新世强烈的隆起和剥蚀  相似文献   

Cometary collisions and the dark material on Iapetus     

Ronald G. Tabak  Warren M. Young 《Earth, Moon, and Planets》1989,44(3):251-264

Iapetus (S8) is unique in our solar system in that the albedo of its leading hemisphere is only 0.05 while that of the trailing side is 0.5. Several existing hypotheses are examined and found inadequate. Photometric studies of the dark side are compared to comet nuclei and class D asteroids. It is hypothesized that in the last 10⁶–10⁸ yrs the leading side suffered a high-velocity collision with a cometary body of mass 10¹³–10¹⁵ kg and traveling at a speed of 20 km s^–1. About 5–16% of the excavated material was ejected into space, where the vaporized ices dissipated while the dark carbonaceous/silicate material was reaccreted on the leading side. The collision, although not sufficient to break Iapetus' tidal lock, resulted in a period of oscillation of about 5 yr. Until tidal friction reasserted a lock, the oscillation gave rise to the longitude effect, viz., the observed fact that the dark material covers more than 220 of longitude but only 110 of latitude.  相似文献