无舵翼水下机器人路径跟踪控制研究   总被引：1，自引：0，他引：1  

甘永  万磊  陆雯雯  庞永杰 《海洋工程》2007,25(1):70-75

针对无舵翼水下机器人的各种不同任务要求下的路径跟踪控制进行研究。通过模拟人的运动行为,建立了虚拟避碰声纳模型。根据地形跟踪的方法提出基于虚拟声纳的路径跟踪控制方法,并通过考虑纵向速度对于其他各个自由度运动的影响设计了运动控制器。通过海上试验验证了所提出的路径跟踪控制方法对于无舵翼水下机器人是可以满足实际需要的。  相似文献   

Effect of strong winds on the nutritional condition of anchovy (Engraulis encrasicolus L.) larvae in the Bay of Biscay, Northeast Atlantic, as inferred from an early field application of the DNA/C index     

Bergeron  Jean-Pierre 《ICES Journal of Marine Science》2000,57(2):249-255

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Observations of the Labrador Sea eddy field   总被引：2，自引：0，他引：2  

Jonathan M. Lilly  Peter B. RhinesFriedrich Schott  Kara LavenderJohn Lazier  Uwe SendEric D’Asaro 《Progress in Oceanography》2003,59(1):75-176

This paper is an observational study of small-scale coherent eddies in the Labrador Sea, a region of dense water formation thought to be of considerable importance to the North Atlantic overturning circulation. Numerical studies of deep convection emphasize coherent eddies as a mechanism for the lateral transport of heat, yet their small size has hindered observational progress. A large part of this paper is therefore devoted to developing new methods for identifying and describing coherent eddies in two observational platforms, current meter moorings and satellite altimetry. Details of the current and water mass structure of individual eddy events, as they are swept past by an advecting flow, can then be extracted from the mooring data. A transition is seen during mid-1997, with long-lived boundary current eddies dominating the central Labrador Sea year-round after this time, and convectively formed eddies similar to those seen in deep convection modeling studies apparent prior to this time. The TOPEX / Poseidon altimeter covers the Labrador Sea with a loose “net” of observations, through which coherent eddies can seem to appear and disappear. By concentrating on locating and describing anomalous events in individual altimeter tracks, a portrait of the spatial and temporal variability of the underlying eddy field can be constructed. The altimeter results reveal an annual “pulsation” of energy and of coherent eddies originating during the late fall at a particular location in the boundary current, pinpointing the time and place of the boundary current-type eddy formation. The interannual variability seen at the mooring is reproduced, but the mooring site is found to be within a localized region of greatly enhanced eddy activity. Notably lacking in both the annual cycle and interannual variability is a clear relationship between the eddies or eddy energy and the intensity of wintertime cooling. These eddy observations, as well as hydrographic evidence, suggest an active role for boundary current dynamics in shaping the energetics and water mass properties of the interior region.  相似文献   

Geographic variability in trace element levels in Spartina alterniflora     

J.E. Drifmeyer  B. Redd 《Estuarine, Coastal and Shelf Science》1981,13(6):709-716

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Relationship between Shot-Induced Noise and Shot Interval in Seismic Refraction Experiments at Sea     

Herber  R.  Weigel  W.  Wong  H. K. 《Marine Geophysical Researches》1997,19(3):257-265

Seismic noise induced by the seismic source during continuous profiling reduces the signal-to-noise ratio and hence the data quality. This noise is largely dependent on the shot interval. In this paper, the noise amplitude of refraction seismic records from a special experiment is analysed as a function of the shot interval. An empirical exponential relationship between mean peak noise amplitude and shot interval is deduced. By increasing the shot interval, the induced noise can be minimized on all successive records. This results in an improvement of the data, predominantly the signal-to-noise ratio. Because the seismic signal and the shot-induced noise have nearly the same spectra, the chance of improving the signal-to-noise ratio by stacking is significantly reduced.  相似文献   

Recent changes in the winter distribution and movements of northern Atlantic cod (Gadus morhua Linnaeus, 1758) on the Newfoundland-Labrador Shelf     

Kulka  David W.; Wroblewski  J. S.; Narayanan  Savi 《ICES Journal of Marine Science》1995,52(6):889-902

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Seasonal methyltin and (3-dimethylsulphonio)propionate concentrations in leaf tissue of Spartina alterniflora of the Great Bay estuary (NH)     

James H. Weber  Marilyn R. Billings  Anne M. Falke 《Estuarine, Coastal and Shelf Science》1991,33(6)

Concentrations of total recoverable inorganic tin (TRISn), monomethyltin (MeSn³⁺), dimethyltin (Me₂Sn²⁺), trimethyltin (Me₃Sn⁺) and (3-dimethylsulphonio)propionate (DMSP) were determined in leaves of Spartina alterniflora from three sites in the Great Bay estuary (NH) from 8 May to 15 September 1989. Total methyltin concentration increased from 8·9 ng g⁻¹ (fresh weight) on 8 May to 472 ng g⁻¹ on 23 May, decreased to 52 ng g⁻¹ on 7 June and 16ng g⁻¹ on 20 June, and remained low until the last sample on 18 September. Statistical calculations showed that methyltin concentrations varied significantly with sampling week, but not with site. DMSP concentrations showed very different behaviour. During the same sampling period DMSP concentrations varied only from 7·5 to 26 μmol g⁻¹ (fresh weight). DMSP concentrations varied significantly for site, but not sampling week.  相似文献   

Seasonal and interannual variations in the East Sakhalin current revealed by TOPEX/POSEIDON altimeter data     

Naoto Ebuchi 《Journal of Oceanography》2006,62(2):171-183

Seasonal and interannual variations in the East Sakhalin Current (ESC) are investigated using ten-year records of the sea level anomaly (SLA) observed by the TOPEX/POSEIDON (T/P) altimeter. The T/P SLA clearly documents seasonal and interannual variations in the ESC along the east coast of Sakhalin Island, although sea ice masks the region from January to April. Estimates of surface current velocity anomaly derived from T/P SLA are in good agreement with drifting buoy observations. The ESC is strong in winter, with a typical current velocity of 30–40 cm s⁻¹ in December, and almost disappears in summer. Southward flow of the ESC is confined to the shelf and slope region and consists of two velocity cores. These features of the ESC are consistent with short-term observations reported in previous studies. Analysis of the ten-year records of T/P SLA confirms that the structure of the ESC is maintained each winter and the seasonal cycle is repeated every year, although the strength of the ESC shows large interannual variations. Seasonal and interannual variations in the ESC are discussed in relation to wind-driven circulation in the Sea of Okhotsk, using wind stress and wind stress curl fields derived from European Centre for Medium Range Weather Forecasts (ECMWF) reanalysis data and a scatterometer-derived wind product. Seasonal and interannual variations of the anticyclonic eddy in the Kuril Basin are also revealed using T/P SLA.  相似文献   

Metabolites from mangrove endophytic fungus Dothiorella sp.     

XU Qingyan  WANG Jianfeng  HUANG Yaojian  ZHENG Zhonghui  SONG Siyang  ZHANG Yongmin  SU Wenjin 《海洋学报(英文版)》2004,23(3):541-547

Mangroves are special woody plant communities in the intertidal zone of tropical and subtropical coasts. They prove to be a natural microorganisms and new metabolites storage. In the study of mangrove endophytic fungi metabolites, four new compounds, Compounds 1, 2, 3 and 4, as well as a known octaketide, cytosporone B (5), are isolated from an endophytic fungus, Dothiorella sp., HTF3. They all show cytotoxic activities. The elucidation of these structures is mainly based on 1D/2D NMR and ESI-MS spectral analyses.  相似文献   

Variability of organic δC and C/N in the Mersey Estuary, U.K. and its implications for sea-level reconstruction studies     

Graham P. Wilson  Angela L. Lamb  Melanie J. Leng  Silvia Gonzalez  David Huddart 《Estuarine, Coastal and Shelf Science》2005,64(4):685-698

Microfossil analysis (e.g. diatoms, foraminifera and pollen) represents the cornerstone of Holocene relative sea-level (RSL) reconstruction because their distribution in the contemporary inter-tidal zone is principally controlled by ground elevation within the tidal frame. A combination of poor microfossil preservation and a limited range in the sediment record may severely restrict the accuracy of resulting RSL reconstructions. Organic δ¹³C and C/N analysis of inter-tidal sediments have shown some potential as coastal palaeoenvironmental proxies. Here we assess their viability for reconstructing RSL change by examining patterns of organic δ¹³C and C/N values in a modern estuarine environment. δ¹³C and C/N analysis of bulk organic inter-tidal sediments and vegetation, as well as suspended and bedload organic sediments of the Mersey Estuary, U.K., demonstrate that the two main sources of organic carbon to surface saltmarsh sediments (terrestrial vegetation and tidal-derived particulate organic matter) have distinctive δ¹³C and C/N signatures. The resulting relationship between ground elevation within the tidal frame and surface sediment δ¹³C and C/N is unaffected by decompositional changes. The potential of this technique for RSL reconstruction is demonstrated by the analysis of part of an early Holocene sediment core from the Mersey Estuary. Organic δ¹³C and C/N analysis is less time consuming than microfossil analysis and is likely to provide continuous records of RSL change.  相似文献