Dynamics and control of a towed underwater vehicle system, part I: model development     

B. Buckham  M. Nahon  M. Seto  X. Zhao  C. Lambert 《Ocean Engineering》2003,30(4):82-470

Autonomous vehicles are being developed to replace the conventional, manned surface vehicles that tow mine hunting towed platforms. While a wide body of work exists that describes numerical models of towed systems, they usually include relatively simple models of the towed bodies and neglect the dynamics of the towing vehicle. For systems in which the mass of the towing vehicle is comparable to that of the towed vehicle, it becomes important to consider the dynamics of both vehicles. In this work, we describe the development of a numerical model that accurately captures the dynamics of these new mine hunting systems. We use a lumped mass approximation for the towcable and couple this model to non-linear numerical models of an autonomous surface vehicle and an actively controlled towfish. Within the dynamics models of the two vehicles, we include non-linear controllers to allow accurate maneuvering of the towed system.  相似文献   

Articulated Lifting System Modeling Based on Dynamics of Flexible Multi-Body Systems     

徐妍  冯雅丽  张文明 《中国海洋工程》2007,21(4):715-722

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Seasonal dynamics in pelagic fish abundance in a Baltic Sea coastal area     

T. Axenrot  S. Hansson 《Estuarine, Coastal and Shelf Science》2004,60(4):541-547

The spring-spawning Baltic Sea herring spawn in coastal areas that also serve as nursery areas for the young fish during their first summer. In a bay known as a herring spawning and nursery area, the pelagic fish abundance was quantified using hydroacoustics every second week from late spring to autumn in 2000 and 2001. A dense system of survey transects allowed determination of the acoustic index (the nautical area scattering coefficient) for fish abundance with high precision. The variation, expressed as the geostatistical coefficient of variation, was on average 5% both years and ranged from 3–11% (2000) and 3–8% (2001). Through the hydroacoustic data intra-annual dynamics in acoustic fish abundance, densities and size composition could be followed, which showed similar trends in both years. In spring and early summer acoustic fish densities were low, followed by a drastic, 20-fold increase in late summer. Hydroacoustic data and biological samples suggest that the increase was caused mainly by the recruitment of young-of-the-year herring to the acoustically assessable pelagic fish community. This age class is commonly not well represented in catches when using traditional sampling gears such as gill nets and trawls, and hydroacoustics may help to improve quantitative estimates of small juvenile fish in order to increase the understanding of biological processes in coastal nursery areas.  相似文献   

渤海南部表层沉积的相特征   总被引：1，自引：0，他引：1  

王琦  赵其渊  杨作升  周莉  沈渭铨  周伟  李平 《中国海洋大学学报(自然科学版)》1989,(1)

通过海上调查及实验室分析,查明渤海南部表层沉积物在结构类型、矿物组合、生物组分及沉积构造等相特征方面具有明显的分区性。渤海南部存在五种沉积相:黄河水下三角洲相、陆架盆地相、海湾相、潮流浅滩相及古滨岸相。黄河水下三角洲相从河口延至水深15—20米处,沉积速率很高,沉积物富含碎屑云母及CaCo_3。陆架盆地相的沉积为粉砂质粘土,具有生物扰动构造。  相似文献   

Eddy Diffusion Coefficients of Suspended Particulate Matter: Effects of Wind Energy Transfer and Stratification     

Lars Chresten Lund-Hansen  Morten Pejrup  Jens Valeur  Anders Jensen 《Estuarine, Coastal and Shelf Science》1994,38(6)

Gross sedimentation rates (GSR) have been measured using sediment traps placed at nine different levels above the bed (0·3, 0·5, 0·8, 1·0, 2·0, 4·0, 6·0, 8·0 and 10·0 m). The sediment traps were deployed for 1·25 years and recovered 28 times during the study period. Low average GSR values of 5·5 g m^-2 day^-1 were obtained at 10·0 m, and high average GSR values of 114·8 g m^-2 day^-1 were obtained at 0·3 m. An expression for the eddy diffusion coefficient of suspended particulate matter (K_s), based on the measured GSR is given. The expression has been used for modelling of K_s at the different trap levels above the bed. High values (≈42 cm² s^-1) of K_s were obtained at the upper traps, whereas low values (≈2 cm² s^-1) were obtained near the bed. Comparison between level of turbulent energy in terms of shear stress at the boundaries of the water column, i.e. from the wind and the bed flow, showed that wind energy exceeded that of the bed flow by a factor 16. At 5·0 m K_s was positively correlated (r=0·66) to the eddy diffusion coefficient of momentum (K_m) derived from the wind energy transfer to the water, giving an average β of 0·5 for K_s =βK_m. The density difference between surface and bottom waters has been designated a parameter of stratification, and is discussed in relation to variations of K_s and K_m .  相似文献   

末次盛冰期以来渤、黄、东海陆架底质分布演变过程模拟研究   总被引：1，自引：0，他引：1  

朱玉荣 《海洋科学进展》2002,20(1):11-24

渤、黄、东海陆架底质的形成分布与末次盛冰期之后的海侵密切相关。末次盛冰期结束、海侵开始以来 ,潮流是渤、黄、东海陆架上的永久性主导作用应力。为从长期沉积动力演变过程的角度 ,探讨渤、黄、东海陆架底质形成分布的有关成因问题 ,利用数值模拟手段 ,再现了末次盛冰期以来 6个时期渤、黄、东海陆架潮流作用下海底的冲淤格局及底质分布。结果表明 ,扬子浅滩南侧东海外陆架的砂质沉积基本上是自 - 80 m海面以来形成的。扬子浅滩形成于 -5 2 m海面之后 ,至 - 3 0 m海面时已有一定规模 ,全新世最大海侵之后 ,逐渐形成现在规模的扬子浅滩。南黄海中部泥自 - 5 2 m海面时就已开始形成 ,- 3 0 m海面时范围很大 ,侵入北黄海 ,全新世最大海侵以来 ,逐渐调整到现在的范围。渤海中央泥、北黄海西部泥、浙闽岸外泥、辽东半岛西侧与北侧的砂质沉积、西朝鲜湾与江华湾中的砂质沉积以及苏北浅滩是自全新世最大海侵以来逐渐形成的。海州湾中砂质沉积形成的盛期在公元 8世纪之后。济洲岛西南泥、南黄海东部泥很可能分别形成于 - 3 0 m海面、- 5 2 m海面以来。全新世渤、黄、东海陆架底质分布的演变过程大致分为 2个阶段 :全新世最大海侵之前为渤、黄、东海陆架底质分布宏观格局的形成阶段 ;全新世最大海侵至今为渤  相似文献   

鲁苏榴辉岩套的特征及其动力学演化     

韩宗珠  宋明春 《中国海洋大学学报(自然科学版)》2001,31(4):619-625

鲁苏榴辉岩套以广泛分布各类榴辉岩、密切伴生石榴石橄榄岩、石榴石麻粒岩等高压岩石组合 ,普遍发育韧性变形带 ,大量出露燕山晚期碱性花岗岩及深源脉岩为特征。它已经历三迭纪早期华南陆块与华北陆块的碰撞事件、大陆逆掩推覆构造事件及后期白垩纪早期开始的大陆伸展构造事件 ,是我国华南陆块与华北陆块之间的重要过渡单元。  相似文献   

Natural expansion and experimental manipulation of seagrass (Zostera spp.) abundance and the response of infaunal invertebrates     

Paul G. Harrison 《Estuarine, Coastal and Shelf Science》1987,24(6)

A study of an expanding seagrass bed on the south-west coast of British Columbia, Canada involved documentation and explanation of the pattern of expansion of the vegetation as well as documentation and experimental investigation of the accompanying changes in the distribution of infaunal invertebrates. Expansion followed a major environmental change, improved water clarity initiated in 1969 when a causeway blocked access to the site for silty Fraser River water. The original eelgrass (Zostera marina) bed expanded landward over 30 m year⁻¹, probably causing more and more water to be retained in the bed at low tide and thus improving its own habitat. More rapid expansion occurred from 1979–1983 after Z.japonica colonized at the landward edge of the eelgrass bed and in a separate intertidal area. Expansion ceased around 1983 coincident with, but probably independent of, further construction.Burrowing shrimp (Callianassa californiensis) decreased in abundance between 1977 and 1984 in areas where the two seagrasses colonized. Short-term experiment over one summer and fall showed that removal of all shoots allowed adult shrimp and tube worms to colonize the sediment while addition of shoots of Z. japonica by transplanting caused temporary decreases in shrimp abundance. After a few weeks an established shrimp population destroyed the transplants. Among reasonable alternate hypotheses for the decline in Callianassa, the effect of sediment texture can be eliminated, but either direct negative effects of seagrass, i.e. inhibition of the burrowing of adult shrimp or of settlement of juveniles, or indirect effects, i.e. the harboring of more predators of shrimp in seagrass beds, deserve further study.  相似文献   

黄河尾闾河道1996年改道的意义及黄河三角洲演化趋势   总被引：3，自引：0，他引：3  

尹延鸿  亓发庆 《海岸工程》2001,20(4):36-42

现代黄河三角洲由几个亚三角洲组成。 1 85 5 -1 93 4年 ,形成了以宁海为顶点的第一亚三角洲 ;1 93 4-1 996年 ,三角洲冲积扇顶点进一步下移 ,形成了以渔洼为顶点的第二亚三角洲。最近的一次改道是在 1 996年 6月 ,改道后的河流沿清水沟流路的清 8剖面附近东流入海。这次改道可能是第三亚三角洲形成的开始。以后数十年内的黄河尾闾摆动将在清 8剖面附近进行。虽然人类活动将对三角洲的发展演化产生越来越明显的影响 ,但这些亚三角洲的发育演化仍有明显的规律性  相似文献   

Late Holocene estuarine–inner shelf interactions; is there evidence of an estuarine retreat path for Tampa Bay, Florida?     

B. T. Donahue  A. C. Hine  S. Tebbens  S. D. Locker  D. C. Twichell   《Marine Geology》2003,200(1-4):219-241

The purpose of this study was to determine if and how a large, modern estuarine system, situated in the middle of an ancient carbonate platform, has affected its adjacent inner shelf both in the past during the last, post-glacial sea-level rise and during the present. An additional purpose was to determine if and how this inner shelf seaward of a major estuary differed from the inner shelves located just to the north and south but seaward of barrier-island shorelines. Through side-scan sonar mosaicking, bathymetric studies, and ground-truthing using surface grab samples as well as diver observations, two large submarine sand plains were mapped – one being the modern ebb-tidal delta and the other interpreted to be a relict ebb-tidal delta formed earlier in the Holocene. The most seaward portion of the inner shelf studied consists of a field of lobate, bathymetrically elevated, fine-sand accumulations, which were interpreted to be sediment-starved 3D dunes surrounded by small 2D dunes composed of coarse molluscan shell gravel. Additionally, exposed limestone hardbottoms supporting living benthic communities were found as well. This modern shelf sedimentary environment is situated on a large, buried shelf valley, which extends eastward beneath the modern Tampa Bay estuary. These observations plus the absence of an incised shelf valley having surficial bathymetric expression, and the absence of sand bodies normally associated with back-tracking estuarine systems indicate that there was no cross-shelf estuarine retreat path formed during the last rise in sea level. Instead, the modern Tampa Bay formed within a mid-platform, low-relief depression, which was flooded by rising marine waters late in the Holocene. With continued sea-level rise in the late Holocene, this early embayment was translated eastward or landward to its present position, whereby a larger ebb-tidal delta prograded out onto the inner shelf. Extensive linear sand ridges, common to the inner shelves to the north and south, did not form in this shelf province because it was a low-energy, open embayment lacking the wave climate and nearshore zone necessary to create such sand bodies. The distribution of bedforms on the inner shelf and the absence of seaward-oriented 2D dunes on the modern ebb-tidal delta indicate that the modern estuarine system has had little effect on its adjacent inner shelf.  相似文献