Adaptive optimal control of an autonomous underwater vehicle in the dive plane using dorsal fins   总被引：1，自引：0，他引：1  

Mukund Narasimhan  Sahjendra N. Singh   《Ocean Engineering》2006,33(3-4):404-416

In this paper, adaptive control of low speed bio-robotic autonomous underwater vehicles (BAUVs) in the dive plane using dorsal fins is considered. It is assumed that the model parameters are completely unknown and only the depth of the vehicle is measured for feedback. Two dorsal fins are mounted in the horizontal plane on either side of the BAUV. The normal force produced by the fins, when cambered, is used for the maneuvering. The BAUV model considered here is non-minimum phase. An indirect adaptive control system is designed for the depth control using the dorsal fins. The control system consists of a gradient based identifier for online parameter estimation, an observer for state estimation, and an optimal controller. Simulation results are presented which show that the adaptive control system accomplishes precise depth control of the BAUV using dorsal fins in spite of large uncertainties in the system parameters.  相似文献   

Application of Atomic Force Microscopy to Observation of Marine Bacteria   总被引：3，自引：0，他引：3  

Tomohiko Nishino  Eiko Ikemoto  Kazuhiro Kogure 《Journal of Oceanography》2004,60(2):219-225

The atomic force microscopy (AFM) is a recently developed, bench-top instrument that can image the surface structures of biological specimens at high resolution with simultaneous measurement of their size. This paper describes the application of AFM to marine bacteria. Both natural and cultured bacteria were retained on a filter or placed on glass, washed, air-dried and observed by AFM. The instrumental condition, the choice of suitable filter, effect of fixation and filtration, comparison with epifluorescent microscopic (EFM) count, and the size and shape of bacterial cells were investigated. An Isopore filter was best for concentration and subsequent observation because of its surface flatness. Cross section images showed that both rod and coccoid cells were flattened, the former usually having a two-humped shape. Bacterial cells were differentiated from non-living particles based on their cross section shape and size. Bacterial counts by AFM and EFM showed good agreement. Although size measurement is easily done by the instrument, AFM tends to overestimate the size of microspheres. More work is thus needed on the size measurement of living organisms. Because AFM easily provides images of natural bacterial cells at high magnification, it can be used as a new tool to study the fine structures of marine bacteria. This revised version was published online in July 2006 with corrections to the Cover Date.  相似文献   

受扰线性系统的前馈-反馈最优控制     

唐功友  张颖璐 《中国海洋大学学报(自然科学版)》2005,35(1):121-124,48

针对具有外部持续扰动的线性系统，研究前馈-反馈最优控制律的设计问题。给出了最优控制律的存在唯一性条件。并提出了最优控制律的设计算法。利用滤波器解决了前馈控制的物理不可实现问题。仿真结果表明，此算法易于实现，与传统的反馈最优控制相比对抑制外部扰动具有较强的鲁棒性。  相似文献   

南四湖湖内浅槽工程施工对水环境的影响及控制措施   总被引：1，自引：0，他引：1  

王茜  王素芳  彭波  邱红  战慧卿 《海洋湖沼通报》2007,(2):80-85

南四湖湖内工程是沂沭泗河洪水东调南下续建工程的单项工程,工程区位于山东省省级自然保护区内;挖泥船施工将对湖内水环境产生一定影响。本文从排泥场回水污染物、生产废水和生活污水三个方面阐述了工程施工对水环境的影响程度,并且提出了相应的控制措施。  相似文献   

波群作用于垂直桩柱的峰力统计性质     

徐立论  陈志军  焦海英 《中国海洋大学学报(自然科学版)》1994,(1)

研究具有窄谱和Ｗｅｉｂｕｌｌ波高分布的波群对非线性桩柱系统作用力的统计性质。求得了桩桩的波浪峰力的各种特征值及其比值。指出这些数值不仅是阻力一惯性力参数ｂＨ的函数，也随着波群因子而变化。本文模式更具广泛性。文中给出了一系列计算图表，可从理论计算波群作用于桩柱的波浪峰力。  相似文献   

A study of Coriolis effects on long waves propagating in an unbounded ocean, channel and basin     

Ashabul Hoque  Azizur Rahman 《Ocean Engineering》2007,34(11-12):1701-1705

The effects of Coriolis force on long waves have been discussed based on gravity waves propagating in an unbounded ocean, channel and basin. In case of ocean, results show that the Coriolis effect will be significant and negligible, when the wave period is comparable to 2π/f and much shorter, respectively. Results also show in a channel, the wave amplitude and water particle velocity decrease exponentially in the positive y direction in the northern hemisphere (where f is positive). Moreover, in a basin, the Cotidal lines have been found as curves and rotate counterclockwise around the origin.  相似文献   

赤潮的监测和防治简介     

张朝贤  邹淑美 《海洋科学进展》1991,(2)

近海水域有机物污染,引起海水富营养化,是形成赤潮的主要原因。赤潮不仅给渔业生产、海水养殖业带来重大损失,而且破坏了海洋环境,危及人民的健康。近年来,我国沿海赤潮时有发生,应加强对有发生赤潮潜在危险海区的经常性观测和监测;切实控制沿海工业和生活污水的任意排放;科学、合理地开发利用海洋资源;推广科学养殖技术,防止海水养殖自身污染;大力开展有关赤潮科学的研究,特别是赤潮的防治方法和技术研究,避免或减少赤潮造成的危害  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   

波浪底摩擦力对重砂富集的影响——以鲁南近岸区为例     

金秉福 《海洋科学》1997,21(5):49-52

根据浅水波浪的底摩擦效应，对鲁南灵山湾和臼－岚山镇近岸区进行了波浪的海底摩擦力计算。波浪的海底摩擦力等值图与已知滨海锆石砂矿资料对比表明，底摩擦力大于０．１８Ｎ／ｍ＾２的动力分选区有利于重矿物砂富集。据此，进一步预测了鲁南近岸带的砂矿富集区。  相似文献   

McCreary和Fickian湍扩散形式差异的分析     

吴德星  李国璋  李宝辉  陈峰 《中国海洋大学学报(自然科学版)》1993,(Z2)

用矩阵方法,求解McCreary和Fickian铅垂向湍扩散形式下,无界海洋条件时在风应力和深层浮力作用下的线性解。得出不同的湍扩散系数A情况下McCreary与Fickian湍扩散形式的流场结构。指出随湍扩散系数的增加,McCreary和Fickian湍扩散形式下u分量结构及其量值差异增大。在Fickian湍扩散形式下,能量穿越密度跃层的传递能力较强。当A=0.1cm~2s~(-3)时,在风应力和深层浮力作用下两种湍扩散形式造成流场的差异很小。提出在小湍扩散系数下,用McCreary湍扩散形式研究热带海洋环流,其结果和Fickian形式应相当一致。  相似文献