Closed-loop randomized kinodynamic path planning for an autonomous underwater vehicle     

《Applied Ocean Research》2019

A randomized kinodynamic path planning algorithm based on the incremental sampling-based method is proposed here as the state-of-the-art in this field applicable in an autonomous underwater vehicle. Designing a feasible path for this vehicle from an initial position and velocity to a target position and velocity in three-dimensional spaces by considering the kinematic constraints such as obstacles avoidance and dynamic constraints such as hard bounds and non-holonomic characteristic of AUV are the main motivation of this research. For this purpose, a closed-loop rapidly-exploring random tree (CL-RRT) algorithm is presented. This CL-RRT consists of three tightly coupled components: a RRT algorithm, three fuzzy proportional-derivative controllers for heading and diving control and a six degree-of-freedom nonlinear AUV model. The branches of CL-RRT are expanded in the configuration space by considering the kinodynamic constraints of AUV. The feasibility of each branch and random offspring vertex in the CL-RRT is checked against the mentioned constraints of AUV. Next, if the planned branch is feasible by the AUV, then the control signals and related vertex are recorded through the path planner to design the final path. This proposed algorithm is implemented on a single board computer (SBC) through the xPC Target and then four test-cases are designed in 3D space. The results of the processor-in-the-loop tests are compared by the conventional RRT and indicate that the proposed CL-RRT not only in a rapid manner plans an initial path, but also the planned path is feasible by the AUV.  相似文献   

Extracting energy while reducing hydroelastic responses of VLFS using a modular raft wec-type attachment     

《Applied Ocean Research》2019

This paper presents the use of a modular raft Wave Energy Converter (WEC)-type attachment at the fore edge of a rectangular Very Large Floating Structure (VLFS) for extracting wave energy while reducing hydroelastic responses of the VLFS under wave action. The proposed modular attachment comprises multiple independent auxiliary pontoons (i.e. modules) that are connected to the fore edge of the VLFS with hinges and linear Power Take-Off (PTO) systems. For the hydroelastic analysis, the auxiliary pontoons and the VLFS are modelled by using the Mindlin plate theory while the linear wave theory is used for modelling the fluid motion. The analysis is performed in the frequency domain using the hybrid Finite Element-Boundary Element (FE-BE) method. Parametric studies are carried out to investigate the effects of pontoon length, PTO damping coefficient, gap between auxiliary pontoons, and incident wave angle on the power capture factor as well as reductions in the hydroelastic responses of the VLFS with the modular attachment. It is found that in oblique waves, the modular attachment comprising multiple narrow pontoons outperforms the corresponding rigid attachment that consists of a single wide pontoon with respect to the power capture factor and the reduction in the deflection of the VLFS. In addition, it is possible to have a considerable gap between pontoons without significantly compromising the effectiveness of the modular attachment.  相似文献   

Wave tank and bench-top control testing of a wave energy converter     

《Applied Ocean Research》2019

An increasing number of experiments are being conducted to study the design and performance of wave energy converters. Often in these tests, a real-time realization of prospective control algorithms is applied in order to assess and optimize energy absorption as well as other factors. This paper details the design and execution of an experiment for evaluating the capability of a model-scale WEC to execute basic control algorithms. Model-scale hardware, system, and experimental design are considered, with a focus on providing an experimental setup capable of meeting the dynamic requirements of a control system. To more efficiently execute such tests, a dry bench testing method is proposed and utilized to allow for controller tuning and to give an initial assessment of controller performance; this is followed by wave tank testing. The trends from the dry bench test and wave tank test results show good agreement with theory and confirm the ability of a relatively simple feedback controller to substantially improve energy absorption. Additionally, the dry bench testing approach is shown to be an effective and efficient means of designing and testing both controllers and actuator systems for wave energy converters.  相似文献   

Dynamic modeling and vibration suppression for an offshore wind turbine with a tuned mass damper in floating platform     

《Applied Ocean Research》2019

The worldwide demand for renewable energy is increasing rapidly. Wind energy appears as a good solution to copy with the energy shortage situation. In recent years, offshore wind energy has become an attractive option due to the increasing development of the multitudinous offshore wind turbines. Because of the unstable vibration for the barge-type offshore wind turbine in various maritime conditions, an ameliorative method incorporating a tuned mass damper (TMD) in offshore wind turbine platform is proposed to demonstrate the improvement of the structural dynamic performance in this investigation. The Lagrange's equations are applied to establish a limited degree-of-freedom (DOF) mathematical model for the barge-type offshore wind turbine. The objective function is defined as the suppression rate of the standard deviation for the tower top deflection due to the fact that the tower top deflection is essential to the tower bottom fatigue loads, then frequency tuning method and genetic algorithm (GA) are employed respectively to obtain the globally optimum TMD design parameters using this objective function. Numerical simulations based on FAST have been carried out in typical load cases in order to evaluate the effect of the passive control system. The need to prevent the platform mass increasing obviously has become apparent due to the installation of a heavy TMD in the barge-type platform. In this case, partial ballast is substituted for the equal mass of the tuned mass damper, and then the vibration mitigation is simulated in five typical load cases. The results show that the passive control can improve the dynamic responses of the barge-type wind turbine by placing a TMD in the floating platform. Through replacing partial ballast with a uniform mass of the tuned mass damper, a significant reduction of the dynamic response is also observed in simulation results for the barge-type floating structure.  相似文献   

Improving the prediction of extreme FPSO hawser tension,using another highly correlated hawser tension with a longer time record     

《Applied Ocean Research》2019

The floating production storage and offloading unit (FPSO) is an offshore vessel that produces and stores crude oil prior to tanker transport. Robust prediction of extreme hawser tensions during the FPSO offloading operation is an important safety concern. Excessive hawser tension may occur during certain sea conditions, posing an operational risk. In this paper, the finite element method (FEM) software ANSYS AQWA has been employed to analyze vessel response due to hydrodynamic wave loads, acting on a specific FPSO vessel under actual sea conditions.In some practical situations, it would be useful to improve the accuracy of some statistical predictions based on a certain stochastic random process, given another synchronous highly correlated stochastic process that has been measured for a longer time, than the process of interest. In this paper, the issue of improving extreme value prediction has been addressed. In other words, an efficient transfer of information is necessary between two synchronous, highly correlated stochastic processes. Two such highly correlated FPSO hawser tension processes were simulated in order to test the efficiency of the proposed technique.  相似文献   

Obtaining the distribution of quiescent periods directly from the power spectral densities of Sea waves     

《Applied Ocean Research》2019

There is a growing practical interest in the ability to increase the sea states at which marine operations can be safely undertaken by exploiting the quiescent periods that are well known to exist under a wide range of sea conditions. While the actual prediction of quiescent periods at sea for the control of operations is a deterministic process, the long term planning of future maritime tasks that rely on these quiescent periods is a statistical process involving the anticipated quiescence properties of the forecasted sea conditions in the geographical region of interest. It is in principle possible to obtain such data in tabular form either large scale simulation or from field data. However, such simulations are computationally intensive and libraries of appropriate field data are not common. Thus, it is clearly attractive to develop techniques that exploit standard wave spectral models for describing the quiescence statistics directly from such spectra. The present study focuses upon such techniques and is a first step towards the production of a computationally low-cost quiescence prediction tool and compares its efficacy against simulations. Two significant properties emerge for a large class of wave spectral models that encompasses the ubiquitous Neumann and Pierson Moskowitz or Bretschneider forms. Firstly, the auto-correlation function of the wave profile that are required to produce the quiescence property can be obtained analytically in terms of standard special functions. This considerably reduces the computational cost making desktop computer-based planning tools a reality. Secondly, for each class of these parametric spectra, the probability of a given number of consecutive wave heights (normalised to the significant wave heights) less than some critical value is in fact independent of absolute wave height. Thus, for a broad class of practically interesting wave spectra all that is required to obtain the statistical distribution of the quiescent periods is simple rescaling.  相似文献   

An efficient and robust approach to predict ship self-propulsion coefficients     

《Applied Ocean Research》2019

Achieving a reliable and accurate numerical prediction of the self-propulsion performance of a ship is still an open problem that poses some relevant issues. Several CFD methods, ranging from boundary element methods (BEM) to higher-fidelity viscous Reynolds averaged Navier–Stokes (RANS) based solvers, can be used to accurately analyze the separate problems, i.e. the open water propeller and the hull calm water resistance. However, when the fully-coupled self-propulsion problem is considered, i.e. the hull advancing at uniform speed propelled by its own propulsion system, several complexities rise up. Typical flow simplifications adopted to speed-up the simulations of the single analysis (hull and propeller separately) lose their validity requiring a more complex solver to tackle the fully-coupled problem. The complexity rises up further when considering a maneuver condition. This aspect increases the computational burden and, consequently, the required time which becomes prohibitive in a preliminary ship design stage.The majority of the simplified methods proposed in literature to include propeller effects, without directly solve the propeller flow, in a high-fidelity viscous solver are not able to provide all the commonly required self-propulsion coefficients. In this work, a new method to enrich the results from a body force based approach is proposed and investigated, with the aim to reduce as much as possible the computational burden without losing any useful result. This procedure is tested for validation on the KCS hull form in self-propulsion and maneuver conditions.  相似文献   

长江口盐度梯度下不同形态碳的分布、来源与混合行为   总被引：1，自引：0，他引：1  

叶君  姚鹏  徐亚宏  王金鹏  赵彬 《海洋学报》2019,41(4):15-26

河口碳的生物地球化学过程是全球碳循环的重要组成。通过测定溶解无机碳（DIC）及其稳定同位素丰度（δ13C_DIC）,溶解有机碳（DOC）,有色溶解有机物（CDOM）,颗粒有机碳（POC）及其稳定同位素丰度（δ13C_POC）与元素比值（N/C）及相关指标,研究了2014年7月长江口盐度梯度下不同形态碳的分布、来源和混合行为。结果表明,DIC浓度、DOC浓度、POC含量分别为1 583.2~1 739.6 μmol/L,128.4~369.4 μmol/L和51.2~530.8 μmol/L,这些不同形态碳及CDOM的荧光组分的分布模式相似,均是从口内到口外,整体呈现先增大后减小的趋势,并与盐度呈现非保守混合行为。添加作用主要发生在在口门处最大浑浊带附近。与含量相反,从口内到口外,δ13C_DIC和δ13C_POC均呈现逐渐减小再增大的趋势,在口门附近达到最低值,分别为-9.7‰和-26.7‰。在口门附近不同形态碳含量上升及δ13C_DIC、δ13C_POC的降低可能主要与沉积物再悬浮及微生物作用有关。基于蒙特卡洛模拟的三端元混合模型的结果显示,河口内外POC来源变化明显,口内POC以陆源有机碳贡献为主,平均为62.3%,口外海源贡献逐渐增加。CDOM相关参数结果表明长江口CDOM主要来自陆源输入,海源及人类活动等也对其产生影响。  相似文献   

2015年台风“彩虹”过境后下山冷急流引起的南海北部海域异常海面降温   总被引：1，自引：0，他引：1  

石雨鑫  谢玲玲  郑全安  张书文  李明明  李君益 《海洋学报(英文版)》2019,38(5):62-75

This study deals with a unusual cooling event after Typhoon Mujigea passed over the northern South China Sea(SCS) in October 2015. We analyze the satellite sea surface temperature(SST) time series from October 3 to 18,2015 and find that the cooling process in the coastal ocean had two different stages. The first stage occurred immediately after typhoon passage on October 3, and reached a maximum SST drop of –2℃ on October 7 as the usual cold wake after typhoon. The second stage or the unusual extended cooling event occurred after 7d of the typhoon passage, and lasted for 5d from October 10 to 15. The maximum SST cooling was –4℃ and occurred after 12d of typhoon passage. The mechanism analysis results indicate that after landing and moving northwestward to the Yunnan-Guizhou Plateau(YGP), Typhoon Mujigea(2015) met the westerly wind front on October 5. The lowpressure and positive-vorticity disturbances to the front triggered meridional air flow and low-pressure trough,thus induced a katabatic cold jet downward from the Qinghai-Tibet Plateau(QTP) passing through the YGP to the northwestern SCS. The second cooling reached the maximum SST drop 4d later after the maximum air temperature drop of –9℃ on October 11. The simultaneous air temperature and SST observations at three coastal stations reveal that it is this katabatic cold jet intrusion to lead the unusual SST cooling event.  相似文献   

南海东北部陆架边缘第四纪高分辨率层序地层和沉积体系演化及其控制因素     

刘汉尧  林畅松  张忠涛  张博  姜静  田洪训  刘欢 《海洋学报(英文版)》2019,38(5):86-98

The northeastern shelf margin of the South China Sea(SCS) is characterized by the development of large scale foresets complexes since Quaternary. Based on integral analysis of the seismic, well logging and paleontological data, successions since ～3.0 Ma can be defined as one composite sequence, consist of a set of regional transgressive to regressive sequences. They can be further divided into six 3 rd order sequences(SQ0–SQ5) based on the Exxon sequence stratigraphic model. Since ～1.6 Ma, five sets of deltaic systems characterized by development of wedge-shaped foresets complexes or clinoforms had been identified. High-resolution seismic data and the thick foresets allowed further divided of sub-depositional sequences(4 th order) of regression to transgression, which is basically consistent with published stacked benthic foram O-isotope records. Depositional systems identified in the study area include deltaic deposits(inner-shelf deltas and shelf-edge deltas), incised valleys, and slope slumping massive deposits. Since ～1.6 Ma, clinoforms prograded from the southern Panyu Lower Uplift toward the northern Baiyun Depression, shelf slope break migrated seaward, whereas the shelf edge of SQ0 migrated landward. The development of incised valleys in the continental shelf increased upward,especially intensive on the SB3 and SB2. The slumping massive deposits increased abruptly since SB2, which corresponds to the development of incised valleys. The evolution of depositional systems of continental slope mainly controlled by the combined influence of sea level changes, tectonic movements, sediment supply and climate changes. Since ～3.0 Ma, relative sea level of the northern SCS had been experienced transgression(～3.0 Ma BP) to regression(～1.6 Ma BP). The regional regression and maximum transgressions of the composite sequences were apparently enhanced by uplift or subsidence related to tectono-thermal events. In addition,climatic variations including monsoon intensification and the mid-Pleistocene transition may have enhanced sediment supply by increasing erosion rate and have an indispensable influence on the development of the incised valleys and 5 sets of deltaic systems since ～1.6 Ma.  相似文献