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   

Carbon cycling through the pelagic foodweb in the northern Humboldt Current off Chile (23{degrees}S)     

Gonzalez  H.E.; Giesecke  R.; Vargas  C.A.; Pavez  M.; Iriarte  J.; Santibanez  P.; Castro  L.; Escribano  R.; Pages  F. 《ICES Journal of Marine Science》2004,61(4):572-584

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一类全局最优化问题的动态隧道方法     

李博  曹圣山 《中国海洋大学学报(自然科学版)》2003,33(1):160-164

研究了连续变量函数的全局最优化问题 ,给出了动态隧道方法。该动态隧道方法由局部搜索和动态隧道 2个阶段构成。在局部搜索阶段用了动态系统方法。对全局最优化问题的实例进行了数值实验 ,数值结果表明了该方法的稳健性和有效性。  相似文献   

三对角系统的最佳向后扰动分析     

刘新国  王玉晔 《中国海洋大学学报(自然科学版)》2002,32(2):319-324

用一种新方法研究了三对角方程组及对称三对角方程组计算解的最佳向后扰动分析。由于这两类方程组的系数矩阵具有特殊结构 ,因而本文结果不能从已有结果直接导出。所用方法亦可用于研究 KKT及 SQD等结构线性系统的最佳向后扰动分析。  相似文献   

海洋环境数据业务化处理与应用原型系统     

李四海  张峰  刘振民 《海洋通报》2007,26(3):81-86

简单介绍了原型系统的概念,并重点介绍了在原型开发模式下,建立的海洋环境数据业务化处理原型系统的数据处理流程、总体结构和主要功能。  相似文献   

Rejection of Intracoelomic Invading Material by Leptosynapta inhaerens (Echinodermata: Holothuroida): A Process of Ecological Significance?     

Didier  Jans Michel  Jangoux 《Marine Ecology》1992,13(3):225-231

Abstract. The synaptid holothuroid Leptosynapta inhaerens has the ability to expel unwanted particles that enter its body cavity. Intracoelomic particles ( viz. experimentally injected carmine particles) are trapped either by a coelom-produced mucoid net or by specialized organs (the vibratile urnae) that occur in bands in some interradial areas. Whatever the trapping method, particles are incorporated into dense mucoid masses that move towards the posterior part of the body cavity, in the vicinity of the rectum. These aggregates then cross the rectal wall through rectal pores, mix with the faeces, and are eventually incorporated into the wall of the synaptid burrow. Clearance of foreign particles requires 2 to 3 days. The coelom-cleaning system of synaptids appears to be the most effective within the class Holothuroidea , being well designed for endofaunal organisms whose walls are delicate and easily rupture.  相似文献   

Understanding the functioning of fishing enterprises: an essential tool in fisheries management     

Biais  G. 《ICES Journal of Marine Science》1999,56(6):1044-1050

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台风预报系统     

徐勤爱  张德宇 《海洋湖沼通报》1994,(2):105-112

本文介绍的是一项在微机上实现的台风预报专家系统。该系统可进行台风气候查询、台风路径检索、台风特例查询，并能利用相似加权法制作出１２－７２小时台风路径和中心强度预报，对异常路径台风也可提供一定的诊断预报判据。本系统已在军内外一些气象业务单位得到应用，实践证明它是一种简便有效的台风预报工具。  相似文献   

红河断裂构造带在东南亚的延伸特征及其大地构造意义     

李桂群  李学伦 《中国海洋大学学报(自然科学版)》1990,(2)

根据地质、地貌及地球物理资料分析,探讨展布于云南边陲哀牢山两侧的北西向断裂组成的红河断裂构造带,在东南亚的延伸特征。提出在该延伸带两侧沉积建造、构造活动,地球物理场和大地构造发展上均有显著差异。并进一步探讨该断裂构造带在大地构造上的意义。  相似文献   

The influence of island generated eddies on the carbon dioxide system, south of the Canary Islands     

Melchor Gonzlez-Dvila  J. Magdalena Santana-Casiano  Demetrio de Armas  Jos Escnez  Miguel Suarez-Tangil 《Marine Chemistry》2006,99(1-4):177

Measurements of surface partial pressure of CO₂ and water column alkalinity, pH_T, nutrients, oxygen, fluorescence and hydrography were carried out, south of the Canary Islands during September 1998. Cyclonic and anticyclonic eddies were alternatively observed from the northwestern area to the central area of the Canary Islands. Nutrient pumping and vertical uplifting of the deep chlorophyll maximum by cyclonic eddies were also ascertained by upward displacement of dissolved inorganic carbon. A model was applied to determine the net inorganic carbon balance in the cyclonic eddy. The fluxes were determined considering both the diffusive and convective contributions from the upward pumping and the corresponding horizontal transport of water outside the area. An increase in the total inorganic carbon concentration in the upper layers inside the eddy field of 133 mmol C m^− 2 d^− 1 was determined. The upward flux of inorganic carbon decreased the effect of the increased primary production on the carbon dioxide chemistry. The reduced fCO₂ inside the cyclonic eddy, 15 μatm lower than that observed in non-affected surface water, was explained by thermodynamic aspects, biological activity, eddy upward pumping and diffusion and air–sea water exchange effects.  相似文献