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   

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   

ARGO剖面浮标数据质量控制过程剖析   总被引：12，自引：4，他引：12  

童明荣  刘增宏  孙朝辉  朱伯康  许建平 《海洋技术学报》2003,22(4):79-84

ARGO计划的观测目标是能取得精度分别为0．5℃和0．01PSU的海水温度和盐度资料。然而，由于目前海水盐度是采用海水电导率间接导出的，而测量海水电导率的传感器很容易产生偏差。因此，必须对获得的ARGO数据进行质量控制。文章详细介绍了ARGO剖面浮标资料实时质量控制模式和延时质量控制模式及其采用的质量控制方法等。  相似文献   

东、黄海典型海区分粒级浮游植物叶绿素a的周日波动及影响因子   总被引：3，自引：0，他引：3  

林丽贞  陈纪新  刘媛  曹振锐  黄邦钦 《台湾海峡》2007,26(3):342-350

本文分析了东、黄海典型海区3个测站在2000~2003年间4个航次的叶绿素a周日变动特征,结果表明由于地理环境、水文特征以及季节差异,各海区叶绿素a表现出各自不同的变动特点.在东海陆架区,日变化上表层各粒级主要以半日周期为主,受黑潮入侵程度不同而略有变化;长江口由于受到潮汐的影响,各粒级的日变化同潮汐的涨落相对应,主要为半日周期;黄海中部海区叶绿素a尤其是NANO级浮游植物在周日变化上以全日周期为主,受黄海冷水团强弱不同而不同.本文进一步应用渐近回归初步分析了多种环境因子对叶绿素a周日变化的影响.  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   

海带的病害   总被引：8，自引：1，他引：8  

周丽  宫庆礼 《海洋湖沼通报》1996,(4):38-43

本文综述了养殖海带危害严重的主要疾病其防治方法。文章按海带夏苗培育中的病害及其防治，海上栽培期间发生的病害 及其防治的顺序分别叙述了各主要病害，尤其对危害严重的病害种类进行了较为详细的记述，以期对海带疾病的研究提供参考材料。  相似文献   

关于我国金枪鱼围网渔业发展问题的几点探讨   总被引：7，自引：1，他引：7  

齐建军  王明彦 《海洋湖沼通报》2001,(3):58-62

本文通过对联合国粮农组织公布的1989－1998年金枪鱼渔获量的分析，清晰了我国发展金枪鱼围网渔业的趋势，并着重对于围网生产密切相关的渔场选择、捕捞技术进行了几点探讨，还对开发科研工作谈了个人看法。  相似文献   

Planar trajectory planning and tracking control design for underactuated AUVs   总被引：4，自引：0，他引：4  

Filoktimon Repoulias  Evangelos Papadopoulos   《Ocean Engineering》2007,34(11-12):1650-1667

This paper addresses the combined problem of trajectory planning and tracking control for underactuated autonomous underwater vehicles (AUVs) on the horizontal plane. Given a smooth, inertial, 2D reference trajectory, the planning algorithm uses vehicle dynamics to compute the reference orientation and body-fixed velocities. Using these, the error dynamics are obtained. These are stabilized using backstepping techniques, forcing the tracking error to an arbitrarily small neighborhood of zero. Simulation results for a constant velocity trajectory, i.e. a circle, and a time-varying velocity one, i.e. a sinusoidal path, are presented. The parametric robustness is considered and it is shown that tracking remains satisfactory.  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