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   

Theoretical aspects of cap-rock and fault seals for single- and two-phase hydrocarbon columns   总被引：6，自引：0，他引：6  

N.L. Watts   《Marine and Petroleum Geology》1987,4(4)

Cap-rock seals can be divided genetically into those that fail by capillary leakage (membrane seals) and those whose capillary entry pressures are so high that seal failure preferentially occurs by fracturing and/or wedging open of faults (hydraulic seals). A given membrane seal can trap a larger oil column than gas column at shallow depths, but below a critical depth (interval), gas is more easily sealed than oil. This critical depth increases with lower API gravity, lower oil GOR and overpressured conditions (for the gas phase). These observations arise from a series of modelling studies of membrane sealing and can be conveniently represented using pressure/ depth (P/D) profiles through sealed hydrocarbon columns. P/D diagrams have been applied to the more complex situation of the membrane sealing of a gas cap underlain by an oil rim; at seal capacity, such a two-phase column will be always greater than if only oil or gas occurs below the seal.These conclusions contrast with those for hydraulic seals where the seal capacity to oil always exceeds that for gas. Moreover, a trapped two-phase column, at hydraulic seal capacity will be less than the maximum-allowed oil-only column, but more than the maximum gas-only column. Unlike membrane seals, hydraulic seal capacity should be directly related to cap-rock thickness, in addition to the magnitude of the minimum effective stress in the sealing layer and the degree of overpressure development in the sequence as a whole.Fault-related seals are effectively analogous to membrane cap-rocks which have been tilted to the angle of the fault plane. Consequently, all of the above conclusions derived for membrane cap-rocks apply to both sealing faults sensu stricto (fault plane itself seals) and juxtaposition faults (hydrocarbon trapped laterally against a juxtaposed sealing unit). The maximum-allowed two-phase column trapped by a sealing fault is greater than for equivalent oil-only and gas-only columns, but less than that predicted for a horizontal membrane cap-rock under similar conditions. Where a two-phase column is present on both sides of a sealing fault (which is at two-phase seal capacity), a deeper oil/water contact (OWC) in one fault block is associated with a deeper gas/oil contact (GOC) compared with the adjacent fault block. If the fault seal is discontinuous in the gas leg, however, the deeper OWC is accompanied by a shallower GOC, whereas a break in the fault seal in the oil leg results in a common OWC in both fault blocks, even though separate GOC's exist. Schematic P/D profiles are provided for each of the above situations from which a series of fundamental equations governing single- and two-phase cap-rock and fault seal capacities can be derived. These relationships may have significant implications for exploration prospect appraisal exercises where more meaningful estimates of differential seal capacities can be made.The membrane sealing theory developed herein assumes that all reservoirs and seals are water-wet and no hydrodynamic flow exists. The conclusions on membrane seal capacity place constraints on the migration efficiency of gas along low-permeabiligy paths at depth where fracturing, wedging open of faults and/or diffusion process may be more important. Contrary to previous assertions, it is speculated that leakage of hydrocarbons through membrane seals occurs in distinct pulses such that the seal is at or near the theoretically calculated seal capacity, once this has been initially attained.Finally, the developed seal theory and P/D profile concepts are applied to a series of development geological problems including the effects of differential depletion, and degree of aquifer support, on sealing fault leakage, and the evaluation of barriers to vertical cross-flow using RFT profiles through depleted reservoirs. It is shown that imbibition processes and dynamic effects related to active cross-flow across such barriers often preclude quantitative analysis and solution of these problems for which simulation studies are usually required.  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   

软土海岸地区测量控制点标志的设立     

苏衍坤  李新国  朱绪伟  苏衍国 《海洋测绘》2007,27(3):43-47

分析了软土、湿地、滩涂地区特殊地理环境对测量控制点的影响;主要探讨了此类地区控制点标志的设计、施工。借助于建筑桩基技术和道桥施工方法,首次成功实现了某三角洲湿地滩涂地区统一布网。几年来,结合滩涂湿地测量、海岸防护和滩涂开发工程对部分控制点进行了初步检测,给出了部分检测数据。应用和检测均表明:桩基标石可较好地解决软土、湿地、滩涂地区控制点布设难题,显著提高软土海岸地区测量控制点标志的稳固性,从而延长控制网的可使用期。  相似文献   

双船中层拖网网位控制的静力学解析   总被引：1，自引：0，他引：1  

万荣  朱文斌  何鑫  崔勇  刘莉莉 《中国海洋大学学报(自然科学版)》2007,37(1):61-64,6

中层拖网是开发利用中上层鱼类资源的重要工具之一,能否有效实施对拖网作业水层的控制,是实现瞄准捕捞和提高捕捞生产效率的关键。本文提出了1种基于有限元原理的拖网曳纲形状与张力的理论计算方法,以期依据中层拖网拖曳过程中不同拖速、曳纲长度和重锤配备条件下曳纲响应的计算机模拟结果,预测拖网可能的作业水层,以实现中层拖网网位控制,为中层拖网曳纲设计和网位调整提供理论依据。  相似文献   

A higher-order σ-coordinate non-hydrostatic model for nonlinear surface waves     

Chih-Chieh Young  Jan-Tai Kuo 《Ocean Engineering》2007,34(10):1357-1370

A higher-order non-hydrostatic model in a σ-coordinate system is developed. The model uses an implicit finite difference scheme on a staggered grid to simultaneously solve the unsteady Navier-Stokes equations (NSE) with the free-surface boundary conditions. An integral method is applied to resolve the top-layer non-hydrostatic pressure, allowing for accurately resolving free-surface wave propagation. In contrast to the previous work, a higher-order spatial discretization is utilized to approximate the large horizontal pressure gradient due to steep surface waves or rapidly varying topographies. An efficient direct solver is developed to solve the resulting block hepta-diagonal matrix system. Accuracy of the new model is validated by linear and nonlinear standing waves and progressive waves. The model is then used to examine freak (extreme) waves. Features of downshifting focusing location and wave asymmetry characteristics are predicted on the temporal and spatial domains of a freak wave.  相似文献   

动力定位系统发展状况及研究方法   总被引：21，自引：2，他引：21  

赵志高  杨建民等 《海洋工程》2002,20(1):91-97

动力定位系统（Dynamic Positioning System)是一种闭环的控制系统，其采用推力器来提供抵抗风、浪、流等作用在船上的环境力，从而使船尽可能地保持在海平面上要求的位置上，其定位成本不会随着水深增加而增加，并且操作也比较方便。本文对动力定位系统发展及各组成部分进行了介绍，以期对动力定位系统有个比较完整的认识。  相似文献   

龙口港湾大振幅假潮的成因分析     

刘赞沛  陈则实  宋万先  邹娥梅 《海洋学报》2001,23(1):120-126

龙口湾位于山东半岛北部,莱州湾东北隅,为莱州湾的一个附属海湾.海湾湾口朝向西南,湾廓近似半圆形,属半封闭海湾.龙口验潮站位于湾顶(图1),水深7m.  相似文献   

郯庐断裂带的断裂活动对渤海东部中、新生代裂谷盆地发育的控制作用     

李桂群  李学伦 《中国海洋大学学报(自然科学版)》1988,(4)

郯庐断裂带自南而北穿越渤海东部,自中生代中期至新生代中期表现裂谷发育特征。裂谷发育经历两个旋回,各旋回的裂谷发育演化、盆地分布格局,沉积相带,沉积补偿速度等均受断裂带的断裂活动的强烈控制。  相似文献