Simulation of an underwater hexapod robot     

Christina Georgiades  Martin Buehler 《Ocean Engineering》2009,36(1):39-47

AQUA is an underwater hexapod robot that uses its paddles to propel itself and control its orientation. To aid in the vehicle development, a simulation was needed to predict the motion of the robot based on its paddle oscillations. The most difficult aspect of this simulation was the characterization of the forces generated by the paddles oscillating in the water. In this work, a model predicting the forces produced by an oscillating rigid paddle was developed and validated experimentally. Tests were performed on an experimental setup, which was designed and built to measure the forces and torques produced by a paddle oscillating in a water tank. Also, the forces produced by a flexible fin were determined experimentally and were compared to those generated by the rigid paddle. Finally, a simulation of the AQUA robot was developed, based on the validated rigid paddle model.  相似文献   

Underwater spreading and surface drifting of oil spilled from a submarine pipeline under the combined action of wave and current     

《Applied Ocean Research》2017

Tremendous economic loss and environmental damages are caused by oil-spilling accidents in sea. Accurate prediction of the underwater spreading and surface drifting of oil spills is important for the emergency response. In the present study, numerical investigation on the underwater spread and surface drift of oil spilled from a submarine pipeline under the combined action of wave and current was carried out to examine the effects of physical ocean environment, leaking flux and spilled oil density and viscosity. Reynolds-Averaged-Navier-Stokes (RANS) equations, realizable k-ε turbulence model and volume of fluid (VOF) model are employed to describe the multiphase flow, and velocity-boundary wave-making technique combined with the sponge layer damping absorber technique realizes the numerical wave flume. Oil spill experiments were conducted to validate the numerical model. The calculation results indicate that compared with the environmental conditions of still water, only current and only wave, a larger scope of underwater spreading and relatively slower rising rate and relatively faster drifting rate of oil droplets are observed under the combined action of wave and current. The leaking flux affects the floating time and dispersion concentration, while the ocean environment affects the horizontal migration and surface drifting. Under the specific conditions of present work, oil density has obvious effect on the underwater spread but limited effect on the surface drifting, while oil viscosity has little effect on both the two processes.  相似文献   

Luminescence dating of canal sediments from Angkor Borei, Mekong Delta, Southern Cambodia     

David C.W. Sanderson  Paul Bishop  Miriam Stark  Sally Alexander  Dan Penny 《Quaternary Geochronology》2007,2(1-4):322-329

Work to apply luminescence dating to archaeological sites in the Lower Mekong Delta has continued with a programme aimed at dating ancient canal sediments and brick monuments in the vicinity of ancient city of Angkor Borei. Following the successful application of OSL dating to the Paris 2 canal near Angkor Borei further fieldwork and analysis has been undertaken. The infill and substrate of the larger Paris 4 canal connecting Angkor Borei to Oc Eo, some 80 km to the south in Vietnam has been sampled and subjected to luminescence analysis. Field spectroscopy and underwater bleaching experiments were also conducted in the Baray and Angkor Borei in 2004. The results show that both illumination intensities and spectral distributions are severely altered by as little as 1.5 m of turbid water, and that OSL bleaching rates for both quartz and feldspars are reduced. Since quartz resetting is heavily dependant on the UV components in daylight, which have preferentially attenuated the effects of turbid water on OSL zeroing rates are especially marked. The new data from the Paris 4 canal, which has been dated by OSL to be between the first millenium BC and the late first millenium AD are significant to understanding the archaeological development of the Fu Nan state in the Lower Mekong Delta, and the sequence of development of the canal network linking inland agrarian sites and coastal trading centres.  相似文献   

Underwater microscope for measuring spatial and temporal changes in bed-sediment grain size     

David M. Rubin  Henry Chezar  David J. Topping 《Sedimentary Geology》2007,202(3):402-408

For more than a century, studies of sedimentology and sediment transport have measured bed-sediment grain size by collecting samples and transporting them back to the laboratory for grain-size analysis. This process is slow and expensive. Moreover, most sampling systems are not selective enough to sample only the surficial grains that interact with the flow; samples typically include sediment from at least a few centimeters beneath the bed surface. New hardware and software are available for in situ measurement of grain size. The new technology permits rapid measurement of surficial bed sediment. Here we describe several systems we have deployed by boat, by hand, and by tripod in rivers, oceans, and on beaches.  相似文献   

RTD实时动态GPS测量系统在三峡导流明渠截流及三期土石围堰填筑工程中的应用     

邱章云 《现代测绘》2003,26(5):23-26

本文介绍了RTD实时动态GPS测量系统在三峡导流明渠截流及三期土石围堰工程中的应用情况。主要用于水下地形测绘和明渠下游合金网石兜抛投的动态导航定位。将GPS技术应用于大型施工项目，能极大提高生产效率．创造出更好的经济效益和社会效益。GPS定位技术总的趋势是向高精度、实时性、自动化、和可靠性方向发展．随着它的广泛应用，测绘技术也将会发生深远的变革。  相似文献   

Estimation of underwater eruption energy based on tsunami wave data     

N. R. Mirchina  E. N. Pelinovsky 《Natural Hazards》1988,1(3):277-283

Empirical relations between tsunami parameters and underwater eruption energy have been improved, making use of Le Mehaute's theory of explosion-generated water waves. Formulae can be used to estimate underwater eruption characteristics by tsunami wave data. Estimates of energy for some past event have been obtained, in particular, for multiple eruptions of the 1952–1953 Myojinsho volcano, to be E 10¹⁵ – 10¹⁶ J.  相似文献   

Effects of seabed properties on acoustic wave fields in a seismo-acoustic ocean waveguide     

Jin-Yuan Liu  Chen-Fen Huang  Shiahn-Wern Shyue 《Ocean Engineering》2001,28(11):675

Acoustic wave fields in an ocean waveguide with a sediment layer having continuously varying density and sound speed overlying an elastic subbottom are considered in this analysis. The objective of this study is to investigate the effects of seabed acoustic properties, including the density and sound speed of the sediment layer and subbottom, on the characteristics of the wave fields. Examination of the reflection coefficient, wavenumber spectrum, and noise intensity of the sound field through numerical analysis has shown that the variation in the acoustic properties in the sediment layer is an important factor in determining the reflected or noise sound fields. In particular, the sediment thickness-to-wavelength ratio and the types of variation of acoustic properties inside the layer give rise to many characteristics that potentially allow for acoustic inversion of the seabed properties. With regard to the wave-field components in a shallow-water environment, the various types of waves existing in a seismo-acoustic waveguide have been illustrated. The results indicate that the effects of the sediment properties on the wavenumber spectrum are primarily on the continuous and evanescent regimes of the wave field. The noise intensity generated by distributive random monopoles at various depths, together with the effect of refractive sound-speed distribution in the water column, has been obtained and analyzed.  相似文献   

Accurate and practical thruster modeling for underwater vehicles     

Jinhyun Kim  Wan Kyun Chung   《Ocean Engineering》2006,33(5-6):566-586

The thruster is the crucial factor of an underwater vehicle system, because it is the lowest layer in the control loop of the system. In this paper, we propose an accurate and practical thrust modeling for underwater vehicles which considers the effects of ambient flow velocity and angle. In this model, the axial flow velocity of the thruster, which is non-measurable, is represented by ambient flow velocity and propeller shaft velocity. Hence, contrary to previous models, the proposed model is practical since it uses only measurable states. Next, the whole thrust map is divided into three states according to the state of ambient flow and propeller shaft velocity, and one of the borders of the states is defined as critical advance ratio (CAR). This classification explains the physical phenomenon of conventional experimental thrust maps. In addition, the effect of the incoming angle of ambient flow is analyzed, and Critical Incoming Angle (CIA) is also defined to describe the thrust force states. The proposed model is evaluated by comparing experimental data with numerical model simulation data, and it accurately covers overall flow conditions within ±2 N force error. The comparison results show that the new model's matching performance is significantly better than conventional models'.  相似文献   

AUV自主导航航位推算算法的分析研究     

冯子龙  刘健  刘开周 《海洋技术学报》2006,25(3):19-22

地球形状的不规则性,各种导航传感器本身的误差,以及仪器的安装偏差等,使得AUV(自治水下机器人)在进行远距离自主航行时,自主导航的精度大大下降。针对以上问题及实际工程需要,论文对AUV自主导航的航位推算算法做了进一步研究并加以改进,以提高其自主导航精度。最后,利用2004年中国科学院沈阳自动化所水下机器人研究中心进行AUV湖试所获得的数据,对文中提出的算法进行了验证。结果表明,AUV的自主导航精度得到大大提高,可以用于修正原来的自主导航算法。  相似文献   

Investigation on a two-part underwater manoeuvrable towed system     

Jiaming Wu  Allen T. Chwang 《Ocean Engineering》2001,28(8)

A hydrodynamic model of a two-part underwater manoeuvrable towed system is proposed in which a depressor is equipped with active horizontal and vertical control surfaces, and a towed vehicle is attached to the lower end of a primary cable. In such a system the towed vehicle can be manoeuvred in both vertical and horizontal planes when it is towed at a certain velocity and the coupling effect of excitations at the upper end of the primary cable and disturbances of control manipulations to the towed vehicle can be reduced. In the model the hydrodynamic behavior of an underwater vehicle is described by the six-degrees-of-freedom equations of motion for submarine simulations. The added masses of an underwater vehicle are obtained from the three-dimensional potential theory. The control surface forces of the vehicle are determined by the wing theory. The results indicate that with relative simple control measures a two-part underwater manoeuvrable towed system enables the towed vehicle to travel in a wide range with a stable attitude. The method in this model gives an effective numerical approach for determining hydrodynamic characteristics of an underwater vehicle especially when little or no experimental data are available or when costs prohibit doing experiments for determining these data.  相似文献