The onset of fish colonization in a coastal defence structure (Chioggia,Northern Adriatic Sea)     

M. Pizzolon  E. Cenci  C. Mazzoldi 《Estuarine, Coastal and Shelf Science》2008

Coastal defence structures constitute the most extensive hard substrates of the Northwestern Adriatic Sea and are known to sustain rich benthic and nektonic communities. To appreciate the pattern of colonization, we studied the fish assemblage of a recently deployed breakwater. We compared observations from two years, the different sides (landward and seaward) of the barrier, and the two fringes, characterized by timing of work completion. The results indicate that colonization, still in process, follows different patterns among species. Benthic and necto-benthic species presented a striking increase in abundance and richness in the second year of colonization, while more mobile species did not evince any variation between years. Differences in mobility among species suggest that the latter group may have reached the breakwater from nearby artificial substrates, whereas the former colonized the new structure as recruits. In addition, fish assemblages differed between the two sides, likely due to variation in the environmental characteristics, and according to depth, reflecting species preferences.  相似文献   

In-situ survey of nanomolar manganese in seawater using an autonomous underwater vehicle around a volcanic crater at Teishi Knoll,Sagami Bay,Japan     

Takashi Doi  Michiaki Takano  Kei Okamura  Tamaki Ura  Toshitaka Gamo 《Journal of Oceanography》2008,64(3):471-477

We present the results of a chemical survey at a submarine volcano, Teishi Knoll, obtained using a submersible in-situ Mn analyzer (GAMOS) mounted on an autonomous underwater vehicle (AUV) platform. During this survey, high-resolution data of dissolved Mn were obtained in three dimensions in nearly real time. The AUV enabled continuous detailed observations along a preprogrammed pathway, which could not have been performed with conventional CTD hydrocasts. During this observation, anomalously high dissolved Mn concentrations were obtained within the crater, corresponding to high water temperatures. The anomalies might be a hydrothermal signature due to volcanic activity from the crater.  相似文献   

深水滑翔机器人耐压壳体结构优化设计   总被引：1，自引：0，他引：1  

李延富  俞建成  封锡盛 《海洋工程》2008,26(4)

针对深水滑翔机器人耐压壳体在深水中压缩变形和海水密度随水深增大而变化等因素造成驱动浮力变化问题,利用压缩变形和密度变化对驱动浮力影响的互补特性,归纳了载体耐压壳体结构优化设计方法.保证耐压壳体抗压条件和质量最小前提下采用结构优化设计方法,降低耐压壳体压缩变形和海水密度变化对驱动浮力的影响,提高系统能源的利用率.  相似文献   

水下滑翔器主体外形优化设计   总被引：2，自引：0，他引：2  

王兵振  朱光文  杜敏  任炜  李永奇 《海洋技术学报》2008,27(3)

对水下滑翔器主体外形的优化设计问题进行研究.首先,在考虑内部机械结构限制的条件下,建立了主体外形优化数学模型,并采用CFX计算了若干主体形状的绕流阻力.在此基础上建立了映射主体外形的尺寸参数与绕流阻力的BP神经网络.然后将建立的神经网络作为优化设计问题的目标函数,采用坐标轮换法对滑翔器主体外形进行了优化设计,确定了尺寸参数的最优解.  相似文献   

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   

Experimental Study of a Command Governor Adaptive Depth Controller for an Unmanned Underwater Vehicle     

《Applied Ocean Research》2019

Unmanned Underwater Vehicles (UUVs) are increasingly being used in advanced applications that require them to operate in tandem with human divers and around underwater infrastructure and other vehicles. These applications require precise control of the UUVs which is challenging due to the non-linear and time varying nature of the hydrodynamic forces, presence of external disturbances, uncertainties and unexpected changes that can occur within the UUV’s operating environment. Adaptive control has been identified as a promising solution to achieve desired control within such dynamic environments. Nevertheless, adaptive control in its basic form, such as Model Reference Adaptive Control (MRAC) has a trade-off between the adaptation rate and transient performance. Even though, higher adaptation rates produce better performance they can lead to instabilities and actuator fatigue due to high frequency oscillations in the control signal. Command Governor Adaptive Control (CGAC) is a possible solution to achieve better transient performance at low adaptation rates. In this study CGAC has been experimentally validated for depth control of a UUV, which is a unique challenge due to the unavailability of full state measurement and a greater thrust requirement. These in turn leads to additional noise from state estimation, time-delays from input noise filters, higher energy expenditure and susceptibility to saturation. Experimental results show that CGAC is more robust against noise and time-delays and has lower energy expenditure and thruster saturation. In addition, CGAC offers better tracking, disturbance rejection and tolerance to partial thruster failure compared to the MRAC.  相似文献   

水下收缩裂隙形成过程及裂缝充填模式研究     

赵振宇  周瑶琪  马晓鸣  冀国盛 《地学前缘》2007,14(4):215-221

通过野外实地考察测试,对水下收缩裂隙整体形成过程、裂隙内充填物沉积模式、影响因素等进行了详细讨论,并且建立了相应的地质理论模型。水下收缩裂隙的形成共分4个阶段,依次为:泥水混合物进入低洼地带的初始混浊状态;沉积压实稳定阶段;水位线下降,盐度增大,裂隙形成阶段;沉积裂隙充填阶段。其中“异常高压作用”,对于初始裂隙的形成、沉积物孔隙水的有效排出以及主要渗流通道的发育起到了重要作用。单一泥质地层裂隙内充填物沉积模式与沙泥互层的多旋回地层略有差异,主要表现为沙层的润滑作用以及对早期裂隙内充填物类型的影响。上述两种地层裂隙内充填物沉积特征均与后期充注期次相对应,表现出很好的韵律性。裂隙纵剖面中生物发育层的出现,对裂隙内充填物的物理、化学性质将产生重要影响。  相似文献   

障碍物对风速风向影响的观测试验     

田东霞  郭建侠  陈挺  关彦华  刘文忠  杨彬云  薛筝筝 《气象科技》2014,42(5):881-887

随着城市化进程的加大,测站周围障碍物的存在使风观测资料失去代表性、准确性和比较性。为定量化研究障碍物对风观测的影响,开展了河北沽源构筑物观测试验,通过对比构筑物修建前后各测点的风速风向资料,分析了障碍物对风速风向的影响。分析结果显示:1障碍物对风速的衰减作用与背景风速大小有关,风速越大,衰减作用越强;2背景风速在2~6m/s时,障碍物背风面测点风速衰减随距离增大而减小,在10倍障碍物高度距离处平均约衰减15%;背景风速大于6m/s时,背风面各测点风速衰减先增大后减小,在大约5倍障碍物高度的距离处衰减最大,10倍障碍物高度的距离处平均约衰减20%~30%;3障碍物的存在使主风向的风向频率减小,对风向的影响距离为6倍障碍物高度。  相似文献   

温差能驱动的水下滑翔器设计与实验研究   总被引：11，自引：1，他引：10  

王树新  王延辉  张大涛  何漫丽  朱光文  任炜 《海洋技术学报》2006,25(1):1-5

论文设计开发了一种新型的温差能驱动的水下滑翔器,并对它做了水域实验研究。文章讨论了温差能驱动的滑翔器运动机理及其在垂直剖面的运动分析,得到稳态运动的参数解。结合能够把水域温差能转变为机械能的热机设计以及滑翔器的主要机械结构和控制硬件系统设计,完成了滑翔器的初步设计与开发。滑翔器在千岛湖进行了水域实验,实验结果表明,此水下滑翔器完全能够利用温差能实现预定的滑翔运动。  相似文献   

水下滑翔机器人运动分析与载体设计   总被引：4，自引：0，他引：4  

张奇峰  俞建成  唐元贵  李硕  张艾群 《海洋工程》2006,24(1):74-78,85

水下滑翔机器人是一种新型水下机器人,具有噪声低、航行距离远、续航时间长、成本低等特点。分析了水下滑翔机器人的驱动机理和运动实现,给出了水下滑翔机器人典型运动的仿真结果,并以正在设计的一水下滑翔机试验样机为研究对象,描述了样机的整体结构布局,详细研究了浮力调节机构、俯仰调节机构和横滚调节机构的实现方法,并就样机中各执行机构的设计实现进行了论述。  相似文献