Robust and adaptive path following for underactuated autonomous underwater vehicles   总被引：1，自引：0，他引：1  

K. D. Do  J. Pan  Z. P. Jiang 《Ocean Engineering》2004,31(16):1967-1997

This paper proposes a nonlinear robust adaptive control strategy to force a six degrees of freedom underactuated underwater vehicle with only four actuators to follow a predefined path at a desired speed despite of the presence of environmental disturbances and vehicle’s unknown physical parameters. The proposed controller is designed using Lyapunov’s direct method, the popular backstepping and parameter projection techniques. The closed loop path following errors can be made arbitrarily small. Interestingly, it is shown that our developed control strategy is easily extendible to situations of practical importance such as parking and point-to-point navigation. Numerical simulations are provided to illustrate the effectiveness of the proposed methodology.  相似文献   

Numerical Investigation on the Generation and Propagation of Irregular Waves in A Two-Dimensional Wave Tank     

Ruey-syanSHIH Chung-renCHOU JohnZ.YIM 《中国海洋工程》2004,18(4):551-566

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Three-Dimensional Velocity Field and Cross-Frontal Water Exchange in the Kuroshio Extension     

Susana Sainz-Trápaga  Takashige Sugimoto 《Journal of Oceanography》2000,56(1):79-92

A spread of warm water from the first crest of the Kuroshio Extension is periodically enhanced by northward warm water intrusions from the main current. The water type in the spread area was previously found to be the same as that in the Kuroshio front at depth. In looking for the possible mechanism responsible for the northward warm water intrusions, a dynamic analysis in the Kuroshio front was carried out by using CTD, ADCP, AVHRR and ARGOS buoy data, obtained in 1996 by the R.V. Hakuho Maru. Downstream, cross-stream and vertical velocities in the Kuroshio Extension were found by using a "stream coordinate system". The velocity field in the Kuroshio front at the first crest showed a double structure with two surface velocity maxima. In the inner part of the front, relatively high cross-stream (northward) and vertical (upward) velocities were found. Thus, this study suggests that while water particles flow downstream along the first stationary meander of the Kuroshio Extension, they also experience lateral and vertical movements which allow the deeper water from an upstream location to rise to the surface layer, and in certain locations to deflect northward. By assuming isopycnal movement and conservation of potential vorticity, it was found that in those locations where anticyclonic curvature of the meander increases, warm water is more likely to deflect northward. High ageostrophic components observed in the first 300 m of the water column are probably related to the relatively high cross-stream and vertical velocities in the inner part of the front.  相似文献   

Comments on the Gravity and Magnetic Anomalies of Saros Bay using Wavelet Approach     

Ucan  Osman N.  Albora  A. Muhittin  Hisarli  Z. Mümtaz 《Marine Geophysical Researches》2001,22(4):251-264

In this paper, residual and regional gravity and magnetic anomalies of Saros Bay are separated using wavelet method. Wavelet is one of the modern, stochastic image approaches processing technique in electronics. The vertical, horizontal and diagonal components of wavelet output are evaluated simultaneously and an underground model is obtained by suitable cross-sections. Thus the geological and tectonic properties of Saros Bay are extracted. Our proposed model is confirmed by deep and shallow seismic researches of Turkish Petroleum Cooperation (TPAO). The South-East region of Saros Graben is formed by strike slip Ganos Fault and Anafartalar reverse Fault that lies on the east of Ganos Fault. On the Northwest region, there is strike slip component fault resulting in the Enez Graben. Here we detected two new oval type geological structure, both of them starting from the Eastern direction of Canakkale Dardanelles and but one of them continuing through Gelibolu Peninsuls, while the other tending to the Enez Graben. We think that these structures are the ruins of a very old sea in this region. This revised version was published online in November 2006 with corrections to the Cover Date.  相似文献   

The Equatorial Atlantic Mid-Ocean Channel: An Ultra High-Resolution Image of Its Burial History Based on TOPAS Profiles     

Baraza  J.  Ercilla  G.  Farrán  M.  Casamor  J. L.  Sorribas  J.  Flores  J. A.  Sierro  F.  Wersteeg  W. 《Marine Geophysical Researches》1997,19(2):115-135

Multibeam bathymetric and ultra high-resolution seismic data reveal that the distal course of the Equatorial Atlantic Mid-Ocean Channel (EAMOC) extends further east and south than was previously known, and is controlled by the presence of morphologic highs related to the Fernando de Noronha Fracture Zone. Distal course of the EAMOC is buried by sediments, and does not have bathymetric expression on the seafloor. The channel fill consists of three seismic sequences, suggesting that the recent geological evolution of the channel is composed of successive phases of decreasing sedimentary activity that finally resulted in its complete burial. Tectonic and volcanic activity related to the Fernando de Noronha Fracture Zone and Ridge, together with the effect of strong pulses of the Antarctic bottom water current during the upper Pliocene are suggested to have contributed to the progressive burial and the final abandonment of the EAMOC.  相似文献   

On the adequacy of second-order models to predict abnormal waves     

P. Petrova  Z. Cherneva  C. Guedes Soares   《Ocean Engineering》2007,34(7):956-961

The paper is intended to extend the investigations about the nature of abnormal waves that have been reported in the work of Guedes Soares et al. (Characteristics of abnormal waves in North Sea states. Applied Ocean Research 25, [337–344]). The same dataset gathered at the oil platform North Alwyn in the North Sea during the November storm in 1997 is used along with the time series from the Draupner platform, in which an abnormal wave occurred. The data are reanalyzed from the viewpoint of the applicability of second-order models to fit large waves. The observed results confirm that the second-order approximation is not adequate to describe highly asymmetric and abnormal waves.  相似文献   

Instantaneous separable VPA (ISVPA)     

Kizner  Z. I.; Vasilyev  D. A. 《ICES Journal of Marine Science》1997,54(3):399-411

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An evaluation of metal bioaccessibility in estuarine sediments using the commercially available protein, bovine serum albumin   总被引：2，自引：0，他引：2  

Judit Kalman  Andrew Turner   《Marine Chemistry》2007,107(4):486-497

The bioaccessibility of metals (Al, Ca, Fe, Mn, Ag, Cd, Co, Cu, Ni, Pb, Sn, Zn) in oxic estuarine sediments has been evaluated using solutions of a commercially available protein (bovine serum albumin; BSA) that mimic the chemical conditions encountered in the gut environment of many deposit-feeding organisms. Over a 20 h incubation period with 5 g L^− 1 BSA, metal mobilisation was generally biphasic in that a relatively short period of rapid release was succeeded by more gradual release or approach to equilibrium, although in some cases metal readsorption was evident during the time-courses. Availability to BSA, defined as metal released after 20 h relative to metal extracted by boiling aqua regia, was greatest for Cd, Ni, Ca and Zn and lowest for Fe and Mn, and correlated well with, but was an order of magnitude lower than, metal digested by acidified hydrogen peroxide. Time-courses conducted in the absence of the protein revealed that significant quantities of Ca and Mn were water-soluble, reflecting the partial dissolution of carbonates and hydrous Mn oxides, respectively. Additional experiments indicated a net increase in metal release with increasing BSA concentration and, with the exception of Ca and Mn, a substantial increase in metal mobilisation after sediment organic matter had been digested by peroxidation. These observations suggest that, apart from Ca and Mn, metal release proceeds via complexation with component amino acids of the protein, denudation of organic host phases, and exposure of inorganic, metal-bearing minerals. Accordingly, the bioaccessibility of a metal is predicted to be dependent on its (i) affinity for proteinaceous ligands, (ii) association with components of digestible sediment organic matter, and (iii) degree of binding at relatively weak sites on sediment phases that are exposed or modified by the action of proteins and other chemical constituents of the gut environment.  相似文献   

Analysis of seabed instability using element free Galerkin method     

J.G. Wang  M.R. Karim  P.Z. Lin 《Ocean Engineering》2007,34(2):247-260

Wave-induced seabed instability, either momentary liquefaction or shear failure, is an important topic in ocean and coastal engineering. Many factors, such as seabed properties and wave parameters, affect the seabed instability. A non-dimensional parameter is proposed in this paper to evaluate the occurrence of momentary liquefaction. This parameter includes the properties of the soil and the wave. The determination of the wave-induced liquefaction depth is also suggested based on this non-dimensional parameter. As an example, a two-dimensional seabed with finite thickness is numerically treated with the EFGM meshless method developed early for wave-induced seabed responses. Parametric study is carried out to investigate the effect of wavelength, compressibility of pore fluid, permeability and stiffness of porous media, and variable stiffness with depth on the seabed response with three criteria for liquefaction. It is found that this non-dimensional parameter is a good index for identifying the momentary liquefaction qualitatively, and the criterion of liquefaction with seepage force can be used to predict the deepest liquefaction depth.  相似文献   

Geodynamic Evolution of the Eastern Segment of the Azores-Gibraltar Zone: The Gorringe Bank and the Gulf of Cadiz Region     

Tortella  D.  Torne  M.  Pérez-Estáun  A. 《Marine Geophysical Researches》1997,19(3):211-230

Detailed structural interpretation of the recently acquired deep seismic multichannel profiles along the Iberian Atlantic Margins (IAM Project) provides new results on the geodynamic evolution of the eastern part of the Azores-Gibraltar plate boundary. Thrusting and folding of the oceanic basement and of Mesozoic and Cenozoic sedimentary cover of the Gorringe Bank region are consistent with the N–S convergence of Iberia and Africa. Compressive structures in the Gorringe Bank region are spread over a wide area. Deformation under compression took place mainly in Tertiary times, as is evidenced by a basal unconformity and several discontinuities in Tertiary sediments, although some deformation has also been recorded in Quaternary sediments. The compressive structures in the Gulf of Cadiz are E–W oriented thrusts, folds and related diapiric structures. N–S oriented transpressive deformation is likely to occur in the western Portuguese platform. There is no continuity of structures from the oceanic to the continental domain, suggesting that deformation transfers from one side to the other through a transcurrent fault zone. The fault contact between the two domains is located in the ocean-continent transition zone.  相似文献