自行式海底作业车的研究   总被引：4，自引：0，他引：4  

王明和  简曲 《海洋技术学报》1997,16(4):44-49

理论分析和试验研究是本文写作基础，它详细地总结了大洋多金属结核资源开发而研究自行式海底作业车取得中期成果，它对我国大洋采矿和其它海底工程车辆的发展有着重要的文献价值和指导意义。  相似文献   

水下智能潜器的神经网络运动控制   总被引：10，自引：4，他引：10  

彭良  卢迎春  万磊  孙俊岭 《海洋工程》1995,(2)

本文介绍一种基于神经网络的水下智能潜器的运动控制方法，该方法通过在线学习，融控制与滤波为一体。计算机仿真与水池实验验证表明，该方法的控制与滤波性能良好，对环境的学习与适应能力强。该方法事实上可用于一般动力系统的控制。  相似文献   

拖曳式多参数剖面测量系统水动力与控制性能研究述评   总被引：11，自引：1，他引：11  

吴家鸣  叶家玮李宁 《海洋工程》2004,22(1):111-120

综述了拖曳式多参数剖面测量系统水动力学研究的最新进展。对拖曳缆绳、拖曳体以及将两者耦合起来所构成的整个系统水动力及控制理论进行述评，分析了各种理论的优缺点从中简要地描述了拖曳式多参数剖面测量系统水动力研究的发展概要。  相似文献   

Hydrodynamic and dynamic analysis to determine the directional stability of an underwater vehicle near a free surface     

O. SaoutP. Ananthakrishnan 《Applied Ocean Research》2011,33(2):158-167

A theoretical methodology to determine the open-loop directional stability of a near-surface underwater vehicle is presented. It involves a solution of coupled sway and yaw equations of motion in a manner similar to that carried out for surface ships. The stability derivatives are obtained numerically through simulation of motions corresponding to planar motion mechanism (PMM) model tests. For the numerical simulation, a boundary-integral method based on the mixed Lagrangian-Eulerian formulation is developed. The free-surface effect on the vehicle stability is determined by comparing the results with that obtained for vehicle motion in infinite fluid. The methodology was used to determine the stability of the Florida Atlantic University’s Ocean EXplorer (OEX) AUV. The presence of the free surface, through radiation damping, is found to suppress unsteady oscillations and thereby enhance the directional stability of the vehicle. With effects of free surface, forward speed, location and geometry of rudders, location of the center of gravity etc. all being significant factors affecting stability, a general conclusion cannot be drawn on their combined effect on the vehicle stability. The present computational methodology is therefore a useful tool to determine an underwater vehicle’s stability for a given configuration and thus the viability of an intended mission a priori.  相似文献   

Expanded adaptive fuzzy sliding mode controller using expert knowledge and fuzzy basis function expansion for UFV depth control     

Hyun-Sik Kim  Yong-Ku Shin   《Ocean Engineering》2007,34(8-9):1080-1088

Generally, the underwater flight vehicle (UFV) depth control system operates with the following problems: it is a multi-input multi-output (MIMO) system, it requires robustness, a continuous control input, and further, it has the speed dependency of controller parameters. To solve these problems, an expanded adaptive fuzzy sliding mode controller (EAFSMC), which is based on the decomposition method designed by using an expert knowledge and the decoupled sub-controllers and composition method designed by using the fuzzy basis function expansions (FBFEs), is proposed. To verify the performance of the EAFSMC, the depth control of UFV in various operating conditions is performed. Simulation results show that the EAFSMC solves all problems experienced in the UFV depth control system online.  相似文献   

自动海洋站数据接收与处理软件的功能及特点     

彭伟  张翼飞 《海洋技术学报》2001,20(1):62-64

采集设备采集数据发送到值班PC机，在无人干预的情况下接收处理软件自动对数据进行回放和进一步处理，为用户提供数据产品和服务，并提供一个界面，使用户能够了解系统的运行状况，获得相关数据和状态参数。  相似文献   

环境因子对贝类累积溶解态重金属的影响   总被引：10，自引：0，他引：10  

王静凤  张学成  单宝田 《中国海洋大学学报(自然科学版)》2005,35(3):382-386

对溶解态重金属的吸收是贝类累积重金属的重要来源之一，易受到生物因素和非生物因素的影响。综述溶解氧、温度、空气预暴露、化学物质预暴露等环境因子，诱导的机体代谢过程的改变，对溶解态重金属的累积和转运过程的影响。强调了贝类对溶解态重金属的转运除了被动转运之外，还涉及到需要ATP供能的主动转运过程。  相似文献   

The dynamics of prespawning capelin (Mallotus villosus socialis) off the West Kamchatka coast     

Naumenko  E. A. 《ICES Journal of Marine Science》2002,59(5):1006-1010

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High-resolution measurements of chromophoric dissolved organic matter in the Mississippi and Atchafalaya River plume regions   总被引：4，自引：0，他引：4  

Robert F. Chen  G. Bernard Gardner 《Marine Chemistry》2004,89(1-4):103

Chromophoric dissolved organic matter (CDOM) was measured in the spring and summer in the northern Gulf of Mexico with the ECOShuttle, a towed, instrumented, undulating vehicle. A submersible pump mounted on the vehicle supplied continuously flowing, uncontaminated seawater to online instruments in the shipboard laboratory and allowed discrete samples to be taken for further analysis. CDOM in the northern Gulf of Mexico was dominated by freshwater inputs from the Mississippi River through the Birdfoot region and to the west by discharge from the Atchafalaya River. CDOM was more extensively dispersed in the high-flow period in the spring but in both time periods was limited by stratification to the upper 12 m or so. Thin, subsurface CDOM maxima were observed below the plume during the highly stratified summer period but were absent in the spring. However, there was evidence of significant in situ biological production of CDOM in both seasons.The Mississippi River freshwater end member was similar in spring and summer, while the Atchafalaya end member was significantly higher in the spring. In both time periods, the Atchafalaya was significantly higher in CDOM and dissolved organic carbon (DOC) than the Mississippi presumably due to local production and exchange within the coastal wetlands along the lower Atchafalaya which are absent along the lower Mississippi. Nearshore waters may also have higher CDOM due to outwelling from coastal wetlands. High-resolution measurements allow the differentiation of various water masses and are indicative of rapidly varying (days to weeks) source waters. Highly dynamic but conservative mixing between various freshwater and marine end members apparently dominates CDOM distributions in the area with significant in situ biological inputs (bacterial degradation of phytoplankton detritus), evidence of flocculation, and minor photobleaching effects also observed. It is clear that high-resolution measurements and adaptive sampling strategies allow a more detailed examination of the processes that control CDOM distributions in river-dominated systems.  相似文献   

Dynamics and control of a towed underwater vehicle system, part I: model development     

B. Buckham  M. Nahon  M. Seto  X. Zhao  C. Lambert 《Ocean Engineering》2003,30(4):82-470

Autonomous vehicles are being developed to replace the conventional, manned surface vehicles that tow mine hunting towed platforms. While a wide body of work exists that describes numerical models of towed systems, they usually include relatively simple models of the towed bodies and neglect the dynamics of the towing vehicle. For systems in which the mass of the towing vehicle is comparable to that of the towed vehicle, it becomes important to consider the dynamics of both vehicles. In this work, we describe the development of a numerical model that accurately captures the dynamics of these new mine hunting systems. We use a lumped mass approximation for the towcable and couple this model to non-linear numerical models of an autonomous surface vehicle and an actively controlled towfish. Within the dynamics models of the two vehicles, we include non-linear controllers to allow accurate maneuvering of the towed system.  相似文献