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   

Vision-based tracking with projective mapping for parameter identification of remotely operated vehicles     

Hsin-Hung Chen   《Ocean Engineering》2008,35(10):983-994

Parameter identification of a remotely operated vehicle (ROV) is often based on the dynamic responses collected by its onboard sensors. However, for commercial ROVs, the required data for identification may not be available due to the absence of suitable sensors or limitations in accessing onboard sensor data. Therefore, this study proposes a vision-based tracking system to measure the dynamic response of an ROV. The tracking system is independent of the ROV, and is able to localize an ROV to a high degree of precision by means of projective mapping. The validity of the proposed tracking system is demonstrated through identification of a commercial ROV. A simplified nonlinear ROV dynamic model with six degrees of freedom (DOF) is used for identification. Uncoupled motions, including surge, sway, and yaw, are obtained from the ROV dynamic model, and the corresponding experiments are carried out for each DOF. Hydrodynamic parameters are then estimated with numerical optimizations by comparing the measured ROV responses with the output of the mathematical model. The experimental results show that the vision-based tracking system can accurately measure the transient and steady-state responses of an ROV. Additionally, the simulations of the ROV dynamic model, with the optimal parameter estimates, give results in agreement with the measured data.  相似文献   

深海潜器耐压圆柱壳结构计算和校核方法研究   总被引：1，自引：0，他引：1  

潘治 《海洋技术学报》2008,27(2):83-87

文中比较了中美两国潜器规范中各特征量的计算方法和校核准则,分析了异同点,并给出数值算例。针对潜器特性,对目前我国潜器规范中可能需要修改的地方进行了初步分析。  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   

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戴全发  许大欣  蔡小波  王勇 《大地测量与地球动力学》2007,27(4):31-34

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基于倾斜摄影技术的戈壁灌丛沙丘形态反演及其对粉尘释放研究的意义     

潘凯佳  张正偲  梁爱民  董治宝  李兴财 《中国沙漠》2020,40(2):24-32

灌丛沙丘是广泛分布于西北干旱区的风沙地貌。戈壁上发育的灌丛沙丘在戈壁沙尘释放和固沙能力方面具有重要的指示意义和应用价值。本研究采用倾斜摄影技术对戈壁上的灌丛沙丘形态特征进行观测和提取,并分析沉积物特征,计算戈壁灌丛沙丘的固沙能力,为沙尘释放研究提供依据。结果表明:(1)戈壁上发育的灌丛沙丘有明显的空间分布格局,即主要分布在干河床的两侧和地势低洼地区。(2)戈壁灌丛沙丘在形态上和其他地表灌丛沙丘类似,但沙丘的长度、宽度、底面积、体积等小得多,而且参数之间具有明显的相关关系。(3)沉积物的累积概率曲线表现为三段式,跃移组分的粒度范围(50~700 μm)明显与以往研究不同。沙丘内部和表层的粉沙和黏土含量分别为4.47%和5.24%,从而说明灌丛沙丘能够捕获戈壁上释放的粉尘物质。(4)戈壁地区单个灌丛沙丘的粉尘释放量约0.05~0.08 m³,固沙能力最大可达18.71 m³。  相似文献   

Discrete time-delay control of an autonomous underwater vehicle: Theory and experimental results     

R.P. Kumar  D. Sen 《Ocean Engineering》2009,36(1):74-81

A discrete time-delay control (DTDC) law for a general six degrees of freedom unsymmetric autonomous underwater vehicle (AUV) is presented. Hydrodynamic parameters like added mass coefficients and drag coefficients, which are generally uncertain, are not required by the controller. This control law cancels the uncertainties in the AUV dynamics by direct estimation of the uncertainties using time-delay estimation technique. The discrete-time version of the time-delay control does not require the derivative of the system state to be measured or estimated, which is required by the continuous-time version of the controller. This particularly provides an advantage over continuous-time controller in terms of computational effort or availability of sensors for measuring state derivatives, i.e., linear and angular accelerations. Implementation issues for practical realization of the controller are discussed. Experiments on a test-bed AUV were conducted in depth, pitch, and yaw degrees of freedom. Results show that the proposed control law performs well in the presence of uncertainties.  相似文献   

基于模糊控制的快速循迹智能车的设计与实现   总被引：1，自引：0，他引：1  

陈果  徐家品  严华 《成都信息工程学院学报》2008,23(6)

提出基于模糊控制的快速循迹智能车的实现方法.利用转速传感器、线阵CCD、舵机等构成一个闭环控制系统,并采用PI算法控制智能车后轮速度.采用模糊控制算法将线阵CCD返回的误差模糊化,然后按照MAX-MIN规则进行逻辑推理,最后将推理结果反模糊化后以控制舵机转向.实验结果证明了该方法的有效性.  相似文献   

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   

车辆路径问题:从时间地理学的视角   总被引：2，自引：0，他引：2  

戚铭尧  吴涛  张新 《地球信息科学学报》2015,(1):22-30

车辆路径问题具有典型的时空分布特征,受到众多时空约束条件的制约。在车辆路径规划中,综合考虑时间和空间因素是非常必要的。本文从时间地理学这一全新的视角来研究车辆路径问题,提出一套完整的时间地理学分析框架,阐述了时间地理学的基本概念,提出了车辆路径问题中的时空约束、时空路径、时空棱柱、时空可达性、时空距离等概念,并给出了图示或定量化的度量方法。论文提出的时空距离度量方法综合考虑了顾客在空间位置和时间窗口2个方面的特征,可更科学地判定顾客之间的"邻近性"。论文通过设计一种求解大规模软时间窗车辆路径问题的算法,证明了时空距离的价值,并展望了时间地理学在求解动态车辆路径规划问题、移动设施路径规划问题等方面的应用。本文的贡献在于,通过时间地理学所提供的一系列概念和方法,实现了在统一的框架下同时考虑车辆路径问题(VRP)的时间和空间特征的构想,挖掘了传统时间地理学理论在车辆路径领域中的应用潜力,这将有利于更快或者更好地求解VRP问题。  相似文献