Approximate optimal tracking control for near-surface AUVs with wave disturbances     

Qing Yang  Hao Su  Gongyou Tang 《中国海洋大学学报(英文版)》2016,15(5):789-798

This paper considers the optimal trajectory tracking control problem for near-surface autonomous underwater vehicles (AUVs) in the presence of wave disturbances. An approximate optimal tracking control (AOTC) approach is proposed. Firstly, a six-degrees-of-freedom (six-DOF) AUV model with its body-fixed coordinate system is decoupled and simplified and then a nonlinear control model of AUVs in the vertical plane is given. Also, an exosystem model of wave disturbances is constructed based on Hirom approximation formula. Secondly, the time-parameterized desired trajectory which is tracked by the AUV’s system is represented by the exosystem. Then, the coupled two-point boundary value (TPBV) problem of optimal tracking control for AUVs is derived from the theory of quadratic optimal control. By using a recently developed successive approximation approach to construct sequences, the coupled TPBV problem is transformed into a problem of solving two decoupled linear differential sequences of state vectors and adjoint vectors. By iteratively solving the two equation sequences, the AOTC law is obtained, which consists of a nonlinear optimal feedback item, an expected output tracking item, a feedforward disturbances rejection item, and a nonlinear compensatory term. Furthermore, a wave disturbances observer model is designed in order to solve the physically realizable problem. Simulation is carried out by using the Remote Environmental Unit (REMUS) AUV model to demonstrate the effectiveness of the proposed algorithm.  相似文献   

Application of 2D numerical model to unsteady performance evaluation of vertical-axis tidal current turbine     

Zhen Liu  Hengliang Qu  Hongda Shi  Gexing Hu  Beom-Soo Hyun 《中国海洋大学学报(英文版)》2016,15(6):977-986

Tidal current energy is renewable and sustainable, which is a promising alternative energy resource for the future electricity supply. The straight-bladed vertical-axis turbine is regarded as a useful tool to capture the tidal current energy especially under low-speed conditions. A 2D unsteady numerical model based on Ansys-Fluent 12.0 is established to conduct the numerical simulation, which is validated by the corresponding experimental data. For the unsteady calculations, the SST model, 2×10~5 and 0.01 s are selected as the proper turbulence model, mesh number, and time step, respectively. Detailed contours of the velocity distributions around the rotor blade foils have been provided for a flow field analysis. The tip speed ratio(TSR) determines the azimuth angle of the appearance of the torque peak, which occurs once for a blade in a single revolution. It is also found that simply increasing the incident flow velocity could not improve the turbine performance accordingly. The peaks of the averaged power and torque coefficients appear at TSRs of 2.1 and 1.8, respectively. Furthermore, several shapes of the duct augmentation are proposed to improve the turbine performance by contracting the flow path gradually from the open mouth of the duct to the rotor. The duct augmentation can significantly enhance the power and torque output. Furthermore, the elliptic shape enables the best performance of the turbine. The numerical results prove the capability of the present 2D model for the unsteady hydrodynamics and an operating performance analysis of the vertical tidal stream turbine.  相似文献   

Biodegradation of <Emphasis Type="Italic">Enteromorpha</Emphasis> polysaccharides by intestinal micro-community from <Emphasis Type="Italic">Siganus oramin</Emphasis>     

Zhibiao Zhang  Xuefeng Han  Yan Xu  Jin Li  Yuanyou Li  Zhong Hu 《中国海洋大学学报(英文版)》2016,15(6):1034-1038

Micro-communities are supposed to have more potential functions of biodegradation of polysaccharides than single strain; however, the intestinal micro-communities involved in the biodegradation of Enteromorpha polysaccharides (EP) were seldom reported. In order to obtain the EP-degrading micro-community, the intestines of Siganus oramin was obtained to isolate the micro-communities, which were enriched by 0.3% of EP as the sole carbon source. A stable micro-community with EP degradative capability was achieved after seven generations of subculture, named H1. Results showed that H1 was able to degrade 75% of EP within 24 hours, and the activity of EP lyases reached 500 U mL^?1 in 32 hours. With denaturing gradient gel electrophoresis (DGGE) and 16S rRNA gene clone library analysis, ten bacteria closely related to Marinomonas pontica, Microbacterium sp., Leucobacter chironomi, Cyclobacterium sp., Algoriphagus winogradskyi, Pseudoalteromonas sp. and Vibrio sp. were determined. Furthermore, compared with the DGGE bands sequence and the clone library analysis, the dominant bacteria of the EP-biodegrading micro- community were Pseudoalteromonas sp. and Vibrio sp., with the respective proportion of 38% and 46%, and they should play an important role in EP degradation together with other degrading bacteria in the micro-community H1.  相似文献   

Antialgal and antilarval activities of bioactive compounds extracted from the marine dinoflagellate <Emphasis Type="Italic">Amphidinium carterae</Emphasis>     

Xianyu Kong  Xiurong Han  Min Gao  Rongguo Su  Ke Wang  Xuzhao Li  Wei Lu 《中国海洋大学学报(英文版)》2016,15(6):1014-1020

With the global ban on the application of organotin-based marine coatings by the International Maritime Organization, the development of environmentally friendly, low-toxic and nontoxic antifouling compounds for marine industries has become an urgent need. Marine microorganisms have been considered as a potential source of natural antifoulants. In this study, the antifouling potential of marine dinoflagellate Amphidinium carterae, the toxic and red-tide microalgae, was investigated. We performed a series of operations to extract the bioactive substances from Amphidinium carterae and tested their antialgal and antilarval activities. The crude extract of Amphidinium carterae showed significant antialgal activity and the EC₅₀ value against Skeletonema costatum was 55.4 μg mL^?1. After purification, the isolated bioactive substances (the organic extract C) exhibited much higher antialgal and antilarval activities with EC₅₀ of 12.9 μg mL^?1 against Skeletonema costatum and LC₅₀ of 15.1 μg mL^?1 against Amphibalanus amphitrite larvae. Subsequently, IR, Q-TOFMS, and GC-MS were utilized for the structural elucidation of the bioactive compounds, and a series of unsaturated and saturated 16- to 22-carbon fatty acids were detected. The data suggested the bioactive compounds isolated from Amphidinium carterae exhibited a significant inhibiting effect against the diatom Skeletonema costatum and Amphibalanus amphitrite larvae, and could be substitutes for persistent, toxic antifouling compounds.  相似文献   

The modeled atmospheric and oceanic response to the South China Sea SST anomaly     

Xiande Zhu  Lixin Wu  Jun Zhou  Jianjun Gao 《中国海洋大学学报(英文版)》2016,15(5):741-750

The sensitivity of the global atmospheric and oceanic response to sea surface temperature anomaly (SSTA) throughout the South China Sea (SCS) is investigated using the Fast Ocean-Atmosphere Model (FOAM). Forced by a warming SST, the experiment explicitly demonstrates that the responses of surface air temperature (SAT) and SST exhibit positive anomalous center over SCS and negative anomalous center over the Northern Pacific Ocean (NPO). The atmospheric response to the warm SST anomalies is characterized by a barotropical anomaly in middle-latitude, leading to a weak subtropical high in summer and a weak Aleutian low in winter. Accordingly, Indian monsoon and eastern Asian monsoon strengthen in summer but weaken in winter as a result of wind convergence owing to the warm SST. It is worth noting that the abnormal signals propagate poleward and eastward away in the form of Rossby Waves from the forcing region, which induces high pressure anomaly. Owing to action of the wind-driven circulation, an anomalous anti-cyclonic circulation is induced with a primary southward current in the upper ocean. An obvious cooling appears over the North Pacific, which can be explained by anomalous meridional cold advection and mixing as shown in the analysises of heat budget and other factors that affect SST.  相似文献   

Growth performance of larval and juvenile manila clam (<Emphasis Type="Italic">Ruditapes philippinarum</Emphasis>) from divergently selected individuals of a full-sib family     

Zhongming Huo  Xiaotong Li  Qian Sun  Yongren Li  Xuekai Zhang  Xiwu Yan  Feng Yang 《中国海洋大学学报(英文版)》2016,15(6):1046-1050

In this study, the method of divergent selection was employed to test the larval and juvenile growth performance within a full-sib family of Manila clam Ruditapes philippinarum. The 10% largest and 10% smallest clam individuals (on the basis of shell length) of a full-sib family were selected as parents for the fast and slow growing lines, respectively. The difference in shell length was significant among the three lines (fast, control, and slow) tested. The sequence of shell length were fast line > control line > slow line. The responses to selection, realized heritability, and genetic gain were 0.06%–0.81%, 0.04%–0.47% and 0.58%–18.89% in the fast direction, respectively; and were 0.14%–1.27%, 0.08%–0.73%, and 0.31%–49.03% in the slow direction, respectively. The results suggested that there was a large portion of additive genetic variance affecting the growth in the full-sib family. Selection in the fast direction within the full-sib family would greatly improve the growth of R. philippinarum.  相似文献   

The Impact of Large-Scale Reclamation on Hydro-Dynamic Environment——A Case Study of Xinghua Bay     

YU Jing  BAO Xianwen  DING Yang  ZHANG Wei  ZHOU Lingling 《中国海洋大学学报(英文版)》2016,15(4):583-592

A hydro-dynamic model is established on basis of MIKE21 FM to simulate the hydro-dynamic characteristics of Xinghua Bay and investigate the influence of reclamation project on the tidal elevation and tidal currents. Tidal elevation data was obtained at the six tide gauge stations around the Xinghua Bay, and another six current stations were established to observe the tidal current velocity and direction. Validation shows that the model-simulated tidal elevation and tidal currents agree well with observations made at different stations. Predictions are made according to the reclamation project proposed in the regional marine planning of Hanjiang Industrial Park around the port in Putian City. The variations of hydro-dynamic factors, such as tide, current velocity and direction and tidal influx are obtained, and the adverse effect of reclamation on marine environment is discussed. It is shown that the tidal level inside the Xinghua Bay during high tide decreases after the reclamation project is completed. The tidal currents during flooding tide generally decrease in the southeast of the reclamation region, with the maximum decreasing amplitude reaching 0.44 m s^-1. On the other hand, the tidal currents during flooding tide increase around the southeast and southwest corners of the reclamation region. The tidal currents during ebb tide increase around the southeast and southwest corners of the reclamation region, with the maximum increasing amplitude attaining 0.18 m s^-1. The results in this paper can give some guidance for the marine environment management and the effective utilization of land in Putian.  相似文献   

Tide and current observations in the central Chukchi Sea during the summer of 2012     

Huiwu Wang  Na Liu  Hongxia Chen 《中国海洋大学学报(英文版)》2016,15(2):201-208

Current data from a moored Acoustic Doppler Current Profiler(ADCP) deployed at 69?30.155′N,169?00.654′W in the central Chukchi Sea during 2012 summertime is analyzed in the present paper.Characteristics of tidal and residual currents are ob-tained with Cosine-Lanczos filter and cross-spectral analyses.The main achievements are as follows:1) Along with the local inertial frequency of 12.8 h,two other peaks at ~12-h and ~10-d dominate the time series of raw velocity;2) The M_2 dominates the 6 resolved tide constituents with significant amplitude variations over depth and the ratios of current speed of this constituent to that of the total tidal current are 54% and 47% for u and v components,respectively.All the resolved tidal constituents rotate clockwise at depth with the exception of MM and O1.The constituents of M_2 and S_2 with the largest major semi-axes are similar in eccentricity and orientation at deeper levels;3) The maximum of residual currents varies in a range of 20–30 cms~(-1) over depth and the current with lower velocities flow more true north with smaller magnitudes compared to the current in surface layer.The ~10 d fluctuation of residual current is found throughout the water column and attributed to the response of current to the local wind forcing,with an approximate 1.4 d lag-time at the surface level and occurring several hours later in the lower layer;4) Mean residual currents flow toward the north with the magnitudes smaller than 7 cms~(-1) in a general agreement with previous studies,which suggests a relatively weaker but stable northward flow indeed exists in the central Chukchi Sea.  相似文献   

Phase characteristic analysis of continuous depth air-gun source wavelet     

Lei Xing  Huaishan Liu  Xilai Zheng  Xueqin Liu  Jin Zhang  Linfei Wang  Zhihui Zou  Yiming Xu 《中国海洋大学学报(英文版)》2016,15(5):815-824

Air guns are important sources for marine seismic exploration. Far-field wavelet of air gun arrays, as a necessary parameter for pre-stack processing and source models, plays an important role during marine seismic data processing and interpretation. When an air gun fires, it generates a series of air bubbles. Similar to onshore seismic exploration, the water forms a plastic fluid near the bubble; the farther the air gun is located from the measurement, the more steady and more accurately represented the wavelet will be. In practice, hydrophones should be placed more than 100 m from the air gun; however, traditional seismic cables cannot meet this requirement. On the other hand, vertical cables provide a viable solution to this problem. This study uses a vertical cable to receive wavelets from 38 air guns and data are collected offshore Southeast Qiong, where the water depth is over 1000 m. In this study, the wavelets measured using this technique coincide very well with the simulated wavelets and can therefore represent the real shape of the wavelets. This experiment fills a technology gap in China.  相似文献   

Provenance of buried esker groundwater: the case of Vars-Winchester esker aquifer,Eastern Ontario,Canada     

Jacques Sauriol 《Hydrogeology Journal》2016,24(1):123-139

An innovative mode of groundwater recharge to a buried esker aquifer is considered. The current conceptual model affords a natural safeguard to underlying aquifers from the overlying muds. A hypothesis of groundwater recharge to a buried esker aquifer via preferential pathways across its overlying muds is tested here by heuristic numerical one-dimensional and two-dimensional modeling simulations. The hypothesis has been tested against two other conventionally accepted scenarios involving: (1) distal esker outcrop areas and (2) remote shallow-bedrock recharge areas. The main evidence comes from documented recharge pressure pulses in the overlying mud aquitard and in the underlying esker hydraulic-head time series for the Vars-Winchester esker aquifer in Eastern Ontario, Canada. These perturbations to the potentiometric surface are believed to be the aquifer response to recharge events. The migration rate of these pressure pulses is directly related to the hydraulic diffusivity of the formation. The measured response time and response amplitude between singular radar precipitation events and well hydrographs constituted the heuristic model calibration targets. The main evidence also includes mud-layering deformation (water escape features) which was observed in seismic surveys of the over-esker muds. These disturbed stratigraphic elements provide a realistic mechanism for migrating water to transit through the muds. The effective hydraulic conductivities of these preferential pathways in the muds were estimated to be between 2?×?10^?6 and 7?×?10^?6 m/s. The implications of these findings relate to the alleged natural safeguard of these overlying muds.  相似文献