海底观测网发展现状及趋势研究     

陈建冬  张达  王潇  潘筱屹  王策男  张自丽  葛辉良 《海洋技术学报》2019,38(6):95-103

文中详细研究了当前世界上最典型的海底观测网的建设发展规模、形式、设备类型以及我国海底观测网的发展现状,并对国内外海底观测网的发展趋势进行总结。对日本、加拿大、美国及欧洲的海底观测网进行了设备级研究,对我国台湾地区、东海、南海的海底观测网现状进行了研究,并讨论了国外先进观测网对我国的海底观测网建设的借鉴意义。文中总结出海底观测网发展的整体趋势为:单节点网络加速验证新型设备及传感器的水下能力;区域尺度网络用于加速多学科发展并提升灾害预警能力;而浮标平台网络作为补充,铺设在远海区域以降低阶段建设成本。  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   

海底电缆鬼波压制及陷频补偿方法研究     

李继光  王东凯 《热带海洋学报》2018,37(2):100-104

受到海底、自由表面等强反射界面的影响, 在海底电缆采集的地震资料中鬼波干扰往往非常发育, 在频谱中表现为明显的陷频现象, 严重影响地震剖面的质量, 给后期的处理解释带来困难。为克服这一困难, 根据海底电缆双检(陆检和水检)对下行波场的不同响应, 在深入研究伪多道匹配滤波技术的基础上提出了伪多道双检合成方法。与传统的求取反射系数的双检合成方法不同, 该方法完全数据驱动。在合成数据和渤海地震资料的实际应用中, 鬼波成分得到了明显的压制, 同时拓宽频带, 补偿陷频, 证明了该方法的有效性。  相似文献   

南海北部陆坡深水区浅层天然气藏特征     

钟广见  张如伟  易海  冯常茂  赵忠泉 《热带海洋学报》2018,37(3):80-85

南海北部陆坡深水区的浅层天然气藏是一种伴随天然气水合物的新型油气藏, 具有埋藏浅、规模大的特点, 其埋藏深度一般小于300m。浅层天然气藏由深部裂解气沿断裂上升被天然气水合物封盖而形成, 识别似海底反射(BSR)是寻找浅层天然气藏有效方法。浅层天然气藏的气源主要有热解气、生物气和混合气, 陆坡张性断裂是气体运移的主要通道, 水合物下部的砂层是浅层天然气藏的主要储集层, 水合物层则是封盖层。从南海发现的天然气水合物分布特征看, 浅层天然气藏在陆坡深水区广泛分布且气藏厚度大, 潜在资源量非常可观, 是一种新型的开采成本相对低廉的油气藏。  相似文献   

黄土河谷场地地形放大效应的研究     

王良  卢育霞  马林伟  孔德政 《大地测量与地球动力学》2018,38(2):167-171

使用黄土河谷场地模型对地震动峰值加速度和频谱特征进行研究。结果表明，不同工况下各观测点PGA的放大比呈现出不同的变化规律。分析山顶和山谷各点的傅里叶谱以及谱比发现，在地形和土层共同作用下的放大效应是各自单独作用下放大效应的乘积。  相似文献   

The bivalve Lembulus bicuspidatus may enhance denitrification in shelf sediment at the Angola–Benguela Frontal Zone     

A Neumann  A Flohr 《African Journal of Marine Science》2018,40(1):91-96

We collected living individuals of the bivalve Lembulus bicuspidatus, which shows an unusual preference for the oxygen-deficient habitat found at the Angola–Benguela Frontal Zone of the southeastern Atlantic. With a series of incubation experiments with ¹⁵N-labelled nitrate as a tracer in combination with membrane-inlet mass spectrometry, we studied the potential contribution of L. bicuspidatus to nitrate reduction in the upper sediment layer. Our preliminary results suggest that L. bicuspidatus enhances nitrate reduction if the oxygen concentration is sufficiently low. The Lembulus-mediated nitrate reduction rate is then similar to the rate of microbial nitrate reduction in the surrounding sediment.  相似文献   

基于分布式控制力矩陀螺的水下航行器轨迹跟踪控制   总被引：2，自引：0，他引：2  

黄道敏  徐瑞昆  唐国元  冯雷  刘智  徐国华 《海洋工程》2018,36(6):69-76

基于控制力矩陀螺群(CMGs)的水下航行器具有低速或零速机动的能力。采用基于分布式CMGs的水下航行器方案,并研究其水平面的轨迹跟踪控制问题。通过全局微分同胚变换将非完全对称的动力学模型解耦成标准欠驱动控制模型,并根据简化的模型构建其轨迹跟踪的误差动力学模型,将轨迹跟踪控制问题转化为误差模型镇定问题。基于一种分流神经元模型和反步法设计了系统的轨迹跟踪控制律,该控制器不需要对任何虚拟控制输入进行求导计算,且能确保跟踪误差的最终一致有界性。仿真结果表明该控制器能够实现在不依赖动力学参数先验知识的情况下对光滑轨迹的有效跟踪。  相似文献   

南海北部冷泉区深水珊瑚的发现及其特征     

陈忠  莫爱彬  赵美霞  仲义  颜文 《热带海洋学报》2018,37(1):64-71

冷水珊瑚也称为深水珊瑚, 在生物多样性、生态资源和科研价值等方面具有重要意义。文章对采自南海北部冷泉区的冷水珊瑚骨骼碎屑进行测定, 鉴定出冷水珊瑚2个种(Crispatotrochus sp.1和Crispatotrochus sp.2), 以及4个属[Balanophyllia (Balanophyllia)、Balanophyllia (Eupsammia)、Lochmaeotrochus和Enallopsammia]。测定的冷水珊瑚的δ¹³C为-7.36‰~-1.15‰, δ¹⁸O为-1.38‰~3.67‰, 与全球冷水珊瑚碳氧同位素组成相似, 但明显不同于南海暖水珊瑚、冷泉碳酸盐岩及低温热液成因碳酸盐岩的碳氧同位素组成。  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   

废弃泥浆底部真空−上部堆载预压模型试验研究     

詹良通  张斌  郭晓刚  江文豪 《岩土力学》2020,41(10):3245-3254

针对工程泥浆回填废弃矿坑处置的安全问题，开展底部真空和上部堆载预压处理废弃工程泥浆的模型试验，探讨该技术在废弃矿坑回填处置工程应用的可行性。试验结果表明，底部真空和上部堆载预压使得泥浆含水率显著降低及泥土的强度明显提高，处理一个月后，含水率从初始450%降低至95%～105%，体积减量达到73.4%；不排水强度由初始为0的状态提高至9.8～13.4 kPa。在初始的静置阶段，泥浆颗粒沉积存在重力分异现象，粗颗粒在底部沉积有助于缓解真空预压过程中淤堵问题。底部真空作用下，泥浆中孔隙水渗流方向并非完全一维向下，在径向存在水力梯度。处理后泥土压缩性与软土相近，渗透性优于软土。基于试验结果和大应变固结理论，考虑泥浆的自重固结以及压缩性与渗透性的非线性变化，利用有限差分法分析了单次回填厚度对泥浆层固结时间和减量效果的影响，提出了现场实施的工艺参数建议。  相似文献