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1.
Development and experiments of the Sea-Wing underwater glider   总被引:1,自引:0,他引:1  
Underwater gliders,which glide through water columns by use of a pair of wings,are efficient long-distance,long-duration marine environment observatory platforms.The Sea-Wing underwater glider,developed by the Shenyang Institute of Automation,CAS,is designed for the application of deep-sea environment variables observation.The system components,the mechanical design,and the control system design of the Sea-Wing underwater glider are described in this paper.The pitch and roll adjusting models are derived based on the mechanical design,and the adjusting capabilities for the pitch and roll are analyzed according to the models.Field experiments have been carried out for validating the gliding motion and the ability of measuring ocean environment variables.Experimental results of the motion performances of the glider are presented.  相似文献
2.
In this study, a dynamic modeling method for foil-like underwater vehicles is introduced and experimentally verified in different sea tests of the Hadal ARV. The dumping force of a foil-like underwater vehicle is sensitive to swing motion. Some foil-like underwater vehicles swing periodically when performing a free-fall dive task in experiments. Models using conventional modeling methods yield solutions with asymptotic stability, which cannot simulate the self-sustained swing motion. By improving the ridge regression optimization algorithm, a grey-box modeling method based on 378 viscous drag coefficients using the Taylor series expansion is proposed in this study. The method is optimized for over-fitting and convergence problems caused by large parameter matrices. Instead of the PMM test data, the unsteady computational fluid dynamics calculation results are used in modeling. The obtained model can better simulate the swing motion of the underwater vehicle. Simulation and experimental results show a good consistency in free-fall tests during sea trials, as well as a prediction of the dive speed in the swing state.  相似文献
3.
Deep Sea AUV Navigation Using Multiple Acoustic Beacons   总被引:1,自引:1,他引:0  
Navigation is a critical requirement for the operation of Autonomous Underwater Vehicles (AUVs). To estimate the vehicle position, we present an algorithm using an extended Kalman filter (EKF) to integrate dead-reckoning position with acoustic ranges from multiple beacons pre-deployed in the operating environment. Owing to high latency, variable sound speed multipath transmissions and unreliability in acoustic measurements, outlier recognition techniques are proposed as well. The navigation algorithm has been tested by the recorded data of deep sea AUV during field operations in a variety of environments. Our results show the improved performance over prior techniques based on position computation.  相似文献
4.
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  
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
5.
The long baseline (LBL) system is widely used to locate and track autonomous underwater vehicles (AUV) through acoustic communication.Three important issues are presented here in LBL system application with AUV.Those issues which regard the normal acoustic communication between LBL system and AUV are the depth of towed array,the length of beacon cable,and the effective area of the AUV.The first issue is the key of the LBL system,which ensures the normal communication between towed array and beacons.The second issue which impacts the normal communication from the AUV to beacons in available range should be considered after the first one has been settled.Then the last issue determines the safe work area of the AUV.The ordinary differential equations (ODE) algorithm of ray is deduced from Snell′s law.The ODE algorithm is applied to obtain sound rays from sound source to receiver.These problems are solved by the judgment that whether rays pinging from a sound source arrives at a receiver.The sea trial shows that these methods have much validity and practicality.  相似文献
6.
脐带缆收放技术是有缆遥控水下机器人的一项关键技术,该技术直接影响水下机器人载体的收放及作业过程中脐带缆的安全。针对目前水下机器人收放系统中脐带缆收放技术的特点,给出了一种具有自动排缆、低张力缠绕、能够提供大牵引力和安全制动功能的紧凑新式脐带缆绞车方案,并对牵引绞车与储藏绞车之间脐带缆张力与牵引绞车的牵引力进行了理论分析,给出了二者之间的关系函数。  相似文献
7.
This paper presents a computational model of simulating a deep-sea hydrothermal plume based on a Lagrangian particle random walk algorithm. This model achieves the efficient process to calculate a numerical plume developed in a fluid-advected environment with the characteristics such as significant filament intermittency and significant plume meander due to flow variation with both time and location. Especially, this model addresses both non-buoyant and buoyant features of a deep-sea hydrothermal plume in three dimensions, which significantly challenge a strategy for tracing the deep-sea hydrothermal plume and localizing its source. This paper also systematically discusses stochastic initial and boundary conditions that are critical to generate a proper numerical plume. The developed model is a powerful tool to evaluate and optimize strategies for the tracking of a deep-sea hydrothermal plume via an autonomous underwater vehicle (AUV).  相似文献
8.
南海北部具有丰富的温度锋面和中尺度涡,它们调节着局地的热量和能量平衡。本文利用卫星海洋高度异常和海表温度数据,并基于自动探测方法,探究了2007年至2017年南海北部中尺度涡边缘的海表温度锋面(涡致锋面)特征。反气旋/气旋边缘出现锋面的概率可达20%。气旋涡在各个方向上出现锋面的概率比较均匀,反气旋涡的东北部和西南部出现锋面的概率大于西北部和东南部。中尺度涡致锋面的数量有明显的季节变化,而涡动能未表现出明显的季节变化。中尺度涡致锋区的总涡动能是中尺度涡内动能的3倍,并且反气旋涡致锋面的总涡动能明显强于气旋涡致锋面的总涡动能。中尺度涡致锋面的数量和涡动能的年际变化与厄尔尼诺南方涛动指数没有明显的相关性。本研究也讨论了中尺度涡致锋面的可能机制,但是中尺度涡对海表温度锋的贡献需要进一步定量研究。  相似文献
9.
文章利用GHP细结构参数化方法和Thorpe-scale方法,分析水下滑翔机于2015年5月在南海北部采集的数据,估算了南海北部中尺度反气旋涡的湍流混合空间分布特征。结果显示该反气旋涡的混合具有明显的空间非对称性,混合率在其运动方向的后侧边缘明显增强达到O(10-3 m2/s)量级;而在其运动方向的前侧边缘,平均混合率要小一个量级。这一混合非对称特征与中尺度的涡动能密切相关性。中尺度涡后侧边缘处存在高流速剪切,容易引起垂向剪切不稳定,可能是引起该处混合增强的主要因素。另外,中尺度涡后侧边缘发展的次中尺度过程同样导致了该处强混合。本研究结果有助于人们进一步认识南海北部的混合过程。  相似文献
10.
A novel efficient track initiation method is proposed for the harsh underwater target tracking environment (heavy clutter and large measurement errors): track splitting, evaluating, pruning and merging method (TSEPM). Track initiation demands that the method should determine the existence and initial state of a target quickly and correctly. Heavy clutter and large measurement errors certainly pose additional difficulties and challenges, which deteriorate and complicate the track initiation in the harsh underwater target tracking environment. There are three primary shortcomings for the current track initiation methods to initialize a target: (a) they cannot eliminate the turbulences of clutter effectively; (b) there may be a high false alarm probability and low detection probability of a track; (c) they cannot estimate the initial state for a new confirmed track correctly. Based on the multiple hypotheses tracking principle and modified logic-based track initiation method, in order to increase the detection probability of a track, track splitting creates a large number of tracks which include the true track originated from the target. And in order to decrease the false alarm probability, based on the evaluation mechanism, track pruning and track merging are proposed to reduce the false tracks. TSEPM method can deal with the track initiation problems derived from heavy clutter and large measurement errors, determine the target’s existence and estimate its initial state with the least squares method. What''s more, our method is fully automatic and does not require any kind manual input for initializing and tuning any parameter. Simulation results indicate that our new method improves significantly the performance of the track initiation in the harsh underwater target tracking environment.  相似文献
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