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This article reviews the literature involving benthic invertebrates that are cited in association with hull fouling, reporting the species that occur on the Brazilian coast and evaluating the importance of this vector for the introduction of nonindigenous and cryptogenic invertebrates in Brazil. It discusses some of the strategies that were used by the species that allowed for their overseas transport and made it easier to cross natural barriers that otherwise would have been obstacles to their dispersion. The compiled data list 343 species (65% nonindigenous and 35% cryptogenic), mainly from the northwestern Atlantic Ocean. The traveling fauna, composed mostly of cosmopolitan species (70.3%), is primarily euryhaline and marine stenohaline, with sessile and sedentary habits. After delineating the shipborne species’ ecological profiles and traveling strategies and evaluating their overlapping vectors, we concluded that hull vessels were the main vector of introduction to the Brazilian coast for 89.8% of the compiled species. 相似文献
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Collision at sea is always a significant issue affecting the safety of ship navigation. The shipborne autonomous collision avoidance system (SACAS) has the great advantage to minimize collision accidents in ship navigation. A parallel trajectory planning architecture is proposed in this paper for SACAS system. The fully-coupled deliberative planner based on the modified RRT algorithm is developed to search for optimal global trajectory in a low re-planning frequency. The fully-coupled reactive planner based on the modified DW algorithm is developed to generate the optimal local trajectory in a high re-planning frequency to counteract the unexpected behavior of dynamic obstacles in the vicinity of the vessel. The obstacle constraints, ship maneuvering constraints, COLREGs rules, trajectory optimality, and real-time requirements are satisfied simultaneously in both global and local planning to ensure the collision-free optimal navigation in compliance with COLREGs rules. The on-water tests of a trimaran model equipped with a model-scale SACAS system are presented to demonstrate the effectiveness and efficiency of the proposed algorithm. The good balance between the computational efficiency and trajectory optimality is achieved in parallel trajectory planning. 相似文献
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Chan Hong Park Jeong Woo Kim Nobuhiro Isezaki Daniel R. Roman Ralph R. B. von Frese 《Marine Geophysical Researches》2006,27(4):253-266
To facilitate geological analyses of the Ulleung Basin in the East Sea (Japan Sea) between Korea and Japan, shipborne and satellite altimetry-derived gravity data are combined to derive a regionally coherent anomaly field. The 2-min gridded satellite altimetry-based gravity predicted by Sandwell and Smith [Sandwell DT, Smith WHF (1997) J Geophys Res 102(B5):10,039–10,054] are used for making cross-over adjustments that reduce the errors between track segments and at the cross-over points of shipborne gravity profiles. Relative to the regionally more homogeneous satellite gravity anomalies, the longer wavelength components of the shipborne anomalies are significantly improved with minimal distortion of their shorter wavelength components. The resulting free-air gravity anomaly map yields a more coherent integration of short and long wavelength anomalies compared to that obtained from either the shipborne or satellite data sets separately. The derived free-air anomalies range over about 140 mGals or more in amplitude and regionally correspond with bathymetric undulations in the Ulleung Basin. The gravity lows and highs along the basin’s margin indicate the transition from continental to oceanic crust. However, in the northeastern and central Ulleung Basin, the negative regional correlation between the central gravity high and bathymetric low suggests the presence of shallow denser mantle beneath thinned oceanic crust. A series of gravity highs mark seamounts or volcanic terranes from the Korean Plateau to Oki Island. Gravity modeling suggests underplating by mafic igneous rocks of the northwestern margin of the Ulleung Basin and the transition between continental and oceanic crust. The crust of the central Ulleung Basin is about a 14–15 km thick with a 4–5 km thick sediment cover. It may also include a relatively weakly developed buried fossil spreading ridge with approximately 2 km of relief. 相似文献
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