LZY1—1型光电浊度仪     

郑丽英  林永斌 《台湾海峡》1990,9(1):84-87

本文介绍了LZY_(1-1)型光电浊度仪的设计原理,标定方法及使用结果,该仪器用经典法校准后,能快速测量大批量样品的悬浮物含量。  相似文献   

Expanded adaptive fuzzy sliding mode controller using expert knowledge and fuzzy basis function expansion for UFV depth control     

Hyun-Sik Kim  Yong-Ku Shin   《Ocean Engineering》2007,34(8-9):1080-1088

Generally, the underwater flight vehicle (UFV) depth control system operates with the following problems: it is a multi-input multi-output (MIMO) system, it requires robustness, a continuous control input, and further, it has the speed dependency of controller parameters. To solve these problems, an expanded adaptive fuzzy sliding mode controller (EAFSMC), which is based on the decomposition method designed by using an expert knowledge and the decoupled sub-controllers and composition method designed by using the fuzzy basis function expansions (FBFEs), is proposed. To verify the performance of the EAFSMC, the depth control of UFV in various operating conditions is performed. Simulation results show that the EAFSMC solves all problems experienced in the UFV depth control system online.  相似文献   

Code of Practice For Ocean Mining: An International Effort to Develop a Code For Environmental Management of Marine Mining     

Anthony T. Jones  Charles L. Morgan 《Marine Georesources & Geotechnology》2003,21(2):105-114

A code of practice for ocean mining has been developed by the International Marine Minerals Society. The code provides general guiding Principles for development of marine mineral resources and delineates Operating Guidelines for application, as appropriate, at specific mining sites. In total 11 operating guidelines are provided to serve as benchmarks for industry and targets for regulatory agencies and other stakeholders. They include the following commitments: •To sustainable development, •To environmentally responsible corporate ethics, •To the development of effective community partnership, •To implementation of environmental risk management, •To the integration of environmental management into all phases of development, •To the establishment of corporate environmental performance targets, •To timely environmental improvements and upgrading, •To responsible rehabilitation of operations sites and decommissioning of facilities, and •To accurate and timely, reporting and documentation, archiving, and performance review.  相似文献   

Experimental investigation on a two-part underwater towed system     

Jiaming Wu  Allen T. Chwang 《Ocean Engineering》2001,28(6)

An experimental set-up is developed and proved to be effective for laboratory study of an underwater towed system. The experimental technique gives a practical method for monitoring the kinematic and dynamic performance of an underwater towed system in a ship towing tank. Both the theoretical and experimental results in the investigation indicate that the hydrodynamic response of a towed vehicle to the wave induced motion of a towing ship can be significantly reduced by applying a two-part tow method. A comparison of the numerical and experimental results in the investigation demonstrates that the numerical simulation results are close to the experimental data, overall agreement between experimental and theoretical results is satisfactory. The results qualitatively verify the mathematical model of a two-part underwater towed system proposed by Wu and Chwang [Wu, J., Chwang, A.T., 2000. A hydrodynamic model of a two-part underwater towed system. Ocean Engineering 27 (5), 455–472].  相似文献   

Dynamics and control of a towed underwater vehicle system, part I: model development     

B. Buckham  M. Nahon  M. Seto  X. Zhao  C. Lambert 《Ocean Engineering》2003,30(4):82-470

Autonomous vehicles are being developed to replace the conventional, manned surface vehicles that tow mine hunting towed platforms. While a wide body of work exists that describes numerical models of towed systems, they usually include relatively simple models of the towed bodies and neglect the dynamics of the towing vehicle. For systems in which the mass of the towing vehicle is comparable to that of the towed vehicle, it becomes important to consider the dynamics of both vehicles. In this work, we describe the development of a numerical model that accurately captures the dynamics of these new mine hunting systems. We use a lumped mass approximation for the towcable and couple this model to non-linear numerical models of an autonomous surface vehicle and an actively controlled towfish. Within the dynamics models of the two vehicles, we include non-linear controllers to allow accurate maneuvering of the towed system.  相似文献   

海水液压驱动的水下作业工具系统   总被引：1，自引：0，他引：1  

刘银水  郭占军  朱碧海  贺小峰  李壮云 《海洋技术学报》2006,25(4):65-69

论文介绍了海水液压作业工具系统的工作原理、关键技术问题及样机和试验结果。该系统同电动、气动或油压工具相比,具有诸多独特的优势,在海洋开发、船舶工程等领域均有广阔的应用前景。  相似文献   

A hierarchical real-time control architecture for a semi-autonomous underwater vehicle   总被引：1，自引：0，他引：1  

Ji-Hong Li  Bong-Huan Jun  Pan-Mook Lee  Seok-Won Hong 《Ocean Engineering》2005,32(13):282-1641

This paper describes a real-time control architecture for Dual Use Semi-Autonomous Underwater Vehicle (DUSAUV), which has been developed at Korea Research Institute of Ships and Ocean Engineering (KRISO) for being a test-bed of development of underwater navigation and manipulator technologies. DUSAUV has three built-in computers, seven thrusters for six DOF motion control, one 4-function electric manipulator, one ballasting motor, built-in power source, and various sensors. A supervisor control system with GUI and a multi-purpose joystick is mounted on the surface vessel and communicates with vehicle through a fiber optic link. Furthermore, QNX, one of real-time operating system, is ported on the built-in control and navigation computers for real-time control purpose, while Microsoft OS product is ported in the supervisor computer for GUI programming convenience. A hierarchical control architecture, which consists of application layer, real-time layer and physical layer, has been developed for efficient control system of above complex underwater robotic system. The experimental results with implementation of the layered control architecture for various motion control of DUSAUV in an ocean engineering basin of KRISO is also presented.  相似文献   

Twelve years of tracking 52-Hz whale calls from a unique source in the North Pacific     

William A. Watkins  Mary Ann Daher  Joseph E. George  David Rodriguez 《Deep Sea Research Part I: Oceanographic Research Papers》2004,51(12):1889-1901

A unique whale call with 50–52 Hz emphasis from a single source has been tracked over 12 years in the central and eastern North Pacific. These calls, referred to as 52-Hz calls, were monitored and analyzed from acoustic data recorded by hydrophones of the US Navy Sound Surveillance System (SOSUS) and other arrays. The calls were noticed first in 1989, and have been detected and tracked since 1992. No other calls with similar characteristics have been identified in the acoustic data from any hydrophone system in the North Pacific basin. Only one series of these 52-Hz calls has been recorded at a time, with no call overlap, suggesting that a single whale produced the calls. The calls were recorded from August to February with most in December and January. The species producing these calls is unknown. The tracks of the 52-Hz whale were different each year, and varied in length from 708 to 11,062 km with travel speeds ranging from 0.7 to 3.8 km/h. Tracks included (A) meandering over short ranges, (B) predominantly west-to-east movement, and (C) mostly north-to-south travel. These tracks consistently appeared to be unrelated to the presence or movement of other whale species (blue, fin and humpback) monitored year-round with the same hydrophones.  相似文献   

新疆博格达南缘后碰撞期陆内裂谷和水下滑塌构造   总被引：13，自引：10，他引：13  

舒良树  朱文斌王博　M. Faure　J. Charvet　D. Cluzel 《岩石学报》2005,21(1):25-36

本文较为系统地研究了哈密市七角井-车轱辘泉和乌鲁木齐市白杨沟地区晚古生代后碰撞期陆内裂谷和滑塌构造的几何学、岩石学和地球化学特征。研究表明,在博格达山南缘的七角井-车轱辘泉一带,玄武岩和流纹岩彼此互层产出,构成厚度较大的后碰撞期双峰式火山岩系,呈近东西方向平行造山带展布,堆积在早二叠世红色磨拉石之上;在白杨沟一带,后碰撞水下滑塌堆积岩与火山岩共存,构成一个厚1300m的滑塌构造剖面,由水下滑塌堆积岩夹双峰式火山岩带、枕状熔岩-气孔状玄武岩带和硅质、泥砂质岩带所组成。其底部以北东走向的拆离断层和晚石炭世灰岩、砂岩岩层接触。在岩石地球化学特征上,火山岩的SiO2含量在53%-67%之间出现间断,呈现双峰式火山岩的特点。其中,流纹岩SiO2平均71.65%,CaO2.15%,Na2O与K2O含量相近(3.2%-3.7%),含碱量>含钙量,ANKC值>1.1;轻稀土富集、稀土总量高,铕亏损,具明显Eu负异常。与之共生的玄武岩则以富硅贫碱为特征,SiO2平均51.05%,TiO2含量变化较大,轻稀土轻度富集,铕异常不明显,属拉斑系列玄武岩类。其特征和东非阿法尔裂谷的双峰式火山岩相近,反映陆内裂谷环境。对滑塌堆积岩带中的辉绿玢岩作锆石U-Pb测年,获289±5Ma年龄值,相当于二叠纪初期。从晚二迭叠世开始,全区处于相对稳定的剥蚀-堆积环境中,形成了厚度较大的磨拉石,并逐渐演化为三叠纪的准平原化环境。  相似文献   

Nonlinear adaptive control of an underwater towed vehicle     

Francisco Curado Teixeira  António Pedro Aguiar 《Ocean Engineering》2010,37(13):1193-1220

This paper addresses the problem of simultaneous depth tracking and attitude control of an underwater towed vehicle. The system proposed uses a two-stage towing arrangement that includes a long primary cable, a gravitic depressor, and a secondary cable. The towfish motion induced by wave driven disturbances in both the vertical and horizontal planes is described using an empirical model of the depressor motion and a spring-damper model of the secondary cable. A nonlinear, Lyapunov-based, adaptive output feedback control law is designed and shown to regulate pitch, yaw, and depth tracking errors to zero. The controller is designed to operate in the presence of plant parameter uncertainty. When subjected to bounded external disturbances, the tracking errors converge to a neighbourhood of the origin that can be made arbitrarily small. In the implementation proposed, a nonlinear observer is used to estimate the linear velocities used by the controller thus dispensing with the need for costly sensor suites. The results obtained with computer simulations show that the controlled system exhibits good performance about different operating conditions when subjected to sea-wave driven disturbances and in the presence of sensor noise. The system holds promise for application in oceanographic missions that require depth tracking or bottom-following combined with precise vehicle attitude control.  相似文献