基于正交匹配追踪的声层析方法   总被引：2，自引：0，他引：2  

李倩倩  史娟  李整林  罗宇  阳凡林  张凯 《海洋学报(英文版)》2019,38(11):149-157

声速剖面的变化会对声传播产生较大的影响，经验正交函数模型经常用来实现对声速剖面数据的简化描述。然而在内波、湍流等海水不均匀性存在时，这种正则化操作会造成声速重构精度的大幅降低。本文利用字典学习生成声速剖面的非正交原子，在稀疏编码时采用正交匹配追踪（OMP，Orthogonal Matching Pursuit）算法，更新字典则使用KSVD （Kernel Singular Value Decomposition）的字典更新算法。由于字典学习不需要强制使用正交条件，对于训练数据更加灵活，从而可以使用少数的原子组合达到更高的重构精度。利用一次浅海声学实验多次测量的声速剖面研究了海水声速剖面的经验正交函数表示和字典学习，研究表明：相比于正交函数表示，学习字典可以利用少数原子（甚至一个原子）更好的解释声速剖面扰动。字典学习可以提高声速剖面的稀疏性，从而提高声速剖面的反演精度。  相似文献   

北极冰下声传播特性实验研究   总被引：1，自引：0，他引：1  

翁晋宝  杨燕明  文洪涛  周鸿涛 《海洋学报》2019,41(3):76-85

通过2017年8月6日在北极海域开展的一次声传播实验，开展了冰下声传播特性实验研究。结合Burke-Twersky （BT）散射模型与射线模型，分析了冰下声传播的多途到达结构，研究了接收声强变化规律，解释了接收声强在30 min内衰减20 dB的现象，分析了接收信号的时间相关性，探讨了接收信号相关性较低的原因。实验结果表明，表面接收信号主要由小角度多次反转反射声线、一次海底反射声线和二次海底反射声线依次构成，表面声道到达信号显著强于海底反射信号。试验冰站在试验期间的运动导致了声传播信号强度和相关性的迅速衰减，并通过仿真得到了验证。  相似文献   

浅地层剖面系统在福建沿海海底沉船调查中的应用     

李海东  胡毅  许江  林兆彬  刘伯然  王恒波  郑江龙 《海洋技术学报》2019,38(1)

海底沉船是水下文化遗产的一种重要类型和存在形式,利用综合地球物理手段对福建平潭、莆田及福州海域的海底沉船进行了探测研究,并重点探讨了不同浅地层剖面系统及不同探测频率在不同埋藏状态的水下文物调查中的应用。结果表明:浅地层剖面探测能够有效识别处于不同埋藏状态的沉船,尤其对探测埋藏海底面以下的沉船具有其他探测手段无法比拟的优势,但是探测频率的调节对目标物探测结果存在较大差异,对于埋藏式的海底沉船低频信号探测效果较理想。  相似文献   

URANS investigation of the interaction between the free surface and a shallowly submerged underwater vehicle at steady drift     

《Applied Ocean Research》2019

An axisymmetric underwater vehicle (UV) at a steady drift angle experiences the complex three-dimensional crossflow separation. This separation arises from the unfavorable circumferential pressure gradient developed from the windward side toward the leeward side. As is well known, the separated flow in the leeward side gives rise to the formation of a pair of vortices, which affects considerably the forces and moments acting on the UV. In this regard, the main purpose of the present study is to evaluate the role of the leeward vortical flow structure in the hydrodynamic behavior of a shallowly submerged UV at a moderate drift angle traveling beneath the free surface. Accordingly, the static drift tests are performed on the SUBOFF UV model using URANS equations coupled with a Reynolds stress turbulence model. The simulations are carried out in the commercial code STARCCM+ at a constant advance velocity based on Froude number equal to F_n = 0.512 over submergence depths and drift angles ranging from h = 1.1D to h = ∞ and from β = 0 to β = 18.11°, respectively. The validation of the numerical model is partially conducted by using the existing experimental data of the forces and moment acting on the totally submerged bare hull model. Significant interaction between the low-pressure region created by the leeward vortical flow structure and the free surface is observed. As a result of this interaction, the leeward vortical flow structure appears to be largely responsible for the behavior of the forces and moments exerted on a shallowly submerged UV at steady drift.  相似文献   

A new global alignment approach for underwater optical mapping   总被引：1，自引：0，他引：1  

Armagan Elibol  Rafael Garcia 《Ocean Engineering》2011,38(10):1207-1219

Lately, underwater vehicles have become important tools for exploration, monitoring and creation of maps of the seabed. Within mapping applications, the maps obtained from optical data are becoming essential in different study areas such as biological, geological and archaeological surveys, or in detection of benthic temporal changes. However, the underwater medium is very challenging for optical sensors and does not allow the area of interest to be imaged in a single image. Therefore, image mosaicing methods are necessary. Although recent advances in detection of correspondences between images have resulted in highly effective image registration methods, global alignment methods are still needed to obtain a globally coherent mosaic. In this paper, we propose a new global alignment method which works on the mosaic frame and does not require non-linear optimisation. Additionally, a simple image rectifying method is presented to reduce the down-scaling effect which might occur when minimising errors defined in the mosaic frame. Moreover, this rectifying method can also be seen as an alternative and straightforward way of incorporating different sensor information if available. The proposed framework has been tested with underwater image sequences. The resulting method is faster than its counterparts while providing the same level of registration quality.  相似文献   

Robust coordinated motion control of an underwater vehicle-manipulator system with minimizing restoring moments     

Jonghui Han  Jonghoon Park 《Ocean Engineering》2011,38(10):1197-1206

For autonomous manipulation in water, an underwater vehicle-manipulator system (UVMS) should be able to generate trajectori9es for the vehicle and manipulators and track the planned trajectories accurately. In this paper, for trajectory generation, we suggest a performance index for redundancy resolution. This index is designed to minimize the restoring moments of the UVMS during manipulation, and it is optimized without impeding the performance of a given task. As a result, the restoring moments of the UVMS are decreased, and control efforts are also reduced. For tracking control of the UVMS, a nonlinear H_∞ optimal control with disturbance observer is proposed. This control is robust against parameter uncertainties, external disturbances, and actuator nonlinearities. Numerical simulations are presented to demonstrate the performance of the proposed coordinated motion control of the UVMS. The results show that control inputs for tracking are reduced, and the UVMS can successfully track generated trajectories.  相似文献   

A simplified approach to design fuzzy logic controller for an underwater vehicle   总被引：1，自引：0，他引：1  

K. Ishaque  S.S. Abdullah  S.M. Ayob  Z. Salam 《Ocean Engineering》2011,38(1):271-284

Fuzzy logic controller (FLC) performance is greatly dependent on its inference rules. In most cases, the more rules being applied to an FLC, the accuracy of the control action is enhanced. Nevertheless, a large set of rules requires more computation time. As a result, an FLC implementation requires fast and high performance processors. This paper describes a simplified control scheme to design a fuzzy logic controller (FLC) for an underwater vehicle namely, deep submergence rescue vehicle (DSRV). The proposed method, known as the single input fuzzy logic controller (SIFLC), reduces the conventional two-input FLC (CFLC) to a single input FLC. The SIFLC offers significant reduction in rule inferences and simplifies the tuning process of control parameters. The performance of the proposed controller is validated via simulation by using the marine systems simulator (MSS) on the Matlab/Simulink^® platform. During simulation, the DSRV is subjected to ocean wave disturbances. The results indicate that the SIFLC, Mamdani and Sugeno type CFLC give identical response to the same input sets. However, an SIFLC requires very minimum tuning effort and its execution time is in the orders of two magnitudes less than CFLC.  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   

Environmental and social aspects of underwater logging     

《Geoforum》2017

Underwater logging is a relatively new concept in forestry that has significant economic benefits but also consequences for the environment and local communities. Underwater logging has traditionally been undertaken by divers. However, safety concerns mean that conventional harvesting methods using divers need to be replaced by more sophisticated mechanized harvesting techniques. This paper outlines the environmental and social aspects of underwater logging, highlighting issues that must be considered before any underwater harvesting operations are executed. While the economic reasons for harvesting underwater logs seem compelling, as do the associated social benefits, such as employment generation, there are significant environmental impacts of removing trees from reservoirs, as submerged trees serve as important ecological habitat for aquatic life. Due to the absence of any regulatory regimes encompassing underwater logging, we propose best-practice guidelines for underwater logging operations and suggest the need for a comprehensive sustainability framework based on internationally recognized criteria and indicators to ensure underwater logging operations are environmentally safe, socially beneficial and economically viable.  相似文献   

Study on the gas-curtain generation characteristics by the multiple gas jets in a liquid-filled tube     

《Applied Ocean Research》2017

To further understand the gas-curtain generation characteristics during the launching process of the underwater guns, a simulated gas-injector with multiple nozzles is designed and the expansion process of these multiple combustion-gas jets is experimentally captured. Experiment results indicate that, with turbulent mixing between the gas jets and the liquid medium, the gas curtain is generated in the observation chamber. Based on the experiment, a three dimensional unsteady model is established to simulate the expansion process of the multiple jets. Numerical result shows, with the injection of the gas jets, pressure declines in the Taylor cavity along the axial direction at the beginning. During the expansion process, the multiple jets contact and interact with each other, and pressure rises in the mixing area. After merging, backflow vortexes interact and converge, and the vortexes move along the axial direction with the expansion of the combustion gas jets.  相似文献