基于无人船的水质监测及控制系统设计

针对执行水质监测任务过程中固定浮标监测站单点监测存在局限性、船载观测人员取样耗时耗力等问题,本文设计了一种搭载多点、分层自动采水取样装置的智能无人船水质监测系统,可实现目标水域的多点、分层连续水质数据测量及取样。该智能无人船具备基于快速随机树(Rapid Random Tree)算法的自主避障和快速路径规划功能,解决了现有无人船技术存在的多障碍自主路径规划难等问题。同时,本设计结合了ARM9控制芯片、M5310无线传输模块,通过可视化的显示界面和远程WEB访问的功能,大大提升了科研人员及时处理特殊情况便捷性。通过实验测试及比对分析,证明本设计具有智能高效、稳定可靠等优点,能够满足职能部门对于水质监测工作的需要。     

一种海洋环境监测无人船系统及其海洋应用

无人船是一种新型的无人多功能海洋监测平台,能够以遥控或自动方式完成连续性海洋参数测量。针对湖泊和近海的海洋环境监测,自主研发了一种双体双推进式无人船系统"USBV"。利用该无人船系统,搭载信标差分GPS、单波束测深仪和CTD(温盐深仪),于2014-10-11在连云港当路水库和连岛海域,开展了水深、温度和盐度的自动航行监测。通过分析无人船的自动航行性能和深度、温度与盐度的测量结果,验证了无人船"USBV"用于海洋环境监测的自动性和可行性。     

走航式水质采集监测平台的构建

走航式水质采集监测平台是近年来发展的一种新型海洋监测方式,适用于近海海域、水库、河流、湖泊等多种水体的水质监测,可以实现水质采集监测自动化,有助于对重要监测单位实施自动化监控管理。近海走航式水质采集监测平台是多学科的集成和整合。平台采用双体船、双螺旋桨全密封结构,在虚拟仪器软件的控制下,可以实现自主规划路径、自主导航和自主避障、智能采集水样和实时传送监测数据等功能。自诊断自确认系统保证了近海走航式水质采集监测平台系统的安全运行,以太阳能和锂蓄电池为混合动力、无二次污染。通过实际海洋环境测试,证明了该平台具有很强的实用性和广阔的应用前景。     

船载水样自动采集系统

为了适应我国近海海洋环境监测快速、多要素的现场监测需求,研制了一套船载水样自动采集系统,系统控制方式简单灵活,具有全自动、半自动和手动三种控制模式。该系统由采水泵、复合采水缆、电动绞车、电控柜、储水罐等硬件和控制软件组成。在软件的控制下,绞车、采水泵等执行元件可自动开启和关闭,自动完成同一地点不同深度的多层水样采集。与传统人工采水方式相比,可大大减轻实验人员的劳动强度,减小水样采集的深度误差。渤海和东海大量的海上试验证明该系统性能稳定,能够适用于营养盐分析仪对水样的要求。     

Applicability Study on Seawater Sample from Shipbome Automatic Water Sampling and Distributing Device

为研究船载水样自动采集与分配系统(自动采样系统)所采水样的适用性,在胶州湾海域用自动采样系统和传统采水器两种方式采集水样,在陆基实验室进行了测定,并应用方差分析和相关分析对数据进行了统计分析.结果表明,自动采样系统输送的术样可以满足营养盐和重金属常规监测趵需要,并且提高了采样效率.首次探讨了自动采样系统与传统采木器对采样分析结果的影响.     

船载水样自动采集与分配系统所采水样的适用性研究

为研究船载水样自动采集与分配系统(自动采样系统)所采水样的适用性,在胶州湾海域用自动采样系统和传统采水器两种方式采集水样,在陆基实验室进行了测定,并应用方差分析和相关分析对数据进行了统计分析。结果表明,自动采样系统输送的水样可以满足营养盐和重金属常规监测的需要,并且提高了采样效率。首次探讨了自动采样系统与传统采水器对采样分析结果的影响。     

无人船监测与测量技术进展

为了促进无人船技术得到快速发展,较系统地综述了无人船监测与测量的基本原理、主要性能和典型应用,同时对无人船的船身结构、动力系统、测量载荷等硬件设备以及数据处理、岸基控制等软件系统做了较为详细的阐述。最后对当前无人船测量技术发展中存在的难题进行了深入分析与探讨,以期我国的无人船监测与测量技术能够得到较为迅速的发展并得到广泛的应用,满足社会发展的需要。     

基于无人机和无人船的岛礁地形测绘技术

无人岛礁及其周边环境复杂、基准不一,对其进行高精度测绘存在诸多困难。介绍了一种基于无人机和无人船的测绘系统,融合大地测量、无人机航空遥感、无人船水下测绘等多源观测技术获取无人岛礁一体化测绘成果。并在广东省珠海市的三角岛进行实地测量,获取了海岛水上水下一体的三维点云、等值线、DOM等数据,陆上成果精度达厘米级,水深测量成果符合相关规范要求,该成果可广泛应用于海洋、国土、测绘、规划、建设等领域,有助于解决无人岛礁缺乏控制点造成的数据精度低、各部门需求数据多次采集耗时费力等问题。实践证明该技术具有一定的工程意义。     

南海近海水中U,90Sr,137Cs,3H和总β放射性分布

1 水样的采集和分析 1.1 水样的采集和预处理 在1988～1990年间,我们对南海近海(包括大亚湾核电站周围海区)进行了放射性本底监测。共布设11个采水站位(见表1),每年3～4月份采水样一次,每站均采其表层海水100L,将所采海水装入塑料桶,并按每升海水加1ml浓HCL的比例进行酸化处理。 1.2 海水中放射性物质的分析     

基于资源一号数据的棋盘山水库水质信息提取

利用遥感技术对棋盘山水库进行水质信息提取,并根据水质状况进行相应的治理,对保证旅游区景观和水库内部生态环境稳定至关重要.利用资源一号02D卫星在短波红外谱段进行谱段细分的特点,在现有水质反演模型的基础上提取棋盘山水库的水质信息.为检验资源一号02D卫星数据的水质参数反演能力,将水质反演参数与主流卫星Sentinel-2...     

Derivation of Bathymetry from High-resolution Optical Satellite Imagery and USV Sounding Data

Remote sensing bathymetry inversion can quickly obtain water depth data of large areas, but this process relies on a large number of in-situ depth data points. USV-based (Unmanned Surface Vehicle) technique can obtain the bathymetry data of shallow water where ordinary ships are inaccessible, but this technique is inefficient and generally only data along survey line can be collected. The combination of USV and high-resolution remote sensing provides a new solution for water depth surveying and mapping around an island. This paper focuses on the key techniques, using USV sounding data and GeoEye-1 multispectral remote sensing images covering the region of Wuzhizhou island in the experiment. The results show that the MAE (Mean Absolute Error) of USV sounding is 0.25 m, while the MRE (Mean Relative Error) is 1.41%, and the MRE of remote sensing bathymetry aided by USV sounding can be controlled within 20%. Errors are mainly from areas shallower than 5 m, and are also affected by the USV sounding position accuracy. It shows that it is feasible to combine the USV sounding and high-resolution remote sensing bathymetry, and this technique has broad application prospects in the field of bathymetry in large shallow areas.     

Flow and geochemistry of groundwater beneath a back-barrier lagoon: The subterranean estuary at Chincoteague Bay,Maryland, USA

To better understand large-scale interactions between fresh and saline groundwater beneath an Atlantic coastal estuary, an offshore drilling and sampling study was performed in a large barrier-bounded lagoon, Chincoteague Bay, Maryland, USA. Groundwater that was significantly fresher than overlying bay water was found in shallow plumes up to 8 m thick extending more than 1700 m offshore. Groundwater saltier than bay surface water was found locally beneath the lagoon and the barrier island, indicating recharge by saline water concentrated by evaporation prior to infiltration. Steep salinity and nutrient gradients occur within a few meters of the sediment surface in most locations studied, with buried peats and estuarine muds acting as confining units. Groundwater ages were generally more than 50 years in both fresh and brackish waters as deep as 23 m below the bay bottom. Water chemistry and isotopic data indicate that freshened plumes beneath the estuary are mixtures of water originally recharged on land and varying amounts of estuarine surface water that circulated through the bay floor, possibly at some distance from the sampling location. Ammonium is the dominant fixed nitrogen species in saline groundwater beneath the estuary at the locations sampled. Isotopic and dissolved-gas data from one location indicate that denitrification within the subsurface flow system removed terrestrial nitrate from fresh groundwater prior to discharge along the western side of the estuary. Similar situations, with one or more shallow semi-confined flow systems where groundwater geochemistry is strongly influenced by circulation of surface estuary water through organic-rich sediments, may be common on the Atlantic margin and elsewhere.     

南通近岸海域水质特征的因子及聚类分析研究

基于2012年5月、8月和10月3个航次水质环境调查资料,利用因子分析探讨南通近岸海域海水水质主要影响因素的空间分布特征;通过站位聚类分析进行了区域类别划分,并对各区的主要影响因素及其季节变化进行了分析。因子分析结果显示,南通近岸海域主要存在4种水质影响因素,总体表现为受近岸污染源的控制影响,其中F1(NO-2-N、石油类)高值区位于冷家沙西北侧,是北上长江径流与外海水在冷家沙浅滩处相遇作用的结果;F2(DO、NO-3-N)体现了外海水进入的影响,其值由近岸向离岸逐渐增大;F3(COD、PO3-4-P)显示了河流输入的影响,F4(NH+4-N)体现了人为源的作用,两者高值区均分布于栟茶运河河口和长江口北侧。站位聚类分析显示,南通近岸海域可划分为5个类型区,其中A区(小洋口港近岸区域)受陆源河口排污影响,且所处水道尾部水文动力条件弱,污染严重;B区(烂沙洋海域)受西侧相邻的河口排污区和近岸污染影响,在主要潮汐通道的强动力作用下,污染程度较轻;C区(冷家沙区域)为B、D两区之间的潮滩区,受到B、D两区域污染的综合影响;D区(冷家沙南侧近岸海域)主要受近岸污染影响,为小庙洪和网仓洪的强动力控制区;长江入海携带污染物及水流扰动对E区(东南部离岸海域)有一定干扰。不同空间类型分区体现了区域动力地貌在海洋污染物分布中的强烈影响。     

星座图贴近度方法在广西北海近海水质监测优化布点上的应用

本文将星座图聚类、欧几里得距离贴近度、中国近海水质评价及t检验方法结合起来,对广西北海近海水质监测点进行分类、择优布点及检验。结果表明,这是一种实用的优化布点方法。     

MDT测试资料确定气水界面的方法研究

通过对MDT测压资料的分析,发现了造成测试点压力值存在误差的主要原因有两个方面：一方面是由于部分测压点储层物性差,测试探针抽吸地层流体后储层压力恢复需要的时间较长,然而由于实际原因测试压力恢复无法等待足够的测试时间;另一方面是由于部分物性较差储层较难形成好的泥饼,以至于受到比较严重的泥浆侵入使得测试点产生超压现象,测试得到的地层压力和实际压力相比偏大.同时分析发现物性较好的储层往往能够得到相对可靠的测试压力.合理的气水界面对于计算探明地质储量有着很重要的意义,尤其是高温高压气田,气水过渡带往往较大,可能会达到30m左右,这种情况下无法仅从钻遇情况分析气水界面,此时可以结合MDT测压资料分析气水界面,从而确定合理的地质储量.通过分析实际MDT测压资料,对不同测压点进行了误差分析并在此基础上提出了压力数据点的筛选原则.通过实际检验认为新的回归方法确定出的气水界面科学合理.     

Mesozooplankton spatial distribution and community structure in the South Adriatic Sea during two winters (2015, 2016)

Whereas the data on mesozooplankton in the epipelagic offshore Mediterranean Sea are extensive, less information is available about plankton in the deeper layers. The present study aims to describe the vertical and horizontal structure and distribution of mesozooplankton species and their associations down to 1,200 m in the water of the Southern Adriatic Sea. Zooplankton were sampled using a Nansen net of 200‐μm mesh size during two cruises in the winters of 2015 and 2016, extending from the coast to the open sea. In total, 203 zooplankton taxa were identified. The community was dominated by copepods, representing between 67% and 91% of the total abundance. The highest total densities were recorded in the upper layers where a high proportion (up to 36%) of appendicularians was also observed in the first sampled year. Five groups of samples were determined based on their community structure. In 2015 communities were distinct between the 0 and 50 m layer and the underlying one (50–100 m), whereas in 2016 epipelagic waters were inhabited by a more uniform mesozooplankton community. The mesopelagic and deep‐water fauna, especially copepods, showed a relatively stable composition in both sampling years Overall, our study confirms the oligotrophic character of the Southern Adriatic, with occasional density outbreaks of appendicularians under favourable conditions.     

一种基于有限状态机模型的局部转向避碰路径规划算法

针对多礁石、渔船等障碍物的近海复杂环境下的一些应用,提出了一种基于有限状态机(finite-state machine,FSM)模型的无人船(unmanned surface vehicle,USV)局部转向避碰路径规划算法。首先,基于速度障碍法和障碍物区域分层方法,获取无人船固定航速条件下的航向角约束解析结果。然后,基于该约束条件及障碍物探测情况设计FSM的有限状态及执行动作和状态迁移条件,其中,通过转向控制实现向目标位点或缓冲位点进行导航的状态为FSM的2个重要状态。最终通过FSM的执行实现局部转向避碰路径规划。仿真结果表明提出的多障碍物避碰算法具有可行性和实用性。该方法易于改进和扩展,且容易与当前主流的无人船控制系统结合,有利于无人船避碰系统快速工程化的实现。     

青山水库轮虫群落结构特征的时空差异对水质变化的影响

为研究青山水库轮虫群落结构特征的时空差异对水质变化的影响,对其进行了四个季度的采样调查。结果共发现轮虫物种30种,分属于9个科,其中优势种为长肢多肢轮虫和针簇多肢轮虫,后者是一种污染指示种,表明水质处于中度污染状态。轮虫平均密度为171 ind./L,平均生物量为0.0158 mg/L。通过对水库理化因子与轮虫群落生物指数进行相关性分析,初步确定水温和溶解氧是青山水库轮虫群落演替的主要影响因子。根据轮虫群落结构聚类分析表明,青山水库分为四大区域。另外,主成分分析结果表明水质的下降可能与营养盐的的增加有关,特别是氮的输入。综合理化指标、营养状态指数、轮虫多样性指数以及优势种指示种等多种评价方法,结果表明2012—2013年青山水库水质属于中度—重度污染之间,营养程度为中度富营养状态,青山水库水环境污染严重。依据理化指标和轮虫群落结构特征来评价水质状况,得到的结果基本一致,因此轮虫可以作为青山水库一个较为理想的检测指标。     

Summer spatial patterns of the fish community in a large,shallow, turbid coastal lake

Several water quality parameters, marginal vegetation, and the fish community in Lake Ellesmere, a large, shallow, turbid lake situated on the east coast of the South Island, New Zealand, were sampled along selected transects in late summer to determine species spatial patterns. Thirteen species offish were caught, with seven of them comprising major populations, although only four of these were adequately sampled by the method used—they included inanga (Galaxias maculatus), common smelt {Retropinna retropinna), shortfinned eel (Anguilla australis), and common bully (Gobiomorphus cotidianus). Inanga were almost exclusively confined to areas on the western side of the lake which has a convoluted shoreline with a variety of small embayments with scattered vegetation along the margins. Common smelt occupied both marginal and offshore areas, but they too were more abundant along the margins particularly on the western side. Both the common bully and shortfinned eel were widespread and abundant in the lake, although their abundance and biomass were higher within the vicinity of the lake outlet, major inflowing tributaries, and other marginal habitats. All three species of flounders of the genus Rhombosolea were poorly represented in our samples. However, in commercial catches they were reasonably abundant, with the sand flounder (R. plebeia) and yellowbelly (R. leporina) being more common in offshore than inshore catches, whereas the black flounder (R. retiaria) showed no difference in the catches between areas. Our overall findings are consistent with the hypothesis that bottom‐dwelling species (eels, bullies, flounders) are more widely distributed than free‐swimming forms (inanga, common smelt), which were largely confined to areas sheltered from prevailing winds. The highly turbid nature of the lake, primarily because of re‐suspension of fine bottom sediments by frequent winds, is considered an important factor in the distribution of the fish fauna.     

The effect of an offshore bank in attenuating waves

Waverider buoys were installed in approximately 16 m of water offshore of the Size-well-Dunwich Bank off the East Coast of England and in approximately 11 m of water inshore of it. Minimum water depth over the bank was approximately 4.5 m at mid-tide level. Simultaneous records were obtained for substantial periods between November 1978 and May 1979. These show negligible attenuation for small waves, but as the offshore waveheight increased, the inshore waveheight tended to saturate at an H_s of about 3 m. The form of the relationship between inshore and offshore waveheight is predicted theoretically assuming that high individual waves which cross the bank are limited by breaking. The theoretical curve agrees well with the measured data. The measured saturation level corresponds to a wave breaking when its height is approximately 0.5 the water depth, which is considerably lower than the usual engineering criterion. However, some published tank results also appear to show the same low value.