Analytical investigations on loop-manoeuvre of underwater towed cable-array system

The paper reports on analytical case studies on the loop manoeuvre of an underwater towed cable-array system to give an insight into the tactical aspects of their naval applications. The analytical formulation and the solution procedure adopted for this three dimensional dynamic problem is also described. The case studies have been carried out for different loop radii, tow lengths, tow speeds and truncated loops. The resulting X,Y,Z co-ordinates of the towed cable-array and tow-point tensions have been computed. Based on these results, the tow-length to loop radii ratio, leading to cable-array system looping, has been found. The values of speed reduction and turning radius, causing dangerous relaxation in tow-point tension have been worked out. After exit from the loop, the timing required for realignment of the cable-array system with the ship's heading can be obtained from plots of the results. These timings help to plan ship manoeuvres to optimise reestablishment of stable listening conditions during underwater surveillance.     

A two-mode numerical model with applications to coastal upwelling

A continuously stratified, linear two mode numerical model has been developed. The model incorporates a free surface and finite amplitude topography.The vertical dependence in the equations is removed by applying a Galerkin procedure which uses the normal modes as test functions. The vertical structure is therefore determined by the normal modes.In order to find a suitable efficient numerical scheme to solve the equations a fairly general phase and stability analysis is carried out for the one dimensional gravity wave equations. The A.D.I. scheme was found to be the most suitable scheme.The model is applied to coastal upwelling. A number of two dimensional (x, z) experiments have been carried out. The advantage of the two mode model above the two layer models is that considerable detail of the vertical structure is readily obtained and that no difficulties with the intersection of interfaces with the topography or the seasurface are present. A three dimensional (x, y, z) test run was done for a region along the south western coast of Africa. The results of this experiment are discussed.     

基于水下摄像的渔山列岛厚壳贻贝资源评估与分析

厚壳贻贝是我国东部沿海重要的经济贝类之一,自然环境中栖息范围不甚明确。本文于2014年7月间利用水下摄像的手段,调查和分析了渔山列岛不同断面上厚壳贻贝的自然分布特征。结果表明:渔山列岛潮下带5条断面的生态类型差异显著,不同断面栖息的优势种也不相同;断面间厚壳贻贝的栖息密度均值为37.04~185.80 ind/m2,其中断面A的栖息密度最低,断面E的栖息密度最高,断面C和断面D的栖息密度相差不大,但是不同调查样方内厚壳贻贝的栖息密度从0~388.89 ind/m2不等;厚壳贻贝主要分布在水深3~9 m的水层中,其中以水深5~8 m的水层中最为密集,约占总栖息密度的90%以上;在水深8 m的区带上,厚壳贻贝的栖息密度为160.19 ind/m2,当水深小于1 m和大于11 m时,厚壳贻贝分布极少;经双因素方差分析表明,厚壳贻贝栖息密度在不同断面(F=57.011,P<0.01)和不同水层(F=66.495,P<0.01)中的差异均极显著,断面和水层的交互作用(F=10.483,P<0.01)对厚壳贻贝的自然分布也有极显著差异;经检验,厚壳贻贝栖息密度(A)的自然分布与水深(D)呈正态分布,可以用高斯方程拟合,R2的取值范围为0.8753~0.9997;利用聚类分析发现,调查样方被明显的分为3组,体现了水深在厚壳贻贝自然分布中的显著作用。     

Reflection of a long wave from an underwater slope

Reflection of long sea waves from an underwater slope described by a power law is studied within the shallow water theory. The slope is connected with the flat bottom. This model allows us to estimate the roles of a pointwise reflection from the inflection point of the bottom profile and distributed reflection at the underwater slope. The case of the underwater slope described by the so-called nonreflecting beach (h(x) ∼ x ^4/3, where h is the depth of the basin and x is the coordinate) when the wave is reflected only from the inflection point (pointwise reflection) is specially considered. The reflection and transmission coefficients over the bottom topography were calculated, and it was shown that the sum of the squared absolute values of these values differs from unity for all profiles except the nonreflecting one. This difference is related to the distributed re-reflections (resonances) over the underwater slope that lead to the deviations in the wave height from the known Green’s law.     

Towed cable behaviour during ship turning manoeuvers

The results of dynamic and steady-state cable simulations are used to show that a towed system can behave in either of two different ways on entering a turn. In a large radius turn the system maintains its straight-tow equilibrium configuration but in a slightly perturbed form. In a turn of small radius the system effectively collapses resulting in a large increase of fish depth and cable tension. A formula is included by which the approximate minimum radius of turn that does not precipitate collapse can be quickly calculated.Non-dimensional tables are presented giving details of the equilibrium configuration adopted by the cable when the ship maintains a circular course.Graphs are presented from which the time constants for the decay of lateral and longitudinal disturbances of 2-D cable profiles can be easily calculated. These can be used to estimate the time taken for a towed system to return to equilibrium following a manoeuvre.The derivation of the equations for the steady-state configurations and the time constants are included in appendices.     

基于能耗最优的TLP张力腿水下无线监测组网方法研究

张力腿作为张力腿平台(tension leg platform,简称TLP)的重要组成部分,服役水深大,动力学行为复杂多样。为了保障张力腿的结构安全,开展张力腿的水下全方位监测十分必要。文中以某TLP为依托,构建一套能耗最优的张力腿监测系统。首先,利用附加质量法对张力腿进行湿模态分析,结合有效独立法与模态置信度准则确定张力腿监测节点的具体布设方案;其次,以能耗最低为优化目标,基于遗传算法建立了水下无线组网监测方案,同时讨论了监测节点存在失效时监测数据传输路径改变方案;最终,得到一套能耗最优的TLP张力腿水下无线组网监测方法,以降低水下监测系统维护成本。     

A long‐range and high‐resolution underwater acoustic positioning system

Abstract

It is desired to track the location of an underwater data collecting platform using acoustic range data. A long‐range and high‐resolution acoustic system for underwater locating has been investigated. The system provides continuous and highly accurate tracking of a platform referenced to bottom‐mounted buoys. Each reference buoy contains an acoustic transponder, which is used to obtain ranging data from the transponder to the platform. The transponder has a signal source that is phase‐modulated by a maximal‐length binary sequence and a correlation processing unit to be capable of detecting received acoustic signals with high SNR in a noisy environment or in attenuation due to long‐range propagation, and to identify multipath acoustic signals. The acoustic system has been designed and sea tests tried. The results of that experiment have yielded capability of a submeter underwater acoustic positioning system.     

Development of a deep ocean electric autonomous manipulator

This paper describes an underwater 3500 m electric manipulator (named Huahai-4E,stands for four functions deep ocean electric manipulator in China),which has been developed at underwater manipulation technology lab in Huazhong University of Science and Technology (HUST) for a test bed of studying of deep ocean manipulation technologies.The manipulator features modular integration joints,and layered architecture control system.The oil-filled,pressure-compensated joint is compactly designed and integrated of a permanent magnet (PM) brushless motor,a drive circuit,a harmonic gear and an angular feedback potentiometer.The underwater control system is based on a network and consisted of three embedded PC/104 computers which are used for servo control,task plan and target sensor respectively.They communicate through User Datagram Protocol (UDP) multicast communication in Vxworks OS.A supervisor PC with a virtual 3D GUI is fiber linked to underwater control system.Furthermore,the manipulator is equipped with a sensor system including a unique ultra-sonic probe array and an underwater camera.Autonomous grasp strategy based multi-sensor is studied.The results of watertight test in 40 MPa,joint’s efficiency test and autonomous grasp experiments in tank are also presented.     

Study on visual control system of acoustic in situ measurement technology for survey of seafloor sediment

Abstract

A new kind of visual acoustic measurement system was developed to obtain the acoustic characteristics of seabed sediment and the working state of in situ measuring equipment in real time. The control unit of the system structure is mainly made up of the underwater control unit and the deck control unit. In comparison with similar traditional systems, the system can transmit the working video image, the measured acoustic data and the waveform synchronous from the underwater control equipment to the deck control unit through the connecting cable. Apart from self-contained in situ measurement, the working modes of it include visual online real-time control. In order to guarantee the stability and measurement precision of the video control system, the process control of in situ measurement was strictly tested in the experimental tank. In 2017, sea trials of the in situ measurement system was carried out in the South China Sea. In the process, data related to measurement, including the acoustic velocity and attenuation coefficient of the seabed sediment, were obtained as well. The results from sea trials show that the control process of the visual system is intuitive, reliable and accurate, and therefore it can be popularized and applied.     

Investigation of motions of catamarans in regular waves—I

In this paper an analytical technique based on the two-dimensional Green function method associated with a cross-flow approach for taking viscous effects into account to estimate the motion response of catamarans in the frequency domain is presented. In order to validate this method, the numerical results are compared with experimental values obtained for two different catamarans (ASR5061 [Wahab, R., Pritchett, C. and Ruth, L.C. 1971. On the behaviour of the ASR catamaran in waves. Marine Technology, 8, 334–360] and Marintek [Faltinsen, O., Hoff, J.R., Kvalsvold, J. and Zhao, R. 1992. Global loads on high speed catamarans. 5th Int. Symp. on Practical Design of Ships and Mobile Units, University of Newcastle-upon-Tyne, 1.360–1.373]).In the second part of the paper the tests carried out with a third catamaran configuration at the Hydrodynamics Laboratory of the University of Glasgow are presented to evaluate the non-linear effects. These test results cover different speeds and wave heights at a wide range of wave frequencies. The paper concludes that the two-dimensional method correlates very well with measurements of small amplitude motions. For large amplitude motion tests, the non-linear effects become significant when the model speed and wave amplitudes increase. The peak values of heave and pitch motions measured around the resonance frequency are smaller than those obtained from the linear theory.     

System Identification Modeling of Ship Manoeuvring Motion in 4 Degrees of Freedom Based on Support Vector Machines

Based on support vector machines, three modeling methods, i.e., white-box modeling, grey-box modeling and black-box modeling of ship manoeuvring motion in 4 degrees of freedom are investigated. With the whole-ship mathematical model for ship manoeuvring motion, in which the hydrodynamic coefficients are obtained from roll planar motion mechanism test, some zigzag tests and turning circle manoeuvres are simulated. In the white-box modeling and grey-box modeling, the training data taken every 5 s from the simulated 20°/20° zigzag test are used, while in the black-box modeling, the training data taken every 5 s from the simulated 15°/15°, 20°/20° zigzag tests and 15°, 25° turning manoeuvres are used; and the trained support vector machines are used to predict the whole 20°/20° zigzag test. Comparisons between the simulated and predicted 20?/20° zigzag tests show good predictive ability of the proposed methods. Besides, all mathematical models obtained by the proposed modeling methods are used to predict the 10°/10° zigzag test and 35° turning circle manoeuvre, and the predicted results are compared with those of simulation tests to demonstrate the good generalization performance of the mathematical models. Finally, the proposed modeling methods are analyzed and compared with each other in aspects of application conditions, prediction accuracy and computation speed. The appropriate modeling method can be chosen according to the intended use of the mathematical models and the available data needed for system identification.     

On the motions of the underwater remotely operated vehicle with the umbilical cable effect

In this paper, a hydrodynamic model is developed to simulate the six degrees of freedom motions of the underwater remotely operated vehicle (ROV) including the umbilical cable effect. The corresponding hydrodynamic forces on the underwater vehicle are obtained by the planar motion mechanism test technique. With the relevant hydrodynamic coefficients, the 4th-order Runge–Kutta numerical method is then adopted to solve the equations of motions of the ROV and the configuration of the umbilical cable. The multi-step shooting method is also suggested to solve the two-end boundary-value problem on the umbilical cable with respect to a set of first-order ordinary differential equation system. All operation simulations for the ROV including forward moving, ascending, descending, sideward moving and turning motions can be analyzed, either with or without umbilical cable effect. The current effect is also taken into consideration. The present results reveal that the umbilical cable indeed significantly affects the motion of the ROV and should not be neglected in the simulation.     

Analysis of the formation and elimination of loops in twisted cable

Serious failures of ocean cable have resulted from the phenomenon known as hockling. When a cable is under tension, helical windings can cause the cable to twist. With relaxation of the tension, loops can form. Reapplication of tension tightens the loop, and at some point the loop in the cable may be eliminated or pop out. If it does not but hockles instead, serious damage will result. An analysis is made of the conditions for loop formation and pop-out. The force versus displacement at the ends of a twisted cable and the point at which the cable flips into a loop are derived in closed form from the basic differential equations of an elastica. From this, the maximum allowable cable slack is derived as a function of the cable's twist per unit length. For a cable in the looped configuration, the cable tension at which the loop pops out and the maximum curvature in the loop at the instant of pop-out are found as functions of the cable diameter, torque, and mechanical properties     

自主回收UUV水声定位与遥测遥控导引技术研究

针对 UUV 任务结束或能源不足时自主回收的需求,深入研究了 UUV 中远程水声定位与遥测遥控导引技术,完成了水声定位与遥测遥控导引系统方案设计,重点研究了 MFSK、OFDM、扩频等水声遥测遥控调制方式。 通过分析和对比,设计了一种正交混合扩频调制方式,并采用相干二维搜索技术,提高扩频技术多普勒补偿能力。 开展了湖上静态与动态跑船试验,试验数据结果表明:水声水平定位精度优于 0. 5%,水声遥测遥控系统解算误码率达到了 10^-3 数量级,可有效引导 UUV 回收作业。     

A tension measurement method of a towing cable or a buoy cable

An indirect tension measurement method of a towing cable in midwater or a buoy cable is proposed using underwater acoustic positioning systems, etc., to give the in-water cable tension. The most simple and traditional cable tension measurement method is to apply a mechanical tension meter at the one end of the cable, but the method has limits in the aspects of continuous monitoring and manual operation. However, the technique in this study is to apply the Pode's analysis of the equilibrium configuration and tension of a flexible twine, in which the cable tension is given as a function of the geometric positions of both ends of the cable. A set of nonlinear integral equations is formulated and solved numerically by the Newton-Raphson method. Then the inclination angles and the tensions at the lower and the upper ends of the cable could be obtained. The derived method enables us to track a towed object, to measure the tension of a towing cable or a buoy cable and is also applicable to the remotely operated vehicle (ROV) tethered to a mother ship.     

Additional flux arising from unresolved scales in eddying ocean models

An analysis is presented of snapshot data (eastward and northward velocity components: u and v; tracer such as potential temperature: τ) from an eddy-resolving (Rgrid: 1/12°) ocean model experiment, in order to explore a method for improving eddy-permitting model performance. Horizontal 3 × 3 R-grid averages give the eddy-permitting grid (P-grid: 1/4°) variables: 〈u〉, 〈v〉, and 〈τ〉, where 〈〉 denotes the spatial P-grid scale average. The difference between the horizontal tracer flux across the boundary face of a P-grid and that across the corresponding faces of R-grids is estimated as F_2E. It is found that the correlations among the gradients of u, v, and τ give a good approximation F_2C to the estimated flux F_2E. The approximated flux is a function of these gradients and the grid size. A method is presented for implementing the F_2C for density to an eddying ocean model as an additional advection. Practical experiments were conducted with a realistic configuration. It is shown that the zonal mean isotherms in the Kuroshio extension region are more flattened in the run using the proposed method than in another run using the conventional horizontal biharmonic operator, suggesting that the additional flux correction leads to an enhancement of sub-basin scale mixing.     

Manoeuvring prediction of pusher barge in deep and shallow water

This paper presents an experimental investigation on the manoeuvring characteristics of a pusher-barge system for deep (H/d>3) and shallow water (H/d=1.3) condition. Since, the operation of pusher-barge mainly concentrates on confined waters, there is a need to predict and analyze the manoeuvring characteristic of the system for a safe and acceptable performance. A time domain simulation programme was developed for this purpose. A series of model experiments were carried out to determine the hydrodynamic coefficients using a planar motion mechanism (PMM). The time domain simulation shows the manoeuvring characteristic in the form of turning circle trajectories and zig-zag manoeuvre based on the hydrodynamic coefficients, which were derived based on experimental results. The manoeuvring characteristics in shallow and deep water conditions were compared through the simulation results. A comparison of simulation results based on experimental and empirical driven coefficients for both conditions shows that the experimental coefficients gave better manoeuvring characteristics for both turning circle trajectories and zig-zag manoeuvre.     

基于深度卷积神经网络的海洋牧场岩礁性生物图像分类

水下视频可直观记录和反映海洋牧场生物资源的现状和变动,目前亟待开展基于图像的海洋牧场生物识别分类方法研究,以充分发挥图像处理技术在海洋牧场生物群落监测领域的应用潜力。利用采集自我国北方烟威地区包含鱼礁、藻床和泥沙三种图像背景的水下视频,开展了图像增强、图像分类数据集的建立和3种分类模型的应用。对比了基于绿通道的色彩补偿和限制对比度的自适应直方图均衡等方法在海洋牧场水下图像增强上的效果。建立了北方海洋牧场常见岩礁生物图像分类数据集,包括花鲈(Lateolabraxjaponicus)、(Lizahaematocheilus)、许氏平鲉(Sebastes schlegelii)等鱼类11种、棘皮类3种和蟹类1种,共23 211张图像。基于飞桨深度学习框架和PaddleX全流程开发工具,选择AlexNet、MobileNetV3和ResNet50三种图像分类卷积神经网络进行迁移学习,并分别验证了其在含噪音水下图像上的鲁棒性。结果表明,三种模型在测试集的类准确率分别达到96.64%、94.75%和99.23%,其中ResNet50模型在含有高斯噪音的图像集验证具有更好的鲁棒性。综之,基于深度学习的计算机视觉技术在我国海洋牧场生物群落监测中具有较大应用潜力,可为我国海洋牧场监测和管理提供新的思路和方法。     

深海平台系缆形状和张力分析

考虑海底地形的变化、系缆的拉伸形变及海流力等因素,研究了深海平台系缆形状和张力分析方法采用集中质量法,得到系缆方程组,采用牛顿法求解该非线性系缆方程组,建立系缆形状和张力的计算方法。计算了平坦海底和海底地形凹凸变化时水深1 018 m情况下的系缆形状、系泊张力和浮体平衡位置。计算结果表明,海底地形对于深海系泊系统张力影响较大,而计算系缆形状和张力、系泊浮体的运动时,需要考虑海底地形的影响。     

张力腿平台涡激运动模型试验与数值分析

为揭示张力腿平台涡激运动响应规律,采用数值模拟与模型试验相结合的方法研究了全水深系泊张力腿平台涡激运动响应。根据张力腿平台主尺度参数,按照几何相似制作了水池试验模型,在满足运动相似和动力相似的条件下开展了均匀流、剖面流模型试验,并将模型试验结果与数值模拟结果进行了对比,验证了数值模拟与模型试验结果的一致性。分析结果表明在均匀流作用下张力腿平台涡激运动的锁定区间在5.5<U_r<8.5,来流角对涡激运动影响较大。剖面流作用下平台涡激运动规律与均匀流作用基本一致,但剖面流造流引起的能量分散,使平台在XY平面的运动轨迹变得不规律,系泊系统提供的回复力对涡激运动幅值有抑制作用,来流角和流速对张力腿或立管模态影响明显。论文得到结论对于张力腿平台的工程设计有一定借鉴意义。