共查询到19条相似文献,搜索用时 187 毫秒
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热液喷口探测是目前国际上的热点,探测技术方法也多种多样。阐述了集成深拖与自治水下机器人(Autonomous Underwater Vehicle,AUV)探测技术,重点介绍了集成深拖的组合特性。针对热液喷口的探测需求,根据集成深拖与AUV两种方法的优点,提出两种技术方法的联合探测。以一个实际探测的区块为例,讨论了两种方法联合探测的实效性。指出该技术方法可更快速地探测热液的异常范围,同时可降低AUV下潜的盲目性,也可以减少AUV的下潜次数,节约了海上调查时间,提高探测效率。最后指出了现场探测与数据分析需进行深拖位置校正和关注底流及地形对热液羽状流空间分布的影响两个重要问题,为未来的热液探测提供了指导作用。 相似文献
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介绍了国内外各型深海AUV产品的基本参数、配置、功能和使用方式,论述了深海AUV发展现状及发展趋势,并着重阐述了深海 AUV 在深海探测、目标识别、深海反制等领域的应用,在此基础上深入分析了深海 AUV 在能源、控制、导航、通行等方面的关键技术,并阐明当前关键技术的现状以及未来的发展方向,同时根据国内外发展趋势提出了深海 AUV 经过 3 个阶段的发展,最终向着使用便捷化、重量轻量化、 外形小型化、智能化、网络信息化的方向发展。 相似文献
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由广州海洋地质调查局为主完成的“4500m级深海作业系统”总体实施方案,近日通过专家评审并正式启动实施。 相似文献
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以大洋采矿前期的湖试为例,介绍了AUV在矿产资源调查和深海采矿中的应用。在深海采矿系统作业前期,利用AUV调查湖底的地形地貌、结核的分布与覆盖率,确定集矿机作业地点的大地坐标。在深海采矿系统作业后期,利用AUV调查集矿机在湖底的行走轨迹和压陷深度,估算回采率。 相似文献
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广州海洋地质调查局日前成功引进一套4000m级深海遥控水下机器人(ROV),这是目前我国引进的最大深度的高技术海底运载作业设备,将大幅提高我国4000m级深海科学勘察能力。据介绍,这套深海遥控水下机器人(ROV)现已命名为“海狮”号,整套系统由甲板控制台、甲板供电单元、 相似文献
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深海超短基线声学定位系统计算目标水平距离的一种新方法 总被引:3,自引:0,他引:3
对深海环境中工作的潜器或设备载体进行定位测量是深海调查的重要任务之一,本文基于射线声学原理对超基线声学定位系统的定位数据提出了一种迭代处理算法,能够得到非常精确的水平距离测量结果,这种方法对于大洋调查的深拖系统和其他下水设备定位有重要的现实意义。 相似文献
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根据调查设备搭载器的不同,将海底管道在位状态调查方法归为船载、自治水下机器人搭载(AUV 搭载)和无人遥控潜水器搭载(ROV搭载)三类;在浅水段采用船载调查,在深水段采用AUV搭载调查,在此基础上进行重点关注区域筛选,开展ROV调查,最后进行整体评价和分析对比,这种“(船载/AUV)+ROV”组合模式很好地实现了多种调查方法的优势互补。实际上,采用AUV搭载进行海底管道在位状态调查在国内业界尚属首次。调查所取得的管道位置、埋深、周边障碍物的分布以及管道人工处理情况等成果,为后期开展管道维护工作提供了重要的基础数据。此次成功实践可为以后从浅水到深水的管道在位状态调查提供经验和借鉴。 相似文献
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N. Vedachalam R. Ramesh V. Bala Naga Jyothi V. Doss Prakash G. A. Ramadass 《Marine Georesources & Geotechnology》2013,31(5):525-538
ABSTRACTReliable power supply, precise position determination and effective communication are the key requirements for strategic autonomous underwater vehicles (AUV) involved in long duration scientific missions, search operations and when operated as a swarm. The paper presents the challenging range of AUV developed for deep water, Polar and intervention applications; demanding technical requirements for strategic AUV; reliability modeling done on the lithium-ion batteries to identify the redundancy requirements for achieving near-zero failures; navigation model to estimate the achievable level of position accuracies using the state-of-the-art navigation system; limitations in underwater communication; and their importance in realizing vehicle autonomy and swarm intelligence. It is identified that a strategic grade Doppler velocity- aided inertial navigation system could provide position accuracies of about 0.5% of the distance travelled when navigated using sea bottom or ice reference, and a 38?kWh lithium-ion battery pack requires about 7% redundant battery capacity to achieve a failure probability of <?1% in a period of 1 year. 相似文献
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Smith S.M. An P.E. Holappa K. Whitney J. Burns A. Nelson K. Heatzig E. Kempfe O. Kronen D. Pantelakis T. Henderson E. Font G. Dunn R. Dunn S.E. 《Oceanic Engineering, IEEE Journal of》2001,26(4):453-465
The Advanced Marine Systems Lab at Florida Atlantic University has developed a new ultramodular plastic mini autonomous underwater vehicle (AUV), called the Morpheus, for littoral military and coastal oceanographic sampling, survey, and mapping. The name Morpheus was chosen because the Greek god Morpheus could change shape or "morph." The higher degree of modularity of the Morpheus AUV allows it to "morph" or change its size and components for different applications. This vehicle is composed of modular injection-molded plastic pressure vessels and a cabling system that allow the modules to be rearranged without rewiring bulkheads. The plastic pressure vessels are inexpensive, inherently mass-producible, extremely corrosion-resistant, and have low magnetic signatures. The pressure vessels are small but are sized to fit most standard electronic board standards. The mini AUV can be anywhere from 4 to 10 ft in length, depending on its mission. The vehicle architecture is an adaptation of the Ocean Explorer AUV system and uses an ANSI 709.1 (LonTalk) distributed control network for connecting all sensors and actuator subsystems as smart nodes. The modularity in containers, control, and power makes this vehicle rapidly reconfigurable and easy to repair or upgrade. This paper will present details of the motivation, design, and construction of the new mini AUV. The Morpheus was deployed during the summer of 2000 in field exercises for very shallow and shallow water mine counter measures. Some results from these tests will be presented 相似文献
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Takashi Doi Michiaki Takano Kei Okamura Tamaki Ura Toshitaka Gamo 《Journal of Oceanography》2008,64(3):471-477
We present the results of a chemical survey at a submarine volcano, Teishi Knoll, obtained using a submersible in-situ Mn
analyzer (GAMOS) mounted on an autonomous underwater vehicle (AUV) platform. During this survey, high-resolution data of dissolved
Mn were obtained in three dimensions in nearly real time. The AUV enabled continuous detailed observations along a preprogrammed
pathway, which could not have been performed with conventional CTD hydrocasts. During this observation, anomalously high dissolved
Mn concentrations were obtained within the crater, corresponding to high water temperatures. The anomalies might be a hydrothermal
signature due to volcanic activity from the crater. 相似文献
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便携式AUV具有结构紧凑、机动性好、制造和使用成本低等优点,本文设计AUV的底层控制系统和自主导航系统,并进行仿真验证和人工湖试验,结果证明底层控制系统具有很好的鲁棒性,基于AHRS、数字罗盘和GPS的惯性导航算法能够通过浅水节点潜航方式实现AUV自主导航。 相似文献
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随着海洋油气资源开发的深入发展,我国的油气勘探开发已由浅海转向深水海域,深水井场调查是深水油气田勘探开发过程中的一个重要环节,但目前国内尚未开展此项工作,深水井场调查的内容和方法技术较浅水区相比有较大差异,难度较大。通过调研并结合以往浅水区井场调查经验,对深水井场工程地质及环境地质调查的内容和方法技术作了研究。针对深水海区地质环境条件和地质灾害因素复杂等特点,详细探讨了深水井场调查的技术难点和调查研究内容,重点介绍了深水井场调查的技术方法,特别是水下声学定位、深拖、水下机器人和深水地质取样等调查技术,以期为我国深水井场工程地质调查内容和技术方法的研究提供参考。 相似文献
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Robust control based on feedback linearization for roll stabilizing of autonomous underwater vehicle under wave disturbances 总被引:1,自引:0,他引:1
In the case of Autonomous Underwater Vehicle(AUV) navigating with low speed near water surface,a new method for design of roll motion controller is proposed in order to restrain wave disturbance effectively and improve roll stabilizing performance.Robust control is applied,which is based on uncertain nonlinear horizontal motion model of AUV and the principle of zero speed fin stabilizer.Feedback linearization approach is used to transform the complex nonlinear system into a comparatively simple linear system.For parameter uncertainty of motion model,the controller is designed with mixed-sensitivity method based on H-infinity robust control theory.Simulation results show better robustness improved by this control method for roll stabilizing of AUV navigating near water surface. 相似文献