海水养殖尼罗罗非鱼尾鳍腐烂病的病原菌性状

对海水养殖尼罗罗非鱼Oreochromis niloticus尾鳍腐烂病(烂尾病)病原菌的形态、生理生化特性进行了研究。经鉴定为嗜水气单胞菌无气亚种Aeromonas hydrophila subsp.anaero-genes Schubert.菌体细胞为直杆,单个,以单极鞭毛运动,革兰氏染色阴性。患病鱼行动迟缓,常浮在水面上游动,鱼体变黑至死亡。     

波浪滑翔机推进装置翼片的启动阶段水动力学分析

波浪滑翔机直接利用波浪能实现大范围长距离的机动运动观测,在海洋环境观测中可以发挥重要的作用。本文对波浪滑翔机推进装置在启动阶段的翼片的水动力学行为进行了研究。以波浪滑翔机水下推进装置的翼片为研究对象,运用雷诺平均Navier-Stokes方程(RANS),对给定垂荡和摆动运动的翼片水动力学进行了水动力分析和仿真,模拟了单个翼片、纵向阵列多翼片的运动状况,得到推进装置翼片附近的压力分布和整体推进动力,分析翼片间距变化在启动阶段对推进力的影响作用。通过该研究工作为深入理解波浪滑翔机推进装置工作状态提供了理论依据。     

适用于浅海油田的高速交通艇设计

研究设计了一艘适用于浅海油田的高速交通艇，该艇采用深V线型和在侧斜螺旋浆，设有主动式减摇鳍。实船航行表明该艇具有优良的耐波性。     

短盖巨脂鲤鳃、伪鳃和鳔胚后发育学研究

本文应用切片和显微技术，对短盖巨脂鲤鳃、伪鳃和鳔的胚后发育的组织形态学进行了研究。短盖巨脂鲤鳃的胚后发育可分为三个阶段：第一阶段（0～1日龄），原基期，鳃原基形成但未分化。第二阶段（2～10日龄），鳃结构发育、分化。第三阶段（11日龄之后），鳃的生长完善期。伪鳃由口腔壁分化出来，胚后发育分为三个阶段：第一阶段（0～2日龄），原基形成期。第二阶段（3～7日龄），发育分化期。第三阶段（8～21日龄），结构完善期。鳔的胚后发育可分成四个阶段：第一阶段（0～1日龄），原基形成期。第二阶段（2～5日龄），结构分化期。第三阶段（6～11日龄），充气期。第四阶段（13天以后），完善与生长期。     

Adaptive optimal control of an autonomous underwater vehicle in the dive plane using dorsal fins

In this paper, adaptive control of low speed bio-robotic autonomous underwater vehicles (BAUVs) in the dive plane using dorsal fins is considered. It is assumed that the model parameters are completely unknown and only the depth of the vehicle is measured for feedback. Two dorsal fins are mounted in the horizontal plane on either side of the BAUV. The normal force produced by the fins, when cambered, is used for the maneuvering. The BAUV model considered here is non-minimum phase. An indirect adaptive control system is designed for the depth control using the dorsal fins. The control system consists of a gradient based identifier for online parameter estimation, an observer for state estimation, and an optimal controller. Simulation results are presented which show that the adaptive control system accomplishes precise depth control of the BAUV using dorsal fins in spite of large uncertainties in the system parameters.     

Control performance in the horizontal plane of a fish robot withmechanical pectoral fins

The mechanism of locomotion of aquatic animals can provide us with new insight into the maneuverability and stabilization of underwater robots. This paper focuses on biomimesis in the maneuvering performance of aquatic animals to develop a new device for maneuvering underwater robots. In this paper, guidance and control in the horizontal plane of a fish robot equipped with a pair of two-motor-driven mechanical pectoral fins on both sides of the robot in water currents is presented. The fish robot demonstrates high performance in terms of maneuverability in such activities as lateral swimming. The use of fuzzy control enables the fish robot to perform rendezvous and docking with an underwater post in water currents     

中国大陆沿海鲆科新记录属——线鳍鲆属(Taeniopsetta)和新纪录种——眼斑线鳍鲆(Taeniopsetta ocellata)*

2016年10月采自北部湾海域的1尾鱼类标本经鉴定为线鳍鲆属Taeniopsetta Gilbert, 1905的眼斑线鳍鲆Taeniopsetta ocellata(Günther, 1880), 隶属于鲽形目Pleuronectiformes鲆科Bothidae, 这是该属和种首次在中国大陆海域的报道。线鳍鲆属的主要形态特征包括: 体长卵圆形; 双眼位于头左侧; 口小; 有眼侧和无眼侧均有1行小尖牙; 鳞细小, 仅体左侧有1条侧线; 雄鱼有1枚强吻棘和2或3枚眼棘, 雌鱼吻棘和眼棘很钝或无; 无眼侧腹鳍始于有眼侧第2根腹鳍鳍条基部右侧; 腹鳍基较短; 背鳍和臀鳍的部分鳍条延长成丝状。眼斑线鳍鲆的主要形态特征为: 两侧胸鳍不等长; 雄鱼背鳍的第13~17根鳍条及臀鳍的第1~6根鳍条延长成丝状; 体左侧背腹缘分别有2~4个不规则的“V”形或半圆形中空黑色斑块, 斑块内部具一黄色圆斑。     

Studies on an algorithm to control the roll motion using active fins

The very purpose of attaching fins to the hull is to reduce the roll motions of a ship. Roll minimization is a requisite for various operations in the seas. The presence of fin system provides enhanced state of stabilization especially when the vessel is performing a fast maneuvering amidst rough environmental disturbance. The fins in turn are activated by electro-hydraulic mechanism based on the in-built intelligence as per control theory like proportional–integral–derivative (PID) or fuzzy logic. As per this paper, fin system is activated using PID control algorithm. A frigate-type warship is considered for the demonstration purpose. Nonlinear roll motions are controlled using active fins. Lift characteristics of the fins in hydrodynamic flow were studied using CFD package fluent.Good amount of reduction in roll amplitude is achieved from various simulations in random sea. The approach can be used for any irregular sea conditions.     

The Development of a Biologically Inspired Propulsor for Unmanned Underwater Vehicles

Fish are remarkable in their ability to maneuver and to control their body position. This ability is the result of the coordinated movement of fins which extend from the body and form control surfaces that can create and vector forces in 3-D. We have embarked on a research program designed to develop a maneuvering propulsor for unmanned undersea vehicles (UUVs) that is based on the pectoral fin of the bluegill sunfish. For this, the anatomy, kinematics, and hydrodynamics of the sunfish pectoral fin were investigated experimentally and through the use of computational fluid dynamics (CFD) simulations. These studies identified that the kinematics of the sunfish pectoral fin are very complex and are not easily described by traditional ldquorowingrdquo- and ldquoflappingrdquo-type kinematics. A consequence of the complex motion is that the pectoral fin can produce forward thrust during both its outstroke (abduction) and instroke (adduction), and while doing so generates only small lateral and lift forces. The results of the biological studies were used to guide the design of robotic pectoral fins which were built as experimental devices and used to investigate the mechanisms of thrust production and control. Because of a design that was based heavily on the anatomy of the sunfish fin, the robotic pectoral fins had the level of control and degrees of freedom necessary to reproduce many of the complex fin motions used by the sunfish during steady swimming. These robotic fins are excellent experimental tools, and are an important first step towards developing propulsive devices that will give the next generation of UUVs the ability to produce and control thrust like highly maneuverable fish.     

Structure, function, and neural control of pectoral fins in fishes

Fin-based propulsion systems perform well for both high-speed cruising and high maneuverability in fishes, making them good models for propulsors of autonomous underwater vehicles. Labriform locomotion in fishes is actuated by oscillation of the paired pectoral fins. Here, we present recent research on fin structure, fin motion, and neural control in fishes to outline important future directions for this field and to assist engineers in attempting biomimicry of maneuverable fin-based locomotion in shallow surge zones. Three areas of structure and function are discussed in this review: 1) the anatomical structure of the fin blade, skeleton, and muscles that drive fin motion; 2) the rowing and flapping motions that fins undergo for propulsion in fishes; and 3) the neuroanatomy, neural circuitry, and electrical muscle activity that are characteristic of pectoral fins. Research on fin biomechanics, muscle physiology and neural control is important to the comparative biology of locomotion in fishes and application of fin function for aid in aquatic vehicle design. Recommendations are made regarding fin propulsor designs based on the fin shape, activation pattern, and motion. Research on neural control of fins is a key piece in the puzzle for a complete understanding of comparative fin function and may provide important principles for engineers designing control systems for fin-like propulsors.     

Effect of free surface and strut on fins attached to a strut

An extensive experimental and computational investigation of the combined and separate effects of free surface and body on the lift characteristics of a pair of fins attached to a strut and fin alone is conducted. The results reveal that the free-surface effect becomes significant when the depth of submergence to chord ratio (H/c) is less than three. The effect of the strut is also realized for shallower depth of submergence of the fins through free-surface deformation leading to a significant change in the incidence angle of the flow to the fins. The numerical results based on the Higher Order Boundary Element Method with the linearized free-surface condition show good agreement with the experimental results for fin (foil) alone even at shallow submergence, but some discrepancies appear for the fin attached to the strut at higher speeds mostly due to the neglect of the nonlinear free-surface effect.     

Biorobotic AUV maneuvering by pectoral fins: inverse control design based on CFD parameterization

Biologically inspired maneuvering of autonomous undersea vehicles (AUVs) in the dive plane using pectoral-like oscillating fins is considered. Computational fluid dynamics are used to parameterize the forces generated by a mechanical flapping foil, which attempts to mimic the pectoral fin of a fish. Since the oscillating fins produce periodic force and moment of a variety of wave shapes, the essential characteristics of these signals are captured in their Fourier expansions. Maneuvering of the biorobotic AUV in the dive plane is accomplished by periodically altering the bias angle of the oscillating fin. Based on a discrete-time AUV model, an inverse control system for the dive-plane control is derived. It is shown that, in the closed-loop system, the inverse control system accomplishes accurate tracking of the prescribed time-varying depth trajectories and the segments of the intersample depth trajectory remain close to the discrete-time reference trajectory. The results show that the fins located away from the center of mass toward the nose of the vehicle provide better maneuverability.     

Adaptive behaviours of the jellyfish Aurelia labiata in Roscoe Bay on the west coast of Canada

Four behaviours of mature Aurelia labiata medusae (Scyphozoa) were observed. Touching the manubrium with a soft, hollow, silicone rubber ball or a foam rubber ball caused medusae at a depth of 1 m to swim to the surface. Dense aggregations of medusae did not form within 5 m of rock walls. Medusae did not swim into water with salinity < 20 parts per thousand. Sunlight-stimulated directional swimming was to the west. These behaviours add to a growing list of adaptive behaviours of Aurelia labiata medusae.     

The Inner Ear and its Coupling to the Swim Bladder in the Deep-Sea Fish Antimora rostrata (Teleostei: Moridae)

The inner ear structure of Antimora rostrata and its coupling to the swim bladder were analyzed and compared with the inner ears of several shallow-water species that also have similar coupling. The inner ear of Antimora has a long saccular otolith and sensory epithelium as compared to many other fishes. Some parts of the membranous labyrinth are thick and rigid, while other parts are thinner but attached tightly to the bony capsule. The partially rigid membranous labyrinth, along with its intimate connection to the swim bladder, may help the inner ear follow the sound oscillations from the swim bladder with better precision than would occur in a less rigid inner ear. In addition, the saccular sensory epithelium has an elaborate structure and an anterior enlargement that may be correlated with increased hearing sensitivity. Some of the features in the inner ear of Antimora may reflect the functional specialization of deep-water living and support the hypothesis that there is enhanced inner ear sensitivity in some deep-sea fishes.     

Open-Loop Control of a Multifin Biorobotic Rigid Underwater Vehicle

This paper presents an open-loop control system for a new experimental vehicle, named the biorobotic autonomous underwater vehicle (BAUV). The rigid cylindrical hull of the vehicle is attached with six strategically located fins to produce forces and moments in all orthogonal directions and axes with minimal redundancy. The fins are penguin-wing inspired and they implement the unsteady high-lift principle found widely in swimming and flying animals. The goal has been to design an underwater vehicle that is highly maneuverable by taking the inspiration from nature where unsteady hydrodynamic principles of lift generation and the phase synchronization of fins are common. We use cycle-averaged experimental data to analyze the hydrodynamic forces and moments produced by a single foil as a function of its kinematic motion parameters. Given this analysis, we describe a method for synthesizing and coordinating the sinusoidal motion of all six foils to produce any desired resultant mean force and moment vectors on the vehicle. The mathematics behind the resulting algorithm is elegant and effective, yielding compact and efficient implementation code. The solution method also considers and accommodates the inherent physical constraints of the foil actuators. We present laboratory experimental results that demonstrate the solution method and the vehicle's resulting high maneuverability.      

Review of shark legislation in Canada as a conservation tool

Sharks are threatened from overfishing due to their life cycle biology, and unsustainably high catch rates to supply fins for shark fin soup. Canada, a leader in shark conservation uses numerous legislative tools to help conserve sharks. These tools include international treaty obligations under the Northeastern Atlantic Fisheries Organization [NAFO] and the International Commission for the Conservation of Atlantic Tuna [ICCAT], as well as national and provincial legislation including the Fisheries Act, Pacific and Atlantic Fisheries Regulations, and Coastal Fisheries Protection Act. Through the use of these legislative tools Canada has successfully banned shark finning in its waters, and implemented closed seasons, gear restrictions, and species restrictions to help manage shark populations. However, Canada still allows the sale of shark fin products locally, and allows the exportation of shark fins internationally. In order for Canada to maintain its leadership status Canada must increase legislative protection of sharks by following international best practices, and ban the sale and exportation of shark fin products. This would ensure that Canada does not play a role in global supply or demand of shark fins. Doing so would strengthen Canada's position as a leader in shark conservation, and improve the legislation currently used as a conservation tool.     

Transit station or destination? Attendance patterns,movements and abundance estimate of humpback whales off west South Africa from photographic and genotypic matching

Humpback whales Megaptera novaeangliae found off west South Africa (WSA) are known to display an atypical migration that may include temporary residency and feeding during spring and summer. At a regional scale there is uncertainty about how these whales relate to the greater West African Breeding Stock B as a whole, with evidence both for and against its division into two substocks. A database containing sighting information of humpback whales intercepted by boat in the WSA region from 1983 to 2008 was compiled. It included a total of 1 820 identification images of ventral tail flukes and lateral views of dorsal fins. After systematic within- and between-year matching of images of usable quality, it yielded 154 different individuals identified by tail flukes (TF), 230 by left dorsal fins (LDF), and 237 by right dorsal fins (RDF). Microsatellite (MS) matching of 216 skin biopsies yielded 156 individuals. By linking all possible sightings of the same individuals using all available identification features, the periodicity and seasonality of 281 individual whales were examined. In all, 60 whales were resighted on different days of which 44 were between different calendar years. The most resightings for one individual was 11 times, seen in six different years, and the longest interval between first and last sightings was about 18 years. A resighting rate of 15.6% of whales at intervals of a year or more indicates long-term fidelity to the region. Shorter intervals of 1–6 months between sequential sightings in the same year may suggest temporary residency. The TF image collection from WSA was compared to TF collections from four other regions, namely Gabon, Cabinda (Angola), Namibia and the Antarctic Humpback Whale Catalogue (AHWC). Three matches were detected between WSA (in late spring or summer) and Gabon (in winter), confirming direct movement between these regions. The capture–recapture data of four different identification features (TF, RDF, LDF and MS) from six successive subsets of data from periods with the highest collection effort (2001–2007) were used to calculate the number of whales that utilise the region, using both closed- and open-population models. Dorsal fins have never been used to estimate abundance for humpback whales, so the different identification features were evaluated for potential biases. This revealed 9–14% incidence of missed matches (false negatives) when using dorsal fins that would result in an overestimate, whereas variation in individual fluke-up behaviour may lower estimates by as much as 57–66% due to heterogeneity of individual capture probability. Taking into consideration the small dataset and low number of recaptures, the most consistent and precise results were obtained from a fully time-dependent version of the Jolly-Seber open-population model, with annual survival fixed at 0.96, using the MS dataset. This suggests that the WSA feeding assemblage during the months of spring and summer (September–March) of the study period numbered about 500 animals. The relationship of these whales to those (perhaps strictly migratory) that may occur in other seasons of the year, and their links to possible migratory routes and other feeding or breeding areas, remain uncertain.     

Response of juvenile lemon sharks, Negaprion brevirostris, to a magnetic barrier simulating a beach net

Beach nets are preventative devices used to minimize interactions between potentially harmful sharks and unsuspecting swimmers. Quantitative studies demonstrated that beach nets drastically reduced local elasmobranch populations, as well as caused considerable bycatch mortality. For this experiment, a beach net-like device was constructed and the behaviors of six juvenile lemon sharks (Negaprion brevirostris) were analyzed. Induced by olfactory and gustatory cues, sharks were given the choice to swim through a magnetic or control opening in the net. In the first trial, all six sharks avoided the magnetic region and significantly preferred to swim through the control region of the fence. The magnetic stimulus no longer affected the swimming behavior of three sharks retested after resting 24 h. Results from the retested sharks were correlated with those from repeated tonic immobility trials, which demonstrated a linear decrease in sensitivity to repeated magnetic stimulation. This study serves as a baseline experiment demonstrating that permanent magnets may substantially decrease elasmobranch mortality within beach nets.     

南海鸢乌贼中型群雄性个体肌肉和性腺组织能量积累及其分配

利用组织能量密度测定技术和残差指标分析方法, 分析了南海鸢乌贼中型群雄性个体肌肉组织和性腺组织的能量积累及其分配变化过程。结果显示, 胴体、尾鳍、足腕、精荚复合体、精巢等组织的能量密度值分别为21.16±1.44、21.98±1.51、21.44±1.50、20.83±1.70和21.41±1.70kJ?g ^-1。胴体和精荚复合体两组织的能量密度在不同性腺成熟度之间均存在显著性差异, 而尾鳍、足腕、精巢等3种组织的能量密度则在不同性腺成熟度之间均没有统计学差异。个体总能量积累为299.31±90.81kJ; 随着个体生长, 总能量积累呈现增加的趋势。胴体、足腕和尾鳍等肌肉组织的能量占比为95.31%~98.04%, 随着性腺发育呈现降低的趋势; 精巢和精荚复合体等性腺组织的能量总投入占比为2.63%~5.33%, 随着性腺发育呈增加的趋势, 并在Ⅴ期达到最大值。同时, 残差指标分析显示, 胴体、尾鳍、足腕等肌肉组织能量积累-胴长残差与性腺组织能量积累-胴长残差呈显著的正相关关系, 表明个体性腺发育过程中肌肉组织能量没有转化用于性腺组织的生长发育, 其生殖能量投入倾向于外源性投入。初步掌握了南海鸢乌贼中型群雄性个体肌肉和性腺组织能量的积累变化过程, 为深入了解它们的繁殖策略和为可持续开发利用该种类资源提供了科学基础。