AUV用高精度吸排油浮力调节系统

针对黑潮等海洋现象的长期、间歇性观测需求,研发了一种长期定点剖面观测AUV系统。为降低能耗,在观测间隔期间,采用浮力调节技术实现定深悬浮,并关闭主要设备实现休眠节能。传统的油囊式浮力调节系统不能精确测量调节量,难以满足AUV悬浮休眠节能的需求。为实现浮力调节量的精确控制,设计了一种内油箱为活塞式油缸的吸排油浮力调节系统,通过活塞位置的精确测量实现浮力调节量的精确测量和控制。试验结果表明,该浮力调节系统性能满足设计指标,调节精度可达到10 mL,搭载该浮力调节系统的AUV可实现高精度定深控制和剩余浮力的精确调节。该研究为拓展AUV的作业模式、提高AUV作业时间奠定了基础,为高精度浮力调节系统的开发提供了设计参考。     

受扰欠驱动自主水下航行器的最优扰动抑制控制

针对近水面航行的欠驱动自主水下航行器(AUV),研究了其波浪力作用下的航向控制问题。首先,利用局部微分同胚将AUV非线性系统转换为Brunovsky标准型系统;其次,基于波浪力的Morison方程给出了波浪力干扰外系统模型;然后,根据最优控制理论,基于二次型性能指标设计欠驱动AUV系统的前馈反馈最优扰动抑制控制律,并通过求解Riccati方程和矩阵方程获得。最后,通过AUV系统仿真实例验证了该方法的有效性。     

多AUV集群控制技术综述

多 AUV 集群控制是指通过多 AUV 相互协调完成特定的作战任务,需要解决的具体问题包括协同编队、协同导航、任务分配、通讯机制、协同定位、避碰和避障等。多 AUV 集群控制技术注重系统的冗余性和时效性,系统对个体的失效具有鲁棒性。系统性地阐述了集群控制技术的理论研究现状,探讨了多 AUV 集群控制需要解决的关键技术问题,对比了目前各类先进集群控制算法的优缺点,最后结合理论研究和 AUV 集群控制技术发展现状对集群控制技术发展进行了展望。     

基于模型预测控制算法的轻型长航程AUV航控系统研究

针对海洋时变中小尺度过程长期精细观测需求,研制了一种轻型长航程AUV。这种AUV的最大特征是借鉴了水下滑翔机的变浮力、重心可调执行机构,使得其具备海洋环境自适应能力,可在不同海水密度条件下实现零攻角高效航行。首先介绍了轻型长航程AUV的系统组成,讨论了这种可变浮力、可调重心AUV的航行控制系统设计;针对这种AUV新增的浮力和重心两个控制输入量间存在系统耦合的问题,开展了基于模型预测算法的零攻角定深航行控制器研究,着重阐述和推导了控制目标的修正、面向控制的动力学建模以及模型预测控制器的设计过程;最后通过仿真验证了所述方案和方法的可行性。该研究有利于提高轻型长航程AUV的航行效率,进一步提升AUV的续航能力。     

基于浮力调节系统的AUV定深悬浮控制

定深悬浮是AUV实现虚拟锚泊的主要形态,一般可通过在AUV艏艉配置垂向槽道推进器或浮力调节单元实现。文中主要介绍了AUV浮力调节系统的基本原理、两种定深方式的能耗对比、无模型反馈控制策略、温度对浮力调节系统流量的影响等。湖上试验中,对AUV进行了3 m,10 m定深悬浮,试验结果表明,采用无模型反馈控制策略能够使配置浮力调节系统的AUV在合理的误差范围内实现定深,满足实际工程需要;温度对浮力调节系统的流量有一定的影响,两者大致为三次函数关系;浮力调节方式下AUV的定深悬浮较槽道推进器方式节约能源。     

基于以太网的水下自主航行器分布式控制系统研究

针对模块化小型 AUV 平台高速、宽带的数据通信需求和设备分散的特点,设计了一种分布式控制系统。 控制系统硬件采用基于网络的分布式架构,在较好地减少传输信号线,提高抗干扰能力的同时提高 AUV 平台的设备间兼容性和通信速率。 控制系统软件采用分层控制体系,由显控设备控制的任务层,控制计算机控制的自主层以及由微控制器节点控制的执行层,实现实时任务和控制命令的分离,减小任务层的运算量,方便软件的维护升级。 实航试验中 AUV 准确地完成了复杂的路径规划和地形测量任务,表明控制系统运行稳定可靠,为 AUV 平台的通用化、小型化设计提供参考。     

基于AUV的声纳水下目标实时探测机制研究

针对传统船载声纳探测水下目标存在成像分辨率低、主观性强、耗时长、应用区域局限,以及自主式水下潜航器(autonomous underwater vehicle, AUV)受水声通信限制导致数据无法实时回传、处理及目标实时探测的问题,提出了一种基于AUV的声纳水下目标实时探测机制。首先对基于AUV搭载声纳设备实施水下目标探测的系统进行了阐述;然后提出了基于AUV的声纳水下目标实时探测实施流程和关键技术;最后通过海上试验,验证了该机制在一定程度上克服了水声通信限制,实现实时、高效、智能的水下目标探测,具有较强的实际指导意义。     

多AUV系统的自适应有限时间一致性跟踪控制

本文将自适应技术与有限时间技术相结合,研究了分布式自治水下机器人(Autonomous Underwater Vehicle,简称AUV)系统的自适应有限时间一致性跟踪控制问题。首先,应用图论相关知识描述多AUV间的通信拓扑;其次,对每个跟随AUV的运动与受力进行了分析,建立了基于位置姿态与速度姿态的二阶系统模型;然后,设计了非奇异快速终端滑模,并基于此对每个跟随AUV构建了连续分布式控制律,利用自适应律估计阻尼,恢复力和外部干扰的上界;最后,利用SIMULINK仿真来验证跟随AUV的位置与速度跟踪效果,直观地阐明了本文所提算法的有效性。     

6 000米AUV深海试验研究

简要介绍6000米AUV的总体结构和主要功能,重点研究AUV深海试验中的无动力下潜试验和载体浮力测量试验,提出三种深海浮力测量方法。根据试验数据,通过调整载体配重,在控制特性不变的情况下,使AUV在水下航行达到能量最优。此方法是一种理论和工程实际相结合的方法,对于其它类型深水AUV试验具有指导意义。     

深水AUV系统湿模态分析

以国家科技重大专项研制的深水AUV系统为研究对象,借助商业软件ANSYS,从一个新的角度——AUV湿模态分析,研究了各种外界激励的频率特性。为避免AUV发生共振,应保证AUV所受到的各种外界激励的频率远低于AUV的第7阶固有频率,基于此,我们对AUV航行时的干扰源、AUV搭载的机械结构以及AUV附属结构的对于AUV本体的产生的激励频率进行了计算。计算结果显示,低于AUV本体的固有频率,不会对AUV的稳定性产生影响,实现了AUV本体振动不会影响各传感器的正常工作的设计。     

Microbial Biomass and Organic Nutrients in the Deep-Sea Sediments of the Central Indian Ocean Basin

In order to assess the impact of deep-sea mining on the in situ benthic life, we measured the microbial standing stock and concentration of organic nutrients in the deep-sea sediments of the Central Indian Ocean Basin in the Indian pioneer area. Sediments were collected using box core and grab samples during September 1996. The total bacterial numbers ranged from 10 10 -10 11 cells per g -1 dry weight sediment. There was a marginal decrease in the number of bacteria from surface to 30 cm depth, though the subsurface section registered a higher number than did the surface. The highest numbers were encountered at depths of 4-8 cm. The retrievable number of bacteria were two orders less in comparison with the direct total counts of bacteria. An almost homogeneous distribution of bacteria, total organic carbon, living biomass, and lipids throughout the depth of cores indicates active microbial and benthic processes in the deep sea sediments. On the other hand, a uniform distribution of total counts of bacteria, carbohydrates, and total organic carbon in all the cores indicates their stable nature and suggests that they can serve as useful parameters for long-term monitoring of the area after the benthic disturbance. Further studies on temporal variability in this region would not only verify the observed norms of distribution of these variables but would also help to understand restabilization processes after the simulated benthic disturbance.     

海上大直径钢管桩打桩过程中桩周土强度弱化研究

海上大直径钢管桩打桩过程中,桩周土体受到强烈扰动而发生强度弱化,掌握桩周土体强度弱化规律对于准确预测打桩过程、保证工程安全具有重要意义。为研究土体强度弱化规律,开展了环剪试验模拟打桩对桩周土体的扰动,测试土体强度随剪切速率的变化规律,建立了描述土体强度弱化规律的拟合公式,引入到打桩分析软件中。研究结果表明：土体的强度折减程度不仅与土体本身的性质有关还受到土体的埋深和剪切速率的影响,埋深越深土体强度折减程度越低,剪切速率越高土体强度折减越高,在打桩分析中可采用这里推荐的线性折减方法来模拟不同深度处土体强度的折减规律。     

Geoacoustic Inversion via Genetic Algorithm and Its Application to Manganese Sediment Identification

An acoustic inversion method using a wide-band signal and two near field receivers is proposed and applied to multiple layered seabed models including a manganese sediment. The inversion problem can be formulated into a probabilistic model comprised of signals, a forward model, and additive noise. The forward model simulates wide-band signals, such as chirp signals, and is chosen to be the source-waveletconvolution plane wave modeling method. The wavelet matching technique, using weighted least-squares fitting, estimates the sediment sound-speed and thickness on which determination of the possible numerical ranges for a priori uniform distribution is based. The genetic algorithm is applied to a global optimization problem to find a maximum a posteriori solution for determined a priori search space. Here the object function is defined by an L 2 norm of the difference between measured and modeled signals. Not only the marginal pdf but also its statistics are calculated by numerical evaluation of integrals using the samples selected during importance sampling process of the genetic algorithm.     

Phylogenetic diversity and phenotypic characterization of cultivable bacterioplankton isolated from polar oceans

A set of 27 marine planktonic bacteria isolated from the polar regions was characterized by 16S rDNA sequencing and physiological and biochemical testing. More than half of these bacteria were positive for caseinase, gelatinase and 13-glucosidase, and could utilize glucose, maltose or malic acid as carbon source for cell growth. Twelve isolates expressed nitrate reduction activities. Except for one antarctic isolate BSwlO175 belonging to Actinobacteria phylum, these isolates were classified as γ-Proteobacteria, suggesting that γ-Proteobacteria dominated in cultivable marine bacterioplankton at both poles. Genus Pseudoalteromonas was the predominant group in the Chukchi Sea and the Bering Sea, and genus ShewaneUa dominated in cultivable bacterioplankton in the Prydz Bay. With sequence similarities above 97%, genus Psychrobacter was found at both poles. These 27 isolates were psychrotolerant, and significant 16S rDNA sequence similarities were found not only between arctic and antarctic marine bacteria （ 〉 99% ）, but also between polar marine bacteria and bacteria from other aquatic environments （ ≥ 98.8% ）, including temperate ocean, deep sea, pond and lake, suggesting that in the polar oceans less temperature-sensitive bacteria may be cosmopolitan and have a bipolar, even global, distribution at the species level.     

Deep-Sea Sediment Compression Curves: Some Controlling Factors, Spurious Overconsolidation, Predictions, and Geophysical Reproduction

Oedometer tests have been carried out on 70 undisturbed surficial clays (at approximately 250 mm below the mudline), mostly collected by free-fall corers from sites widely scattered throughout the deep-sea North Atlantic. Acoustic measurements were also made, initially on contiguous samples and ultimately on the same sample using a geophysically instrumented oedometer which also collected electrical resistivity data. Apart from those quiescent areas below the carbonate compensation depth, such as north of the West Indies where very fine clays exist, most of the samples are silty clays whose geotechnical-geophysical properties are dependent on the type of clay minerals present (and their ability to take in moisture), the sand-size fraction, and the quantity of carbonate present. Thus the pure clays have high compressibilities which decrease on the addition of coarse particles, while the converse is true for the acoustic parameters, these increasing with the sand fraction. Using the notion of the intrinsic compression line for all samples, and comparison to it of the measured compression curves, it is clear that, contrary to some previously held ideas, most deep-sea clays are normally consolidated; the addition of carbonate has the effect of creating an open, stronger sediment skeleton. Interestingly, where information is available, the variation with depth of a sample's acoustic velocity follows the void ratio pressure relationship of the compression curve. This allows the construction of an in-situ sediment compression curve using the in-situ geophysical observations.     

INFORMATION FOR AUTHORS

<正>Acta Oceanologica Sinica(AOS)is a comprehensive academic journal edited by the Editorial Committee of Acta Oceanologica Sinica and is designed to provide a forum for important research papers of the marine scientific community which reflect the information on a worldwide basis.The journal publishes scholarly papers on marine science and technology,including physics,chemistry,biology,     

Evaluation of the Risk of Marine Slope Instability: A Pseudo-3D Approach for Application to Large Areas

This article presents a methodology developed to evaluate the instability of submarine slopes that extend over a large area. Special attention was paid to (1) the complex geometry (bathymetry) and the expanse of the slope, (2) the heterogeneity of the sediment, and (3) the distribution of the pore pressure. The safety factor was considered as a spatially varying quantity. The General Formulation (GLE, Fredlund and Krahn 1977), which fully satisfies equilibrium conditions, was used for evaluating the stability of the marine slope. The submarine slope failure, which occurred on 16 October 1979 during the construction of the new Nice airport, was studied in order to test the developed model. Geotechnical parameters were taken from experimental tests carried out by IFREMER on 19 cores extracted at different depths (from 27 m to 1300 m) (Cochonat, Bourillet, and Savoye, 1993; Mulder et al., 1994). Many scenarios were proposed in order to explain the cause of the Nice slope failure (Habib, 1994). In this article, two of those scenarios were tested. Simulation results are presented and discussed.