Precise positioning for near-bottom equipment using a relay transponder

The Marine Physical Laboratory of the Scripps Institution of Oceanography has developed an acoustic relay transponder for precise relative positioning of near-bottom instruments and geologic sampling devices. Although specifically designed to position equipment lowered on standard wire ropes without a need to maintain direct electrical contact with the surface ship, the relay transponder may be used to track free vehicles, such as deep submersibles, from the surface. The relay transponder is positioned relative to an array of bottom-anchored acoustic transponders. It is interrogated acoustically from the surface ship; it then sequentially interrogates the bottom transponders which, in turn, reply to the ship. From the measurement of the total travel time (ship to relay transponder to bottom transponder to ship) and assuming, or knowing, the sound velocity of the water, we obtain a relayed range measurement. These relayed ranges, used in conjunction with ship to bottom-transponder ranges, allow us to calculate the position of the relay transponder. A recent application of this technique is described in which several gravity core samples from the crest of the Horizon Guyot were positioned with respect to the detailed bathymetry and the geology within the area. The estimated error in positioning the samples is less than 20 m inside a navigational net extending over 100 km².Contribution of the Scripps Institution of Oceanography, new series.     

载人潜水器在深海科学考察中的应用研究进展

载人深潜技术是深海技术的前沿与制高点,也是深海科考最先进的技术手段之一。20世纪60年代以来,随着高新技术的发展,美国、法国、俄罗斯、日本等国在载人潜水器的研制和应用上取得了快速的发展,先后掌握了大深度载人深潜技术,具备了在复杂海况下进行水下作业的能力,实现了对深海和大洋洋底的现场观察、探测和取样等。目前,深海载人潜水器的考察范围已经遍及全球大陆坡深水区、洋中脊、海山、海沟和洋盆等海底区域,获得了大量的深海地质、地球物理、生物、化学和环境方面的信息或样品,取得了一批重大的发现和创新性的研究成果,推动了深海科学的发展。我国自主集成研制的"蛟龙"号载人潜水器顺利完成了7 000m级海试,并于2013年开始开展了试验性应用,取得了丰硕的科考成果。本文简要介绍了世界载人潜水器的发展现状及其在深海科学考察中的技术优势,综述了国内外载人潜水器在深海地质学、生物学和物理海洋学等领域中的应用情况。     

深渊生物资源取样装备技术体系研究

针对深渊生物资源研究的需求，自主研发了用于全海深深度的深渊沉积物、水体和宏生物的保压取样装置，深渊沉积物保压转移装置，深渊微生物原位过滤及保存装置和高压培养高压酶学测定装置。在深海模拟环境验证了取样装置在万米深度下的工作性能。相关装置在“探索一号”科考船的TS15、TS21-1和TS21-2大洋科考航次中，搭载“奋斗者”号载人潜器、“2号”深渊着陆器、“原位实验”号着陆器于西菲律宾盆区和马里亚纳海沟进行了海上试验，成功获取了万米深度沉积物、水体和宏生物保压样品以及微生物原位过滤滤膜；成功进行了沉积物保压样品的保压转移试验。初步形成了深渊海域生物资源取样的装备技术体系，为深渊海底生物和基因资源开发，深渊生命过程等科学研究提供技术手段。     

潜水器在深海生物多样性研究中的应用进展

简要介绍了世界主要海洋国家潜水器的建设情况,并重点分析了潜水器在深海不同生境生物多样性研究中的应用,包括热液系统、冷泉、海山、峡谷和海沟等,以及深海生物多样性保护等几个方面。旨在为我国深海生物多样性研究提供参考,并推动我国潜水器在深海科学考察中的应用。     

Adaptive Neural Network Control with Control Allocation for A Manned Submersible in Deep Sea

This paper thoroughly studies a control system with control allocation for a manned submersible in deep sea being developed in China.The proposed control system consists of a neural-network-based direct adaptive controller and a dynamic control allocation module.A control energy cost function is used as the optimization criteria of the control allocation module,and weighted pseudo-inverse is used to find the solution of the control allocation problem.In the presence of bounded unknown disturbance and neural networks approximation error,stability of the closed-loop control system of manned submersible is proved with Lyaponov theory.The feasibility and validity of the proposed control system is further verified through experiments conducted on a semi-physical simulation platform for the manned submersible in deep sea.     

“蛟龙”号载人潜水器运行与保障信息管理系统设计与应用

2017年我国"蛟龙"号载人潜水器完成了为期5年的试验性应用,期间累计下潜100余次,形成和建立了科学完善的应用保障体系和专业的应用人才队伍。以"蛟龙"号试验性应用中运行与保障的实践经验为基础,针对其中设备与备品备件管理、运行作业管理、拆检总装管理、数据资料查询与利用等方面的重要需求,设计开发了一套"蛟龙"号载人潜水器运行与保障信息管理系统,通过信息化平台实现设备资源、作业成果以及经验积累传承之间的高效衔接与复用,最大限度地降低装备运行成本、提高作业效率、保障海上作业安全。文章提出的载人潜水器运维体系能够为我国其他行业或部门的载人潜水器、远程缆控机器人(ROV)、水下自治机器人(AUV)等重大海洋装备的运行与保障提供有益参考借鉴。     

Zooplankton distribution above the Lost City (Atlantis massif) and broken spur hydrothermal fields in the North Atlantic according to the data of visual observations

Three dives of Mir manned submersibles with plankton counts and two vertical plankton hauls with a BR net were carried out above the Lost City (Atlantis underwater massif) and the Broken Spur hydrothermal fields during cruise 50 of R/V Akademik Mstislav Keldysh. Above the Atlantis seamount, no significant increase in the plankton concentration was found. Above the Lost City field, the horizontal heterogeneity of the plankton distribution in the near-bottom layer and in the overlying water layers was shown. The near-bottom aggregations of euphausiids and amphipods previously reported by other scientists seem to be related to the attraction of the animals by the submersible’s headlights rather than represent a natural phenomenon.     

一种基于改进蚁群算法的载人潜水器全局路径规划

当前关于使用蚁群算法解决载人潜水器路径规划问题的研究,往往只注重路径的长度和算法收敛速度,容易忽略路径点与障碍物之间的距离和路径的平滑度等要素。载人潜水器过于靠近障碍物航行时容易产生碰撞;按照不平滑路径行驶时,频繁地转向会降低航行效率。为解决这些问题,受人工势场法启发,文中在蚁群算法的概率选择环节引入障碍物惩罚因子φ和转向惩罚因子ψ,对路径点的选择加以限制。仿真测试表明,相比于传统蚁群算法和Dijkstra算法,该算法规划的路径与障碍物之间保持安全距离且转向次数更少,因此载人潜水器按照此路径航行时,安全性和航行效率更高。     

Mapping marine habitats with high resolution sidescan sonar

The application of marine geophysics and GIS techniques to the characterization of benthic habitats has increased the ability of fisheries managers to assess distribution and habitat types beyond common practices. We report upon a 150 kHz sidescan sonar survey offshore of Kruzof Island, Alaska undertaken to characterize rockfish (Sebastes) habitat. Using GIS, MapGrafix and Map¹Factory we determined the percentage of seafloor cover that exists in our survey area. Bathymetry in the study area was determined with sidescan interferometry. All XYZ data were gridded using Surfer and plotted in shaded relief, bathymetric contour, and 3-dimensional formats. Contoured bathymetry was used as an over-lay in MapGrafix. Small sub-areas were extracted from the bathymetric data for closer study, and gridded in Surfer. Areas of the mosaic where backscatter patterns were not distinct were verified with hand samples and video collected with the submersible Delta. The use of submersibles for verification of interpreted lithologies and surface textures enables a high degree of accuracy for the interpretations. Lithotypes were lumped into larger groups based on morphology and fish associations with different morphologies verified using the submersible. The accuracy of digital maps from high-resolution sidescan sonar data allows a close quantification of the areal extents of these important features, directing the application of management strategies to critical areas.     

潜标式海洋探测仪控制系统及模块设计

基于CORTEX M4内核的STM32嵌入式系统,设计并实现了用于长期监测海洋地理环境参数(温度、盐度、湿度等)的潜标式海洋探测仪,给出了主控系统及各个模块的设计方案及选型,通过合理的功能分配,可靠的硬件设计和有效的软件实现,使探测仪具备低功耗、高可靠的特点。海试实验表明,主控系统实现了对探测仪的浮力调节、能源供电及应急处置等状态控制,通过在SOFAR声道工作,完成了对深海海洋要素的实时监测。     

深水潜标的耐压计算与变形分析

深海观测潜标是一种深海观测仪器设备,用于深海底部的环境观测和研究。深海潜标设计的难点之一是潜标壳体的结构设计、耐压计算及材料选择。在初步设计的基础上,利用abaqus软件,采用有限元方法,计算出额定外压下壳体的形变,并进行了额定外压下的失稳计算,计算了壳体在高压环境下的体积和浮力变化。通过计算结果的分析比较,选择了合适的材料,设计出满足强度要求的壳体。     

Biomass and production of bacterioplankton at the hydrothermal vent areas in the rift system of the North Fiji Basin

Mesoscale distribution of the density and productivity of bacterioplankton at representative geological locations in the rift ecosystem of the North Fiji Basin were clarified by sampling using a mannedShinkai 6500 submersible. The bacterioplankton density inside the hot and warm fluids of hydrothermal vents was one order magnitude greater than that in the deep water outside the vent plume. The bacterial production was highest inside the hot and warm vent fluids, and was higher just outside the hot and warm vent fluids than further outside in the deep water surrounding the vent plume, respectively. Productivity from outside to inside the vent fluid varied from 0.01 to 0.71 gC m^–3 day^–1.     

载人潜水器运行管理考核评价体系构建研究

为对载人潜水器运行管理工作进行科学考核评价,保障重大深海装备安全高效运行,文章以“蛟龙”号载人潜水器为例,分析研究了“蛟龙”号载人潜水器的运行管理特点,针对我国科技管理体制和“蛟龙”号载人潜水器的管理技术要求,在结合“蛟龙”号载人潜水器海试与试验性应用实际工作的基础上,建立了科学合理、具备可操作性的考核评价体系。通过在“蛟龙”号载人潜水器运行管理工作中的试应用,充分证明该体系建设方法的有效性,值得在载人无人潜水器等重大装备管理中推广应用。     

鳞侧石鳖属(Leptochiton)一物种在西太平洋雅普海沟分布的新记录

蛟龙号载人潜水器在位于雅普海沟北部6 745 m深处的底栖沉积环境中采集到两只石鳖样本,这是石鳖物种分布于此的新记录。形态学和DNA分子标记均支持两只石鳖为鳞侧石鳖属（Leptochiton）同一物种。该种在形态上与L.vanbellei和L.deforgesi接近;在系统发生方面,与L.vanbellei,L.deforgesi和L.boucheti的亲缘关系密切。这是截至目前世界石鳖分布报道的第三深度记录。     

In situ tests for ice strength measurements

Ice effects have caused extensive damage. Enormous forces have been recorded. On the other hand, ice has been used as a structural material under various situations. To use ice beneficially and to assess the danger of ice forces, it is necessary to know the mechanical properties of ice.Results from the large number of ice tests carried out in laboratories show the difficulties of sampling and testing procedures. Most of the tests have not reproduced faithfully enough the conditions existing in nature. To obtain adequate results, laborious and slow samplings and preparations of test specimens have been necessary. Recently, extensive use has been made of in situ tests in order to reduce the number of factors whixh can induce errors in measurements. Large scale tests have simulated actual structures. General ice properties have become available from small-scale in situ tests. Since these tests give rapid results, a large number are already available with a good coverage of field conditions.A theoretical basis has been devised for these in situ tests which measure essentially the unconfined and confined compressive strengths of ice, and practical devices have been developed to execute these tests. A correlation of measurements from laboratory tests and in situ tests has established a link between natural and artificial environments. Brittle elastic and clastic theories have been applied, to find the best correlations for ice tests. Test results have been related to the mechanical properties as used in engineering practice.A very summary conclusion of results is that cold sea ice and cold fresh water ice are both very strong. However, depending on the load rate, ice can be quite brittle, which mitigates dangerous effects from ice action against massive structures.     

Study on the Overload and Dwell-Fatigue Property of Titanium Alloy in Manned Deep Submersible

China Ocean Engineering - With the rapid development of ocean technology, the deep-sea manned submersible is regarded as a high-tech equipment for the exploration and exploitation of ocean...     

深海原位取芯钻机作业机理分析及实验研究

针对深海运载器海底岩芯原位取样作业需求,对基于水下运载器的深海原位取芯钻机在深海低温、高压、底层流速多变等特点条件下的作业机理及受力进行分析,并选取硬质合金钻头和PDC钻头进行了取芯钻头的轴向力、切向力和切削功率的数学力学对比计算,确定了单环四齿周向均布的金刚石复合片(PDC)钻头设计方案。在理论分析基础上,针对深海钴结壳设计了台架试验,开展钻进试验研究。通过理论计算和实验研究,探寻了一种基于深海运载器的钴结壳小型钻机设计方法,确定了钻机功率、转速、钻进正向压力和取芯率等基本参数选取范围,对开展海底岩芯原位取样作业具有重要的指导意义。     

Benthic boundary layer processes in the Lower Florida Keys

 This special issue of Geo-Marine Letters, “Benthic Boundary Layer Processes in the Lower Florida Keys,” includes 12 papers that present preliminary results from the Key West Campaign. The Dry Tortugas and Marquesas Keys test sites were selected by a group of 115 scientists and technicians to study benthic boundary layer processes in a carbonate environment controlled by bioturbation and biogeochemical processes. Major activities included remote sediment classification; high-frequency acoustic scattering experiments; sediment sampling for radiological, geotechnical, biological, biogeochemical, physical, and geoacoustic studies; and hydrodynamic studies using an instrumented tetrapod. All these data are being used to improve our understanding of the effects of environmental processes on sediment structure and behavior.