多波束测深误差源对测点位置归算影响研究

针对Rob Hare提出的多波束测点位置归算精度估计模型的不足,建立了顾及各项改正数之间相关性的改进模型.在多波束测点位置归算模型的基础上,分析了影响测点位置归算的各项误差来源,推导了各误差源对测点位置归算精度估计的影响量,结合算例,分别利用两种模型计算了各误差源对测点位置归算精度的影响量级,绘制了各误差源的误差曲线图与总位置误差曲线图,通过对计算结果的分析比较,得出了两种模型在评估多波束测点位置归算精度时存在的差异,由于顾及到改正数间的相关性,认为改进模型更加科学合理.     

Volterra series-based system analysis of random wave interaction with a horizontal cylinder

The response of a long flexible cylinder excited by random waves in a large model basin was investigated. The linear and non-linear physical mechanisms associated with the wave–cylinder interaction were analysed using system identification and modelling techniques. A third-order frequency domain Volterra model and its orthogonalized counterpart were used to analyse the relationships between wave elevations at various locations in the vicinity of the cylinder and cylinder acceleration data at various cylinder longitudinal locations. It was found that linear mechanisms dominate, particularly at the frequency band where the majority of the wave energy is located. At higher frequencies, the cubic component of the Volterra model is the main contributor to the total model coherence, i.e. the fraction of the measured output power that can be approximated by the model output, whereas the quadratic component's contribution to the total model coherence was in general quite small. This process of identification and quantification of the non-linear mechanisms of the unknown physical system can lead to the design of improved parametric models for the cylinder response, which should by design simulate non-linearities such as the ones identified by the Volterra model. The estimated linear and non-linear Volterra transfer functions were also used to predict the cylinder acceleration under excitation inputs not used in the estimation of the model transfer functions. The good match between predicted and measured output auto-power spectra suggests that the estimated transfer functions are indeed true models of the underlying physical mechanisms of the interaction. However, the latter can only be achieved if a minimum number of data segments, as determined by an error analysis involving modelling and prediction errors, is used in the estimation of the Volterra transfer functions.     

海面溢油无人机高光谱遥感检测与厚度估算方法

海上溢油是海洋国家所面临的共同问题,但至今仍没有一种可靠实用的海上溢油准确识别和油量遥感监测方法。为此,本文以无人机高光谱遥感为手段,开展了海面溢油检测与厚度估算方法研究。实验中,通过搭建室外大型水槽溢油实验装置,获取了模拟真实海洋环境条件下不同溢油量的遥感和现场光谱数据,在此基础上,分析并提取了海上溢油特征光谱波段,给出了海上溢油高光谱检测模型;针对现场实验条件下水面油膜厚度难以测定的问题,设计了3种利用总体溢油量的油膜厚度估算模型。得到如下主要结论:（1）675 nm和699 nm是海上溢油检测的有效特征波段,但对极薄的油膜没有检测能力;（2）提出了归一化溢油指数模型、反比例模型和吸收基线模型等3种海上溢油油膜厚度估算模型,其中对于薄油膜（厚度≤ 5 μm）和厚油膜（厚度>50 μm）,反比例模型是溢油厚度反演的首选也是唯一选择。对于中厚度油膜,晴朗天气条件下,归一化溢油指数模型是油膜厚度反演的首选,同时反比例模型和溢油吸收基线模型也都有较好的反演能力,而在多云天气条件下,反比例模型效果最佳。     

Underwater glider modelling and analysis for net buoyancy, depth and pitch angle control

Underwater glider is an autonomous underwater vehicle that glides by controlling their buoyancy and attitude using internal actuators. By changing the vehicle's buoyancy intermittently, vertical motion can be achieved. Characteristics of glider motion include upward and downward movement in a saw tooth pattern, turning and gliding in a vertical spiral motion and gliding without using thrusters or propellers. This paper presents the modelling and identification on net buoyancy, depth and pitching angle of an underwater glider system. A ballast tank subsystem is considered appropriate for the identification process since it is the main parameter for the motion control. By selecting the ballast rate as the input, three aspects of the dynamics of a glider can be observed: buoyancy, depth of the glider and pitching angle. The MATLAB System Identification Toolbox^TM is used to obtain a mathematical model of the glider ballast-buoyancy, ballast-depth and ballast-pitching angle conditioning system. The best three parametric estimation models are chosen, and the results of the comparison between simulated and estimated outputs are presented. The information obtained from the modelling and identification approaches are used for USM's Underwater Glider Prototype controller design. The information observed during this procedure are utilised for optimisation, stability, reliability and robustness analysis of the underwater glider.     

A methodology for deriving extreme nearshore sea conditions for structural design and flood risk analysis

Extreme sea conditions in the nearshore zone are required for coastal flood risk analysis and structural design. Many multivariate extreme value methods that have been applied in the past have been limited by assumptions relating to the dependence structure in the extremes. A conditional extremes statistical model overcomes a number of these previous limitations. To apply the method in practice, a Monte Carlo sampling procedure is required whereby large samples of synthetically generated events are simulated. The use of Monte Carlo approaches, in combination with computationally intensive physical process models, can raise significant practical challenges in terms of computation. To overcome these challenges there has been extensive research into the use of meta-models. Meta-models are approximations of computationally intensive physical process models (simulators). They are derived by fitting functions to the outputs from simulators. Due to their simplified representation they are computationally more efficient than the simulators they approximate.Here, a methodology for deriving a large Monte Carlo sample of extreme nearshore sea states is described. The methodology comprises the generation of a large sample of offshore sea conditions using the conditional extremes model. A meta-model of the wave transformation process is then constructed. A clustering algorithm is used to aid the development of the meta-model. The large sample of offshore data is then transformed through to the nearshore using the meta-model. The resulting nearshore sea states can be used for the probabilistic design of structures or flood risk analysis. The application of the methodology to a case study site on the North Coast of Spain is described.     

有ARMA噪声的一种参数估计的优效性

对于有ARMA噪声的线性回归模型,本文给出了只用递推进行模型辨识和参数估计的线性方法。若用所计算得到的回归残差作为数据,采用Hannan-Rissanen的线性估计法求ARMA噪声的参数估计,则本文证明了估计是强相容的,且对正态序列,估计具有渐近正态优效性。     

Modeling and identification of open-frame variable configurationunmanned underwater vehicles

A lumped parameter model of open-frame unmanned underwater vehicles (UUV's) including the effects of propeller-hull and propeller-propeller interactions is presented. The identification of the model parameters consists of a least squares method using only on-board sensor data without requiring any towing tank tests. The identification scheme is based on separate tests for the estimation of drag and thruster installation coefficients, taking into account propeller-hull and propeller-propeller effects first and inertia parameters subsequently. The scheme has been experimentally implemented on ROMEO, the latest UUV developed by CNR-IAN. Experimental results show both the effectiveness of the proposed method and the relevance of the propeller-hull and propeller-propeller interactions that are usually neglected in standard UUV models     

Time-domain geoacoustic inversion of high-frequency chirp signal from a simple towed system

An inversion method using a towed system consisting of a source and two receivers is presented. High-frequency chirp signals that have been emitted from the source are received after multiple penetrations and reflections from the shallow water sub-bottom structure and are processed for geoacoustical parameter estimation. The data are processed such that a good resolution and robustness is achieved via matched filtering, which requires information about the source signal. The inversion is formulated as an optimization problem, which maximizes the cost function defined as a normalized correlation between the measured and modeled signals directly in the time domain. The very fast simulated reannealing optimization method is applied to the global search problem. The modeled time signal is obtained using a ray approach. An experiment was carried out in the Mediterranean Sea using a towed source and receiver system. The inversion method is applied to the experimental data and results are found to be consistent with previous frequency-domain analyses using measurements from a towed horizontal array of receivers and measurements on a vertical array.     

A time-varying parameter model of a body oscillating in pitch

Among the assumptions upon which linear time-invariant models of floating bodies are based is that the body motions are so small that any change in the body’s angular position can be disregarded. However, it is often a major design requirement of a wave energy conversion device that the response amplitude is large, thereby invalidating one of the assumptions of the linear model. In particular, the immersed geometry of a body undergoes considerable variation when it is moved in pitch. With regard to this we investigate the difference in performance between a quasi-linear model in which the change of immersed surface is modelled by time-varying parameters and a basic linear model in which the immersed surface is time-invariant. The time-varying parameter model is realized by interpolation between the appropriate parameter values of a set of linear time-invariant (LTI) models derived for the different immersed surfaces that occur at discrete body displacements. It is shown that the responses predicted using the time-varying parameter model are closer to those measured experimentally than those of a standard frequency-domain model. Particular improvement occurs when the responses are large, such as at or near the resonance frequency. A problem which may limit the general use of the model is also discussed.     

Single-ping target speed and course estimation using a bistatic sonar

This paper focuses on estimating the two-dimensional (2-D) target-speed vector (course and speed) using a multistatic sonar that consists of one monostatic sonar and one bistatic receiver. The speed and course estimates are obtained after a single transmission. The theory on bistatic Doppler and 2-D target-speed vector estimation is first considered and then applied to simulated and real data. The results can be used to improve classification algorithms or to feed speed information to tracking algorithms, for example.     

Analysis on the controlled nonlinear motion of a test bed AUV–SNUUV I

This paper describes the estimation of hydrodynamic coefficients and the control algorithm based on a nonlinear mathematical modeling for a test bed autonomous underwater vehicle (AUV) named by SNUUV I (Seoul National University Underwater Vehicle I).A six degree of freedom mathematical model for SNUUV I is derived with linear and nonlinear hydrodynamic coefficients, which are estimated with the help of a potential code and also the system identification using multi-variable regression.A navigation algorithm is developed using three ranging sonars, pressure sensor and two inclinometers keeping towing tank applications in mind. Based on the mathematical model, a simulation program using a model-based control algorithm is designed for heading control and wall following control of SNUUV I.It is demonstrated numerically that the navigation system together with controller guides the vehicle to follow the desired heading and path with a sufficient accuracy. Therefore the model-based control algorithm can be designed efficiently using the system identification method based on vehicle motion experiments with the appropriate navigation system.     

Inverse estimation of drifting-object outflows using actual observation data

The present study attempts to establish a scientifically reliable method capable of computing the drifting-object sources and their outflows. First, the temporal variability of the drifting-object amount is investigated every two months on a beach west of Japan, where various source regions are anticipated because of spatiotemporally variable northeastward ocean currents over the East China Sea. Next, in order to specify drifting-object sources, two-way particle tracking model (PTM) experiments are carried out using simulated ocean currents and leeway drift estimated from QuikSCAT/Seawinds wind data. Finally, an inverse method with a Lagrange multiplier is applied to estimate drifting-object outflows at each source on the basis of the two-way PTM results and beach surveys. Accuracy of object-source identification using the two-way PTM is validated by comparing disposable-lighter sources suggested by phone numbers printed on the lighter surface with those computed by the model. In order to examine the reliability of the inverse estimation, the number of plastic-bottle caps found in actual beach surveys is compared with that computed using a forward in-time PTM during the same period of actual beach surveys, over which the outflows obtained using the inverse method are given at each source in the model.     

Fatigue damage induced by nonGaussian bimodal wave loading in mooring lines

Catenary mooring lines are typically subjected to bimodal loads, comprising of a wave frequency (WF) component due to the first-order wave forces and a low frequency (LF) component induced by the second-order wave forces. For moored vessels, the LF forces due to current and wind also play a role. Only dynamic wave loads are considered herein, while current and wind loads are modeled as constant forces. Because of the nonlinearities of the mooring line characteristics, the dynamic line tension and the second-order responses, both the WF and LF line tensions are in principle nonGaussian. These facts make it difficult to estimate the combined fatigue damage of mooring lines in the frequency domain. A fatigue combination rule based on the Jiao and Moan’s theory has been extended to cover the nonGaussian case. The purpose of this paper is to improve and validate the frequency-domain method by time-domain analysis based on a simplified, but accurate mechanical model of the dynamic line tension. Improvements on the LF and combined fatigue damage estimation have been made by considering the nonsymmetrical property of the LF line tension distribution. Both the WF and LF mooring line tensions due to wave loading have been simulated in the time domain for different sea states and the combined fatigue damage has been estimated by using the rainflow cycle counting algorithm. The accuracy of the frequency-domain method for estimating the bimodal nonGaussian fatigue damage of mooring lines has been verified by the time-domain simulations and is considered to be acceptable.     

Wind-wave generation of ocean current: on model identification

It is shown how stochastic models based on inertial fluctuations, forced by Stokes drift and wind stress, give apparently accurate predictions of sea surface current. A parameter estimation procedure that gives subjectively reasonable results may therefore also be found. However, objective model identification turns out to be difficult and an estimation model capable of following large-scale model errors is necessary for reasonably accurate parameter estimates. Such a model is proposed and simulation results are presented and discussed. In this mode the inertial oscillation damping, is easily overestimated and the Stokes drift effect is seen to be smaller than the wind stress effect. The latter appears to be uncertain     

Optimal identification of potential-radiation hydrodynamics for moored floating structures—a new general approach in state space

In this paper, a new state-space model of the potential-radiation hydrodynamics in moored ocean engineering floating structures and its parameter identification are presented. The raw data for this goal are the added mass and potential-damping matrices in frequency-discrete domain.In a preliminary study of existing approaches in the literature, two mathematical models and their estimation are comparatively analysed in detail. These served in the development of the new approach that shares certain main advantages of the previous approaches.The model is identified in a least-squares sense using a weighted norm and a free control parameter to accomplish a trade-off between quality and stability. This reduces numerical instability problems and also keeps the analytical and computational benefits of a parametric state-space model. The model can be conveniently expressed in any usual canonical form in state space.The application of the model acceptably accurate reproduces the behaviour of the potential-radiation hydrodynamic forces in time. Case studies involving a semisubmersible and buoys are shown to demonstrate the features of the proposed approach.     

Experimental Study and System Identification of Hydrodynamic Force Acting on Heave Damping Plate

Although Morison equation is often applied for simulating hydrodynamic force of marine structure, it may give poor results when non-linear behavior is severe or random wave is encountered. This leads to some modifications of Morison equation or other methods for predicting hydrodynamic force. One of them is the system identification technique. In this paper, NARMAX model theory is firstly used to identify the hydrodynamic system of heave damping plates, which are commonly installed on spar platform. Both linear and non-linear models are obtained. The comparisons between the predieted results and measured data indicate that NARMAX model can predict hydrodynamic force of a heave damping plate very well. The measured data for identification originate from forced oscillation tests, which are random records with given spectrum. The forced oscillation forms in experiment also contain simple harmonic, multi-frequency ones.     

Exploring conventional tidal prediction schemes for improved coastal numerical forecast modeling

This study provides a practical guide to the use of classical tidal prediction algorithms in coastal numerical forecasting models such as tide and tide-storm-surge models. Understanding tidal prediction parameter formulas and their limitations is key to successfully modifying and upgrading tidal prediction modules in order to increase the accuracy of perpetual interannual simulations and, in particular, storm-surge modeling studies for tide-dominated coastal environments. The algorithms for the fundamental prediction parameters, the five astronomical variables, used in tidal prediction are collated and tested. Comparisons between their estimation using different parameterizations shows that these methods yield essentially the same results for the period 1900–2099, revealing all are applicable for tidal forecasting simulation. Through experiments using a numerical model and a harmonic prediction program, the effects of nodal modulation correction and its update period on prediction accuracy and sensitivity are examined and discussed using a case study of the tidally-dominated coastal regime off the west coast of Korea. Results indicate that this correction needs updating within <30 days for accurate perpetual interannual tidal and mean sea-level predictions, and storm-surge model predictions requiring centimeter accuracy, for tidally-dominated coastal regimes. Otherwise, unacceptable systematic errors occur.     

A voting-based approach for fast object recognition in underwateracoustic images

This paper describes a voting-based approach for the fast automatic recognition of man-made objects and related attitude estimation in underwater acoustic images generated by forward-looking sonars or acoustic cameras. In general, the continuous analysis of sequences of images is a very heavy task for human operators and this is due to the poor quality of acoustic images. Hence, algorithms able to recognize an object on the basis of a priori knowledge of the model and to estimate its attitude with reference to a global coordinate system are very useful to facilitate underwater operations like object manipulation or vehicle navigation. The proposed method is capable of recognizing objects and estimating their two-dimensional attitude by using information coming from boundary segments and their angular relations. It is based on a simple voting approach directly applied to the edge discontinuities of underwater acoustic images, whose quality is usually affected by some undesired effects such as object blurring, speckle noise, and geometrical distortions degrading the edge detection. The voting approach is robust, with respect to these effects, so that good results are obtained even with images of very poor quality. The sequences of simulated and real acoustic images are presented in order to test the validity of the proposed method in terms of average estimation error and computational load     

Optimized support vector regression algorithm-based modeling of ship dynamics

This study contributes to solving the problem of how to derive a simplistic model feasible for describing dynamics of different types of ships for maneuvering simulation employed to study maritime traffic and furthermore to provide ship models for simulation-based engineering test-beds. The problem is first addressed with the modification and simplification of a complicated and nonlinearly coupling vectorial representation in 6 degrees of freedom (DOF) to a 3 DOF model in a simple form for simultaneously capturing surge motions and steering motions based on several pieces of reasonable assumptions. The created simple dynamic model is aiming to be useful for different types of ships only with minor modifications on the experiment setup. Another issue concerning the proposed problem is the estimation of parameters in the model through a suitable technique, which is investigated by using the system identification in combination with full-scale ship trail tests, e.g., standard zigzag maneuvers. To improve the global optimization ability of support vector regression algorithm (SVR) based identification method, the artificial bee colony algorithm (ABC) presenting superior optimization performance with the advantage of few control parameters is used to optimize and assign the particular settings for structural parameters of SVR. Afterward, the simulation study on identifying a simplified dynamic model for a large container ship verifies the effectiveness of the optimized identification method at the same time inspires special considerations on further simplification of the initially simplified dynamic model. Finally, the further simplified dynamic model is validated through not only the simulation study on a container ship but also the experimental study on an unmanned surface vessel so-called I-Nav-II vessel. Either simulation study results or experimental study results demonstrate a valid model in a simple form for describing the dynamics of different types’ ships and also validate the performance of the proposed parameter estimation method.     

Assimilation of hydrological observation data for calculating currents in seas and oceans

This paper considers the main steps in improving the methods for calculating the ocean (sea) dynamics on the basis of observational data on sea-water temperature and salinity. The results of diagnostic and adaptation calculations for the near-equatorial area of the West Atlantic in the area of the Lomonosov countercurrent formation are presented. We consider the problem of the complex use of measurements of temperature, salinity, and current velocity in the POLYMODE polygons with their assimilation into the model using a Kalman filter. The results of calculations of the coordinated fields with the mechanism of geostrophic adaptation and using asynchronous measurements obtained by the Razrezy program are given. We discuss further modifications of the assimilation algorithms for hydrological observation data in models of sea dynamics and the principles of adaptation of hydrophysical fields that made it possible to reconstruct the climate fields of the Black Sea and to reproduce the basin dynamics for 23 years.