火箭助推器残骸海上落区监测技术探索与实践

针对火箭助推器残骸海上落区监测面临的挑战,对助推器残骸海上监测内容、监测平台、关键技术进行了研究,提出了助推器残骸海上监测技术路线。在此基础上,成功实施了长征五号运载火箭的监测任务,为研究火箭残骸再入及解体规律,完善落区设计与选择提供技术支撑。最后给出了火箭残骸海上监测技术研究的发展方向和内容,以期对后续工作提供有益参考。     

The motion of a deep-sea remotely operated vehicle system: Part 1: Motion observations

Rapid and high-resolution motion and tension measurements were made of a caged deep-sea remotely operated vehicle (ROV) system. Simultaneous measurements were made of all six components of motion at the cage and ship A-frame and of the tension in the tether at the ship. Data were collected for cage depths of 0–1765 m. The most significant forcing was in the wave-frequency band (0.1–0.25 Hz) and accounted for over 90% of the variance of vertical acceleration. The vertical acceleration of the cage lagged the acceleration of the A-frame by up to 1.9 s and its variance was larger by up to a factor 2.2. For moderate displacements of the A-frame (≤2 m), the system is only weakly non-linear because the harmonics (3rd and 5th) of the vertical acceleration of the cage account for less than 2% of the total variance. The system is essentially one-dimensional because only the vertical motion of the cage and the vertical motion of the A-frame were coherent, while horizontal motions of the cage were weak and incoherent with any component of motion of the A-frame. The natural frequency of the system is 0.22 Hz at 1730 m, and we estimate that it is within the waveband for depths between 1450 m and the full operating depth of 5000 m.Large vertical excursions of the A-frame produce momentary slack in the tether near the cage. Retensioning results in snap loads with vertical accelerations of 0.5 gravity. Large rates of change of tension and vertical acceleration first occur at the cage during its downward motion and propagate to the surface with the characteristic speed (3870 m s⁻¹) of tensile waves for the tether. Six echoes are clearly detectable at both ends of the tether, and their pattern is extremely repeatable in different snap loads. Due to misalignment of the tether termination with the centres of mass and buoyancy, the cage pitches by up 14° during a snap. The resulting small radius of curvature poses the greatest stress on the tether.     

利用卫星观测海面信息反演三维温度场

基于历史观测的温盐剖面资料,采用回归分析方法统计出海面温度异常、海面动力高度异常与温度剖面异常之间的相关关系;然后利用高分辨率的卫星遥感海表面温度(SST)和卫星观测海面高度(SSH)信息重构了三维海洋温度场。在台湾岛周边海域建立了时间分辨率为天、空间分辨率为0.25°×0.25°的三维温度分析场。通过与实测资料的比较分析,文章所构建的分析场能够较好地描述海洋三维温度场的结构特征,能够较为真实地反映海洋的中尺度变化过程。该分析场可以作为海洋数值模式的初始场,也可以作为伪观测同化到海洋数值再分析和预报系统中,进而改善三维温、盐、流的数值再分析和预报。     

Climatic investigations of the Black Sea using hydrological observations

Results of numerical experiments on the hydrodynamic diagnosis and adaptation of the Black Sea climatic hydrological fields are briefly summarized. The principal features of the water dynamics for each season are discussed. The intra-annual variability of the Black Sea rim current is indicated, along with the existence of an array of anticyclonic eddies at its periphery and anticyclonic vorticity below the halocline in the central basin where a flow, opposite in direction to the surface flow, is generated at large depths.Translated by Vladimir A. Puchkin.     

Stochastic time-series simulation of wave parameters using ship observations

A stochastic simulation technique was used with ship wave observations, which form the largest world-wide data base of wave information. Twenty years of wave parameter (height, period, and direction) observations from the Comprehensive Ocean–Atmosphere Data Set (COADS) were used as the input data. Simulations were compared to four years of wave parameters from a National Data Buoy Center (NDBC) data buoy near Monterey Bay, CA. The comparisons are satisfactory with differences mainly caused by biases between ship observations and buoy data. The stochastic simulation technique is attractive because it is computationally efficient and few decisions are required for its application. The applied techniques can be employed with global COADS data to simulate wave conditions at many world-wide locations where measurements and hindcasts by computer models do not exist.     

Validation of ADEOS-II GLI ocean color products using in-situ observations

The Global Imager (GLI) aboard the Advanced Earth Observing Satellite-II (ADEOS-II) made global observations from 2 April 2003 to 24 October 2003. In cooperation with several institutes and scientists, we obtained quality controlled match-ups between GLI products and in-situ data, 116 for chlorophyll-a concentration (CHLA), 249 for normalized water-leaving radiance (nLw) at 443 nm, and 201 for aerosol optical thickness at 865 nm (Tau_865) and Angstrom exponent between 520 and 865 nm (Angstrom). We evaluated the GLI ocean color products and investigated the causes of errors using the match-ups. The median absolute percentage differences (MedPD) between GLI and in-situ data were 14.1–35.7% for nLws at 380–565 nm, 52.5–74.8% nLws at 625–680 nm, 47.6% for Tau_865, 46.2% for Angstrom, and 46.6% for CHLA, values that are comparable to the ocean-color products of other sensors. We found that some errors in GLI products are correlated with observational conditions; nLw values were underestimated when nLw at 680 nm was high, CHLA was underestimated in absorptive aerosol conditions, and Tau_865 was overestimated in sunglint regions. The error correlations indicate that we need to improve the retrievals of the optical properties of absorptive aerosols and seawater and sea surface reflection for further applications, including coastal monitoring and the combined use of products from multiple sensors.     

Development of real-time acoustic image recognition system using by autonomous marine vehicle

Automation of complicated underwater tasks require acoustic image based object recognition. This paper presents an acoustic image based real-time object recognition system. We proposed an acoustic image predictor to estimate an object's shape in advance. Depending on the acoustic camera's position, the predictor generates optimal template for recognition. The proposed method is implemented in our autonomous marine vehicle. For real-time processing, efficient recognition strategies are addressed. The vehicle detects an object and localizes it for recognition. In the detection process, the acoustic image's specific characteristics are used as the detection cues. In the localization process, the vehicle's horizontal and vertical positioning strategies are described. Efficient template generation method to minimize computing power is addressed. This realizes real-time recognition using the vehicle. To estimate the proposed system's accuracy and reliability, a recognition test was carried out in the field. The vehicle successfully recognized two different objects with high accuracy.     

Absolute positioning of an autonomous underwater vehicle using GPS and acoustic measurements

Kinematic global positioning system (GPS) positioning and underwater acoustic ranging can combine to locate an autonomous underwater vehicle (AUV) with an accuracy of /spl plusmn/30cm (2-/spl sigma/) in the global International Terrestrial Reference Frame 2000 (ITRF2000). An array of three precision transponders, separated by approximately 700 m, was established on the seafloor in 300-m-deep waters off San Diego. Each transponder's horizontal position was determined with an accuracy of /spl plusmn/8 cm (2-/spl sigma/) by measuring two-way travel times with microsecond resolution between transponders and a shipboard transducer, positioned to /spl plusmn/10 cm (2-/spl sigma/) in ITRF2000 coordinates with GPS, as the ship circled each seafloor unit. Travel times measured from AUV to ship and from AUV to transponders to ship were differenced and combined with AUV depth from a pressure gauge to estimate ITRF2000 positions of the AUV to /spl plusmn/1 m (2-/spl sigma/). Simulations show that /spl plusmn/30 cm (2-/spl sigma/) absolute positioning of the AUV can be realized by replacing the time-difference approach with directly measured two-way travel times between AUV and seafloor transponders. Submeter absolute positioning of underwater vehicles in water depths up to several thousand meters is practical. The limiting factor is knowledge of near-surface sound speed which degrades the precision to which transponders can be located in the ITRF2000 frame.     

Determining the degree of 'small-scaleness' using fisheries in British Columbia as an example

Small-scale fisheries have been estimated to contribute up to 30% of the global landed value, which is caught by approximately 22 million fishers, some of which can be attributed to developed countries. Socio-economic analysis of small-scale fisheries often focuses on developing countries and fails to recognize the presence and contribution of small-scale fisheries in the developed world. Fisheries in British Columbia are diverse and often regarded as being industrialized and large-scale when analyzed in a global context. This study aims to demonstrate that features of small-scale fisheries are present within British Columbia's fleets. A list of re-occurring features of small-scale fisheries is curated from the literature to capture physical, economic and social features of small-scale fisheries. These commonly identified features of small-scale fisheries are applied to Aboriginal Food, Social and Ceremonial fisheries and all commercial fisheries in British Columbia are analyzed to determine the presence or absence of each small-scale fishery feature. The results of this research create a gradient of fisheries from smallest to largest scale. This approach determines that Aboriginal Food, Social and Ceremonial fisheries are the most small-scale, while the sablefish fishery is the largest scale. The qualitative nature of this framework creates an opportunity for any group of fisheries in the world to be compared.     

Determining the effects of depositional processes on consolidation behavior of sediment using shear-wave velocity

Abstract

Compression behavior of sediments is crucial to geological engineering applications for ascertaining the deformation characteristics of the particular depositional environments. Unfortunately, obtaining the geotechnical parameters required to assess the compression behavior of sediments can be a costly and time-consuming undertaking. This study developed a general prediction equation that simulates the compression behavior of sediments. This developed equation is an exponential decline model that relates an increase of the shear-wave velocity to an increase of the mean effective stress. Consequently, the decrease of void ratio is presented as a continuous function of the shear-wave velocity. For this research, laboratory-derived sediment samples created to mimic actual sediments were isotopically consolidated during a consolidated undrained triaxial compression tests. The samples were prepared in the laboratory by mixing different percentages of fines and controlling the ratio of clay-to-silt fractions. Shear-wave velocity tests were performed during this consolidation testing using bender elements. The experimental constants needed for the prediction equation were well correlated to the depositional factors specifically characterized by percent fines, silt percent, and liquid limit that define better complexity of depositional processes.     

Experiments on vision guided docking of an autonomous underwater vehicle using one camera

This paper introduces an underwater docking procedure for the test-bed autonomous underwater vehicle (AUV) platform called ISiMI using one charge-coupled device (CCD) camera. The AUV is optically guided by lights mounted around the entrance of a docking station and a vision system consisting of a CCD camera and a frame grabber in the AUV. This paper presents an image processing procedure to identify the dock by discriminating between light images, and proposes a final approach algorithm based on the vision guidance. A signal processing technique to remove noise on the defused grabbed light images is introduced, and a two-stage final approach for stable docking at the terminal instant is suggested. A vision-guidance controller was designed with conventional PID controllers for the vertical plane and the horizontal plane. Experiments were conducted to demonstrate the effectiveness of the vision-guided docking system of the AUV.     

Measurement of in situ oxygen consumption of deep-sea fish using an autonomous lander vehicle

Conventional laboratory studies of deep-sea fish metabolism are not possible as these fish are typically killed during recovery to the surface. As these species are important members of deep-sea communities, the lack of these data represents a significant limitation to our understanding of the functioning of this ecosystem. An autonomous fish respirometer vehicle was developed in order to measure the oxygen consumption of deep-sea fish in situ. This new lander allows measurements to be made without handling or stressing the animals and without the logistical problems and great cost of submersible operations. The design, operation, and measurement methodology are described and preliminary data for Coryphaenoides armatus at 4000 m are presented. These Atlantic data appear to confirm the low metabolic rate measured in this species when compared to other gadid species.     

Evaluation of oceanic transport parameters using transient tracers from observations and model output

A method is presented to find the age distribution of ocean waters, the transit-time distribution (TTD), by combining an eddying global ocean model’s estimate of the TTD with hydrographic observations of CFC-11, temperature, and salinity. The method uses a mixture model of an assumed form of the TTD, an inverse Gaussian (IG), and an established Bayesian statistical method. All known significant sources of uncertainty are propagated to arrive at estimates of two oceanic transport parameters associated with the IG TTD, the mean age (Γ) and either the half-variance (${\mathrm{\Delta }}^2$) or the Peclet number ($\mathit{Pe}={\mathrm{\Gamma }}^2/{\mathrm{\Delta }}^2$). It is found that the uncertainties on Γ do not overlap zero in most locations using only CFC-11, temperature, and salinity. However, the uncertainty on the other IG parameter does not overlap zero in only a few locations. With the inclusion of another transient tracer (³He/³H), the uncertainty on this other IG parameter does not overlap zero in just a few additional locations in the deep North Atlantic Ocean. Neither a single- nor mixture-IG representation is adequate for representing the full TTD in the ocean, particularly in the Southern Ocean.Differences between the IG parameters estimated using the model’s tracers as data (BayesPOP) and those estimated using tracer observations as data (BayesObs) provide information about the sources of model biases, and give a more nuanced picture than can be found by comparing the simulated CFCs with observed CFCs. Using the differences between each of the oceanic transport parameters from BayesObs and those from BayesPOP with and without a constant Pe assumption along each of the hydrographic cross-sections considered here, it is found that the model’s eddy mixing biases often lead to larger model errors than the model’s mean advection time biases. It is also found that mean advection time biases in the model can be statistically significant at the 95% level where mode water is found in the Southern Ocean.     

Analysis of southeast Australian zooplankton observations of 1938-42 using synoptic oceanographic conditions

The research vessel Warreen obtained 1742 planktonic samples along the continental shelf and slope of southeast Australia from 1938-42, representing the earliest spatially and temporally resolved zooplankton data from Australian marine waters. In this paper, Warreen observations along the southeast Australian seaboard from 28°S to 38°S are interpreted based on synoptic meteorological and oceanographic conditions and ocean climatologies. Meteorological conditions are based on the NOAA-CIRES 20th Century Reanalysis Project; oceanographic conditions use Warreen hydrological observations, and the ocean climatology is the CSIRO Atlas of Regional Seas. The Warreen observations were undertaken in waters on average 0.45 °C cooler than the climatological average, and included the longest duration El Niño of the 20th century. In northern New South Wales (NSW), week time-scale events dominate zooplankton response. In August 1940 an unusual winter upwelling event occurred in northern NSW driven by a stronger than average East Australian Current (EAC) and anomalous northerly winds that resulted in high salp and larvacean abundance. In January 1941 a strong upwelling event between 28° and 33°S resulted in a filament of upwelled water being advected south and alongshore, which was low in zooplankton biovolume. In southern NSW a seasonal cycle in physical and planktonic characteristics is observed. In January 1941 the poleward extension of the EAC was strong, advecting more tropical tunicate species southward. Zooplankton abundance and distribution on the continental shelf and slope are more dependent on weekly to monthly timescales on local oceanographic and meteorological conditions than continental-scale interannual trends. The interpretation of historical zooplankton observations of the waters off southeast Australia for the purpose of quantifying anthropogenic impacts will be improved with the use of regional hindcasts of synoptic ocean and atmospheric weather that can explain some of the physically forced natural variability.     

Seasonal variability of the Mindanao Current determined using mooring observations from 2010 to 2014

A mooring was deployed east of Mindanao Island at 8°N, 127°3′E from December 2010 to August 2014 to collect direct measurements of the Mindanao Current (MC). The Acoustic Doppler Current Profiler (ADCP) fixed on the main float shows that the MC is a strong and stable southward flow with a standard deviation less than 21 cm/s in the upper 500 m. The core flows between depths of 50 and 100 m with a maximum mean speed of 78 cm/s at 100 m. The seasonal variability of MC varies interannually and is depth-dependent. Although it takes a double-peak structure in the upper 200 m with two maxima in April and June and one minimum in October, the MC velocity has its maximum during boreal summer (June) and a minimum in autumn (September) when a 100-day low-pass filter is applied to remove intraseasonal signals. The semiannual signals are mainly limited between 200 and 350 m. The Asian monsoon intensifies the wind-driven sea-surface height anomaly (SSHA) east of Mindanao Island, and the resulting sharp slope induces meridional flow with large variability. Rossby waves and the boundary effect weaken the contribution of wind, stabilizing the flow of MC. The MC is determined by the zonal gradient of the SSHA rather than the SSHA itself, suggesting a possible inconsistency in seasonality between the Mindanao Eddy (ME) and MC. The semiannual ME signal plays an important role in the seasonal variability of MC.     

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.     

Optimal localization of a seafloor transponder in shallow water using acoustic ranging and GPS observations

This study utilized circular and straight-line survey patterns for acoustic ranging to determine the position of a seafloor transponder and mean sound speed of the water column. To reduce the considerable computational burden and eliminate the risk of arriving at a local minimum on least-squares inversion, the position of a seafloor transponder was estimated by utilizing optimization approaches. Based on the implicit function theorem, the Jacobian for this inverse problem was derived to investigate the constraints of employing circular and straight-line survey patterns to estimate the position of a transponder. Both cases, with and without knowledge of the vertical sound speed profile, were considered. A transponder positioning experiment was conducted at sea to collect acoustic and GPS observations. With significant uncertainties inherent in GPS measurements and the use of a commercial acoustic transponder not designed for precise ranging, experimental results indicate that the transponder position can be estimated accurately on the order of decimeters. Moreover, the mean sound speed of the water column estimated by the proposed optimization scheme is in agreement with that derived from conductivity, temperature, and density (CTD) measurements.     

Evaluation of a regional climate model using in situ temperature observations over the Balkan Peninsula

Climate model data provide large, dense coverage and long time-series, characteristics that are advantageous in the study of climate. However, it is not recommended that such data be used in any region without prior evaluation of their reliability based on comparisons with in situ observations. In this study, the accuracy of maximum and minimum temperature data from the ALADIN-Climate regional climate model (with a 25-km horizontal resolution driven at the lateral boundaries by the ERA-40 reanalysis) have been assessed for 53 stations across the Balkan Peninsula. The model temperatures corresponding to each station were extracted from their nearest land grids. The model data were first compared with observations and subsequently examined for their ability to identify extreme temperature events. In general, the model was found to be quite accurate in describing the seasonal cycle, as well as simulating the spatial distribution of temperature. Simulations were more realistic for stations along coastlines, highlighting the constraints of the topographic forcing in the simulations. Assessing the performance of the model to determine extremes (warm and cold spells), it was found to be better at detecting cold spells and has a tendency toward overestimating the frequency of occurrence of warm spells, particularly in summer.