Nonlinear control of an active heave compensation system

Heave motion of a vessel or a rig has an adverse impact on the response of a drill-string or a riser. To compensate for heave motion, passive and active devices are usually used. Active heave compensators, in which a control system is an essential part, allow conducting operations under more extreme weather conditions than passive ones. This paper presents a constructive method to design a nonlinear controller for an active heave compensation system using an electro-hydraulic system driven by a double rod actuator. The control system reduces the effect of the heave motion of the vessel on the response of the riser by regulating the distance from the upper end of the riser to the seabed. The control development is based on Lyapunov's direct method and disturbance observers. The paper also includes a method to select the control and disturbance observer gains such that actuator saturations are avoided. Stability of the closed loop system is carefully examined. Simulation results illustrate the effectiveness of the proposed control system.     

Temporal fluctuations in the acoustic scattering frombottom-deployed objects and localized biological treatments

A field experiment was carried out to examine the time variation of scattering from man-made objects placed near the water-sediment interface and within the sediment. The objects (spheres) were monitored for a period of about two months using a sonar system capable of measuring scattering levels, bottom bathymetry, and correlation of scattering over time. In addition, divers performed focalized biological treatments that were also monitored over extended periods. The results of these monitoring activities are presented and related to previous studies that used the same data sets for other purposes. One notable result is that the buried sphere becomes undetectable (by scattering level alone) within two days of deployment. The rapid changes in the first few days after the buried sphere is introduced are quantified relative to the rate of changes for undisturbed regions of the sediment     

Development and analysis of echo classification using time delays

The results from an investigation of an analytically based method for determining the performance of echo classifiers are presented. In particular, the problem of classifying echo waveforms reflected from objects that are composed of multiple scatterers is considered. The time delays between the multiple echo returns from the individual scattering centers that characterize an object are investigated as features. A generic stochastic point scatterer model is developed for representing the classes of reflecting objects which are of interest. The model allows for uncertainty in prior knowledge about the exact relative location of the individual component scatterers or uncertainty in the delay measurements. A classifier decision algorithm, in the form of a general optimum Bayesian binary classification decision rule suitable for a large variety of classification problems, is derived for the case when the orientation of the reflecting object is known. The case of unknown aspect angle is addressed through the numerical implementation and analysis of two classifiers. The associated performance for all three classifiers is obtained in terms of the probability of error and tied to standard sonar equation parameters. Example binary classification problems are presented and analyzed and some general observations made. A pragmatic framework is established within which complex echo classification issues can be further examined     

Wind-induced drift of objects at sea: The leeway field method

A method for conducting leeway field experiments to establish the drift properties of small objects (0.1-25 m) is described. The objective is to define a standardized and unambiguous procedure for condensing the drift properties down to a set of coefficients that may be incorporated into existing stochastic trajectory forecast models for drifting objects of concern to search and rescue operations and other activities involving vessels lost at sea such as containers with hazardous material.An operational definition of the slip or wind and wave-induced motion of a drifting object relative to the ambient current is proposed. This definition taken together with a strict adherence to a 10 m wind speed allows us to refer unambiguously to the leeway of a drifting object. We recommend that all objects if possible be studied using what we term the direct method, where the object’s leeway is studied directly using an attached current meter.We establish a minimum set of parameters that should be estimated for a drifting object for it to be included in the operational forecast models used for prediction of search areas for drifting objects.We divide drifting objects into four categories, depending on their size. For the smaller objects (less than 0.5 m), an indirect method of measuring the object’s motion relative to the ambient current must be used. For larger objects, direct measurement of the motion through the near-surface water masses is strongly recommended. Larger objects are categorized according to the ability to attach current meters and wind monitoring systems to them.The leeway field method proposed here is illustrated with results from field work where three objects were studied in their distress configuration; a 1:3.3 sized model of a 40-foot Shipping container, a World War II mine and a 220 l (55-gallon) oil drum.     

Hydrodynamic interaction forces on multi-moduled structures

The size, complexity and critical operations of many offshore structures, including the mobile offshore bases (MOBs) of current interest, require careful determination of wave forces on the neighboring structures, including their interactions. This paper describes an analytical/numerical approach that determines the wave forces on multiple structures in the vicinity of one another. The method involves the consideration of multiple vessel interaction and scattering in waves. The analysis is an extension of the semi-analytical multiple vertical cylinder analysis published by the author. The analysis is similar to the one proposed by Kagemoto and Yue for axisymmetric bodies.The direct method of linear diffraction, while quite accurate and efficient in solving the hydrodynamic problem, demands a large amount of memory and requires considerable execution time. The present analysis is very efficient in these respects. It is accomplished by marrying the direct method with a semi-closed analytical method of multiple scattering developed for an array composed of vertical cylindrical structures. It is recognized that this analytical method has a limitation owing to the geometry of many offshore structures including MOBs. Therefore, the analysis is extended to an arbitrary geometry. In this method, the direct matrix method of diffraction problem is applied to an isolated module and then extended to structures with the multiple scattering technique to account for the interaction of multiple structures.Comparisons are made of the results from the analytical and conventional numerical diffraction theory with those of the semi-analytical tool using the above-mentioned analysis.     

Sonar cross sections of bodies partially insonified by finite sound beams

An object that is partially insonified by a collimated sound beam may have a scattering cross section sometimes much larger than when the object is totally covered by the incident beam. We quantitatively study this partial insonification problem here, under the classical method of physical optics. The importance of this study stems from the fact that partial coverage of the target by the beam is the situation most likely to occur in many cases of practical importance. We consider several basic target shapes partially insonified by finite beams. These shapes include the spherical, the infinite and finite cylinder, the flat plate, and the capped sphere. High-frequency approximations of the resulting integrals, obtained by means of the saddle-point method, show the relative importance of the scattering centers located at the beam's specular reflection points, or at the edges of the spots that the beam shines on the scatterers. The physical-optics method is extended to obtain formulas for the bistatic cross sections of partially insonified objects. The results are numerically evaluated and graphically displayed in many pertinent instances and compared to the predictions of approaches, such as the Fresnel-zones method and the Geometrical Theory of Diffraction (GTD). The predictions of the physical-optics method have all the advantages and deficiencies of this method and, with very minor modifications, hold equally well for the partial illumination of objects by beams of electromagnetic radiation.     

Passive Control of Flow-Induced Vibration(FIV) by Helical Strakes for Two Staggered Flexible Cylinders

Helical strake is a widely-used device for passive flow-induced vibration(FIV) control of cylindrical structures. It is omnidirectional and can effectively reduce FIV response amplitude. Studies on the passive FIV control for cylindrical structures are mainly concerned with a single isolated cylinder, while the influence of wake interference between multiple cylinders on FIV suppression devices is less considered up to now. In engineering applications,multiple flexible cylinders with large aspect ratios can be subjected to complex flow forces, and the effects of wake interference are obvious. The FIV suppression effect of helical strake of a common configuration(17.5 D pitch and0.25 D height, where D is the cylinder diameter) in two staggered cylinders system is still unknown. This paper systematically studied the FIV response of multiple cylinders system fitted with the helical strakes by model tests.The relative spatial position of the two cylinders is fixed at S = 3.0 D and T = 8.0 D, which ensures the cylindrical structures in the flow interference region. The experimental results show that the helical strakes effectively reduce the FIV response on staggered upstream cylinder, and the suppression efficiency is barely affected by the smooth or straked downstream cylinder. The corresponding FIV suppression efficiency on the downstream cylinder is remarkably reduced by the influence of the upstream wake flow. The wake-induced vibration(WIV) phenomenon is not observed on the staggered downstream cylinder, which normally occurs on the downstream straked cylinder in a tandem arrangement.     

撞击载荷作用下水下沉箱防护设施损伤分析

面对通航区很可能发生的船舶抛锚、落物以及沉船等事故造成的危险,使用新型沉箱防护设施对水下生产系统进行安全防护,但目前撞击载荷下沉箱防护设施的安全评估标准并无明确界定。采用有限元方法对水下生产系统沉箱安全防护设施的撞击损伤进行了深入研究,考虑不同落物形状、下落速度、落物质量、碰撞位置对沉箱防护设施撞击损伤的影响。结果表明,锚、长方体落物对沉箱撞击最严重;撞击速度和落物质量与撞击应力成正比;对于非对称开孔的沉箱顶盖,距离开孔较近区域为应力敏感区,受到撞击时撞击应力较大。     

Performance Enhancement of Multiuser Passive Time Reversal Communication Based on Space-Time Block Coding

Reliable,with high data rate,acoustic communication in time-varying,multipath shallow water environment is a hot research topic recently.Passive time reversal communication has shown promising results in improvement of the system performance.In multiuser environment,the system performance is significantly degraded due to the interference among different users.Passive time reversal can reduce such interference by minimizing the cross-correlated version of channel impulse response among users,which can be realized by the well-separated users in depth.But this method also has its shortcomings,even with the absence of relative motion,the minimization sometimes may be impossible because of the time-varying environment.Therefore in order to avoid the limitation of minimizing the cross-correlated channel function,an approach of passive time reversal based on space-time block coding (STBC) is presented in this paper.In addition,a single channel equalizer is used as a post processing technique to reduce the residual symbol interference.Experimental results at 13 kHz with 2 kHz bandwidth demonstrate that this method has better performance to decrease bit error rate and improve signal to noise ratio,compared with passive time reversal alone or passive time reversal combined with equalization.     

Target echo enhancement using a single-element time reversal mirror

Iterative Time Reversal (TR) procedures have been demonstrated to be successful in detecting scatterers even in a highly reverberant environment. The success of the method is attributable to a Time Reversal Mirror (TRM) consisting of an array of transceivers that allows one to reconstruct and reverse-propagate wavefronts of interest. This paper deals with the limiting case of a TRM reduced to a single transceiver, tested using a tank experiment with three scattering objects in free-field conditions. It is shown that it is possible to excite a resonance between the TR operator and the strongest mode of the target in the bandwidth of insonification. A simple free-field scattering model is used to study the mechanisms of convergence and to drive the physics-based analysis of data.     

Robust tracking of multiple objects in sector-scan sonar imagesequences using optical flow motion estimation

The fast update rate and good performance of new generation electronic sector scanning sonars is now allowing practicable use of temporal information for signal processing tasks such as object classification and motion estimation. Problems remain, however, as objects change appearance, merge, maneuver, move in and out of the field of view, and split due to poor segmentation. This paper presents an approach to the segmentation, two-dimensional motion estimation, and subsequent tracking of multiple objects in sequences of sector scan sonar images. Applications such as ROV obstacle avoidance, visual servoing, and underwater surveillance are relevant. Initially, static and moving objects are distinguished in the sonar image sequence using frequency-domain filtering. Optical flow calculations are then performed on moving objects with significant size to obtain magnitude and direction motion estimates. Matches of these motion estimates, and the future positions they predict, are then used as a basis for identifying corresponding objects in adjacent scans. To enhance robustness, a tracking tree is constructed storing multiple possible correspondences and cumulative confidence values obtained from successive compatibility measures. Deferred decision making is then employed to enable best estimates of object tracks to be updated as subsequent scans produce new information. The method is shown to work well, with good tracking performance when objects merge, split, and change shape. The optical flow is demonstrated to give position prediction errors of between 10 and 50 cm (1%-5% of scan range), with no violation of smoothness assumptions using sample rates between 4 and 1 frames/s     

基于Pauli分解散射参数特性的潮沟信息提取

以长江口九段沙为研究对象,利用2015-04-05全极化Radarsat-2影像数据,首先进行了多视处理和精极化Lee滤波;然后通过Pauli极化分解提取出九段沙水体、潮沟、低矮植被和芦苇的奇次散射系数、45°二面角散射系数和二面角散射系数,并且对4种地物类型(潮沟、水体、低矮植被和芦苇)的3种参数的散射强度分别进行了统计分析;最后选择二面角散射系数作为潮沟信息提取的判别标准,采用区域生长法提取了潮沟信息,并利用数学形态学对区域生长法中的断裂潮沟进行了连接和非潮沟信息的消除。研究结果表明,潮沟和水体的奇次散射强度值分别为0.040和0.038,二者的45°二面角散射系数值为0.001和0.002;潮沟的二面角散射强度值为0.007,低矮植被和芦苇的二面角散射强度值分别为0.783和0.104。     

Scattering from objects submerged in unbounded and bounded oceans

We present a study of scattering from objects in a free unbounded ocean and for objects near an interface and in a waveguide. Major emphasis is on results and discussion of theoretical development is limited to the essentials. An examination of backscattered echoes is presented for elastic targets. Angular distributions are examined for all target types, as well as environments, with the exception of objects in a waveguide. In a waveguide, beamforming techniques are most appropriate for detection of objects. We also examine rigid, soft, and elastic objects that are either spheroidal or cylindrical. Aspect ratios studied range from 3:1 to 24:1, andkL/2ranges (kis wavenumber andLis the length of the object) are from 3 to 120.     

Sonar tracking of multiple targets using joint probabilistic data association

The problem of associating data with targets in a cluttered multi-target environment is discussed and applied to passive sonar tracking. The probabilistic data association (PDA) method, which is based on computing the posterior probability of each candidate measurement found in a validation gate, assumes that only one real target is present and all other measurements are Poisson-distributed clutter. In this paper, a new theoretical result is presented: the joint probabilistic data association (JPDA) algorithm, in which joint posterior association probabilities are computed for multiple targets (or multiple discrete interfering sources) in Poisson clutter. The algorithm is applied to a passive sonar tracking problem with multiple sensors and targets, in which a target is not fully observable from a single sensor. Targets are modeled with four geographic states, two or more acoustic states, and realistic (i.e., low) probabilities of detection at each sample time. A simulation result is presented for two heavily interfering targets illustrating the dramatic tracking improvements obtained by estimating the targets' states using joint association probabilities.     

The potential impact of shell fragment distributions on high-frequency seafloor backscatter

There has been much recent activity on developing and testing high-frequency seafloor volume scattering models and on the related high-resolution characterization of seafloor volumes. This paper will address another plausible volume scattering mechanism that has not yet received much attention-distributions of broken shell fragments in sediment (commonly referred to as shell hash). The shell fragments are modeled as nonaggregating spherical scatterers, and the spatial distribution of the shell pieces is determined using the Percus-Yevick packing factor. Computer simulations of the multiple scattering and a single scattering model are used to study the power backscattered by shell hash sediments as a function of the volume of scatterers and the frequency of the incident wave (10-100 kHz). Parameter values for simulations are obtained by stereological analysis of x-ray computed tomography scans of sediment cores.     

基于小型三维阵列的瞬态声源快速被动定位方法

重物在落水和着底过程中都会产生瞬态声信号,这类信号可被运用于浅水区域水下目标定位。 针对浅水区域目标定位的问题,提出了一种基于小型立体五元基阵的瞬态声源快速被动定位算法。 在分析重物落水信号特征的基础上,选取合适的广义互相关加权函数求得传声器之间的声程差,运用快速最小二乘搜索算法进行声源定位。 结果表明:运用 5 传声器阵列可以同时兼顾定位精度和鲁棒性,且满足实时性要求,该方法可运用于浅水区域瞬态声源定位等领域。     

Non-Gaussian gas hydrate grade simulation at the Mallik site,Mackenzie Delta,Canada

For the past decades, gas hydrate reservoirs have beneficiated from an increasing attention in the academic and industrial worlds. As a result, there is a growing need to develop specific and comprehensive gas hydrate reservoir characterization methods. This study explores the use of a stochastic Bayesian algorithm to integrate well-logs and 3D acoustic impedance in order to estimate gas hydrate grades (product of saturation and total porosity) over a representative volume of the Mallik gas hydrate field, located in the Mackenzie Delta, Northwest Territories of Canada. First, collocated log data from boreholes Mallik 5L-38 and 2L-38 are used to estimate the statistical relationship between acoustic impedance and gas hydrate grades. Second, conventional stochastic Bayesian simulation is applied to generate multiple gas hydrate grade 3D fields integrating log data and lateral variability of 3D acoustic impedance. These equiprobable scenarios permit to quantify the uncertainty over the estimation, and identify zones where this uncertainty is greater. Contrary to conventional stochastic reservoir modeling workflows, the proposed method allows integrating non Gaussian and non linear distributions. This permits to handle bimodal distributions without using complex stochastic transforms. The results present gas hydrate grade values that are in accordance with well-log data. The relatively low standard deviation calculated at each pixel using all realizations suggests that gas hydrate grades is well explained by acoustic impedance and log data.     

应用比例边界有限元法求解多种二维浮体水动力特性

比例边界有限元法(SBFEM)是一种半解析的数值方法,比完全数值方法具有更高的精度,该方法结合了有限元和边界元的优点,采用相对少的剖分单元就可以得到较高精度的模拟结果。通过改变有限子域内部比例中心的位置,使这种方法可以应用到多种形式浮体在波浪作用下的水动力特性的计算中。同时还给出了各种形式浮体的波浪力及反射、透射系数的数值结果,并与边界元方法(BEM)计算结果和特征函数展开方法得到解析解进行了比较,均吻合良好。研究表明比例边界有限元不仅可以计算矩形的浮体结构,而且对于多种结构形式的浮体都可以计算,这为多种结构形式浮体的水动力分析提供了一个可行的方法。     

Numerical simulation of stably stratified turbulent flows over flat and urban surfaces

Stably stratified turbulent flows over surfaces with explicit roughness elements simulating an urban built-up area have been calculated using an LES model. A method of conducting numerical experiments allowing turbulent flows with specified values of the Obukhov scale L to reach a quasisteady state at the surface has been proposed. It has been shown that, to calculate both temperature and wind-velocity profiles over such objects, one can use the same universal dependences that are used for a flat surface. It has been found that stable stratification does not affect the roughness parameter z _0u and the displacement height D.     

通用型海洋水色遥感精确瑞利散射查找表

当前对海洋水色遥感精确瑞利散射的计算均采用查找表方式进行,但由于这些查找表是针对特定遥感器生成的,无法直接应用于新的水色遥感器,给实际应用带来一定程度的麻烦,为此提出了一种通用的海洋水色遥感精确瑞利散射查找表.首先,详细地推导了加倍法解大气矢量辐射传输方程的基本关系式和实际的计算原理.通过与MODIS精确瑞利散射查找表计算结果比较,证明利用加倍法计算瑞利散射的精度优于0.25%,完全能够满足当前海洋水色遥感大气校正对瑞利散射计算精度的要求,并可以用来生成精确瑞利散射查找表.其次,利用加倍法解大气矢量辐射传输方程,生成了一个通用的海洋水色遥感精确瑞利散射查找表,验证结果表明该查找表可用于所有水色遥感器的精确瑞利散射计算,且计算精度优于0.5%.