Wavimeter

A method of extracting wave parameters from surface displacement measured from a moving platform is presented. The article first presents a method for accurately measuring surface displacement using a single beam altimeter and heave sensor. A least squares approach is presented to estimate wave parameters using vessel velocity and perceived wave frequency that eliminates Doppler due to vessel motion. Two techniques for estimating wave frequency are presented: a block data method using MUSIC and a real-time method using demodulation. Sea trial results demonstrate that this method is as effective as a WaveRider buoy for estimating wave parameters.     

A New Methodology for Incorporating Tide Gauge Data in Sea Surface Topography Models

As part of the Vertical Offshore Reference Frames (VORF) project sponsored by the U. K. Hydrographic Office, a new model for Sea Surface Topography (SST) around the British Isles has been developed. For offshore areas (greater than 30 km from the coast), this model is largely derived from satellite altimetry. However, its accuracy and level of detail have been enhanced in coastal areas by the inclusion of not only the 60 PSMSL tide gauges with long-term records around the coasts of the United Kingdom and Ireland but also some 385 gauges established at different epochs and for different observation spans by the U. K. Admiralty. All tide gauge data were brought into a common reference frame by a combination of datum models and direct GPS observations, but a more significant challenge was to bring all short-term sea level observations to an unbiased value at a common epoch. This was achieved through developing a spatial-temporal correlation model for the variations in mean sea level around the British Isles, which in turn meant that gauges with long-term observation spans could be used as control points to improve the accuracy of Admiralty gauges. It is demonstrated that the latter can contribute point observations of mean sea level (MSL) with a precision of 0.078 m. A combination of least squares collocation and interpolation was developed to merge the coastal point and offshore gridded data sets, with particular algorithms having to be developed for different configurations of coastal topology. The resulting model of sea surface topography is shown to present a smooth transition from inshore coastal areas to offshore zones. Further benefits of the techniques developed include an enhanced methodology for detecting datum discontinuities at permanent tide gauges.     

Reliability-based design optimization of an FPSO riser support using moving least squares response surface meta-models

The paper deals with the reliability-based design optimization (RBDO) of a riser support installed on a floating production storage and offloading (FPSO) unit under operation, extreme, damaged, and one line failure cases and installation loading conditions. The optimization problem is formulated such that probabilistic thickness variables described with random characteristics are determined by minimizing the weight of the riser support structure subjected to stress constraints for the given target reliability. The initial design model is generated based on actual FPSO riser support specifications. The finite element analysis is conducted using NASTRAN, and the probabilistic optimal solutions are obtained via the moving least squares method in the context of RBDO using a response surface meta-model. For the meta-modeling of the inequality constraint functions of stresses, a constraint-feasible moving least squares method (CF-MLSM) is adopted in the present study. The CF-MLSM has been shown to ensure constraint feasibility regardless of the nonlinearity of the constraint function, the feasible bounds, and the random characteristics during the meta-model-based RBDO process. The solution results from the proposed RBDO strategy present improved design performances under various riser operating conditions.     

基于总体最小二乘自适应切片的点云孔洞修补

针对普通孔洞修补方法在修补复杂曲面的孔洞无效或者所修补的曲面不光滑等缺点,提出基于自适应切片的孔洞修补方法。首先,在考虑点云局部特征的情况下对整体点云进行自适应切片,在得到切片后引入总体最小二乘进行拟合,最后,在线上取点填充缺失的点云。实验结果表明,采用自适应切片法修补孔洞能够顾及到点云的曲率和密度变化,保持点云的局部特征,用总体最小二乘法拟合切片得到的孔洞填充点云精度较高,光滑性好。通过对比常规方法,可以得到基于总体最小二乘自适应切片方法修补效果更优。     

Reconstruction of the surface temperature fields according to the fragmentary data of remote sensing

We propose a gap-filling method for the data of remote sensing of the hydrophysical and biological characteristics of the water surface. The proposed method of reconstruction is based on the representation of the fields of surface characteristics as the sums of certain numbers of empirical orthogonal functions (EOF) making the largest contributions to the total variance of the field. According to the fragmentary data obtained as a result of processing of the satellite images for the summer season, we construct estimates of the mean field and of the four-dimensional space covariance function of the surface temperature of the Black Sea. The coefficients of expansion are computed by the method of least squares or determined with the help of a genetic searching algorithm. The results of numerical experiments show that the proposed method is quite promising for applications in the problems of gap filling in the available satellite data.     

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     

基于MISR多角度光学遥感影像的海面风速估算实验

太阳耀光是来自粗糙海面的直接太阳反射光,其强度与海面粗糙度密切相关,而海面粗糙度主要受海面风场影响。因此,包含太阳耀光信息的光学遥感影像在海洋动力过程和海面风速探测中具有积极意义。本文利用2016年2月到2017年3月期间成像的25幅Terra卫星MISR(Multi-angle Imaging Spectro Radiometer)传感器的多角度遥感影像,分别提取了太阳的高度角和方位角、正视和后视影像的卫星观测角、方位角等信息,校正获得正视和后视影像的太阳耀光辐射强度,进一步反演海表面粗糙度信息,进而计算海面风速。最后利用ECMWF(European Centre for Medium-Range Weather Forecasts)的模式风速数据与反演获得的风速结果进行对比验证。结果表明,两者的相关系数较高(R=0.745),均方根误差和平均绝对偏差值分别为1.514 m·s^-1和1.319 m·s^-1。初步实验结果表明,利用MISR多角度光学遥感影像估算海表面风速是可行性的。     

Artificial neural network ability in evaluation of random wave-induced inline force on a vertical cylinder

An approach based on artificial neural network (ANN) is used to develop predictive relations between hydrodynamic inline force on a vertical cylinder and some effective parameters. The data used to calibrate and validate the ANN models are obtained from an experiment. Multilayer feed-forward neural networks that are trained with the back-propagation algorithm are constructed by use of three design parameters (i.e. wave surface height, horizontal and vertical velocities) as network inputs and the ultimate inline force as the only output. A sensitivity analysis is conducted on the ANN models to investigate the generalization ability (robustness) of the developed models, and predictions from the ANN models are compared to those obtained from Morison equation which is usually used to determine inline force as a computational method. With the existing data, it is found that least square method (LSM) gives less error in determining drag and inertia coefficients of Morison equation. With regard to the predicted results agreeing with calculations achieved from Morison equation that used LSM method, neural network has high efficiency considering its convenience, simplicity and promptitude. The outcome of this study can contribute to reducing the errors in predicting hydrodynamic inline force by use of ANN and to improve the reliability of that in comparison with the more practical state of Morison equation. Therefore, this method can be applied to relevant engineering projects with satisfactory results.     

In Situ Alignment Calibration of Attitude and Doppler Sensors for Precision Underwater Vehicle Navigation: Theory and Experiment

This paper reports the development and experimental evaluation of two in situ least squares techniques for estimating the alignment matrix of Doppler sonars commonly used for precision navigation of oceanographic submersibles. Most previously reported methods addressed the problem of single degree-of-freedom heading alignment using bottom-lock Doppler sonar data and global positioning system (GPS) navigation data. This paper reports and evaluates two techniques for three degree-of-freedom calibration of attitude and Doppler sonar sensors using sensor data available to vehicles at full ocean depth. The first technique provides a general linear least squares estimate of the alignment matrix. The second technique results in a least squares alignment matrix estimate constrained to the group of rotation matrices. The performance of these estimates is evaluated with a laboratory remotely operated vehicle (ROV) and a field-deployed autonomous underwater vehicle (AUV). Experimental results are reported which demonstrate that Doppler navigation employing the reported alignment calibration techniques significantly improves navigation precision. The experiments show that the latter technique provides calibration estimates that improve Doppler navigation precision not only on the calibration data set itself, but also provide improved precision over a wide variety of vehicle trajectories other than the calibration data set.     

JASON-1与TOPEX/POSEIDON卫星高度计数据在中国海和西北太平洋的一致性分析及印证

利用JASON-1和TOPEX/POSEIDON卫星高度计在相互校正阶段的观测资料,对两者在中国海和西北太平洋测得的海面风速、有效波高、后向散射截面、海平面高度等参数进行一致性分析;利用j,v模型及主要分潮的调和常数,对中国陆架浅海的JASON-1海平面高度数据进行浅海潮汐修正,使用验潮站月平均水位资料对修正结果加以印证。结果显示,2颗高度计观测的海洋环境参数具有强相关性,JASON-1具备了完成延续TOPEX/POSEIDON数据集这一使命的条件。但是,2套系统对于同一海洋环境参数的观测还是存在不能忽略的差异,对这种差异进行了分析,并给出了修正模型。所使用的浅海潮汐修正方法有效地抑制了中国陆架浅海潮波对海平面高度反演的影响,所使用浅海水域的5个验潮站月平均水位资料与JASON-1高度计经过浅海潮汐修正后的海平面高度的相关系数为0.738,标准偏差为0.096m。通过进一步融合JASON-1和TOPEX/POSEIDON在并行飞行期间的海平面高度数据并与验潮站资料比较显示,两者的相关系数提高到0.83,标准偏差为0.067m。     

On the estimation of Morison force coefficients and their predictive accuracy for very rough circular cylinders

This paper makes an assessment of the various method that may be used to analyse experiment data on the force experienced by a circular cylinder in waves and combined wave and current flows to estimate drag and inertia coefficients for use in Morison's equation. Most of the widely used techniques are considered together with a weighted least squares approach for time domain analysis. A set of data obtained from experiments on heavily roughened circular cylinders of diameters 0.513 and 0.216 m in the Delta wave flume at De Voorst in Holland in waves and simulated current has been analysed in turn by all these techniques. The experiment data was split into two halves. The first was used for the analyses and the second was used to assess the predictive accuracy of Morison's equation. Using the force coefficients obtained from the different analysis techniques corresponding predicted force time series were constructed using the particle kinematics measured in the second parts of the data sets. These predicted time series were then compared with the corresponding measured force time histories. The root mean square error and the bias in the estimation of maximum force in each wave cycle are used as measures of predictive accuracy and as a basis for comparing the efficiency of the different analysis techniques. It was found that the weighted least square method generally gave the best predictive accuracy, but only by a small margin.     

重力固体潮响应分析的初步研究

本文以北京地区为例,对重力固体潮和引潮力完成了响应分析和调和分析,并应用球函数给出了计算引潮力的公式,还对固体潮零点漂移现象的消除作了探讨。     

一种更有效的测量短波的方法

使用传统的在海底（或海底以上几米处）固定压力测波仪的方法观测波浪,因水层的滤波作用而无法有效地观测到高频短波。本文提出一种新的观测方法－使用悬挂压力测波仪的方法观测波浪。通过数值方法模拟与实际比较吻合的波面。然后模拟固定压力测波仪和悬挂坟力测波仪两种不同的方法获取此波面的水下压力记录曲线。应用传统谱分析的方法得到各自的压力频谱,再根据不同的情况分别换算成表面谱。通过数值的方法可以证明使用悬挂压力测     

Harvesting flow-induced vibration using a highly flexible piezoelectric energy device

Energy harvesting is a topic of global interest in both academic research and practical application across many fields. The main concept in energy harvesting is to convert wasted ambient energy into useful electrical energy. In particular, piezoelectric materials can be used to convert strain energy into electric power directly, and piezoelectric materials can be used to harvest external vibration forces.This paper proposes and develops a highly flexible piezoelectric energy device (FPED) to harvest flow-induced vibration by converting ambient kinetic energy such as ocean, current and wind energy into electric power. The energy harvesting device uses piezoelectric layers (e.g. PVDF) and elastomer materials (e.g. rubber or silicone) to achieve high electric performance and efficiency. The design of the FPED was optimized by considering the aspect ratio, support system, initial tension and incorporates a bluff body to generate turbulence. A theoretical model based on the transfer matrix method was used with the initial tension force and natural frequency of the harvester. The model demonstrated the maximum electric performance and optimized the structural layers and size under the parameter studies. Numerical and experimental results proved the potential of the highly flexible piezoelectric energy device to convert ambient kinetic energy from flow-induced vibration into useful electrical energy.     

Study on the contact behavior of pipe and rollers in deep S-lay

S-lay is a widely used method for offshore pipe installation. In recent years, S-lay has gradually applied to the deepwater condition. Because of the increasing pipe weight in deep S-lay, there exist severe and complex contact problems between the overbend pipe and roller supports of the stinger. In deep S-lay design, it is difficult to solve this nonlinear mechanics problem, and there remain confusion and difficulties to predict the roller contact forces and the pipe strain level in S-lay design.The present paper develops a refined finite element model with the framework of ABAQUS, which considers the complex surface contact behaviors in the overbend section. The features of the contact state of different rollers within one roller box are discussed, and the resultant support forces from each roller box are calculated and compared with the commercial design code. The overbend strain level of five S-lay cases is investigated and the pipelaying safety is checked by DNV rules. The simulation results show that the proposed model can provide more accurate and reasonable predictions on roller forces and pipe strain distribution for deepwater S-lay design.     

Remote sensing of surf zone waves using stereo imaging

The measurement of water wave characteristics, such as wavelength and wave height, in the surf zone is important for monitoring, prediction of erosion, and numerical model calibration. Traditional methods of measuring wave heights have either been limited to a small number of points or have required contact with the water. An experimental study of the remote sensing of water wave elevations, through the application of stereo photogrammetry, is presented. This method uses two spatially offset cameras, with overlapping fields of view, to determine water surface elevation. This remote sensing approach provides data with excellent spatial coverage and spatial and temporal resolution. Additionally, the hardware needs are minimal and the system is quickly deployed, calibrated, and operational.     

基于最小二乘法与RBF神经网络的溶解氧检测系统设计

为克服温度对溶解氧传感器的影响,对极谱型溶解氧检测系统的溶解氧电极激励源、高精度信号采样、软件标定和温度补偿等方面进行研究。通过对极谱型溶解氧传感器工作原理进行分析,设计了极谱型溶解氧传感器检测电路;根据溶解氧电极的温度特性,设计了基于NTC（负温度系数）热敏电阻的硬件温度补偿电路,并利用最小二乘法及RBF神经网络构建了软件温度补偿模型。利用饱和蒸馏水进行温度补偿实验,结果表明：经温度补偿后,该溶解氧检测系统的相对误差及采样波动均在1%以内,大大减小了传感器的非线性误差,测量精度和稳定性均可满足应用要求。     

Wave characteristics past a flexible fishnet

The scattering of surface waves by a flexible fishnet is studied analytically. The fishnet is modelled as a porous flexible barrier displaced solely by hydrodynamic force like a catenary. The objective is to investigate how a flexible permeable barrier affects the passing waves in the way they are transmitted and reflected, as observed by the fact that the water inside a fishfarm surrounded by fishnets is significantly calmer than that outside. The boundary value problems are solved by defining the reflection coefficient in terms of velocity potential and then the full solutions are obtained by suitable application of the eigenfunction expansion method and the least squares approximation method. The variations of the reflection coefficient, hydrodynamic pressure, barrier deformation and surface wave elevation are determined with respect to the barrier length, porosity and stiffness. It is observed that as the fishnet gets more flexible, its deformation increases and the reflection coefficient decreases, whereas as the fishnet gets more porous, more water can pass through it and thus the reflection coefficient, barrier deformation and the hydrodynamic force are reduced. The flexibility of the barrier behaves like its porosity by allowing more wave energy to act on it through its deformation and hence reduce the reflection and hydrodynamic force of the incident waves acting on the barrier.     

Methods of array element localization for a towed underwateracoustic array

The location of the hydrophones on a towed underwater acoustic array as a function of time (array element localization) is needed for signal processing. Methods to perform this localization using least squares polynomial fitting to data from depth sensors, heading sensors, and sensors detecting a ping from a single source are discussed. Arc distance along the array is used as the independent parameter so that all solutions are constrained to be space curves. Examples of application to real data are presented, and techniques to discriminate against bad sensor data are discussed     

柔性管卷管式铺管上卷有限元模拟

采用卷管法进行海底管道铺设过程中,管道首先通过牵引作用上卷于卷筒进行储存。管道与卷筒发生非线性接触,可能会产生复杂的塑性变形和局部屈曲。通过全尺寸柔性管力学性能试验获得柔性管轴力—应变以及弯曲—曲率等非线性力学性能关系,将试验所得的非线性材料性能参数导入建立的两种柔性管上卷ABAQUS有限元模型（梁—实体单元模型与壳和桁架—实体单元模型）,实现柔性管较大轴向抗拉刚度和较小抗弯刚度的同步模拟以及管道与卷筒的非线性接触响应特征。通过对比分析两种有限元模型数值模拟得到的管道弯矩、弯曲曲率、管道轴力、管道与卷筒的接触压强等数据,发现在管道上卷过程中管道沿副法线方向的SM3弯矩占据其弯曲变形主导地位;管道与卷筒之间的摩擦效应对于管道轴力的影响较为显著;管道与卷筒的最大接触压强主要发生在卷管过渡段区域。