A self-heated second stage regulator for underwater divers

This article deals with the development, testing and performance evaluation of a new class of a self-heated breathing regulator for underwater divers.This class of regulators is introduced because of its capability of utilizing the energy of the compressed gas, used in supporting the lives of divers underwater, in heating the inhaled gases as well as in eliminating the problems of regulator freeze-up in cold waters.The paper presents the performance characteristics of the self-heated second stage regulators under different simulated dive temperatures, breathing frequencies and tidal volumes.Comparisons are also presented between the performance of the self-heated regulator and a conventional regulator in order to define the merits and limitations of each type under different dive conditions.The obtained results indicate that the self-heated regulator produced not only warm gases but performed successfully in zero°C waters while the conventional regulator has failed.This paper suggests the potential of the self-heated regulator as viable means for alleviating the problems of cold water diving.     

A self-heated first stage breathing regulator for underwater divers

This article presents a new class of first stage breathing regulators for underwater divers with built-in self-heating capabilities. In this class of regulators, the energy of the high pressure life support gas is used to heat both the inhaled gases and the regulator core in an attempt to combat problems of cold water diving.The thermal characteristics of this regulator are monitored and compared with those of a conventional regulator under different simulated dive temperatures, breathing frequencies and also under free flow conditions.The obtained results show that the self-heated first stage (SHFS) regulator delivered warm gases and performed successfully in zero°C water while the conventional regulator failed even when equipped with the environmental protection kit.This paper emphasizes the potential of the self-heated regulator as an essential part of cold water diving gear.     

Flow characteristics of exhalation valves of diving regulators

This study presents the flow-resistance characteristics of conventional exhalation valves used in underwater diving regulators. Evaluation of such characteristics is essential to quantifying the effect of the main design parameters of these valves on the diver's exhalation effort.Plain, tapered as well as tapered supported valves of different materials have been considered in this study.Valves seats of different geometrical configurations which varied from the simple multi-circular hole seats to the more imaginative Posiden-like seats have been studied. Triangular, multi-quadrant as well as full diaphragm exhalation valves have also been tested in details.New designs of exhalation valves have also been developed and tested in an attempt to define the optimum configuration as well as the best combination of the valve and its seat that would reduce the exhalation effort to a minimum. Among the considered new designs are the vortex and nozzle-assisted exhaust valves.The obtained results show that full diaphragm exhalation valves offer the least breathing resistance followed by the 13-hole Posiden-like exhalation valve, the nozzle-assisted valves and the vortex-assisted valves. Nonetheless, the 2.9-cm diameter plain, unsupported and untapered valve on the six-triangle seat exhibits flow characteristics that are not too far from the most fancy designs.The obtained results presents design guides, for improving the breathing characteristics of the exhalation valves, which can be extremely important to the designers and manufacturers of diving regulators.     

A compressed gas-powered heating system for underwater divers

This article presents a heating system for divers which is totally powered by the compressed gas used in supporting their lives underwater. The pressure energy stored in the breathing gas, which is conventionally wasted through throttling, is utilized to generate a heating effect by expanding the gas in an optimally designed vortex tube.A mathematical model is presented to predict the generated heating effect at different dive depths and ambient temperatures with air and heliox as breathing mixtures.Comparisons are given between the heating effect developed by the system and those required by the divers when wearing different diving suits and working at various work loads. Those comparisons emphasize the potential of the system as a viable means for heating the divers, their inhaled gases as well as their dive gear in a way that eliminates the complexity and hazards of presently available systems.     

Heated diver decompression shelter: The “womb concept”

A hybrid thermal protection method using waste heat from a surface-mounted outboard motor is shown to create a warm “micro-climate” environment for divers. The effects of surface heater capacities, water flow rates, shelter volume and shelter insulation on micro-climate temperatures are characterized. During long, cold-water decompression stops this method offers a reliable, low-cost alternative to surface-supplied hot water suits or diver-carried heating systems. An added bonus for divers using closed-circuit breathing apparatus is prolonged durations of their carbon dioxide scrubbers when surrounded by the warm water “micro-climate”. Closed-circuit and open-circuit options of this diver decompression shelter concept are evaluated.     

A comparative study of the breathing and clearing characteristics of different types of snorkels

This article presents a comparative study of the breathing resistance and clearing characteristics of several types of commercially available snorkels in an attempt to device quantitative means that enable the divers to select the best snorkel and the designers to see the possible directions and modifications necessary for improving the performance of such important life support devices.Two test stands have therefore been built, the first to measure the breathing resistance and the second to monitor the clearing efficiency and speed of some of the commonly used snorkels.The tested snorkels varied from the simple J-type to the sophisticated wrap-around snorkels with convoluted flexible hoses and flared ends.The results obtained show that large diameter snorkels of the wrap-around design with sweeping barrels and flared ends (as the AMF Swimmaster snorkel number 2S55) offer the least breathing resistance. As for the clearing characteristics snorkels with small diameters and of the simple J-type (as the Spanish Aquasub snorkel: The Canarias) or with large diameters and sweeping barrels (as the Power Tuned snorkel of U.S. divers) possess the best clearing figure of merit.     

潜水监控系统的应用研究

通过研究和分析潜水过程中出现的问题,设计了一套针对空气潜水的监控系统.系统利用计算机、视频监控、传感器技术,对潜水员的气源压力、供气压力、潜水深度、潜水时间及潜水过程中拍摄图像声音进行采集和记录.整个系统分为气源压力监测、潜水员深度监测和水下图像声音采集3个模块,可同时对4名潜水员进行实时监控,使水面人员可以准确地掌握...     

Developing self-guided scuba dive routes in the Algarve (Portugal) and analysing visitors' perceptions

Scuba diving allows for underwater visitation of cultural and natural resources. Underwater routes can be used as a tool for guided and supervised underwater visits. Two scuba diving routes were implemented in the Algarve (South of Portugal), the “B24” and “Poço” diving sites. The perceptions of scuba divers regarding several aspects of the routes and the existing support infrastructures were studied following a survey carried out through face-to-face interviews from 2008 to 2012. Divers profile and their perceptions were analysed using 246 valid questionnaires. Divers were mainly Portuguese, over 30 years old and with more than 12 years of formal education. Some of the support infrastructures did not achieve a “good” or “acceptable” grade. This should be carefully considered by diving operators and managers, because perceptions tend to circulate throughout the diving tourists. All features of interpretative slates were graded as highly satisfactory. Overall, diver satisfaction increased slightly after route implementation, with an average ranking of “good”. These findings support the implementation of underwater routes as a way to promote diving activity, and to increase divers' environmental education and awareness.     

Active learning for detection of mine-like objects in side-scan sonar imagery

A data-adaptive algorithm is presented for the selection of the basis functions and training data used in classifier design with application to sensing mine-like targets with a side-scan sonar. Automatic detection of mine-like targets using side-scan sonar imagery is complicated by the variability of the target, clutter, and background signatures. Specifically, the strong dependence of the data on environmental conditions vitiates the assumption that one may perform a priori algorithm training using separate side-scan sonar data collected previously. In this paper, a novel active-learning algorithm is developed based on kernel classifiers with the goal of enhancing detection/classification of mines without requiring an a priori training set. It is assumed that divers and/or unmanned underwater vehicles (UUVs) may be used to determine the binary labels (target/clutter) of a small number of signatures from a given side-scan collection. These sets of signatures and associated labels are then used to train a kernel-based algorithm with which the remaining side-scan signatures are classified. Information-theoretic concepts are used to adaptively construct the form of the kernel classifier and to determine which signatures and associated labels would be most informative in the context of algorithm training. Using measured side-looking sonar data, the authors demonstrate that the number of signatures for which labels are required (via diver/UUV) is often small relative to the total number of potential targets in a given image. This procedure designs the detection/classification algorithm on the observed data itself without requiring a priori training data and also allows adaptation as environmental conditions change.     

The evaluation method of total damage to ship in underwater explosion

Whipping response will happen when a ship is subjected to underwater explosion bubble load. In that condition, the hull would be broken, and even the survivability will be completely lost. A calculation method on the dynamic bending moment of bubble has been put forward in this paper to evaluate the impact of underwater explosion bubble load on the longitudinal strength of surface ships. Meanwhile the prediction equation of bubble dynamic bending moment has been concluded with the results of numerical simulation. With wave effect taken into consideration, the evaluation method of the total damage of a ship has been established. The precision of this evaluation method has been proved through the comparison with calculation results. In order to verify the validity of the calculation results, experimental data of real ship explosion is applied. Prediction equation and evaluation method proposed in this paper are to be used in ship structure design, especially in the preliminary prediction of the ultimate withstanding capability of underwater explosion damage for the integrated ship in preliminary design phase.     

Estimating the potential impact of entry fees for marine parks on dive tourism in South East Asia

Marine reserves are increasingly being established as a mechanism to protect marine biodiversity and sensitive habitats. As well as providing conservation benefits, marine reserves provide benefits to recreational scuba divers who dive within the reserve, as well as to recreational and commercial fishers outside the reserve through spill-over effects. To ensure benefits are being realised, management of marine reserves requires ongoing monitoring and surveillance. These are not costless, and many marine reserve managers impose an entry fee. In some countries, dive tourism is major income source to coastal industries, and a concern is that high entry fees may dissuade divers. In this paper, the price elasticity of demand for dive tourism in three countries in South East Asia – Indonesia, Thailand and Malaysia – is estimated using a travel-cost model. From the model, the total non-market use value associated with diving in the area is estimated to be in the order of US$4.5 billion a year. The price elasticity of demand in the region is highly inelastic, such that increasing the cost of diving through a management levy would have little impact on total diver numbers.     

Use of a shape memory alloy for the design of an oscillatory propulsion system

This study investigates the potential for incorporating the elastic mechanisms found in fish propulsive systems into mechanical systems for the development of underwater propulsion. Physical and kinematic information associated with the steady swimming of the bonito and other scombrid species was used for the design. Several electroactive materials were examined for simulating muscle behavior and their relative suitability was compared. A dynamic analysis method adapted for muscle, which is a work-loop technique, would provide valuable information. However, the lack of such information on engineering materials made any direct comparison between the biological and mechanical systems difficult. Based on available information, nickel-titanium shape memory alloy (SMA) was better suited to produce relatively slow and powerful steady swimming of scombrid species. The simplified geometry of muscular systems and axial tendons was adapted. These arrangements alleviate the limited strain of the SMA by trading force for distance and provide an effective force transmission pathways to the backbone.     

水声环境资料质量检核评估标准规范研究

为规范水声环境资料质量检核评估工作,开展了水声环境资料质量检核评估标准规范研究,参照水声环境数据后期处理一般程序,梳理分析了原始数据、处理算法、模型运用及处理流程等数据质量误差来源;结合标准化水声环境资料处理程序及成果形式,研究了数据及数据处理全流程检核评估方法,给出数据文件、处理代码及配套文档资料应包含的内容及检查方法;研判了数据质量检核评估要求,给出三级验收制度、检核评估形式及提交的资料清单要求,对开展水声环境资料验收汇交规程及相关标准规范的制定、修订工作,具有较强的参考价值。     

Dynamic Analysis of A 5-MW Tripod Offshore Wind Turbine by Considering Fluid–Structure Interaction

Fixed offshore wind turbines usually have large underwater supporting structures. The fluid influences the dynamic characteristics of the structure system. The dynamic model of a 5-MW tripod offshore wind turbine considering the pile–soil system and fluid structure interaction (FSI) is established, and the structural modes in air and in water are obtained by use of ANSYS. By comparing low-order natural frequencies and mode shapes, the influence of sea water on the free vibration characteristics of offshore wind turbine is analyzed. On basis of the above work, seismic responses under excitation by El-Centro waves are calculated by the time-history analysis method. The results reveal that the dynamic responses such as the lateral displacement of the foundation and the section bending moment of the tubular piles increase substantially under the influence of the added-mass and hydrodynamic pressure of sea water. The method and conclusions presented in this paper can provide a theoretical reference for structure design and analysis of offshore wind turbines fixed in deep seawater.     

水下仿生扑翼机器人的发展现状综述

参照蝠鲼等鱼类游动方式所研制的水下仿生扑翼机器人具有效率高、机动性强、负载能力大等多方面优势。由于其广阔的应用前景,水下仿生扑翼机器人已逐步成为水下航行器领域的研究热点。本文系统地将蝠鲼的生物学特性、机器人的结构设计、动力学模型、单体运动控制、集群运动控制以及实验研究等方面的国内外研究进展进行了总结和梳理。已有的研究表明：水下仿生扑翼机器人正在朝着软体化、集群化、 高机动等方向发展,新兴的水下仿生扑翼机器人及仿生集群能够更加精确的模拟真实生物的游动姿态,并开展相关任务。当下的研究为水下仿生扑翼机器人性能的进一步优化与提升奠定了坚实的理论与实践基础。     

Stakeholder's views on fisheries compliance: An Australian case study

This study presents the results of a field survey that focused on the views of Tasmanian abalone fishery stakeholders (commercial and non-commercial divers, processor, enforcement agency and management) with regards to non-compliance in the abalone fishery. The primary data was collected through 22 face-to-face interviews with stakeholders and the Wilcoxon's signed-rank test was used to determine if significant differences existed between the means of responses from primary and secondary stakeholders. It was found that there is no significant difference in mean responses of primary and secondary stakeholders in regard to the factors that have the potential in influencing the non-compliance in the fishery. The similarity of views between the regulators and resource users on the source and nature of non-compliance in the fishery would form the basis for improved compliance strategies.     

Underwater vehicle obstacle avoidance and path planning using amulti-beam forward looking sonar

This paper describes a new framework for segmentation of sonar images, tracking of underwater objects and motion estimation. This framework is applied to the design of an obstacle avoidance and path planning system for underwater vehicles based on a multi-beam forward looking sonar sensor. The real-time data flow (acoustic images) at the input of the system is first segmented and relevant features are extracted. We also take advantage of the real-time data stream to track the obstacles in following frames to obtain their dynamic characteristics. This allows us to optimize the preprocessing phases in segmenting only the relevant part of the images. Once the static (size and shape) as well as dynamic characteristics (velocity, acceleration,…) of the obstacles have been computed, we create a representation of the vehicle's workspace based on these features. This representation uses constructive solid geometry (CSG) to create a convex set of obstacles defining the workspace. The tracking takes also into account obstacles which are no longer in the field of view of the sonar in the path planning phase. A well-proven nonlinear search (sequential quadratic programming) is then employed, where obstacles are expressed as constraints in the search space. This approach is less affected by local minima than classical methods using potential fields. The proposed system is not only capable of obstacle avoidance but also of path planning in complex environments which include fast moving obstacles. Results obtained on real sonar data are shown and discussed. Possible applications to sonar servoing and real-time motion estimation are also discussed     

水下机器人耐压舱优化设计与结构分析

水下机器人的耐压舱设计要求在满足总体指标的前提下,最大限度地提高设计强度与稳定性,同时尽可能降低质量。本文使用ANSYS Workbench中的Design Explorer模块,对耐压舱进行快速优化设计,一次获得多个优化候选结果,经过对比分析得到最优设计方案。然后,针对装配形式进行接触分析,确保大压力条件下结构不会在接触面发生失效破坏。最后,对舱体结构进行稳定性分析,确保结构能够在大深度环境中不发生失稳破坏。本研究为水下机器人耐压舱体快速优化设计、强度和稳定性校核提供了参考。     

Dynamic Modeling and Three-Dimensional Motion Analysis of Underwater Gliders

For consideration of both the eccentric rotatable rigid body and the translational rigid body, the dynamic model of the underwater glider is derived. Dynamical behaviors are also studied based on the model and can be used as the guidance to underwater gliders design. Gibbs function of the underwater glider system is derived first, and then the nonlinear dynamic model is obtained by use of Appell equations. The relationships between dynamic behaviors and design parameters are studied by solving the dynamic m...     

海上复杂断块油田储层流动单元研究与应用——以北部湾A油田A1/A5断块为例

开展海上复杂断块油田储层流动单元研究对刻画储层连通程度、剩余油的分布情况有着十分重要的实际意义。以北部湾A油田A1/A5断块为例,首先对复合砂体内单砂体的识别来建立流动单元研究的精细地质格架,然后结合断层封闭性、隔夹层分布、砂体接触关系所形成的渗流屏障进行流动单元划分。利用主成分分析和相关性分析的方法进行参数优选,确定孔隙度、泥质含量、渗流系数作为研究区流动单元分类的主要参数,并通过神经网络聚类分析将流动单元分为3类。在单井、剖面、平面流动单元展布研究的基础上,运用截断高斯模拟方法建立流动单元三维地质模型。结果表明:Ⅰ类流动单元具有最好的储渗能力,所钻油井累计产量比较高,但分布范围局限,成土豆状分布于水下分流河道中心部分;Ⅱ类分布范围最广,储渗能力较好,分布在水下分流河道微相中,剩余油分布较多,通过调整挖潜可以开发其生产潜力;Ⅲ类大多成条带状分布,主要位于水下溢岸砂沉积部位,储渗能力最差,产量很低,其开发潜力也比较差。