Multivariable sliding mode control for autonomous diving andsteering of unmanned underwater vehicles

A six-degree-of-freedom model for the maneuvering of an underwater vehicle is used and a sliding-mode autopilot is designed for the combined steering, diving, and speed control functions. In flight control applications of this kind, difficulties arise because the system to be controlled is highly nonlinear and coupled, and there is a good deal of parameter uncertainty and variation with operational conditions. The development of variable-structure control in the form of sliding modes has been shown to provide robustness that is expected to be quite remarkable for AUV autopilot design. It is shown that a multivariable sliding-mode autopilot based on state feedback, designed assuming decoupled modeling, is quite satisfactory for the combined speed, steering, and diving response of a slow AUV. The influence of speed, modeling nonlinearity, uncertainty, and disturbances, can be effectively compensated, even for complex maneuvering. Waypoint acquisition based on line-of-sight guidance is used to achieve path tracking     

Image registration for the underwater inspection using the maximum a posteriori technique

Describes an image registration method for underwater inspection tasks. A remotely operated vehicle equipped with a video camera and a scanning sonar is used as the testbed vehicle. Each image of the underwater scene is saved along with the video camera's position and orientation. The images are then combined to create a large composite picture of the underwater structure being inspected. This method is based upon a maximum a posteriori estimation technique and provides smooth and robust estimates of image shifts. Our results demonstrate the feasibility of this highly promising underwater inspection procedure.     

MURS-300 MK II: A remote inspection system for underwater facilities of hydraulic power plants

While the civil engineering facilities of hydraulic power plants such as dam, water intake, waterway, etc., are usually submerged, there are few effective methods for their inspection. So we at Mitsui Ocean Development and Engineering Co., Ltd. (MODEC) have developed a new remote-controlled inspection system named "MURS-300 MK II" (MODEC Unmanned Remote-Controlled Submersible for 300-m water depth) in cooperation with Tokyo Electric Power Co., Inc. This MK II system, which consists of a submersible vehicle with a TV camera and a still camera, a handling system, a control van, and a composite cable with optical fibers, was designed, developed, and successfully evaluated at the end of 1984. This new system will find many applications to the inspection of nuclear and thermal power stations, offshore platforms, etc., as well as hydraulic power plants.     

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...     

Robust sliding mode control of a mini unmanned underwater vehicle equipped with a new arrangement of water jet propulsions: Simulation and experimental study

This paper presents dynamical modeling and robust control of a Mini Unmanned Underwater Vehicle (MUUV) equipped with a new arrangement of water jet propulsion. The water jet propulsion includes some advantages comparing with a propeller one, such as, reducing the number of required motors, desired number and arrangement of the propulsions, removing adverse torque and cavitation due to propeller rotation and etc. In order to model the proposed MUUV, the gray box method is used in such a way that the dynamical equation of motion is derived analytically by Euler-Lagrangian method, and then the hydrodynamic coefficients (such as added mass and drag coefficients) are derived by performing some tests in a Computational Fluid Dynamic (CFD) software. The dynamical model is used to simulate the MUUV system and also to design the proposed controllers, which are Feedback Linearization Controller (FLC) and Sliding Mode Controller (SMC). In order to investigate and compare the performance of the MUUV and the applied controllers, three types of tests including a desired signal tracking case and two desired path tracking cases are designed. To do so, a method is presented to obtain the desired signals from a desired path under predetermined conditions. Then, an MUUV prototype is designed and constructed in order to investigate the performance of the proposed water jet propulsions and controllers for regulation and tracking desired signal purpose, experimentally. As it is expected, the simulation and experimental results show better performance of the SMC compared to FLC. Furthermore, the experimental results reveal that the water jet propulsion is implementable to practical prototypes and also can be produced in an industrial level.     

Marine reserve establishment and on-going management costs: A case study from New Zealand

While there is considerable international research focused on the conservation outcomes of marine protected areas (MPAs) and marine reserves (MRs) there is little information on the economic cost to establish and manage these protected areas. This study estimated the MR pre-establishment and establishment costs for the Taputeranga Marine Reserve (TMR) in New Zealand (NZ) and determined the annual management costs for this reserve and four further NZ MRs. Finally, the cost to local rock lobster fishers resulting from the displaced fishing effort once the TMR had been established was estimated. This research found that the TMR pre-establishment cost was approximately NZ$508,000, and the establishment process cost was approximately NZ$353,000. The annual management costs across the five reserves ranged between NZ$43,200 and NZ$112,500 between 2008/09 and 2010/11. The annual fishers displacement cost at TMR was approximately NZ$22,000 per annum. This research showed that on a unit area basis, small MRs in NZ are just as expensive to maintain as large MRs. This study also highlighted how volunteer effort helped to considerably reduce the monetary cost of the MR pre-establishment process. This research increases our understanding of establishment and management costs, and supports future planning of MRs both within NZ and internationally.     

Compliance costs and the small fisher: A study of exiters from the New Zealand fishery

Over 3000 predominantly small-scale fishers have exited the New Zealand's quota management system (QMS) between its inception in 1986 and 2000. This study, based on the Ministry of Fisheries database and a questionnaire sent to the exiters, establishes that compliance costs in general, and those specifically related to the QMS, were one of the most consistent reasons for exit. Uncertainty about future QMS policy and the high cost of quota were also significant factors. It appears that the small fishers’ perception of high compliance cost can be supported by industry data.     

Private ownership of underwater lands in Great South Bay,New York: A case study in degradation,restoration and protection

In 2002 and 2004, The Nature Conservancy became the owner of underwater lands totaling 22% of the Great South Bay, Long Island, New York. A legacy of unsustainable shellfish harvesting, shoreline development, and water pollution degraded the area. Dense human population and cumulative impacts of human uses continue to affect the site. Since acquiring the property, the Conservancy has worked with local communities and governments to implement shellfish and seagrass restoration projects within and outside of what is now the Great South Bay Marine Conservation Area. The Conservancy has also worked with stakeholders to address and improve environmental conditions within the watershed of Great South Bay. Several types of protected area governance incentives have been employed at the site, including economic (financing and staffing for restoration), knowledge (outreach regarding restored habitats), legal (private rights and enforcement) and participative (transparent and inclusive decision-making). Strengthening legal and regulatory policies that provide formal government support for the site would improve the likelihood of long-term success. While concerns about private protected areas exist, the Conservancy's Great South Bay Marine Conservation Area is one of several examples around the world of successful protection of the marine environment by a private entity.     

英国海洋事业的新篇章——谈2009年《英国海洋法》

<正>英国是欧洲大陆西北海岸外的一个大西洋岛国,陆地面积24.25万平方公里,海岸线长1万7千多公里,人口6100多万,其中约30%居住在距离海岸10公里的沿海地带。