A hierarchical real-time control architecture for a semi-autonomous underwater vehicle

This paper describes a real-time control architecture for Dual Use Semi-Autonomous Underwater Vehicle (DUSAUV), which has been developed at Korea Research Institute of Ships and Ocean Engineering (KRISO) for being a test-bed of development of underwater navigation and manipulator technologies. DUSAUV has three built-in computers, seven thrusters for six DOF motion control, one 4-function electric manipulator, one ballasting motor, built-in power source, and various sensors. A supervisor control system with GUI and a multi-purpose joystick is mounted on the surface vessel and communicates with vehicle through a fiber optic link. Furthermore, QNX, one of real-time operating system, is ported on the built-in control and navigation computers for real-time control purpose, while Microsoft OS product is ported in the supervisor computer for GUI programming convenience. A hierarchical control architecture, which consists of application layer, real-time layer and physical layer, has been developed for efficient control system of above complex underwater robotic system. The experimental results with implementation of the layered control architecture for various motion control of DUSAUV in an ocean engineering basin of KRISO is also presented.     

一类全局最优化问题的动态隧道方法

研究了连续变量函数的全局最优化问题 ,给出了动态隧道方法。该动态隧道方法由局部搜索和动态隧道 2个阶段构成。在局部搜索阶段用了动态系统方法。对全局最优化问题的实例进行了数值实验 ,数值结果表明了该方法的稳健性和有效性。     

海洋细菌对赤潮藻生长及其产毒量的影响

采用麻痹性贝类毒素小白鼠生物测定法 ,研究了在可控生态条件下两株海洋细菌S1 0 、P42 对塔玛亚历山大藻生长及其产毒量的影响。结果表明 ,菌株S1 0 在较高浓度下对藻细胞的生长有明显的抑制作用 ,在较低浓度下抑藻生长作用较弱 ,不同浓度的菌株S1 0 均能有效地抑制藻细胞内麻痹性贝类毒素的产生 ,且在较低浓度下效果较好 ;菌株P42 对该藻的作用恰好与S1 0 相反 ,在较低浓度下明显抑制藻细胞的生长 ,不同浓度的菌株P42 也能有效地抑藻产毒 ,且在较高浓度下作用较明显。实验用的藻株毒力约为 ( 0 .95— 1 2 .1 4)× 1 0 - 6MU/cell,属于低毒藻株 ,该藻株在培养第 1 4天达到毒性最高峰 ,峰值为 1 2 .1 4× 1 0 - 6MU/cell,之后逐渐下降。讨论了海洋细菌在赤潮生物防治中的应用前景     

Effect of Sea Level Variation on Tidal Characteristic Values for the East China Sea

1 .IntroductionTheglobalairtemperatureroseabout 0 .5～ 0 .6°Coverthepast 2 0thcentury ,andtheglobalmeansealevelincreasedbyabout2 0cmduringtheperiod .Theregionalmeansealevelriseswiththerisingglobalmeansealevel.Zuoetal.( 1 997)indicatedthatthemeanrisingrateofabsolutemeansealevelalongtheChinacoastontheassumptionofunifiedisostaticdatumis 2mm a .Woodworth( 1 999)analyzedsealevelspanning 1 76 8tothepresentinLiverpool,andobtainedaseculartrendforheperiodupto 1 880of0 .39± 0 .1 7mm a ,andatrendfort…     

Hilbert Transferin Applied to Separation of Waves

The analytical method (AM) for separation of composite waves is presented based on the Hilbert transform. It is ap-plicable to both regular and irregular trains of waves. The wave data series measured with two wave gauges in the experi-ments are separated into two series of incident and reflected waves. Then, the reflection coefficient can be easily ob-tained. The arrival of reflected waves can also be detected for improveraent of the accuracy of the reflection coefficient. The reflection performance of the physical model can be estimated exactly without calculation of wave height and phase difference. Numerical samples developed to test the method are proved to be accurate. Physical experiments are conduct-ed and compared with Goda s method and satisfactory results are obtained.     

钝顶螺旋藻C-藻蓝蛋白和多管藻R-藻红蛋白的分离纯化及摩尔消光系数的测定

１９９３年１１月～１９９４年１月用简单的羟基磷灰石柱层析法从多管藻中分 离纯化了Ｒ－藻红蛋白和从钝顶螺旋藻中纯化了Ｃ－藻蓝蛋白，它们的纯度（指可见 光部分的最大吸收与 ２８０ｎｍ处吸收值之比）可分别达到 ６（Ｒ－藻红蛋白）和 ５． ５（Ｃ－ 藻蓝蛋白）。由于不同藻种的同种藻胆蛋白的摩尔消光系数不同，所以应用凯氏定 氮法并结合可见光的吸收值测定了上述两种藻胆蛋白的摩尔消光系数，钝顶螺旋 藻Ｃ－藻蓝蛋白为１．８５３ × １０６ｍｏｌ－１ｃｍ－１（６２０ｎｍ），多管藻Ｒ－藻红蛋白为１．７９６ × １０６ｍｏｌ－１ｃｍ－１（４９８ｎｍ），为藻胆蛋白的浓度测定提供了方便。     

池养长毛对虾体长与体重的关系

本文报道池养长毛对虾体长在６．８－１２３．９ｍｍ范围内的体长与体重的关系。池养长毛对虾雌、雄群体的生长特点是雌虾快于雄虾。由雌雄混合、雌虾、雄虾群体的体重对体长的相关曲线都很接近。     

南黄海海水中悬浮体垂向分布类型及跃层

海水中悬浮体的垂向分布并非上下均匀,而是具有明显的层化现象,这种情况与海水中的温度、盐度、密度等物理性质的层化现象一样,不是偶然的,而是常年存在的,同时,悬浮体含量的层化分布对于海水的某些物理性质有较大影响。 1958年中国科学海洋研究所在南黄海南部海水中悬浮体的调査中已发现了悬浮体含量分布的层化现象。1981年, Kanau Matsuike等(1983)在东海区悬浮体的调查中发现了长江口外浅滩区海水中光束衰减的层化现象。Gorsline和Swift (1977)在关于大陆架沉积动力学的论述中指出,海水密度的层化现象总是伴随着悬浮体浓度的层化现象。1983-1984年中美南黄海沉积动力学联合调查中,作者(秦蕴珊等,1986)也发现了该区内海水中悬浮体含量的层化分布现象,并且提出了“悬浮体跃层”的概念。同期,赵保仁等(1986)在研究秋末南黄海海水透光度及其与环流的关系时指出,水体中透光度存在着一个“跃变层”。实际上,影响海水透光度衰减的主要因素是悬浮体浓度,因而,上述透光度之“跃变层”乃是悬浮体跃层在光学方面的表现。上述报道结果说明,悬浮体垂向分布的层化现象及悬浮体跃层的存在已经引起了有关学者的注意。但是,其性质、季节变化及成因等问题却很少有人研究,它们对海水许多重要物理性质的影响也鲜为人知,因而这些问题的解决在理论和实践方面均具有重要意义。 在总结了历年调查资料基础上,作者于1988年4月又在南黄海进行了补充调査,共设55个站位(图1),对本区悬浮体分布中的层化现象、跃层问题及季节变化等进行了系统分析,并且对其成因及其物理意义进行了初步探讨。关于悬浮体的平面分布问题作者已有专文讨论,兹不赘述。     

由二种气单胞菌引起的中国对虾败血病的研究

于１９９２年７月－１９９３年３月，用分离病原菌，注射感染，侵浴感染，创伤感染、投喂感染，重复分离病原菌，测定病原菌生理生化特性和对药物敏感性，观察病理变化研究气单胞菌引起的中国对虾败血病。结果表明，病原菌为嗜水气单胞菌和豚鼠气单胞菌，它们的最适生长温度，盐度，ＰＨ分别为３０℃，３５和８，两种菌对氯霉素，氟哌酸和复方新诺明均敏感，病虾主要病变为鳃，肢鳃和鳃盖内膜部分或全部坏死变黑，心脏和消化道粘膜下     

The concentration and distribution of dimethyl sulfide in the marine atmospheric boundary layer near the equator

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