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.     

Identification of Pb sources in Yellow Sea sediments using stable Pb isotope ratios

Rapid economic developments in East Asian countries have inevitably resulted in environmental degradation in the surrounding seas, and concern for both the environment and protection from pollutants is increasing. Identification of sources of contaminants is essential to environmental pollution management. In this study, the provenance of anthropogenic lead (Pb), a major pollutant of Yellow Sea sediments, was determined for river mouth sediments, including those of the Changjiang, Huanghe, Han, and Geum Rivers, and for age-determined shelf core sediments through the measurement of Pb isotope ratios in the HCl-leached fraction using multi-collector inductively coupled plasma-mass spectrometry (MC ICP/MS). Anthropogenic Pb has accumulated in shelf core sediments since 1910, and its isotope ratios were estimated as 0.863–0.866 and 2.119–2.125 for ²⁰⁷Pb/²⁰⁶Pb and ²⁰⁸Pb/²⁰⁶Pb, respectively, from the mixing relationships of the two endmembers. River mouth sediments exhibited enough distinction in anthropogenic Pb isotope ratios to be discriminated: 0.874 (2.144) in the Huanghe, 0.856 (2.129) in the Han, 0.857 (2.122) in the Geum, and 0.854 (2.101) in the Changjiang for ²⁰⁷Pb/²⁰⁶Pb (²⁰⁸Pb/²⁰⁶Pb), respectively. Although isotope ratios of geogenic Pb in sediments dating before 1910 showed narrow ranges (0.842–0.845 and 2.088–2.100 for ²⁰⁷Pb/²⁰⁶Pb and ²⁰⁸Pb/²⁰⁶Pb, respectively), distinct isotope ratios in each core permitted source identification of sediments in the Yellow Sea based on geographic locations and the geogenic Pb of each river. By comparing the isotope ratios of the estimated anthropogenic Pb to source-related materials, the provenances of anthropogenic Pb in Chinese river sediments were presumed to be Chinese coal or ore, which is also a major source of atmospheric particulate Pb. The anthropogenic Pb in the shelf core sediments in the northern Yellow Sea originated from northern Chinese cities such as Beijing and Tianjin through atmospheric pathways. Pb isotope ratios indicated that Pb in Korean river sediments was characteristic of local Korean ores.     

黄海北部降水中氟的浓度变化

1988～1992年连续采集了黄海西北部的大气降水,分析样品中的氟而得到的80多个数据显示出大气降水中氟的平均浓度低于中国北方主要河流的氟平均浓度。在冬季,氟的浓度较其他季节高,这可能和降雨量减少以及人为因素等密切相关。目前还难以估算出人为因素对氟在降水中化学行为的影响程度,但数据显示出人口密集地区降水中氟的浓度明显高于人口稀疏的自然地带。     

三次样条函数在海洋水文资料整理中的应用

本文引入三次样条函数插值法,并尝试用于海洋资料处理。根据渤海及北黄海部分海洋站的历史资料进行了试验。用SHARP—PC—1211袖珍计算机进行计算,并将资料处理的结果与传统的过程曲线法订正值作了比较。结果表明,二者之间的误差不大,而样条函数拟合更好。作者认为三次样条函数插值法是可行的,在处理海洋资料时间序列中是有效的。在有温跃层的地方,如何应用,本文也给出了必要的说明。     

Instrumentation and Numerical Analysis of Cylindrical Diaphragm Wall Movement During Deep Excavation at Coastal Area

The lateral deflection of a cylindrical diaphragm wall and the associated ground movement induced by deep excavation are analyzed by performing site instrumentations and numerical analyses in the coastal area of Korea. Wall lateral deflection, rebar stress, and pore water pressure were measured and analyzed in eight directions. Variations of soil properties with the decrease of confining pressure are compared by performing various in situ tests before ad after excavation. To calculate the wall lateral deflection accurately, the effects of small strain nonlinearity, confining pressure, and the hysteresis loading/unloading loop developed during excavation are considered in the proposed numerical analysis. By comparing numerical results with measured ones, the importances of considering small strain nonlinearity and confining pressure reduction in the nonlinear (FEM) are emphasized. Also, the effects of wall stiffness on the performance of cylindrical diaphragm walls are studied for future similar excavation in the coastal area.     

热带气旋在东海的活动及其灾害分析

本文根据1949～1989年热带气旋历史资料,对影响东海的热带气旋进行了统计分析,结果表明,热带气旋在东海的活动相当频繁,特别是7、8、9三个月;热带气旋逐年出现个数有明显的年际波动和季节性变化;进入东海的热带气旋大致分为七类路径,不同路径的热带气旋对东海沿岸地区造成不同程度的危害,其灾情以具体实例作了阐述。     

胜利二号极浅海步行坐底式钻井平台防腐措施研究

本文根据胜利二号极浅海步行坐底钻井平台的作业和工作环境特点，进行了防腐措施研究，设计了切合实际的防腐措施。该平台在海上作业近四年进坞修理，经观测防腐情况良好。     

近海污损生物的调查方法

近海海区污损生物调查有浮标挂板法和海上设施（浮标及其锚碇系统，Ｍａｒｅｘ水文浮标，移动式钻井平台和固定式生产平台）采样法。由于近海海区污损生物调查工作的特殊性和艰难性，笔者提出了利用已有的海上设施，尤其是固定式平台来积累近海污损生物资料，以便进行生态学研究。     

Changing anthropogenic influence on the Santa Monica Bay watershed

Santa Monica Bay is an open coastal embayment located directly seaward of Los Angeles, California. The Bay provides vital economic value through its water-dependent activities, such as swimming, diving, boating, and fishing. An increase from 100,000 residents in 1900 to 10 million in 2000 has imposed numerous environmental stressors on the Bay, including urbanization of the watershed. Pollutant discharges into the Bay increased throughout the early part of the century, but declined following passage of the Clean Water Act in 1972. Since that time, the predominant source of pollutant inputs has changed from point sources to non-point urban runoff. To assess how present-day and historical pollution interact to affect the environmental quality of Santa Monica Bay, three organizations collaborated on a multi-disciplinary study in 1997, towards which this volume is focused. This paper details the temporal patterns of anthropogenic influence on Santa Monica Bay to provide context for the papers that follow.     

去冬渤海及黄海北部海域冰情严重

去年入冬以来,我国大部分地区连续受冷空气的影响,气温比常年有显著的下降趋势,从而也导致了渤海及黄海北部海域冰情较为严重.根据海洋观测站、遥感中心、航空监测的实测资料以及NOAA卫星图像分析:辽东湾、渤海湾、莱州湾及黄海北部流冰范围分别在90海里、20海里、5海里、25海里内;最大冰厚分别是50厘米、25厘米、15厘米、30厘米;结冰类型大部分是灰冰、莲叶冰、冰皮和少量的灰白冰.今年该海域的结冰现象是近十几年来最为严重的一年.