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.     

褐藻酸降解菌侵染海带过程的超微结构观察

首次研究了褐藻酸降解菌侵入海带的途径，通过电镜观察，跟踪研究了褐藻酸降解菌染海带过程中海带表皮细胞壁的超微结构变化。结果表明，褐藻酸降解侵染海带的过程是首先引起海带表皮细胞壁藻胶层表面的破坏，然后引起藻胶层的断裂，并使藻胶层逐渐降解变突，最后褐藻酸降解菌通过海带细胞的壁藻胶层的断裂变突处进入海带细胞内。     

三苯基氯化锡对扁藻细胞超微结构的影响

于１９９２年４月－１９９２年６月以扁藻为材料进行半抑制深度三苯基氯化锡处理７２ｈ实验，用透射电镜观察观察中毒状态扁藻细胞超微结构的变化。结果表明，线粒体发生水肿，内脊局部瓦解，基质内出现由双层膜包围的同心质膜轮；叶绿体内光合片层的网状结构被破坏，光合片层上下重叠成厚块状；蛋白核中央髓部肿胀，淀粉鞘破裂成多角形淀粉板，并分散在髓部周围；叶绿体基质中出现大量淀粉粒，眼点因受淀粉粒挤压而由藻体中下部移至     

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.     

牙鲆肠淋巴样组织免疫细胞研究Ⅰ：颗粒细胞的超微结构*

本文探讨了电镜下牙鲆(Paralichthys olivaceus)肠淋巴样组织内颗粒细胞的形态特点及其变化过程。颗粒细胞经鉴定为嗜酸性颗粒细胞，常存在于肠黏膜层及黏膜下层靠近肌肉层的淋巴腔中，以具有大型非匀质颗粒为其主要特征。牙鲆肠淋巴样组织内嗜酸性颗粒细胞的变化可分为增长期、成熟期、分泌期和衰退期四个时期，嗜酸性颗粒细胞具有明显的外排现象说明肠淋巴样组织是鱼类免疫防御系统的重要组成部分。     

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.     

基于麦克斯韦理论的海底大地电磁探测技术

麦克斯韦理论为海底大地电磁探测技术奠定了坚实基础。大地电磁场的测量通常测取Ex，Ey，Hx，Hy,Hz。大地电磁仪的设计要点包括：高灵敏度、智能化、同步采集数据、锚系硬连接、承压密封和合理的下沉速度所观测的数据经计算机处理后，可获得被测海域的地球物理信息。     

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.     

海洋真菌及其生物活性物质多样性研究

海洋微生物种类繁多,是筛选新药的丰富资源宝库。近些年来,作为海洋微生物中重要的组成部分的海洋真菌正成为研究的热点,越来越受到国内外学者的关注。本文详细概述了海洋真菌的定义、分布、海洋真菌研究的历史和现状、其所产生的生物活性物质多样性以及存在的问题。     

Primary productivity in the western tropical Pacific and equatorial warm waters

ＩＮＴＲＯＤＵＣＴＩＯＮＢｙｓｔｕｄｙｉｎｇｃｈｌｏｒｏｐｈｙｌｌａｎｄｐｒｉｍａｒｙｐｒｏｄｕｃｔｉｖｉｔｙｉｎｏｃｅａｎ ,ｅｉｔｈｅｒｉｎｔｈｅｂｉｇ ｓｃａｌｅｏｒｉｎｔｈｅｓｍａｌｌｓｃａｌｅ ,ｔｈｅｐｒｏｄｕｃｔｉｖｉｔｙｄｉｓｔｒｉｂｕｔｉｏｎａｎｄｖａｒｉａｔｉｏｎｏｆｍａｒｉｎｅｏｒｇａｎｉｃｍａｔｅｒｉａｌｉｎｔｈｅｔｅｍｐｏ ｒａｌａｎｄｓｐａｔｉａｌｃａｎｂｅｕｎｄｅｒｓｔｏｏｄ .Ｔｈｅｓｅａａｒｅａｓ ,ｓｉｔｕａｔｉｎｇｉｎｔｈｅｗｅｓｔｅｒｎｔｒｏｐｉｃａｌＰａｃｉｆｉｃ…