Radar-based collision avoidance for unmanned surface vehicles

Unmanned surface vehicles (USVs) have become a focus of research because of their extensive applications. To ensure safety and reliability and to perform complex tasks autonomously, USVs are required to possess accurate perception of the environment and effective collision avoidance capabilities. To achieve these, investigation into realtime marine radar target detection and autonomous collision avoidance technologies is required, aiming at solving the problems of noise jamming, uneven brightness, target loss, and blind areas in marine radar images. These technologies should also satisfy the requirements of real-time and reliability related to high navigation speeds of USVs. Therefore, this study developed an embedded collision avoidance system based on the marine radar, investigated a highly real-time target detection method which contains adaptive smoothing algorithm and robust segmentation algorithm, developed a stable and reliable dynamic local environment model to ensure the safety of USV navigation, and constructed a collision avoidance algorithm based on velocity obstacle (V-obstacle) which adjusts the USV’s heading and speed in real-time. Sea trials results in multi-obstacle avoidance firstly demonstrate the effectiveness and efficiency of the proposed avoidance system, and then verify its great adaptability and relative stability when a USV sailing in a real and complex marine environment. The obtained results will improve the intelligent level of USV and guarantee the safety of USV independent sailing.     

Numerical Analysis of Gravity Coring Using Coupled Eulerian-Lagrangian Method and a New Corer

The shortcomings of gravity corers in sampling marine sediments have been observed extensively in various field tests. In order to optimize the coring, this article provides an alternative numerical way to model the gravity coring and analyze the sampling effect. Based on this analysis, a new hydraulic hammer corer is devised. A coupled Eulerian-Lagrangian method with capability of simulating the problem involving extreme deformation, penetration is used to simulate the coring process. The results show that the hydrostatic pressure and deviator stress increase and reach their peak when the pile tip is slightly above or at the level of the observation point and then drop rapidly when the pile tip slides below the observation point. In addition, the stress path indicates that the soil element sustains plastic compression before yielding and then expands until recovering to the original state. The obvious “under-sampling” phenomenon is also well-captured by the finite element model.     

Effects of Mudstone Particle Content on Shear Strength of a Crushed Sandstone–Mudstone Particle Mixture

The present study focuses on the shear strength, deformation, and particle crushing of sand which is mixed by crushed sandstone and mudstone particles. Two triaxial tests—one for unsaturated specimens and the other for saturated specimens—were performed, along with sieve analysis tests. Results obtained from the triaxial tests indicate that, with the increment of the mudstone particle content by weight, the angle of internal friction decreases, the cohesion increases and then decreases, and both the initial angle of shearing resistance at the atmospheric pressure and decremental angle increase and then decrease. Compared to the unsaturated specimens, the deviator stress or normalized deviator stress of the saturated specimens at the same axial stress may decrease due to the wetting action. Thus, the shear strength of the tested materials may be reduced by the wetting action. Results of sieve analysis tests indicate that the mixing of some mudstone particles into the sandstone particle mixture may reduce the amount of particle crushing, but the wetting action may increase the amount. The amount of the crushed particle may arrive at a minimum of 40% of mudstone particle content by weight.     

Study on Longitudinal Deformation Profile of Rock Mass in a Subsea Tunnel

During tunnel excavation, the deformation of surrounding rock due to the unloading of rock mass will vary with time. However, the measured displacement of surrounding rock is only a part of the actual longitudinal deformation profile. There is a need to analyze the longitudinal deformation profile to identify the deformation state and evaluate the stability of surrounding rock mass. In the present article, the variation of pre-deformation of surrounding rock due to excavation was analyzed, and the release coefficient was obtained from the measured results. For the Qingdao subsea tunnel, the measured crown settlement of surrounding rock was analyzed using the regression analysis method, and the longitudinal deformation profile of rock mass was simulated using the numerical calculation method. Moreover, based on the conditions of the subsea tunnel, a solid-fluid coupling model test was carried out to check the reliability of the numerical calculation results. The results of the model test were consistent with the numerical calculation results.     

Simulating the influence of various nutrient sources on hypoxia off the Changjiang River Estuary

Hypoxia is increasingly reported off the Changjiang River Estuary with the confluence of multiple high volume nutrient sources. The Regional Ocean Modeling System coupled with a biological model was used to analyze the effect of different nutrient sources on the development of hypoxia off the Changjiang River Estuary. By comparing to observed data, our model suitably captured the regional dynamics of chlorophyll a, dissolved oxygen, and nutrient concentration. A series of sensitivity experiments were conducted to investigate the hypoxia response to the various nutrient sources, such as loading from the Changjiang River, Kuroshio and Taiwan Warm Current. Our model results indicated that nutrients from different sources significantly influenced the hypoxia off the Changjiang River Estuary, and it was mostly affected by nutrients sourced from the Kuroshio. The nutrients input from the Changjiang River had larger impacts on the hypoxia in the north of 30°N than that in the south of 30°N. The nutrients sourced from the Taiwan Strait had a least influence on the hypoxia off the Changjiang River Estuary.     

Stock assessment for Atlantic yellowfin tuna based on extended surplus production model considering life history

The modern fishery stock assessment could be conducted by various models, such as Stock Synthesis model with high data requirement and complicated model structure, and the basic surplus production model, which fails to incorporate individual growth, maturity, and fishery selectivity, etc. In this study, the Just Another Bayesian Biomass Assessment (JABBA) Select which is relatively balanced between complex and simple models, was used to conduct stock assessment for yellowfin tuna (Thunnus albacares) in the Atlantic Ocean. Its population dynamics was evaluated, considering the influence of selectivity patterns and different catch per unit effort (CPUE) indices on the stock assessment results. The model with three joint longline standardized CPUE indices and logistic selectivity pattern performed well, without significant retrospective pattern. The results indicated that the stock is not overfished and not subject to overfishing in 2018. Sensitivity analyses indicated that stock assessment results are robust to natural mortality but sensitive to steepness of the stock-recruitment relationship and fishing selectivity. High steepness was revealed to be more appropriate for this stock, while the fishing selectivity has greater influence to the assessment results than life history parameters. Overall, JABBA-Select is suitable for the stock assessment of Atlantic yellowfin tuna with different selectivity patterns, and the assumptions of natural mortality and selectivity pattern should be improved to reduce uncertainties.     

Characteristics and influencing factors of frontal upwelling in the Yellow Sea in summer

Frontal upwelling is an important phenomenon in summer in the Yellow Sea (YS) and plays an essential role in the distribution of nutrients and biological species. In this paper, a three-dimensional hydrodynamic model is applied to investigate the characteristics and influencing factors of frontal upwelling in the YS. The results show that the strength and distribution of frontal upwelling are largely dependent on the topography and bottom temperature fronts. The frontal upwelling in the YS is stronger and narrower near the eastern coast than near the western coast due to the steeper shelf slope. Moreover, external forcings, such as the meridional wind speed and air temperature in summer and the air temperature in the preceding winter and spring, have certain influences on the strength of frontal upwelling. An increase in air temperature in the previous winter and spring weakens the frontal upwelling in summer; in contrast, an increase in air temperature in summer strengthens the frontal upwelling. When the southerly wind in summer increases, the upwelling intensifies in the western YS and weakens in the eastern YS. The air temperature influences the strength of upwelling by changing the baroclinicity in the frontal region. Furthermore, the meridional wind speed in summer affects frontal upwelling via Ekman pumping.     

Spatial patterns and environmental associations of deep scattering layers in the northwestern subtropical Pacific Ocean

The mesopelagic communities are important for food web and carbon pump in ocean, but the large-scale studies of them are still limited until now because of the difficulties on sampling and analyzing of mesopelagic organisms. Mesopelagic organisms, especially micronekton, can form acoustic deep scattering layers (DSLs) and DSLs are widely observed. To explore the spatial patterns of DSLs and their possible influencing factors, the DSLs during daytime (10:00–14:00) were investigated in the subtropical northwestern Pacific Ocean (13°–23.5°N, 153°–163°E) using a shipboard acoustic Doppler current profiler at 38 kHz. The study area was divided into three parts using k-means cluster analysis: the northern part (NP, 22°–24°N), the central part (CP, 17°–22°N), and the southern part (SP, 12°–17°N). The characteristics of DSLs varied widely with latitudinal gradient. Deepest core DSLs (523.5 m±17.4 m), largest nautical area scattering coefficient (NASC) (130.8 m2/n mile2±41.0 m2/n mile2), and most concentrated DSLs (mesopelagic organisms gathering level, 6.7%±0.7%) were observed in NP. The proportion of migration was also stronger in NP (39.7%) than those in other parts (18.6% in CP and 21.5% in SP) for mesopelagic organisms. The latitudinal variation of DSLs was probably caused by changes in oxygen concentration and light intensity of mesopelagic zones. A positive relationship between NASC and primary productivity was identified. A four-months lag was seemed to exist. This study provides the first basin-scale baselines information of mesopelagic communities in the northwest Pacific with acoustic approach. Further researches are suggested to gain understandings of seasonal and annual variations of DSLs in the region.     

黄河口潮滩泥沙絮凝研究

本文基于现场观测的絮团粒径、悬沙浓度及水动力数据,研究了黄河口南部潮滩泥沙絮凝特征。研究发现,黄河口潮滩絮团粒径在25.42～264.44 μm之间,平均为95.20 μm。水体紊动对黄河口潮滩絮凝的影响存在差异,紊动对絮凝促进作用的上限约为G_l=3.76 s⁻¹。紊动强度低于G_l时,紊动促进泥沙絮凝,絮团粒径随紊动加强而增大;反之水体紊动对絮凝主要起抑制作用,絮团粒径随紊动强度增大而减小。悬沙浓度对黄河口潮滩泥沙絮凝起抑制作用,同等紊动条件下高悬沙浓度对应的絮团粒径更小。黄河口潮滩絮团有效密度与粒径呈现负相关关系,沉速主要受粒径影响。本研究补充了对弱潮河口潮滩泥沙絮凝特性的认识。     

Restoration of Ultimate Strength of Dented Hemispheres Under External Hydrostatic Pressure

China Ocean Engineering - This study aimed to restore the ultimate strength of dented stainless-steel hemispheres with a radius of 90 mm and a thickness of 0.86 mm. All of the hemispheres were...