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.     

氧同位素分析在东濮凹陷下第三纪沉积环境中的应用

主要介绍了氧同位素的地球化学特征，并利用这些特征在沉积环境方面的指示意义，分析了东濮凹陷下第三系盐湖沉积的氧同位素。分析结果表明：尽管保存在碳酸盐中的氧同位素的值不能定量地反映原始氧同位素的值，不能够作为区分海陆相的标志，但它可以定性地探讨碳酸盐沉积时的沉积环境。通过对东濮凹陷下第三系盐湖沉积的氧同位素分析发现，从沙四上到沙一时期，除了沙三上的δ^18O有些突变外，基本上呈递增趋势。这反映出，从沙四上到沙一时期该区的气候逐渐向干早过渡；沙四上到沙三上一段δ＾18Ｏ明显比沙一和沙二上伯低，说明在沙四上到沙三上时期，该沉积区的蒸发作用还不是很显著，而另一方面也说明在由沙三上向沙二上过渡时，该区可能存在一次气候突变，使得沙二上和沙一时期的蒸发量远大于降雨量，δ^18O的值也因此迅速增大。同时，也做了碳酸盐同位素系数Z值的研究，其揭示的沉积环境特征与氧同位素基本相同。     

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。     

黄河三角洲潮滩发育时空谱系

研究黄河三角洲潮滩发育的时空话系指出：在时间上，黄河三角洲潮滩系由不同时期河口滩发育而成，各段潮滩发育时间因素的差异在比较形态学上有清晰反映，在空间上，并存着处于不同发育阶段上的四种类型（阶段）。由此构成了黄河三角洲前沿所特有的湖滩形态时空体系。     

围隔实验中海洋浮游植物对石油烃污染物中正构烷烃的生物富集

本文应用海洋围隔生态实验研究了浮游植物对石油烃污染物生物富集动力学过程 ,提出了“水相差法”测定海洋浮游植物体内石油烃浓度 ,以及包括石油烃挥发和生物生长等影响因素的石油烃生物富集动力学模型 ,并利用非线性拟合技术得到了海洋浮游植物对 0 #柴油 WAF中正构烷烃的生物富集动力学参数 kup,kel和 BCFPOC,结果与 Kováts色谱保留指数具有很好的相关性 ,与利用生物分析平衡法测定的文献数据基本一致。本模型及实验方法简便可靠 ,可在现场实验中广泛应用 ,得到的动力学参数应用于多介质环境模型和生态动力学模型 ,用以研究石油烃污染物中正构烷烃在海洋环境中的迁移变化规律     

Dinoflagellate cysts in recent marine sediment from Guangxi, China

Total of 33 species of dinoflagellate cysts were discovered from surface sediment in the searegion of Guangxi, among them 12 cyst types (Diplopsalopsis sp.1, D. sp. 2, D. sp. 3, Cochlodinium sp., Protoperidinium sp. 1, P. sp. 2, P. compressum , Scrippsiella sp. 1, S. sp. 2, Alexandrium sp. 1, A. sp. 2, A. sp. 3) were first reported from the South China Sea. And one cyst type (Cochlodinium sp.) was first reported in the world. Scrippsiella trochoidea is the dominant species in this area, accounting for 45% of all the cysts. There are 2 cysts of toxic dinoflagellate (Alexandrium tamarensis and Gymnodinium catenatum). But there is no relationship between cyst number and grain size distribution.     

不同氮源对微小亚历山大藻生长和毒素产生的影响

通过尿素、氯化铵、酵母浸出粉和硝酸钠等氮源对微小亚历山大藻(Alexandrium minutum)生长及毒素产生的影响研究,分析了微小亚历山大藻对不同氮源利用状况的差异.结果表明,在氮饥饿条件下,加入硝酸钠和酵母浸出粉能显著促进微小亚历山大藻的生长;高浓度的氯化铵在加入后对微小亚历山大藻有一定的毒性效应,表现为生长停滞,但毒性效应在5 d后消失,并得到与添加硝酸钠及酵母浸出粉相似的增长速率0.21 d-1;添加尿素对微小亚历山大藻的生长没有显著促进作用.在四种氮源中,尿素对微小亚历山大藻毒素产生的刺激作用也最弱,在稳定期每个细胞藻细胞毒素含量维持在6.00~8.00 fmol;添加硝酸钠、氯化铵和酵母浸出粉的藻细胞在稳定期毒素含量分别达到11.85,12.86和14.64 fmol.硝酸钠和氯化铵刺激藻毒素产生的效果比酵母浸出粉更为直接.四种含氮营养盐对微小亚历山大藻毒素组成的影响都很小.     

Genetic relationship between Neobenedenia girellae and N. melleni inferred from 28S rRNA sequences

The fragments of 350 bp in 28S rRNA from the closely related monogenea of trematoda, Neobenedenia girellae and N. melleni are obtained by polymerase chain reaction (PCR) amplified using a couple of special primers and then sequenced. The results show that the comparison of 28S rRNA sequences, with only a base varying in 337 bp accounting for 0.3% genetic difference, from the relative species N. girellae and N. melleni parasitized on the different fishes in different farms displays that they possess a very high genetic similarity of 99.7%, higher than that of 99.41% for the single species N. melleni sampled in different areas, and the intraspecific divergence of N.melleni is 0.59%. Meanwhile, the interspecific differences between the two Neobenedenia and three Benedenia (i.e., B. lutjani, B. rohdei and B. seriolae) range from 2.08% tol 1.73%. In addition, UPGMA and MP molecular phylogenetic trees are constructed and proved to be consistent with each other. Though the morphological characteristics and the results of genetic diversity for the two Neobenedenia show a high similarity, whether they belong to a single species or not are still undefined, and the more genes of them should be further investigated, in combination with the systematical and detailed morphological study.     

南海表层沉积物中钙质超微化石分布特征

为系统描述钙质超微化石在南海表层沉积中的分布特征,对遍布南海的175个样品进行了实验分析。发现不同地区钙质超微化石绝对丰度相差很大,从0—3.8×1010个.g-1不等。平面上将钙质超微化石丰度分为3个区。共鉴定出钙质超微化石21属28种,以Emiliania huxleyi、Florisphaera profunda和Gephyrocapsa oceanica为优势种,其中Florisphaera profunda占据绝对优势。南海钙质超微化石分布具有两个明显特征:一是14°N线南北两边钙质超微化石的分布存在差异;二是南海钙质超微化石丰度以南沙群岛和西沙群岛两片海域为最高,并有东北-西南走向的分布趋势。对影响钙质超微化石分布的水深、上升流与营养盐、陆源物质稀释作用、碳酸盐溶解作用等因素作了讨论,并根据钙质超微化石随水深的变化推测南海碳酸盐补偿深度应在4 000m左右。     

主动式声纳列阵拖曳系统姿态数值计算

主动式声纳列阵拖曳系统是用于探测潜艇的新型声纳系统，为了准确探测潜艇的位置，必须首先预报声纳列阵的瓷态，本文通过对其三维力学模型的分析，得到该系统的运动微分方程，其中缆索的力学方程是基于Ablow和Milinazzo的模型，而对于拖体则运用六自由度空间运动方程模拟，结合边界条件，用有限差分法求解，通过对拖船的不同运动状态如匀速，变速和回转的计算，证明本文的方法对于预报声纳列阵的姿态是有效的。