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261.
262.
Many underwater intervention tasks are today performed using manned submersibles or remotely operated vehicles in teleoperation mode. Autonomous underwater vehicles are mostly employed in survey applications. In fact, the low bandwidth and significant time delay inherent in acoustic subsea communications represent a considerable obstacle to remotely operate a manipulation system, making it impossible for remote controllers to react to problems in a timely manner.Nevertheless, vehicles with no physical link and with no human occupants permit intervention in dangerous areas, such as in deep ocean, under ice, in missions to retrieve hazardous objects, or in classified areas. The key element in underwater intervention performed with autonomous vehicles is autonomous manipulation. This is a challenging technology milestone, which refers to the capability of a robot system that performs intervention tasks requiring physical contacts with unstructured environments without continuous human supervision.Today, only few AUVs are equipped with manipulators. SAUVIM (Semi Autonomous Underwater Vehicle for Intervention Mission, University of Hawaii) is one of the first underwater vehicle capable of autonomous manipulation.This paper presents the solutions chosen within the development of the system in order to address the problems intrinsic to autonomous underwater manipulation. In the proposed approach, the most noticeable aspect is the increase in the level of information transferred between the system and the human supervisor.We describe one of the first trials of autonomous intervention performed by SAUVIM in the oceanic environment. To the best knowledge of the authors, no sea trials in underwater autonomous manipulation have been presented in the literature. The presented operation is an underwater recovery mission, which consists in a sequence of autonomous tasks finalized to search for the target and to securely hook a cable to it in order to bring the target to the surface. 相似文献
263.
Acartia bifilosa (Copepoda: Calanoida) is a common species in offing of global waters and it often becomes dominant species in some estuaries. This species develops different strategy according to variation of environment. Despite its ecological role, Acartia bifilosa also has been concerned as live feeds in aquaculture, but study on egg production rate of this species in saturated diet in different temperature and different diet is so far not available. In order to interpret the importance of temperature and diet on natural population variation and also on aquaculture as foods of larval fish, the functional response of reproductive success of Acartia bifilosa was quantified in the laboratory using different temperatures and diets.
Acartia bifilosa was captured in Jiaozhou Bay and acclimated to corresponding temperature for 3~4 days. In order to reduce the effect of large extent temperature range on organism, we captured Acartia bifilosa from March to June and acclimated them to temperature which is adjacent to natural temperature. Daily egg production rate (EPR, eggs female-1day-1) was detected for 11~15 days at 5 different temperatures ranged from 8.0 to 23 °C and all the females was feed on saturated diet all through the experiments. EPR on first day was not calculated in the mean EPR to eliminate the effect of different diets. This result showed that Acartia bifilosa spawned continuously during the experiment days and no obvious regulation was found. EPR was positively correlated with temperature from 8.0 to 23 °C. The highest mean EPR was observed at 23 °C (7.3 eggs female-1day-1), and the lowest value was found at 8 °C (3.8 eggs female-1day-1). The effect of diets on EPR was evaluated at two different temperatures (8.0 °C and 12.5 °C). Same trends were found at the two temperatures: mean EPR fed on Chaetoceros sp. was higher than that fed on Skeletonema costatum, and during the 14-day experiments, EPR was higher for females fed on Skeletonema costatum than chaetoceros sp. in the first few days (3~5 days), but it changed reversely in the subsequent days until the end of the experiments. Hatched eggs were observed in the two experiments at temperature 8°C and 12.5 °C and no diapause eggs were found. The hatching success rate was low at 8°C but reached 93.2% at 12.5 °C.
According to the results in this paper, we detected the comfortable temperature range for EPR, and evaluated the effect of Skeletonema costatum which often brings out red tide in natural waters. These results are beneficial to ecological research for explaining population variation and population recruitment of this species, These data also can be used in Acartia bifilosa aquaculture. 相似文献
264.
不同光生物反应器培养坛紫菜
丝状体的比较研究 总被引:1,自引:0,他引:1
Vegetative cells of Porphyra haitanensis sporophytes were grown in a bubble-column and a draft-tube internal-loop airlift bioreactor at 20℃ with an illuminance of 40μmol photons m-2 s-1 for 20days. The draft-tube internal-loop airlift bioreactor yielded maximum cell density of 4850mg DCW (Dried Cell Weight)/L and higher growth rate of 0.094/d, compared to the bubble-column, 3950mg DCW/L and 0.086/d, respectively. The advantages were related to the more homogeneous fluid dynamic characteristics in the draft-tube internal-loop airlift bioreactor than the bubble-column bioreactor. 相似文献
265.
266.
267.
Spatial variations in dimethylsulfide (DMS) and dimethylsulfoniopropionate (DMSP) were surveyed in the surface microlayer and in the subsurface waters of the low productivity South China Sea in May 2005. Overall, average subsurface water concentrations of DMS and DMSP of dissolved (DMSPd) and particulate (DMSPp) fractions were 1.74 (1.00-2.50), 3.92 (2.21-6.54) and 6.06 (3.40-8.68) nM, respectively. No enrichment in DMS and DMSPp was observed in the microlayer. In contrast, the microlayer showed a DMSPd enrichment, with an average enrichment factor (EF, defined as the ratio of the microlayer concentration to subsurface water concentration) of 1.40. In the study area, none of the sulfur components were correlated with chlorophyll a. An important finding in this study was that DMS, DMSP and chlorophyll a concentrations in the surface microlayer were respectively correlated with those in the subsurface water, suggesting a close linkage between these two water bodies. The ratios of DMS:Chl-a and DMSPp:Chl-a showed a gradually increasing trend from North to South. This might be due to changes in the proportion of DMSP producers in the phytoplankton community with the increased surface seawater temperature. A clear diurnal variation in the DMS and DMSP concentrations was observed at an anchor station with the highest concentrations appearing during the day and the lowest concentrations during the night. The higher DMS and DMSP concentrations during daytime might be attributed to the light-induced increase in both algal synthesis and exudation of DMSP and biological production of DMS. The mean flux of DMS from the investigated area to the atmosphere was estimated to be 2.06 micromo lm(-2)d(-1). This low DMS emission flux, together with the low DMS surface concentrations was attributed to the low productivity in this sea. 相似文献
268.
Y. Tony Song L.-L. Fu Victor Zlotnicki Chen Ji Vala Hjorleifsdottir C.K. Shum Yuchan Yi 《Ocean Modelling》2008,20(4):362-379
For a long time, people have believed that the vertical displacement of seafloor due to undersea earthquakes is the primary cause of tsunami genesis. However, seismically-inverted seafloor deformation of the 2004 Sumatra–Andaman earthquake shows that the total vertical displacement is not enough to have generated the powerful Indian Ocean tsunami. Based on the seismically-inverted data and a three-dimensional ocean general circulation model (OGCM), we show that the momentum force, transferred by the horizontal impulses of the faulting continental slope in that earthquake, has accounted for two thirds of the satellite-observed tsunami height and generated kinetic energy 5 times larger than the potential energy due to the vertical displacement. The asymmetric tsunami pattern, recorded by tide-gauges showing leading-elevation waves toward Sri Lanka and leading-depression waves toward Thailand, is best explained by the horizontally-forced mechanism. The same mechanism has also explained the March 2005 Nias earthquake and tsunami data, suggesting that the horizontal motions of faulting have played more important roles in tsunami genesis than previously thought. 相似文献
269.
应用测量技术解决城市地铁与地下管线影响问题的研究 总被引:1,自引:0,他引:1
城市地铁和地下管线是城市设施的两个重要内容,二者同处地下空间,相互影响,测量是解决二者空间冲突和安全建设、运营的重要技术手段。通过分析城市地铁与地下管线在设计、施工及运营阶段的影响关系,提出了解决问题的措施,介绍了解决措施中的关键技术问题,为地铁建设、运营对地下管线的影响等有关问题提供了解决思路。 相似文献
270.
壳聚糖硫酸酯金属配合物的抗氧化活性 总被引:1,自引:0,他引:1
以吩嗪硫酸甲酯-NADH为超氧阴离子自由基(O_2~(·-))产生、检测体系和EDTANa_2-Fe(Ⅱ)-H_2O_2为羟自由基(~·OH)产生、检测体系,对壳聚糖硫酸酯铜、锌配合物和不同分子质量壳聚糖进行了抗O_2~(·-)和~·OH自由基的活性研究.结果表明,壳聚糖硫酸酯金属配合物对于O_2~(·-)自由基的清除能力明显高于壳聚糖,在质量浓度为0.025 g/L时,壳聚糖硫酸酯铜配合物对O_2~(·-)自由基的清除能力达到94.18%,壳聚糖硫酸酯锌配合物达到93.19%;壳聚糖硫酸酯铜、锌配合物对~·OH自由基的清除能力(67.39%、60.46%)低于相同分子质量的壳聚糖(88.06%),而高于高分子质量壳聚糖761 ku(18.71%);壳聚糖分子质量大小对O_2~(·-)和~·OH自由基的清除能力有较大影响,质量浓度为1.6 g/L壳聚糖分子质量为20 ku时,对O_2~(·-)清除率达54.69%,而分子质量在761 ku时,对O_2~(·-)清除率仅为35.50%;各样品对O_2~(·-)和~·OH自由基的清除能力均随着质量浓度的增加而上升,壳聚糖硫酸酯铜、锌配合物在相当低的浓度下(0.025 g/L)就可以达到明显清除O_2~(·-)自由基的效果(≥90%). 相似文献