Dynamics and control of a towed underwater vehicle system, part I: model development

Autonomous vehicles are being developed to replace the conventional, manned surface vehicles that tow mine hunting towed platforms. While a wide body of work exists that describes numerical models of towed systems, they usually include relatively simple models of the towed bodies and neglect the dynamics of the towing vehicle. For systems in which the mass of the towing vehicle is comparable to that of the towed vehicle, it becomes important to consider the dynamics of both vehicles. In this work, we describe the development of a numerical model that accurately captures the dynamics of these new mine hunting systems. We use a lumped mass approximation for the towcable and couple this model to non-linear numerical models of an autonomous surface vehicle and an actively controlled towfish. Within the dynamics models of the two vehicles, we include non-linear controllers to allow accurate maneuvering of the towed system.     

Seasonal dynamics in pelagic fish abundance in a Baltic Sea coastal area

The spring-spawning Baltic Sea herring spawn in coastal areas that also serve as nursery areas for the young fish during their first summer. In a bay known as a herring spawning and nursery area, the pelagic fish abundance was quantified using hydroacoustics every second week from late spring to autumn in 2000 and 2001. A dense system of survey transects allowed determination of the acoustic index (the nautical area scattering coefficient) for fish abundance with high precision. The variation, expressed as the geostatistical coefficient of variation, was on average 5% both years and ranged from 3–11% (2000) and 3–8% (2001). Through the hydroacoustic data intra-annual dynamics in acoustic fish abundance, densities and size composition could be followed, which showed similar trends in both years. In spring and early summer acoustic fish densities were low, followed by a drastic, 20-fold increase in late summer. Hydroacoustic data and biological samples suggest that the increase was caused mainly by the recruitment of young-of-the-year herring to the acoustically assessable pelagic fish community. This age class is commonly not well represented in catches when using traditional sampling gears such as gill nets and trawls, and hydroacoustics may help to improve quantitative estimates of small juvenile fish in order to increase the understanding of biological processes in coastal nursery areas.     

Eddy Diffusion Coefficients of Suspended Particulate Matter: Effects of Wind Energy Transfer and Stratification

Gross sedimentation rates (GSR) have been measured using sediment traps placed at nine different levels above the bed (0·3, 0·5, 0·8, 1·0, 2·0, 4·0, 6·0, 8·0 and 10·0 m). The sediment traps were deployed for 1·25 years and recovered 28 times during the study period. Low average GSR values of 5·5 g m^-2 day^-1 were obtained at 10·0 m, and high average GSR values of 114·8 g m^-2 day^-1 were obtained at 0·3 m. An expression for the eddy diffusion coefficient of suspended particulate matter (K_s), based on the measured GSR is given. The expression has been used for modelling of K_s at the different trap levels above the bed. High values (≈42 cm² s^-1) of K_s were obtained at the upper traps, whereas low values (≈2 cm² s^-1) were obtained near the bed. Comparison between level of turbulent energy in terms of shear stress at the boundaries of the water column, i.e. from the wind and the bed flow, showed that wind energy exceeded that of the bed flow by a factor 16. At 5·0 m K_s was positively correlated (r=0·66) to the eddy diffusion coefficient of momentum (K_m) derived from the wind energy transfer to the water, giving an average β of 0·5 for K_s =βK_m. The density difference between surface and bottom waters has been designated a parameter of stratification, and is discussed in relation to variations of K_s and K_m .     

The Effect of Internal Fluid on the Response of Vortex-Induced Vibration of Marine Risers

Based on Iwan‘s wake oseillator model developed with the classical van der Pol equalion, the differential equation for the response of the vortex-induced vihration (VIV) of the riser considering the effect of the internal flowing fluid and the external marine environmental condition is derived. The effect of the intermal flowing fluid on the response of VIV of the riser is studied by means of the Finite Element Method. The results show that the effect of the internal fluid velocity on the VIV of the riser is strong when the natural frequency of the riser is close to the vortex shedding frequency. In addition, the increase of the top tension can decrease the sensitivity of the riser to the internal fluid velocity.     

Salt Diapirs, Salt Brine Seeps, Pockmarks and Surficial Sediment Creep and Slides in the Canary Channel off NW Africa

Circular to elliptical mounds in the Canary Channel with reliefs of 75 to 375 m and diameters of 4 to 8 km partially surrounded by moats with reliefs of 25 to 75 m, were formed by piercement of the seafloor by Mesozoic evaporites. Several long gullies, < 1km wide, with abrupt terminations and pockmarks associated with these mounds were probably eroded by dense brine and hydrocarbon seeps. The salt brines that eroded the gullies were formed where salt diapirs intersect the seafloor, or in the subsurface by circulating ground water heated by igneous activity along the Canary Ridge. If the brines originated in the subsurface they reached the seafloor along faults. Displacement of the surficial sediments by sliding and creep is probably the result of the expulsion of hydrocarbons and/or vertical motion of the Mesozoic evaporites. Microtopographic features along or near the east flank of the Canary Ridge are the creation of uplift of the ridge, hydrothermal activity, mass wasting processes and turbidity currents.     

末次盛冰期以来渤、黄、东海陆架底质分布演变过程模拟研究

渤、黄、东海陆架底质的形成分布与末次盛冰期之后的海侵密切相关。末次盛冰期结束、海侵开始以来 ,潮流是渤、黄、东海陆架上的永久性主导作用应力。为从长期沉积动力演变过程的角度 ,探讨渤、黄、东海陆架底质形成分布的有关成因问题 ,利用数值模拟手段 ,再现了末次盛冰期以来 6个时期渤、黄、东海陆架潮流作用下海底的冲淤格局及底质分布。结果表明 ,扬子浅滩南侧东海外陆架的砂质沉积基本上是自 - 80 m海面以来形成的。扬子浅滩形成于 -5 2 m海面之后 ,至 - 3 0 m海面时已有一定规模 ,全新世最大海侵之后 ,逐渐形成现在规模的扬子浅滩。南黄海中部泥自 - 5 2 m海面时就已开始形成 ,- 3 0 m海面时范围很大 ,侵入北黄海 ,全新世最大海侵以来 ,逐渐调整到现在的范围。渤海中央泥、北黄海西部泥、浙闽岸外泥、辽东半岛西侧与北侧的砂质沉积、西朝鲜湾与江华湾中的砂质沉积以及苏北浅滩是自全新世最大海侵以来逐渐形成的。海州湾中砂质沉积形成的盛期在公元 8世纪之后。济洲岛西南泥、南黄海东部泥很可能分别形成于 - 3 0 m海面、- 5 2 m海面以来。全新世渤、黄、东海陆架底质分布的演变过程大致分为 2个阶段 :全新世最大海侵之前为渤、黄、东海陆架底质分布宏观格局的形成阶段 ;全新世最大海侵至今为渤     

Experimental Investigation of Instantaneous Properties of Wave Slamming on the Plate

The purpose of this paper is to investigate the instantaneous properties of wave slamming on the plate structure of an open structure.The advanced instantaneous measuring technique-Particle Image Velocimetry(PIV) is applied to acquire the instantaneous velocity field of wave slamming.From the cross-correlation analysis results of the images captured by the CCD camera,the flow fields of wave impacting on the structure are displayed visually,and the instantaneous whole-field fluid velocity vectors are obtained.The relation between the instantaneous peak impacting pressures and the instantaneous velocities of water particles is studied by probability analysis.     

鲁苏榴辉岩套的特征及其动力学演化

鲁苏榴辉岩套以广泛分布各类榴辉岩、密切伴生石榴石橄榄岩、石榴石麻粒岩等高压岩石组合 ,普遍发育韧性变形带 ,大量出露燕山晚期碱性花岗岩及深源脉岩为特征。它已经历三迭纪早期华南陆块与华北陆块的碰撞事件、大陆逆掩推覆构造事件及后期白垩纪早期开始的大陆伸展构造事件 ,是我国华南陆块与华北陆块之间的重要过渡单元。     

Natural expansion and experimental manipulation of seagrass (Zostera spp.) abundance and the response of infaunal invertebrates

A study of an expanding seagrass bed on the south-west coast of British Columbia, Canada involved documentation and explanation of the pattern of expansion of the vegetation as well as documentation and experimental investigation of the accompanying changes in the distribution of infaunal invertebrates. Expansion followed a major environmental change, improved water clarity initiated in 1969 when a causeway blocked access to the site for silty Fraser River water. The original eelgrass (Zostera marina) bed expanded landward over 30 m year⁻¹, probably causing more and more water to be retained in the bed at low tide and thus improving its own habitat. More rapid expansion occurred from 1979–1983 after Z.japonica colonized at the landward edge of the eelgrass bed and in a separate intertidal area. Expansion ceased around 1983 coincident with, but probably independent of, further construction.Burrowing shrimp (Callianassa californiensis) decreased in abundance between 1977 and 1984 in areas where the two seagrasses colonized. Short-term experiment over one summer and fall showed that removal of all shoots allowed adult shrimp and tube worms to colonize the sediment while addition of shoots of Z. japonica by transplanting caused temporary decreases in shrimp abundance. After a few weeks an established shrimp population destroyed the transplants. Among reasonable alternate hypotheses for the decline in Callianassa, the effect of sediment texture can be eliminated, but either direct negative effects of seagrass, i.e. inhibition of the burrowing of adult shrimp or of settlement of juveniles, or indirect effects, i.e. the harboring of more predators of shrimp in seagrass beds, deserve further study.