基于倾斜摄影技术的戈壁灌丛沙丘形态反演及其对粉尘释放研究的意义

灌丛沙丘是广泛分布于西北干旱区的风沙地貌。戈壁上发育的灌丛沙丘在戈壁沙尘释放和固沙能力方面具有重要的指示意义和应用价值。本研究采用倾斜摄影技术对戈壁上的灌丛沙丘形态特征进行观测和提取,并分析沉积物特征,计算戈壁灌丛沙丘的固沙能力,为沙尘释放研究提供依据。结果表明:(1)戈壁上发育的灌丛沙丘有明显的空间分布格局,即主要分布在干河床的两侧和地势低洼地区。(2)戈壁灌丛沙丘在形态上和其他地表灌丛沙丘类似,但沙丘的长度、宽度、底面积、体积等小得多,而且参数之间具有明显的相关关系。(3)沉积物的累积概率曲线表现为三段式,跃移组分的粒度范围(50~700 μm)明显与以往研究不同。沙丘内部和表层的粉沙和黏土含量分别为4.47%和5.24%,从而说明灌丛沙丘能够捕获戈壁上释放的粉尘物质。(4)戈壁地区单个灌丛沙丘的粉尘释放量约0.05~0.08 m³,固沙能力最大可达18.71 m³。     

Hydrodynamic and dynamic analysis to determine the directional stability of an underwater vehicle near a free surface

A theoretical methodology to determine the open-loop directional stability of a near-surface underwater vehicle is presented. It involves a solution of coupled sway and yaw equations of motion in a manner similar to that carried out for surface ships. The stability derivatives are obtained numerically through simulation of motions corresponding to planar motion mechanism (PMM) model tests. For the numerical simulation, a boundary-integral method based on the mixed Lagrangian-Eulerian formulation is developed. The free-surface effect on the vehicle stability is determined by comparing the results with that obtained for vehicle motion in infinite fluid. The methodology was used to determine the stability of the Florida Atlantic University’s Ocean EXplorer (OEX) AUV. The presence of the free surface, through radiation damping, is found to suppress unsteady oscillations and thereby enhance the directional stability of the vehicle. With effects of free surface, forward speed, location and geometry of rudders, location of the center of gravity etc. all being significant factors affecting stability, a general conclusion cannot be drawn on their combined effect on the vehicle stability. The present computational methodology is therefore a useful tool to determine an underwater vehicle’s stability for a given configuration and thus the viability of an intended mission a priori.     

环境因子对贝类累积溶解态重金属的影响

对溶解态重金属的吸收是贝类累积重金属的重要来源之一,易受到生物因素和非生物因素的影响。综述溶解氧、温度、空气预暴露、化学物质预暴露等环境因子,诱导的机体代谢过程的改变,对溶解态重金属的累积和转运过程的影响。强调了贝类对溶解态重金属的转运除了被动转运之外,还涉及到需要ATP供能的主动转运过程。     

基于CAN总线的水下机器人执行节点设计与实现

文中提出了一种基于CAN总线的水下机器人分布式控制系统结构,主要设计其执行节点,包括P87C591单片机为核心的的硬件电路和软件结构设计。     

履带式深海采矿车软底质行走性能分析

海底底质的物理力学参数不同于陆地土壤,其极低的抗剪强度和承压强度对深海采矿车的行走性能提出高要求。分析基于车辆地面力学理论,开展了底质土力学特性试验研究,建立了深海底质力学模型。根据深海重载作业采矿车样机结构参数,在大型动力学仿真软件Recurdyn中建立了仿真模型。通过直线行走多体动力学仿真与直线行走海试试验的对比,验证了仿真模型的准确性。在此基础上开展了采矿车样机在深海软底质上的多种行走工况动力学仿真,分析与评价其行走性能。结果表明,采矿车样机可以顺利完成转弯、爬坡、越障等基本功能。该研究成果可为深海采矿车海底行走性能评估提供理论参考,为深海采矿车和软底质的相互作用力学研究提供借鉴。     

“海龙Ⅲ”号ROV系统深海试验与应用研究

深海水下机器人主要用于深远海地质、矿物资源和生物调查研究,以及海洋石油工程服务等水下综合作业,能够实现深海近底高精度、长时间的定点取样作业及其他精细化调查。结合国内外深海ROV装备和技术发展现状,以新研发的6 000 m级"海龙Ⅲ"号ROV搭载"大洋一号"船执行的2018年南海综合海试和48航次为例,从深海试验流程和方法、浅水区功能测试、深水区功能测试、深海观测及取样功能测试等方面,详细阐述了ROV海上试验和应用作业过程,对作业水深、功率配置、水下运动能力、搭载能力等关键性能指标进行了试验验证。海上功能测试和试验性应用结果表明,"海龙Ⅲ"ROV各项性能指标满足设计要求,验证了系统在不同深度、不同地形条件下的观测取样作业能力,创新了深水ROV作业方法手段,分析得出此类装备目前在国内发展存在的不足之处,并结合实际应用提出后期改进计划,以期为深海ROV的海试应用提供技术参考。     

基于无人机的用海项目施工期悬浮泥沙监测

为实现对用海项目施工期悬浮泥沙扩散的实时跟踪监测,尝试采用无人机携带可见光、多光谱传感器对古雷围填海项目的围堰区进行遥感探测。利用Pix4d软件对无人机携带的可见光及多光谱照片进行处理,结果表明,可见光及多光谱影像对水体中的悬浮泥沙分布均具有一定的识别能力。通过研究分析多光谱影像的光谱特征发现,近红外波段对悬浮泥沙含量的升高较为敏感,运用波段比值公式计算结果显示,围堰内含沙水体经溢流口排入海域后浓度明显降低,并可向南继续扩散约300 m。该方法可克服遥感卫星影像时空分辨率低的特点,为用海项目资源环境影响跟踪监测提供新的技术手段。     

面向海上目标搜索任务的多无人机协同航路优化

提出了一种面向多无人机(unmanned aerial vehicle,UAV)协同搜索海上目标任务的航路优化方法。首先,分析多无人机协同航路优化问题的基本要素模型。然后,在对各UAV独立维护的目标概率图信息进行探测更新的基础上,采用状态预测一致性算法实现目标概率图信息的快速融合。最后,同时考虑局部搜索收益与未来搜索收益,采用分布式模型预测控制(distributed model predictive control,DMPC)方法优化各UAV的搜索航路。仿真结果表明,本研究提出的方法具有较高的搜索效率,可有效应用于海上目标的快速搜索任务,具有重要的应用价值。     

基于分布式控制力矩陀螺的水下航行器轨迹跟踪控制

基于控制力矩陀螺群(CMGs)的水下航行器具有低速或零速机动的能力。采用基于分布式CMGs的水下航行器方案,并研究其水平面的轨迹跟踪控制问题。通过全局微分同胚变换将非完全对称的动力学模型解耦成标准欠驱动控制模型,并根据简化的模型构建其轨迹跟踪的误差动力学模型,将轨迹跟踪控制问题转化为误差模型镇定问题。基于一种分流神经元模型和反步法设计了系统的轨迹跟踪控制律,该控制器不需要对任何虚拟控制输入进行求导计算,且能确保跟踪误差的最终一致有界性。仿真结果表明该控制器能够实现在不依赖动力学参数先验知识的情况下对光滑轨迹的有效跟踪。     

Nonlinear adaptive control of an underwater towed vehicle

This paper addresses the problem of simultaneous depth tracking and attitude control of an underwater towed vehicle. The system proposed uses a two-stage towing arrangement that includes a long primary cable, a gravitic depressor, and a secondary cable. The towfish motion induced by wave driven disturbances in both the vertical and horizontal planes is described using an empirical model of the depressor motion and a spring-damper model of the secondary cable. A nonlinear, Lyapunov-based, adaptive output feedback control law is designed and shown to regulate pitch, yaw, and depth tracking errors to zero. The controller is designed to operate in the presence of plant parameter uncertainty. When subjected to bounded external disturbances, the tracking errors converge to a neighbourhood of the origin that can be made arbitrarily small. In the implementation proposed, a nonlinear observer is used to estimate the linear velocities used by the controller thus dispensing with the need for costly sensor suites. The results obtained with computer simulations show that the controlled system exhibits good performance about different operating conditions when subjected to sea-wave driven disturbances and in the presence of sensor noise. The system holds promise for application in oceanographic missions that require depth tracking or bottom-following combined with precise vehicle attitude control.