力觉临场感遥操作机器人(1):技术发展与现状

人机交互式机器人作为最具实用价值的特种机器人已成为当前机器人学研究的前沿和热点.临场感(Telepresence)技术是人机交互的核心.首先,回顾了力觉临场感遥操作机器人技术的产生、发展和现状,介绍了力觉临场感遥操作机器人在核领域、空间探测领域与远程医疗领域的应用情况;其次,对力觉临场感遥操作机器人的4大关键技术:传感技术、力反馈与触觉再现技术、大时延控制技术和虚拟预测环境建模技术等进行了综述;还介绍了东南大学仪器科学与工程学院机器人传感与控制研究所近20年来开展临场感遥操作机器人技术研究,以及在核探测、康复医疗领域应用的情况.通过回顾与分析,指出了力觉临场感遥操作机器人技术今后需要研究的几个重点问题.     

Altimeter Signal-to-Noise for Deep Ocean Processes in Operational Systems

The ocean signal for this study is the sea surface height due to the slowly varying (greater than 5-day) ocean processes, which are predominantly the deep ocean mesoscale. These processes are the focus of present assimilation systems for monitoring and predicting ocean circulation due to ocean fronts and eddies and the associated environmental changes that impact real time activities in areas with depths greater than about 200 m. By this definition, signal-to-noise may be estimated directly from altimeter data sets through a crossover point analysis. The RMS variability in crossover differences is due to instrument noise, errors in environmental corrections to the satellite observation, and short time period oceanic variations. The signal-to-noise ratio indicates that shallow areas are typically not well observed due to the high frequency fluctuations. Many deep ocean areas also contain significant high frequency variability such as the subpolar latitudes, which have large atmospheric pressure systems moving through, and these in turn generate large errors in the inverse barometer correction. Understanding the spatial variations of signal to noise is a necessary prerequisite for correct assimilation of the data into operational systems.     

Reproductive biology of horse mackerel Trachurus capensis and Trachurus trecae in Namibia and Angola

Harvest control measures for Namibia and Angola are defined using reference points for spawning biomass, which requires knowledge of spawning potential and dynamics of fishery stocks. The reproductive biology of two species of horse mackerel, Trachurus capensis and Trachurus trecae, in these waters was investigated for spawning distribution in time and space. Samples were collected during two scientific cruises conducted in February and July/August 2007 off the coast of Namibia and Angola. A total of 396 fish ovaries was examined to determine the spawning dynamics of the two species. The ovaries were histologically analysed and their oocyte distributions mapped. The length (TL)–weight relationships of the two species differed significantly. The observed development of oocyte recruitment and absence of a hiatus in the oocyte distribution indicated that these species are indeterminate spawners. Analyses of the data from the NatMIRC database (2001–2004) indicated annual changes in gonadosomatic index (GSI) for T. capensis at different latitudes, but these changes were small. GSI also fluctuated between years and areas, but there were no clear spatial or temporal trends, with averages ≤4.0% at all stations. The GSI of both species was not indicative of the histologically determined development of gonad maturity. Oocyte maturation for T. capensis indicated that smaller and younger fish spawn first. Batch fecundity (F) for T. trecae was best described by F = 4 986 TL (cm) – 99 645 (r ² = 0.83). This study provided the first analyses of oocyte development in time and space for the two species in the region.     

多维联合概率理论对三峡工程设计洪水的计算

首次将多维联合概率理论应用到三峡大坝设计洪水的风险分析,并用随机模拟方法(ISPUD)对四维联合概率分布进行了求解,得出在长江上游干流及主要支流来水量出现的不同组合和最不利组合情况下,相应三峡大坝不同联合重现期的设计洪水。可用于三峡工程的风险分析及防洪调度。     

Regional and temporal changes in bivalve diversity off the south coast of Portugal

From 2000 to 2006, a total of 75 bivalve species were identified, varying from 29 (spring 2001) to 54 species (spring 2005) per year. Seasonal tendencies in diversity varied according the year, thus the interpretation of long-term and regional scales is essential before drawing any conclusions in other studies. Richness and diversity consistently decreased with depth and increased with sediment grain size (from low in very coarse sand to high in coarse silt). Diversity decreased progressively from 3 to 16 m depth, thus the harsher shallower environments (due to waves and tidal air exposure) showed greater diversity than the most stable areas. Communities in finer sediments were more diverse than those in coarser sand. Evenness showed patterns opposite to diversity, overall.Diversity and evenness maps (produced with multivariate universal kriging), showed that most geographic areas with greater diversity were farer from river outflows and wastewater treatment plants. Two types of geographic pattern were observed: areas with persistently greater bivalve diversity through time and areas that changed locally from year to year. This spatial analysis can be used to establish priority conservation areas for management purposes, and to analyse the persistency of regional diversity patterns. The area with most habitat heterogeneity (Sotavento) corresponded to greatest diversity.There was a positive relationship between Spisula solida and Chamelea gallina landings and bivalve diversity 2 years and 1 year later, respectively. Possibly, local fisheries, by selectively withdrawing the commercial numerically dominant species from the ecosystem, increased diversity 1 to 2 years later, as the ecological niches of the dominants are quickly filled by several other species thereby creating a more even community. On regional scales, no significant impact was found on long-term bivalve diversity in local fisheries,     

深水钢悬链立管疲劳寿命评估分析

在时域内分析深水钢悬链立管在平台运动和波流载荷共同作用下的非线性动力响应;采用雨流计数法处理立管节点应力的时间历程,选用DoE.E型S-N曲线分析立管在单一海况和平台运动联合作用下的疲劳损伤;将各方向含概率分布的疲劳损伤进行叠加,得到立管整体的全方向疲劳损伤及疲劳寿命。平台的运动为六自由度的运动预报数据,波流载荷由某海域实际的波浪统计数据采用Morison公式计算所得。计算结果表明钢悬链立管疲劳寿命的极值点分别位于悬挂点附近和触地点附近,对立管疲劳寿命极值点各方向疲劳损伤分布情况进行了分析。所提方法为钢悬链立管疲劳分析提供了新思路,给出的结论对钢悬链立管设计分析有一定借鉴意义。     

Three-dimensional numerical simulation of wind-induced barotropic circulation in the Gulf of Patras

The barotropic, wind-induced circulation, which develops in the Gulf of Patras in Western Greece during the winter, is studied using three-dimensional numerical simulations. The simulations are performed using the numerical code MIKE 3 FM (HD). The Gulf's basin is bracketed between two sills, one on the west at the opening with the Ionian Sea and the other on the east at the Straits of Rio-Antirio at the opening with the Gulf of Corinth. The simulations show that the wind-induced flow creates strong currents near the coasts, which determine the sense of rotation of the gyres that develop in the Gulf. Strong currents are also created at the Rio-Antirio Straits. The wind-induced, barotropic currents do not seem to contribute to the direct replenishment of bottom waters, which recirculate between the two sills. Depending on the wind-speed forcing of the flow, the residence time of the waters in the Gulf of Patras is estimated to range from one week to one month.     

南海北部表层颗粒有机碳的季节和年际变化遥感分析

海洋颗粒有机碳（POC）是海洋固碳的一个关键参数。为了研究南海北部陆架及海盆表层POC浓度的时空分布特征以及变化趋势,本文利用2009-2011年4个季节的实测数据,对NASA发布的MODIS/AQUA卫星月平均POC遥感产品,进行了验证和校正;并利用校正后的遥感数据分析了2003-2014年POC的时空分布特征和变化趋势。发现POC遥感产品与南海北部实测数据具有较好的线性关系（R2=0.72）,但存在系统性偏高,需利用实测数据对遥感数据进行区域性校正。分析校正后的遥感数据发现,南海北部陆架POC浓度较高,平均为（33.34±8.02）mg/m3;吕宋海峡西南海域浓度较低,平均为（29.25±6.20）mg/m3;中央海盆区浓度最低,平均为（27.02±4.84）mg/m3。春夏季POC浓度较低,最低值一般出现在5月,冬季（12月至翌年1月）POC浓度达到最高。利用2003-2014年的长时间序列遥感叶绿素（Chl a）和海表温度（SST）、混合层深度（MLD）模式数据,以及实测数据对南海北部POC浓度的影响机制进行了分析。发现POC与Chl a在秋冬呈现较好的相关关系（R2=0.51）,但在春夏季较离散,表明秋冬季生物作用对POC影响较大。2003-2014年期间,POC与Chl a、MLD及SST存在明显的年际变化,但并没有显著的上升或下降趋势。     

应用两次展开法求解系泊柱体慢漂运动方程

在深海中系泊的海洋平台,如Spar平台,水下部分为带有系泊的圆柱结构,其水平方向运动响应往往具有较低的自振频率,容易在低频波浪力(源于非线性的差频效应)作用下发生共振响应,使结构发生大幅水平慢漂。当浮体的瞬时位置大幅偏离初始位置时,基于初始平衡位置的摄动展开法会存在较大误差。针对这一问题,采用两次展开方法,对大幅慢漂运动开展时域模拟研究。对双色波作用下自由漂浮圆柱的大幅运动响应问题进行数值分析,并与采用基于初始平衡位置的摄动展开法的计算结果进行了对比。结果表明,采用新的两次展开法可以计算出波浪遭遇频率的变化和波浪漂移阻尼,而这无法从基于初始平衡位置的常规摄动展开法中得到,体现了两次展开法在分析大幅慢漂问题上的优势。     

SELFE: A semi-implicit Eulerian–Lagrangian finite-element model for cross-scale ocean circulation

Unstructured-grid models grounded on semi-implicit, finite-volume, Eulerian–Lagrangian algorithms, such as UnTRIM and ELCIRC, have enjoyed considerable success recently in simulating 3D estuarine and coastal circulation. However, opportunities for improving the accuracy of this type of models were identified during extensive simulations of a tightly coupled estuary–plume–shelf system in the Columbia River system. Efforts to improve numerical accuracy resulted in SELFE, a new finite-element model for cross-scale ocean modeling. SELFE retains key benefits, including computational efficiency of existing semi-implicit Eulerian–Lagrangian finite-volume models, but relaxes restrictions on grids, uses higher-order shape functions for elevation, and enables superior flexibility in representing the bathymetry. Better representation of the bathymetry is enabled by a novel, “localized” vertical grid that resembles unstructured grids. At a particular horizontal location, SELFE uses either S coordinates or SZ coordinates, but the equations are consistently solved in Z space. SELFE also performs well relative to volume conservation and spurious oscillations, two problems that plague some finite-element models. This paper introduces SELFE as an open-source code available for community use and enhancement. The main focus here is on describing the formulation of the model and on showing results for a range of progressively demanding benchmark tests. While leaving details to separate publications, we also briefly illustrate the superior performance of SELFE over ELCIRC in a field application to the Columbia River estuary and plume.