Dynamics and control of towed underwater vehicle system, part II: model validation and turn maneuver optimization

This paper presents a validation of a three-dimensional dynamics model of a towed underwater vehicle system and discusses an application of the model to improve the performance of the system during a turn maneuver. The model was validated by comparing its results to experimental sea trial data, as well as to results from another independently developed simulation. The dynamics model was then imbedded in an optimization routine. This routine was used to vary turn radii in order to improve the U-turn performance. Significant improvements were obtained relative to a standard semicircular turn geometry.     

Effects of seabed properties on acoustic wave fields in a seismo-acoustic ocean waveguide

Acoustic wave fields in an ocean waveguide with a sediment layer having continuously varying density and sound speed overlying an elastic subbottom are considered in this analysis. The objective of this study is to investigate the effects of seabed acoustic properties, including the density and sound speed of the sediment layer and subbottom, on the characteristics of the wave fields. Examination of the reflection coefficient, wavenumber spectrum, and noise intensity of the sound field through numerical analysis has shown that the variation in the acoustic properties in the sediment layer is an important factor in determining the reflected or noise sound fields. In particular, the sediment thickness-to-wavelength ratio and the types of variation of acoustic properties inside the layer give rise to many characteristics that potentially allow for acoustic inversion of the seabed properties. With regard to the wave-field components in a shallow-water environment, the various types of waves existing in a seismo-acoustic waveguide have been illustrated. The results indicate that the effects of the sediment properties on the wavenumber spectrum are primarily on the continuous and evanescent regimes of the wave field. The noise intensity generated by distributive random monopoles at various depths, together with the effect of refractive sound-speed distribution in the water column, has been obtained and analyzed.     

Estimation of underwater eruption energy based on tsunami wave data

Empirical relations between tsunami parameters and underwater eruption energy have been improved, making use of Le Mehaute's theory of explosion-generated water waves. Formulae can be used to estimate underwater eruption characteristics by tsunami wave data. Estimates of energy for some past event have been obtained, in particular, for multiple eruptions of the 1952–1953 Myojinsho volcano, to be E 10¹⁵ – 10¹⁶ J.     

Luminescence dating of canal sediments from Angkor Borei, Mekong Delta, Southern Cambodia

Work to apply luminescence dating to archaeological sites in the Lower Mekong Delta has continued with a programme aimed at dating ancient canal sediments and brick monuments in the vicinity of ancient city of Angkor Borei. Following the successful application of OSL dating to the Paris 2 canal near Angkor Borei further fieldwork and analysis has been undertaken. The infill and substrate of the larger Paris 4 canal connecting Angkor Borei to Oc Eo, some 80 km to the south in Vietnam has been sampled and subjected to luminescence analysis. Field spectroscopy and underwater bleaching experiments were also conducted in the Baray and Angkor Borei in 2004. The results show that both illumination intensities and spectral distributions are severely altered by as little as 1.5 m of turbid water, and that OSL bleaching rates for both quartz and feldspars are reduced. Since quartz resetting is heavily dependant on the UV components in daylight, which have preferentially attenuated the effects of turbid water on OSL zeroing rates are especially marked. The new data from the Paris 4 canal, which has been dated by OSL to be between the first millenium BC and the late first millenium AD are significant to understanding the archaeological development of the Fu Nan state in the Lower Mekong Delta, and the sequence of development of the canal network linking inland agrarian sites and coastal trading centres.     

Underwater spreading and surface drifting of oil spilled from a submarine pipeline under the combined action of wave and current

Tremendous economic loss and environmental damages are caused by oil-spilling accidents in sea. Accurate prediction of the underwater spreading and surface drifting of oil spills is important for the emergency response. In the present study, numerical investigation on the underwater spread and surface drift of oil spilled from a submarine pipeline under the combined action of wave and current was carried out to examine the effects of physical ocean environment, leaking flux and spilled oil density and viscosity. Reynolds-Averaged-Navier-Stokes (RANS) equations, realizable k-ε turbulence model and volume of fluid (VOF) model are employed to describe the multiphase flow, and velocity-boundary wave-making technique combined with the sponge layer damping absorber technique realizes the numerical wave flume. Oil spill experiments were conducted to validate the numerical model. The calculation results indicate that compared with the environmental conditions of still water, only current and only wave, a larger scope of underwater spreading and relatively slower rising rate and relatively faster drifting rate of oil droplets are observed under the combined action of wave and current. The leaking flux affects the floating time and dispersion concentration, while the ocean environment affects the horizontal migration and surface drifting. Under the specific conditions of present work, oil density has obvious effect on the underwater spread but limited effect on the surface drifting, while oil viscosity has little effect on both the two processes.     

适用于水下滑翔器的CTD传感器设计

为满足水下滑翔器连续获取海洋剖面水文动力高质量数据的应用需求,利用自主研制的电磁感应式电导率传感器,集成快速响应的热敏电阻与压力传感器,以PIC18F2520单片机为电路系统的核心控制器,设计出一种适用于水下滑翔器搭载的微型化、低功耗、重量轻的SZQ1-1新型CTD传感器。该CTD测量仪经实验室多次标定,数据质量达到海试要求。2016年10月,该CTD传感器与海鸟SBE19 Plus在青岛胶州湾进行了海试比测。海试结果证明,该CTD传感器与SBE19 Plus测量结果相近,实时获取的温、盐、深剖面数据精度满足水下滑翔器的搭载要求。     

东山岛东南侧近期岸滩演变及其动力成因

基于卫星遥感影像和水下地形数据,分析了近年来东山岛东南侧的岸滩演变特征。进一步,分别建立潮流、波浪、沿岸输沙数值模型,结合人类活动的影响,分析东山岛东南侧岸滩侵蚀的动力成因。研究结果表明,2002-2012年金銮湾的北侧海域海床侵蚀较为严重;1971-2003年,乌礁湾北侧湾顶呈现出侵蚀现象,2003-2012年,乌礁湾北侧湾顶由之前的侵蚀现象转变为一定的淤积趋势。主要原因如下:(1)岬角的挑流作用使得金銮湾和乌礁湾北侧岬角附近海域流速较大,容易产生冲刷侵蚀。(2)金銮湾和乌礁湾的北部波高较高,波能较大,容易遭受侵蚀。(3)金銮湾和乌礁湾北部海岸输沙强度较大,净输沙方向以自东向西为主,容易发生岸滩侵蚀。(4)20世纪90年代以来,东山岛人类活动强度增大,海滩不合理的人工建筑物、海岸防护林破坏以及养殖场的建造在一定程度上加重了侵蚀。(5)2003年后乌礁湾北侧修建了码头工程,导致近岸潮流和波浪动力有所减弱,使得侵蚀现象转变为一定的淤积。     

水下自主航行观测平台在现调试系统的研究

利用CPLD硬件模块研发了一套能够嵌入到基于分布式控制体系的水下运动观测平台的在现调试系统,能够实现对系统内的多个节点实现在现调试和数据传输,加快了水下运动平台的研制、开发和调试进程。     

小型自主水下航行器大容量数据存储设计

在介绍单板机PhyCORE-591和Flash存储器K9K8G08UOM的基础上,解决小型自主水下航行器大容量数据存储问题,并给出PhyCORE-591和K9K8G08UOM使用方法。     

Hydrodynamic derivatives and motion response of a submersible surface ship in unbounded water

A submersible surface ship (SSS) is based on a novel concept that the SSS goes on surface like conventional ships in moderate seas but goes underwater in rough seas to the depth sufficient to avoid wave effects. The SSS has a wing system that produces downward lift to go underwater with preserving the residual buoyancy for its safety. The SSS is expected to be able to keep both safety and punctuality even if it encounters unexpected bad weather.The motion of the SSS is studied. The equations of motion are formulated and the procedures for estimating hydrodynamic derivatives are presented. The hydrodynamic derivatives are estimated for a SSS having a configuration, a hull with a pair of main wings and a pair of horizontal tail wings. Using these estimated hydrodynamic derivatives, calculation of the SSS motion is carried out.The calculation results show some specific aspects of the SSS especially for effects of the elevator of main wings and horizontal tail wings, aileron of main wings, rudder and propeller revolution. It is confirmed that the existence of static roll restoring moment and having large hull comparing with wing area play important roles in the motion of the SSS.