In-situ survey of nanomolar manganese in seawater using an autonomous underwater vehicle around a volcanic crater at Teishi Knoll,Sagami Bay,Japan

We present the results of a chemical survey at a submarine volcano, Teishi Knoll, obtained using a submersible in-situ Mn analyzer (GAMOS) mounted on an autonomous underwater vehicle (AUV) platform. During this survey, high-resolution data of dissolved Mn were obtained in three dimensions in nearly real time. The AUV enabled continuous detailed observations along a preprogrammed pathway, which could not have been performed with conventional CTD hydrocasts. During this observation, anomalously high dissolved Mn concentrations were obtained within the crater, corresponding to high water temperatures. The anomalies might be a hydrothermal signature due to volcanic activity from the crater.     

The 550-au Mission: a critical discussion

We have studied the science rationale, goals and requirements for a mission aimed at using the gravitational lensing from the Sun as a way of achieving high angular resolution and high signal amplification. We find that such a mission concept is compromised by several practical problems. Most severe are the effects due to the plasma in the solar atmosphere which cause refraction and scattering of the propagating rays. These effects either limit the frequencies that can be observed to those above ∼1 THz, or they move the optical point outwards beyond the vacuum value of ≥550 au. (Thus for observing frequency of 300 GHz the optical point is moved outwards to ∼ 680 au.) Density fluctuations in the inner solar atmosphere will further cause random pathlength differences for different rays. The corrections for the radiation from the Sun itself will also be a major challenge at any wavelength used, but could be mitigated with coronographic techniques. Given reasonable constraints on the spacecraft (particularly in terms of size and propulsion), source selection as well as severe navigational constraints further add to the difficulties for a potential mission. Nevertheless, unbiased surveys of small-scale structure on the sky at short wavelengths might be the most promising application of such a mission.     

漂浮式水上钻探平台的设计与应用

根据贵州省清水江三板溪水电站低温水治理隔水幕墙试验工程中水下钻孔的施工工艺和要求,设计了漂浮式水上钻探平台。平台主要由甲板、定位系统、吊装系统、钻探施工系统组成。甲板作为水上载体,主要是用来提供浮力及工作台面;定位系统用来完成平台在水中的移动及固定;吊装系统主要功能是在悬臂吊旋转半径内完成平台上相关物资、大型工器具等的起吊移动;钻探施工系统即实施钻探工作,完成水下钻孔。通过现场实际应用,该平台设计合理,相关配套符合要求,完全能够满足项目所需水下钻孔的钻探工作。平台的成功应用,为以后类似项目在作业平台及钻探施工设备的选用配套上提供了借鉴。     

复杂地势下轻小型无人机LiDAR自主航线设计

针对现有的LiDAR航线设计软件绝大多数针对大中型无人机,主要依靠飞行人员根据实际经验敷设航线,少数采用传统摄影测量改变基线长度的方式实现复杂地势下LiDAR航线自动敷设,但高地势地区航线较密,飞行成本高,有局限性,目前能实现轻小型无人机载LiDAR航线自主敷设的软件很少等问题,参照轻小型机载LiDAR的特点,该文提出一种复杂地势下基于DEM改变航高的航线设计方法。以延庆某山区进行试验。结果表明:该方法适当放宽分区高差限制,综合考虑地形信息、飞机性能等要素,使得单条航带点云密度得到保证,提高航线规划效率,节约飞行时间。将考虑DEM与未考虑DEM两种方式对比,确保重叠度,满足工程点云密度,便于后期数据处理。     

基于多波束声纳数据与反射模型的水下地形重建

利用多波束声纳数据重建水下地形,构建高空间分辨率的数字高程模型(DEM)对于在复杂水下区域的物质勘探、目标检测等方面有重要实用意义.然而,多波束声纳系统直接获得的测深数据空间分辨率有限本文基于多波束声纳系统采集的稀疏测深数据(空间位置)和密集回波强度数据(图像性质)来构建水下复杂地形高空间分辨率数字高程模型.利用采集的...     

Discrete time-delay control of an autonomous underwater vehicle: Theory and experimental results

A discrete time-delay control (DTDC) law for a general six degrees of freedom unsymmetric autonomous underwater vehicle (AUV) is presented. Hydrodynamic parameters like added mass coefficients and drag coefficients, which are generally uncertain, are not required by the controller. This control law cancels the uncertainties in the AUV dynamics by direct estimation of the uncertainties using time-delay estimation technique. The discrete-time version of the time-delay control does not require the derivative of the system state to be measured or estimated, which is required by the continuous-time version of the controller. This particularly provides an advantage over continuous-time controller in terms of computational effort or availability of sensors for measuring state derivatives, i.e., linear and angular accelerations. Implementation issues for practical realization of the controller are discussed. Experiments on a test-bed AUV were conducted in depth, pitch, and yaw degrees of freedom. Results show that the proposed control law performs well in the presence of uncertainties.     

智能潜器的集成仿真系统

本文介绍了智能潜器集成仿真系统的硬、软件结构．通过这一系统所展示的水下虚拟仿真环境能够在研究和开发智能潜器的控制体系结构、潜器载体的水动力学、信息融合和目标识别等工作中发挥巨大作用     

双介质摄影测量共线理论研究

从摄影光学理论出发,推导摄影物镜成像系统的基点位置公式;利用针孔成像模型,分析得出摄影物镜的投影中心即为成像系统两节点的等效;简要阐述双介质摄影测量的传统观点,利用同一摄影物镜在不同介质中构成的光学系统,说明双介质摄影测量成像系统基点位置相对单介质时发生变化,并在此基础上提出与传统观点不同的看法——双介质摄影测量共线理...     

导航卫星自主定轨的算法研究及模拟结果

讨论了利用卫星卫星间的距离观测值建立导航卫星系统自主定轨的数学方法,并用GPS星座模拟星间观测值,采用滤波算法计算卫星的状态参数。模拟结果表明,在空间测距精度一定的情况下,自主定轨精度能高于GPS广播星历,因而能较精确地维持卫星系统的坐标框架。     

潜航器微气泡减阻数值模拟方法研究

近年来微气泡减阻技术应用于水面舰船的相关研究取得重要进展,许多舰船已经采用了此类技术。然而该技术在潜航器上的应用整体上仍处于理论分析和试验测试阶段。以回转体潜航器简化模型为研究对象,利用多孔介质来简化喷气小孔,并结合不可压缩水体和可压缩理想气体的流体体积（VOF）方法,建立了Realizable ε-k湍流计算模式。通过拖曳试验验证了多孔介质等效喷气小孔的合理性和数值模式的准确性,结合试验和数值结果探究了微气泡减阻技术对潜航器航行阻力的影响。数值结果显示,气泡对潜航器尾流低速区的改变使尾部压力分布产生变化从而导致压差阻力增高。同时气泡可以显著降低其覆盖区域的黏性阻力。并且随着来流速度的提高,气泡覆盖范围扩大,黏性减阻率持续增加。进一步地,建立了加长改进模型,数值模拟结果表明,微气泡减阻技术不仅能大幅减小黏性阻力,还能有效减小模型总阻力。