一种基于改进蚁群优化算法的载人潜水器全局路径规划

基础蚁群优化算法在解决复杂障碍环境下的载人潜水器路径规划问题时,易过早收敛于局部最优解,信息素挥发系数的设置过于依靠经验,路径规划结果受概率影响大且不稳定。为此,提出了一种改进蚁群算法用于解决载人潜水器的全局路径规划问题。该算法提出"路径延伸块"的概念。算法前期采用动态更新信息素参数的蚁群优化算法进行简单迭代计算获得原始路径,并对原始路径进行栅格延伸以得到"路径延伸块";后期在路径延伸块中再次使用蚁群算法或其他寻优算法(Dijkstra算法)寻找最优路径。改进的算法与基础蚁群优化算法相比,算法效率及稳定性更高,不易收敛于局部最优解,能更好地适应U型槽环境和复杂障碍环境。     

载人潜水器发展现状及趋势研究

随着我国综合国力的提升和战略安全环境及新空间的需求,习总书记提出了“海洋强国”的战略目标及深海进入、深海探测、深海开发的发展三部曲战略构想。海洋强国的发展离不开大型运载装备的进步,载人潜水器不仅对资源调查与科学研究做过杰出的贡献,而且在军事界领域也产生过深远的的影响。本文对国内外载人潜水器的应用发展现状进行了重点研究,对世界范围内重型深海载人潜水器及轻型中浅海载人潜水器的应用进展现状进行了全面调研研究,同时介绍了我国蛟龙号、深海勇士号等载人潜水器应用发展情况,也对世界范围内载人潜水器的技术性能和应用情况进行了分析对比,在此基础上,展望了载人潜水器的发展趋势,并讨论了潜水器装备的未来技术进展。     

Detailed Study of Three Contiguous Segments of the Mid-Atlantic Ridge,South of the Azores (37° N to 38°30′ N), Using Acoustic Imaging Coupled with Submersible Observations

Using a new tool of seafloor characterisation (sonar images from FARA-SIGMA cruise; Needham et al., 1992), coupled with submersible observations (DIVA1 cruise) we compare, at different scales of observation, three contiguous segments of the Mid-Atlantic Ridge, South of the Azores Triple Junction, between 37° N and 38°30 N.The two northernmost segments (38°20 N and Menez-Gwen) show unusual morphological features for the MAR; the rift valley is absent and the present-day magmatism is focused on shallow axial volcanoes. On the third segment (Lucky Strike), the morphology is the one usually found on the MAR. On the Menez-Gwen and 38°20 N segments, volcanic constructional activity can obliterate, during periods of high magmatic supply, the morphology inherited from tectonic activity. The dive results constrain the recent evolution of each segment and show that a temporal variability in volcanic dynamics exists. On the three segments, outcrops of eruptive lavas alternate with large areas of explosive volcanic ejecta. This cycle in volcanic activity is influenced by changes in water depth, both spatially (i.e. between segments) and temporally (i.e. for the same segment through time).Each segment has known a specific history in its accretionary processes with a succession of tectonic and volcanic predominance and changes in its volcanic phases between volcanic ejecta and effusive dynamics.The hydrothermal activity is focused at the central part of each segment and is controlled by the presence of fresh lava and major tectonic features.     

Geological and petrologic evolution of seamounts near the EPR based on submersible and camera study

Observations from 17 ALVIN dives and 14 ANGUS runs plus laboratory study of basalt samples collected with ALVIN help to constrain the morphologic, volcanic and petrologic evolution of four seamounts near the East Pacific Rise (EPR). Comparison among the four volcanoes provides evidence for a general pattern of near-EPR seamount evolution and shows the importance of sedimentation, mass wasting, hydrothermal activity and other geologic processes that occur on submerged oceanic volcanoes. Seamount 5, closest to the EPR (1.0 Ma) is the youngest seamount and may still be active. Its summit is covered by fresh lavas, recent faults and hydrothermal deposits. Seamount D is on crust 1.55 Ma and is inactive; like seamount 5, it has a breached caldera and is composed exclusively of N-MORB. Seamounts 5 and D represent the last stages of growth of typical N-MORB-only seamounts near the EPR axis. Seamounts 6 and 7 have bumpy, flattish summits composed of transitional and alkalic lavas. These lavas probably represent caldera fillings and caps overlying an edifice composed of N-MORB. Evolution from N-MORB-only cratered edifices to the alkalic stage does not occur on all near-EPR seamounts and may be favored by location on structures with relative-motion-parallel orientation.     

The Depth Limits of Red Sea Stony Corals: An Ecophysiological Problem (A Deep Diving Survey by Submersible)

Abstract. Along the Sinai coast of the Red Sea a deep diving survey with the research submersible GEO investigated the depth distribution of stony corals. 47 hermatypic species were identified below 50 m; 9 species extended below 100 m. Their depth distributions are related to light penetration. Observed changes in hermatype growth forms with depth were investigated and interpreted as photo-adaptations. 10 species of ahermatypic corals were found between 100–205 m. Ahermatype growth forms are adaptations to plankton feeding and do not change with depth.     

初始缺陷对深海载人潜水器耐压球壳塑性稳定性影响

载人深潜器耐压球壳是中厚度壳结构,当结构发生失稳时,球壳结构的局部部位因为材料达到屈服极限而发生了塑性变形.将有限元分析与经典理论相结合,研究弹性屈曲模态缺陷、局部缺陷以及球壳整体圆度和厚度偏差对中厚度球壳结构的塑性稳定性的影响.计算结果表明中厚度球壳结构对初始缺陷并不很敏感,对球壳结构当局部缺陷范围刚好达到临界弧长时结构的承载力最弱.通过缺陷结构和完善结构的极限承载力比较,提供了初始缺陷影响曲线.     

自升式连体潜标测量系统的设计与实施

针对有缆潜标系统测量质量不稳定,缆绳阻力大、浮球浮力不足,测量系统难以绷紧,导致潜标摇摆、缆绳倾斜,受海洋环境的其他外力作用,影响采集资料的质量等问题,设计了自升式连体潜标测量系统。该系统最大特点是把各种仪器设备与释放器搭载组合到同一平行面的潜标内,把仪器设备、释放器与浮体材料合成为单位体积最小的潜标测量平台。该系统还有体积小、质量轻、造价低、操作简便等特点,适用于水深1 200 m内的海区,采用座底方式进行测量。系统通过释放装置脱钩,脱钩后连体潜标可自行升浮到海面,并具有隐蔽性好不易被破坏的优点。经过近1 a的试验,已多次在南海水深400 m多的海区顺利完成了海上投放与回收试验,试验结果良好。