A hierarchical real-time control architecture for a semi-autonomous underwater vehicle

This paper describes a real-time control architecture for Dual Use Semi-Autonomous Underwater Vehicle (DUSAUV), which has been developed at Korea Research Institute of Ships and Ocean Engineering (KRISO) for being a test-bed of development of underwater navigation and manipulator technologies. DUSAUV has three built-in computers, seven thrusters for six DOF motion control, one 4-function electric manipulator, one ballasting motor, built-in power source, and various sensors. A supervisor control system with GUI and a multi-purpose joystick is mounted on the surface vessel and communicates with vehicle through a fiber optic link. Furthermore, QNX, one of real-time operating system, is ported on the built-in control and navigation computers for real-time control purpose, while Microsoft OS product is ported in the supervisor computer for GUI programming convenience. A hierarchical control architecture, which consists of application layer, real-time layer and physical layer, has been developed for efficient control system of above complex underwater robotic system. The experimental results with implementation of the layered control architecture for various motion control of DUSAUV in an ocean engineering basin of KRISO is also presented.     

A Study on the Dynamic Analysis of A Tracked Vehicle for Ocean Mining on the Deep Seabed

1 .IntroductionOnthedeepseabed ,30 0 0～ 50 0 0mbelowthePacificOcean ,manganesenodulesaresolidifiedandspread ,andmanycountriesintheworldarestudyinghowtominethem .AccordingtoYamazakietal.( 1 998)andAmannetal.( 1 991 ) ,theenvironmentofthedeepseabedisdifferentfromthedrylandinmanyways .Inparticular,thesurfaceoftheseabedisverysoft.Inordertoensuretheperformanceofrunningofamanganesenodulemineronsuchasoftsurface ,thetrackedvehiclemaybeapplied .Ac cordingtoHongandChoi ( 2 0 0 1 ) ,astudyisbeingdone…     

Meiobenthic Organisms as Indicators of Mixing Processes in the Baltic Surface Sediments*

Abstract. Two sediment cores were collected in the southern Baltic Sea and sliced into 1.0cm-thick layers. Sediments of each layer were analysed for activities of ²¹⁰Pb, ¹³⁷Cs, ¹³⁴Cs and for the density of meiobenthic organisms (meiofauna). Zones with the rapid mixing occur in the uppermost layers (0–3 cm) of the cores based on ^I34Cs profiles. The extent and density of meiofauna confirmed the rapid mixing and revealed layers with slow mixing (4–8 cm). Sedimentation rates were derived from ²¹⁰Pb profiles below the mixing zones (1.21 and 1.72 mm a-^I) and were confumed by ¹³⁷Cs distribution. Of twenty-one major meiofauna taxa commonly found in the Baltic sediments, three were present in the cores.     

太平洋中部表层沉积物镁铝含量比的变化

本文根据中、日调查资料,研究了太平洋中部表层沉积物镁铝含量比的变化,并探讨其影响因素。     

厦门潮间带表层沉积物天然放射系不平衡研究

用HPGeγ谱仪测定了厦门潮间带表层沉积物中的放射性核素,得到11种核素238U2、34Th2、26Ra2、22Rn2、10Pb2、28Ra2、28Ac2、28Th2、24Ra2、12Pb、40K的平均比活度分别为:40.2、82.7、32.4、28.9、94.2、69.3、57.1、71.6、64.0、71.4、692Bq/kg.结果表明潮间带沉积物中天然放射系不平衡,其中234Th相对于238U2、10Pb相对于226Ra过剩,222Rn相对于226Ra2、28Ac相对于228Ra2、24Ra相对于228Th亏损.     

Dinoflagellate cysts in recent marine sediment from Guangxi, China

Total of 33 species of dinoflagellate cysts were discovered from surface sediment in the searegion of Guangxi, among them 12 cyst types (Diplopsalopsis sp.1, D. sp. 2, D. sp. 3, Cochlodinium sp., Protoperidinium sp. 1, P. sp. 2, P. compressum , Scrippsiella sp. 1, S. sp. 2, Alexandrium sp. 1, A. sp. 2, A. sp. 3) were first reported from the South China Sea. And one cyst type (Cochlodinium sp.) was first reported in the world. Scrippsiella trochoidea is the dominant species in this area, accounting for 45% of all the cysts. There are 2 cysts of toxic dinoflagellate (Alexandrium tamarensis and Gymnodinium catenatum). But there is no relationship between cyst number and grain size distribution.     

厦门海域水体中有机锡的存在形态与含量分布

利用固相萃取-气相色谱-火焰光度检测(SPE-GC-FPD)对厦门海域表、底层海水中的有机锡化合物进行了分析检测。其中表层海水中检出的有机锡化合物以二丁基锡(DBT)为主,底层海水中以三丁基锡(TBT)为主,且TBT的浓度显著高于表层水。表层海水中总有机锡浓度在129.1—4 826.8 ng(Sn).L-1之间,底层海水则分布在321.6—1 954.5ng(Sn).L-1之间。结果显示,厦门港内及同安湾附近海域水体中的有机锡浓度远高于九龙江口及厦门西南海域,这与厦门海域船舶活动和网箱养殖密切相关。通过对鼓浪屿站点表层海水中有机锡化合物15 h的连续监测,推测光照对水体中有机锡的降解影响显著。     

南海表层沉积物中钙质超微化石分布特征

为系统描述钙质超微化石在南海表层沉积中的分布特征,对遍布南海的175个样品进行了实验分析。发现不同地区钙质超微化石绝对丰度相差很大,从0—3.8×1010个.g-1不等。平面上将钙质超微化石丰度分为3个区。共鉴定出钙质超微化石21属28种,以Emiliania huxleyi、Florisphaera profunda和Gephyrocapsa oceanica为优势种,其中Florisphaera profunda占据绝对优势。南海钙质超微化石分布具有两个明显特征:一是14°N线南北两边钙质超微化石的分布存在差异;二是南海钙质超微化石丰度以南沙群岛和西沙群岛两片海域为最高,并有东北-西南走向的分布趋势。对影响钙质超微化石分布的水深、上升流与营养盐、陆源物质稀释作用、碳酸盐溶解作用等因素作了讨论,并根据钙质超微化石随水深的变化推测南海碳酸盐补偿深度应在4 000m左右。     

In situ and satellite observations of the eastward migration of the Western Alboran Sea Gyre

During October 2003 an intensive oceanographic survey (BIOMEGA) was carried out in the Alboran Sea, coinciding with a migration event of the Western Alboran Sea Gyre (WAG). The observations gathered during that cruise constitute the first field evidence of a migrated stage of the WAG. In this work we present the main differences between the 3D hydrodynamic fields observed during BIOMEGA and those corresponding to a WAG located at its usual position. The migration of the gyre was followed by satellite (altimetry and sea surface temperature) imagery. The causes of the gyre migration are explored in terms of the quasi-geostrophic tendency equation, in particular of the dynamics governing scales larger than the Rossby radius of deformation. It is shown that the steady state gyre must be almost equivalent barotropic and that the key process to break down the stationarity would be a density advection at gyre scale. The mechanisms to explain the migration of the WAG proposed by previous authors are discussed in light of the explanation proposed in this work.     

THE INTRINSIC ACIDITY CONSTANTS AND SPECIFIC SURFACE AREA OF MARINE SOLID PARTICLESII. THE RELATIONSHIP BETWEEN THE INTRINSIC ACIDITY CONSTANT AND THE TERNARY SURFACE COMPLEX

This paper deals with the infrared spectra of " amino acid- clay , calcium carbonate and y-AlOOH" and " Cu (II )-clay-amino acid" model systems, and shows that the model of the ternary surface complex is M-OHLCu (L = amino acid) for marine solid particle-Cu (II)-amino acid. Study of the formation mechanism of the ternary surface complex shows that the specific surface area , and especially the intrinsic acidity constant, determine whether the ternary surface complex is easily formed, and that factor, FTSC,quantifies the relationship between the promoting effect of organics on Mt-marine solid particle ion exchange and the intrinsic acidity constant and specific surface area.