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.     

Parameter estimation for basin-scale ecosystem-linked population models of large pelagic predators: Application to skipjack tuna

A Spatial Ecosystem and Population Dynamic Model (SEAPODYM) is used in a data assimilation study aiming to estimate model parameters that describe dynamics of Pacific skipjack tuna population on ocean-based scale. The model based on advection–diffusion–reaction equations explicitly predicts spatial dynamics of large pelagic predators, while taking into account data on several mid-trophic level components, oceanic primary productivity and physical environment. In order to improve its quantitative ability, the model was parameterized through assimilation with commercial fisheries data, and optimization was carried out using maximum likelihood estimation approach. To address the optimization task we implemented an adjoint technique to obtain an exact, analytical evaluation of the likelihood gradient. We conducted a series of computer experiments in order to (i) determine model sensitivity with respect to variable parameters and, hence, investigate their observability; (ii) estimate observable parameters and their errors; and (iii) justify the reliability of the computed solution. Parameters describing recruitment, movement, habitat preferences, natural and fishing mortality of skipjack population were analysed and estimated. Results of the study suggest that SEAPODYM with achieved parameterization scheme can help to investigate the impact of fishing under various management scenarios, and also conduct forecasts of a given species stock and spatial dynamics in a context of environmental and climate changes.     

轨道线性拟合在星载InSAR基线估计中的应用分析

轨道线性拟合法具有模型严密、求解精度高等优点。对轨道线性拟合在星载InSAR基线估计中的可行性进行了分析,证明轨道线性拟合可以满足星载InSAR干涉测量的精度要求。     

基于神经网络模型的湛江湾水体有色溶解有机物的遥感估算

有色溶解有机物(Colored Dissolved Organic Matter, CDOM)是水体中重要的水质参数之一,是水色遥感的重要研究对象,如何构建适合特定区域的近海二类水体CDOM反演模型一直是国内外研究难点。本文利用2017年5月26～29日对南海西北部海域湛江湾20个站位采集的水样和测量的光谱资料,分析归一化遥感反射率与CDOM浓度a_g(400)的相关性,发现最大负相关系数出现在586nm处,选择580、585、590、595nm这四个波段处的归一化遥感反射率与a_g(400)建立了多元线性回归模型、BP(Back-Propagation)神经网络模型和RBF(Radial-Basis Function)神经网络模型,并与其他算法模型进行对比分析。结果发现, BP和RBF神经网络模型的平均相对误差和均方根误差均远小于多元线性回归模型和其他算法模型,神经网络模型的预测值与实测值拟合效果要优于多元线性回归模型。研究表明,神经网络模型更适合于湛江湾有色溶解有机物的遥感估算。     

海面溢油无人机高光谱遥感检测与厚度估算方法

海上溢油是海洋国家所面临的共同问题,但至今仍没有一种可靠实用的海上溢油准确识别和油量遥感监测方法。为此,本文以无人机高光谱遥感为手段,开展了海面溢油检测与厚度估算方法研究。实验中,通过搭建室外大型水槽溢油实验装置,获取了模拟真实海洋环境条件下不同溢油量的遥感和现场光谱数据,在此基础上,分析并提取了海上溢油特征光谱波段,给出了海上溢油高光谱检测模型;针对现场实验条件下水面油膜厚度难以测定的问题,设计了3种利用总体溢油量的油膜厚度估算模型。得到如下主要结论:（1）675 nm和699 nm是海上溢油检测的有效特征波段,但对极薄的油膜没有检测能力;（2）提出了归一化溢油指数模型、反比例模型和吸收基线模型等3种海上溢油油膜厚度估算模型,其中对于薄油膜（厚度≤ 5 μm）和厚油膜（厚度>50 μm）,反比例模型是溢油厚度反演的首选也是唯一选择。对于中厚度油膜,晴朗天气条件下,归一化溢油指数模型是油膜厚度反演的首选,同时反比例模型和溢油吸收基线模型也都有较好的反演能力,而在多云天气条件下,反比例模型效果最佳。     

基于散射计风场数据的台风强度诊断方法——以海洋二号卫星数据为例

本文提出了一种基于散射计风场数据的台风定强方法。该方法定义了台风所在海区的一个圆形区域上的风速平均值来对台风进行定强,并使用海洋二号卫星散射计历史数据对该方法进行了验证。验证结果表明,该台风定强方法可以克服散射计反演台风风速过低的问题。与台风强度监测的历史记录比较的结果显示,在台风强度低于"强台风"这一强度等级时,该方法能够有效估算台风强度。     

海底爆破振动强度衰减规律及中华白海豚保护措施研究

为确保海底爆破施工所诱发的振动不对中华白海豚造成危害,基于量纲分析法对萨道夫斯基经验公式进行修正,建立适用于预测海底爆破质点峰值振动速度的相似准数方程。在此基础上根据现场试验数据进行非线性回归运算,得到相关参数并分析了海底爆破振动强度衰减规律。分析表明:海底爆破质点峰值振速主要由单段装药量、监测点距爆心水平距离、覆盖层厚度及海水深度等因素决定。将参数值分别代入萨氏公式及新建公式计算预测值并进行误差估计,其平均误差分别为20.3%和10.0%,新建公式提高了对质点振速预测的准确性。利用新建公式及超压内安全振速估算保护中华白海豚的安全距离并提出相应的保护措施,为同类工程施工提供理论参考依据。     

A New Retracking Technique for Brown Peaky Altimetric Waveforms

A new Brown-Peaky (BP) retracker has been developed for peaky waveforms that usually appear within ～10 km to the coastline. The main feature of the BP is that it fits peaky waveforms using the Brown model without introducing a peak function. The retracking strategy first detects the peak location and width of a waveform using an adaptive peak detection method, and then estimates retracking parameters using a weighted least squares (WLS) estimator. The WLS assigns a downsized weight to corrupted waveform gates, but an equal weight to other normal waveform gates. The BP retracker has been applied to 4-year Jason-1 waveform (2002–2006) in two Australian coastal zones. The results retracked by BP, MLE4 and ALES retrackers have been validated against tide-gauge observations located at Burnie, Lorne and Broome. The comparison results show that three retrackers have similar performance over open oceans with the correlation coefficient (～0.7) and RMSE (～13 cm) between altimetric and tide-gauge sea levels for distance >7 km offshore. The main improvement of BP retracker occurs for distance ≤7 km to the coastline, where validation results indicate that data retracked by BP are more accurate (15–21 cm) than those by ALES (16–24 cm) and MLE4 (19–37 cm).     

Upper Ocean Four-Dimensional Variational Data Assimilation in the Arabian Sea and Bay of Bengal

A regional ocean circulation model with four-dimensional variational data assimilation scheme is configured to study the ocean state of the Indian Ocean region (65°E–95°E; 5°N–20°N) covering the Arabian Sea (AS) and Bay of Bengal (BoB). The state estimation setup uses 10 km horizontal resolution and 5 m vertical resolution in the upper ocean. The in-situ temperature and salinity, satellite-derived observations of sea surface height, and blended (in-situ and satellite-derived) observations of sea surface temperature alongwith their associated uncertainties are used for data assimilation with the regionally configured ocean model. The ocean state estimation is carried out for 61 days (1 June to 31 July 2013). The assimilated fields are closer to observations compared to other global state estimates. The mixed layer depth (MLD) of the region shows deepening during the period of assimilation with AS showing higher MLD compared to the BoB. An empirical forecast equation is derived for the prediction of MLD using the air–sea forcing variables as predictors. The surface and sub-surface (50 m) heat and salt budget tendencies of the region are also investigated. It is found that at the sub-surface, only the advection and diffusion temperature and salt tendencies are important.     

空间数据挖掘在海域天然气水合物资源评价中的应用

海域天然气水合物早期勘探阶段多使用地震调查方法,利用BSR和速度异常等指标圈定水合物矿体进行资源评价、优选预测勘探目标。阐明了空间数据挖掘技术在天然气水合物早期勘探评价阶段的应用,并通过珠江口盆地东部海域多道地震速度分析中所获速度异常信息,应用核密度估计方法,定量地划分了2个天然气水合物有利分布区(面积分别为18 km2和70 km2),进而为后期天然气水合物试采生产提供了重要依据及基础数据。