装载GPCTD传感器的海翼水下滑翔机观测数据实时质量控制

Profiles observed by Sea-Wing underwater gliders are widely applied in scientific research. However, the quality control(QC) of these data has received little attention. The mismatch between the temperature probe and conductivity cell response times generates erroneous salinities, especially across a strong thermocline. A sensor drift may occur owing to biofouling and biocide leakage into the conductivity cell when a glider has operated for several months. It is therefore critical to design a mature real-time QC procedure and develop a toolbox for the QC of Sea-Wing glider data. On the basis of temperature and salinity profiles observed by several Sea-Wing gliders each installed with a Sea-Bird Glider Payload CTD sensor, a real-time QC method including a thermal lag correction, Argo-equivalent real-time QC tests, and a simple post-processing procedure is proposed. The method can also be adopted for Petrel gliders.     

水下滑翔器的运动建模与分析

介绍了水下滑翔器的工作机理，对其沉浮阶段的滑翔过程进行了动力学分析，推导了滑翔器在垂直剖面上的动力学方程。论文深入分析了水下滑翔器稳态时的运动规律，以水下滑翔器试验模型为例，推导了其稳态运动参数，通过线性化与适当的简化，得到模型在垂直剖面上的运动状态方程，讨论了系统的可控性与可观测性，为水下滑翔器系统的开发设计和控制提供了理论依据，具有重要的指导意义。     

温差能驱动的水下滑翔器设计与实验研究

论文设计开发了一种新型的温差能驱动的水下滑翔器,并对它做了水域实验研究。文章讨论了温差能驱动的滑翔器运动机理及其在垂直剖面的运动分析,得到稳态运动的参数解。结合能够把水域温差能转变为机械能的热机设计以及滑翔器的主要机械结构和控制硬件系统设计,完成了滑翔器的初步设计与开发。滑翔器在千岛湖进行了水域实验,实验结果表明,此水下滑翔器完全能够利用温差能实现预定的滑翔运动。     

A hybrid forecasting model for depth-averaged current velocities of underwater gliders

In this paper, we propose a hybrid forecasting model to improve the forecasting accuracy for depth-averaged current velocities (DACVs) of underwater gliders. The hybrid model is based on a discrete wavelet transform (DWT), a deep belief network (DBN), and a least squares support vector machine (LSSVM). The original DACV series are first decomposed into several high- and one low-frequency subseries by DWT. Then, DBN is used for high-frequency component forecasting, and the LSSVM model is adopted for low-frequency subseries. The effectiveness of the proposed model is verified by two groups of DACV data from sea trials in the South China Sea. Based on four general error criteria, the forecast performance of the proposed model is demonstrated. The comparison models include some well-recognized single models and some related hybrid models. The performance of the proposed model outperformed those of the other methods indicated above.     

南海北部最小含氧带水下滑翔机观测结果初步分析*

最小含氧带(Oxygen Minimum Zone, OMZ)是指海洋中层水体处存在的稳定的溶解氧(Dissolved Oxygen, DO)极小值层, OMZ的分布与变化对南海生态系统和生地化循环具有重要意义。本文利用2019年7—9月“海翼”号水下滑翔机(Sea-wing Glider)在南海北部陆坡区的组网观测数据, 对南海北部陆坡区OMZ的空间分布特征进行了分析。结果显示, 在垂向上, 研究区域内DO极小值层出现在深度约700~900m处, 其浓度约为80~100μmol·L^-1, 且700~900m深度范围内DO浓度变化不大, 形成了厚度约为200m的OMZ。在水平方向上, OMZ自陆坡西南部起向东北方向延伸, 厚度由西南至东北逐渐变薄, 整体呈楔形分布, 并在靠近吕宋海峡处逐渐消失。此外, 本研究还选取了两台水下滑翔机7—8月连续两周内的观测数据, 经计算显示, OMZ区域内的DO浓度在跨陆坡方向上的平均变化速率为0.023μmol·L^-1·d^-1(增加), 在沿陆坡方向上为-0.034μmol·L^-1·d^-1(减少)。沿吕宋海峡入侵南海的高氧水能够解释OMZ东北部DO浓度局部升高的现象, OMZ的分布特征和形成原因与海水的平流运动、水团分布和水体层化等物理过程, 以及生物呼吸、有机物分解和还原性物质的氧化等多种影响因素有关。     

“海翼号”水下滑翔机盐度数据的热滞后效应偏差订正方法探讨

水下滑翔机可以高效地观测海水的温度、盐度和压强等海洋参数,但由于热滞后效应,盐度数据,特别是在温度梯度较大的温跃层,会出现一定程度的偏差。本研究选取了3种目前常用的盐度热滞后订正方法,对带泵的“海翼号”水下滑翔机,于2019年8月在中北太平洋所观测的盐度数据因热滞后效应引起的偏差进行订正处理,与船载911型温盐深测量仪(Instrument for Measuring Conductivity Temperature and Depth,CTD)观测盐度进行对比,在比较了3种方法对滑翔机盐度订正前后下降和上升剖面偏差的减少程度、订正后剖面与船载CTD观测剖面的偏差大小和下降上升温盐曲线(T-S曲线)的一致程度后,得出了水下滑翔机盐度订正的最优方法,即在订正电导池中实际温度的前提下,采用计算机图形分割方法,最小化滑翔机机载CTD测得的下降和上升两个剖面T-S曲线围成面积所确定的目标函数,来确定合适的热滞后修正振幅和时间常数,从而修正下降和上升两个剖面之间盐度偏差。     

水下滑翔机在识别水团新结构中的应用

本研究基于中国科学院沈阳自动化研究所自主研发的水下滑翔机在热带东太平洋观测获取的连续剖面温盐数据,并通过与多套不同数据的比测,证实国产水下滑翔机观测的温盐数据准确可靠,未来可大范围应用于深海大洋。观测结果首次发现该海域北太平洋中央水（NPCW）（50~100 m）的60~80 m层分布着中间层低盐水,分析认为该低盐水来源于水团下方的加利福尼亚流系水（CCS）,中间层低盐水形成的动力机制主要受跃层附近的内波控制,并与内波强度密切相关,同时受上层（20~60 m）障碍层的影响,该中间层低盐水仅仅出现在60~80 m。本研究发现内波与障碍层能够通过影响动能与热能的传输进而促进水团新结构的形成,相关成果丰富了内波与障碍层对上层海洋响应的研究,具有重要的科学价值。     

基于海洋机器人的科学观测与实验系统研究现状与展望

海洋机器人具有观测范围大、作业灵活、机动性好、可控性强等突出优点,在海洋科学观测与海洋科学实验中发挥了重要作用,促进了物理海洋和海洋生物地球化学的发展。为阐明海洋机器人在海洋科学观测和实验中的应用情况,以水下滑翔机、自主水下机器人（Autonomous Underwater Vehicle,AUV）和无人帆船3种典型的观测型海洋机器人为例介绍了海洋机器人在海洋科学观测中的应用现状;以原位采样与固定、原位培养与分析海洋机器人为例介绍了海洋机器人在海洋科学实验中的应用现状;最后结合未来海洋科学研究需求,从需求牵引的角度对基于机器人的科学观测与实验系统的发展趋势进行了展望。     

Motion Analysis and Trials of the Deep Sea Hybrid Underwater Glider Petrel-II

A hybrid underwater glider Petrel-II has been developed and field tested. It is equipped with an active buoyancy unit and a compact propeller unit. Its working modes have been expanded to buoyancy driven gliding and propeller driven level-flight, which can make the glider work in strong currents, as well as many other complicated ocean environments. Its maximal gliding speed reaches 1 knot and the propelling speed is up to 3 knots. In this paper, a 3D dynamic model of Petrel-II is derived using linear momentum and angular momentum equations. According to the dynamic model, the spiral motion in the underwater space is simulated for the gliding mode. Similarly the cycle motion on water surface and the depth-keeping motion underwater are simulated for the level-flight mode. These simulations are important to the performance analysis and parameter optimization for the Petrel-II underwater glider. The simulation results show a good agreement with field trials.     

Stability Analysis of Hybrid-Driven Underwater Glider

Hybrid-driven underwater glider is a new type of unmanned underwater vehicle, which combines the advantages of autonomous underwater vehicles and traditional underwater gliders. The autonomous underwater vehicles have good maneuverability and can travel with a high speed, while the traditional underwater gliders are highlighted by low power consumption, long voyage, long endurance and good stealth characteristics. The hybrid-driven underwater gliders can realize variable motion profiles by their own buoyancy-driven and propeller propulsion systems. Stability of the mechanical system determines the performance of the system. In this paper, the Petrel-Ⅱ hybrid-driven underwater glider developed by Tianjin University is selected as the research object and the stability of hybrid-driven underwater glider unitedly controlled by buoyancy and propeller has been targeted and evidenced. The dimensionless equations of the hybrid-driven underwater glider are obtained when the propeller is working. Then, the steady speed and steady glide path angle under steady-state motion have also been achieved. The steady-state operating conditions can be calculated when the hybrid-driven underwater glider reaches the desired steady-state motion. And the steady-state operating conditions are relatively conservative at the lower bound of the velocity range compared with the range of the velocity derived from the method of the composite Lyapunov function. By calculating the hydrodynamic coefficients of the Petrel-Ⅱ hybrid-driven underwater glider, the simulation analysis has been conducted. In addition, the results of the field trials conducted in the South China Sea and the Danjiangkou Reservoir of China have been presented to illustrate the validity of the analysis and simulation, and to show the feasibility of the method of the composite Lyapunov function which verifies the stability of the Petrel-Ⅱ hybrid-driven underwater glider.