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Effects of thermocline on performance of underwater glider’s power system propelled by ocean thermal

Hai YANG, Jie MA,

《能源前沿（英文）》 2009年第3卷第4期页码 472-479 doi: 10.1007/s11708-009-0052-7

摘要： The thermal glider’s changeable volume produces propelling force to power the glider’s descending and ascending through the thermocline. The different depth, thickness, and intensity of the thermocline at different seasons and locations affect the working processes of the glider’s power system. Based on the enthalpy method, a mathematical model of the underwater glider’s power system was established and the time efficiency of operation was introduced, so that the effects of different thermoclines on the underwater glider’s power system were analyzed theoretically. The simulation result shows that the thermocline affects the transition time of the phase change processes of working fluids within the thermal engine tubes. There exist the threshold values of the thermocline’s depth and upper thickness for the power system’s operation. A depth or upper thickness of the thermocline less than the corresponding threshold leads the power system to work abnormally. To keep the power system working efficiently, a glider must be kept in warm surface water for a certain period before it moves through cold water, so that the time efficiency of operation is reduced. A less time efficiency of operation is unfavorable to the thermal glider to penetrate through the ocean currents.

关键词： mathematical underwater glider system working certain corresponding threshold

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水下滑翔机航向控制 Article

You LIU, Qing SHEN, Dong-li MA, Xiang-jiang YUAN

《信息与电子工程前沿（英文）》 2017年第18卷第7期页码 898-914 doi: 10.1631/FITEE.1601735

摘要：水下滑翔机动力学特性随有效载荷及外形变化而变化，其航向控制富有挑战性。解决方法是使用在线系统辨识算法捕捉当前动力学特性，更新运动模型。为此，我们设计了一个在线多项式辨识器，不断更新当前动力学模型，同时用一个自适应模型预测控制器计算并输出最优化的控制指令。该控制器根据用户自定义的指标函数，使用二次规划方法得到最优控制指令。该指标函数由两项组成，一项用来表达轨迹跟踪性能，一项用来表达输入指令抑制性能。输入指令抑制性能一定程度上可以代表该控制器的能量消耗性能。设计师可以通过调节这两项的权重，平衡两个控制器的性能。比较二次与五次多项式模型的控制效果，发现：二次多项式模型不足以表达无人机的动力学特性，且控制结果易发生剧烈波动。硬件在环模拟以及湖试结果验证了控制器性能。

关键词：水下滑翔机；在线系统辨识；航向控制；自适应控制；最优控制；节能控制；硬件在环模拟

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适用于湖水监测的水下滑翔机的空间高效转向方法 Article

Yu-shi ZHU, Can-jun YANG, Shi-jun WU, Qing LI, Xiao-le XU

《信息与电子工程前沿（英文）》 2017年第18卷第4期页码 485-497 doi: 10.1631/FITEE.1500399

摘要：越来越多的水下滑翔机正在被应用到湖水监测中。由于湖水具有有限的竖直空间，为了让水下滑翔机能够扩大不同监测点的间距，水下滑翔机应具有空间高效的转向能力。本文提出一种使用小俯仰角的转向方法，以便让外形固定的水下滑翔机能够具有空间高效的转向能力。使用小俯仰角转向可以提高水下滑翔机在单位竖直空间下的转向角度。本文提出了一种同时适用于大小攻角的水下滑翔机水动力模型，对小俯仰角转向过程中最优的净浮力与横滚角度展开了研究。为了验证水动力模型和转向方法的适用性，研制了小型水下滑翔机原型机并进行了湖水试验。试验表明，水下滑翔机使用小俯仰角进行转向比使用大俯仰角转向更能节省竖直方向消耗的空间。仿真结果与湖水试验结果一致。另外，多监测点连续监测试验表明，与比不使用小俯仰角转向相比，水下滑翔机使用小俯仰角进行转向能够覆盖更大的监测区域。

关键词：水下滑翔机；湖水监测；空间高效；转向方法；小俯仰角；水动力

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Turbidity-adaptive underwater image enhancement method using image fusion

《机械工程前沿（英文）》 2022年第17卷第3期 doi: 10.1007/s11465-021-0669-8

摘要： Clear, correct imaging is a prerequisite for underwater operations. In real freshwater environment including rivers and lakes, the water bodies are usually turbid and dynamic, which brings extra troubles to quality of imaging due to color deviation and suspended particulate. Most of the existing underwater imaging methods focus on relatively clear underwater environment, it is uncertain that if those methods can work well in turbid and dynamic underwater environments. In this paper, we propose a turbidity-adaptive underwater image enhancement method. To deal with attenuation and scattering of varying degree, the turbidity is detected by the histogram of images. Based on the detection result, different image enhancement strategies are designed to deal with the problem of color deviation and blurring. The proposed method is verified by an underwater image dataset captured in real underwater environment. The result is evaluated by image metrics including structure similarity index measure, underwater color image quality evaluation metric, and speeded-up robust features. Test results exhibit that the method can correct the color deviation and improve the quality of underwater images.

关键词： turbidity underwater image enhancement image fusion underwater robots visibility

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水下交通隧道的设计与施工

王梦恕

《中国工程科学》 2009年第11卷第7期页码 4-10

摘要：

综合论述了水下隧道在穿越江河湖海时所有的优势，介绍了水下交通隧道的设计与施工概况，讨论了水下隧道勘察设计、施工的几项关键技术，详细介绍了水下隧道施工的常用方法。

关键词：水下隧道设计施工

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Centrifuge experiment and numerical analysis of an air-backed plate subjected to underwater shock loading

Zhijie HUANG, Xiaodan REN, Zuyu CHEN, Daosheng LING

《结构与土木工程前沿（英文）》 2019年第13卷第6期页码 1350-1362 doi: 10.1007/s11709-019-0559-x

摘要： In this study, systematic centrifuge experiments and numerical studies are conducted to investigate the effect of shock loads due to an underwater explosion on the dynamic responses of an air-backed steel plate. Numerical simulations with three different models of pressure time history generated by underwater explosion were carried out. The first model of pressure time history was measured in test. The second model to predict the time history of shock wave pressure from an underwater explosion was created by Cole in 1948. Coefficients of Cole’s formulas are determined experimentally. The third model was developed by Zamyshlyaev and Yakovlev in 1973. All of them are implemented into the numerical model to calculate the shock responses of the plate. Simulated peak strains obtained from the three models are compared with the experimental results, yielding average relative differences of 21.39%, 45.73%, and 13.92%, respectively. The Russell error technique is used to quantitatively analyze the correlation between the numerical and experimental results. Quantitative analysis shows that the simulated strains for most measurement points on the steel plate are acceptable. By changing the scaled distances, different shock impulses were obtained and exerted on the steel plate. Systematic numerical studies are performed to investigate the effect of the accumulated shock impulse on the peak strains. The numerical and experimental results suggest that the peak strains are strongly dependent on the accumulated shock impulse.

关键词： underwater explosion centrifuge experiment shock load dynamic response accumulated shock impulse

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Detecting large-scale underwater cracks based on remote operated vehicle and graph convolutional neural

Wenxuan CAO; Junjie LI

《结构与土木工程前沿（英文）》 2022年第16卷第11期页码 1378-1396 doi: 10.1007/s11709-022-0855-8

摘要： It is of great significance to quickly detect underwater cracks as they can seriously threaten the safety of underwater structures. Research to date has mainly focused on the detection of above-water-level cracks and hasn’t considered the large scale cracks. In this paper, a large-scale underwater crack examination method is proposed based on image stitching and segmentation. In addition, a purpose of this paper is to design a new convolution method to segment underwater images. An improved As-Projective-As-Possible (APAP) algorithm was designed to extract and stitch keyframes from videos. The graph convolutional neural network (GCN) was used to segment the stitched image. The GCN’s m-IOU is 24.02% higher than Fully convolutional networks (FCN), proving that GCN has great potential of application in image segmentation and underwater image processing. The result shows that the improved APAP algorithm and GCN can adapt to complex underwater environments and perform well in different study areas.

关键词： underwater cracks remote operated vehicle image stitching image segmentation graph convolutional neural network

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Aslotted floor acquisitionmultiple access based MACprotocol for underwater acoustic networks withRTS

Liang-fang QIAN,Sen-lin ZHANG,Mei-qin LIU

《信息与电子工程前沿（英文）》 2015年第16卷第3期页码 217-226 doi: 10.1631/FITEE.1400187

摘要： Long propagation delay, limited bandwidth, and high bit error rate pose great challenges in media access control (MAC) protocol design for underwater acoustic networks. A MAC protocol called slotted floor acquisition multiple access (slotted-FAMA) suitable for underwater acoustic networks is proposed and analyzed. This FAMA based protocol adds a time slot mechanism to avoid DATA packet collisions. However, slotted-FAMA is not suitable for dense networks since the multiple request-to-send (RTS) attempts problem in dense networks is serious and greatly limits the network throughput. To overcome this drawback, this paper proposes a slotted-FAMA based MAC protocol for underwater acoustic networks, called RC-SFAMA. RC-SFAMA introduces an RTS competition mechanism to keep the network from high frequency of backoff caused by the multiple RTS attempts problem. Via the RTS competition mechanism, useful data transmission can be completed successfully when the situation of multiple RTS attempts occurs. Simulation results show that RC-SFAMA increases the network throughput efficiency as compared with slotted-FAMA, and minimizes the energy consumption.

关键词： Underwater acoustic networks Medium access control (MAC) Request-to-send (RTS) competition Throughput Energy consumption

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海洋水下立体观测技术装备发展研究

马蕊,赵修涛,柳存根

《中国工程科学》 2020年第22卷第6期页码 19-25 doi: 10.15302/J-SSCAE-2020.06.003

摘要：

建立水下立体观测网来获得科学、实时、全面的数据，是未来认识、开发、利用海洋的重要方向。本文分析了发展海洋水下立体观测技术装备的需求和必要性，对比了国内外相关装备的发展现状，进一步剖析我国领域发展面临的问题，研判作为海洋水下观测关键环节的传感器技术进展点。研究认为，我国海洋观测平台技术有了很大进步，但在海洋关键传感器、高精度传感器方面依然落后于世界先进水平；海洋观测的大数据与实际需求之间有所脱节，海洋传感器缺乏改进平台支撑。研究提出了支持海洋关键传感器研究成果高效转化、统筹管理国家海洋水下立体观测技术装备、建立海上仪器装备国家公共试验平台等对策建议，以期为相关领域中长期发展提供方向参照。

关键词：海洋观测海底观测网水下移动观测平台水下传感器

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Fabrication of a superhydrophilic/underwater superoleophobic stainless steel mesh for oil/water separation

《化学科学与工程前沿（英文）》 2023年第17卷第1期页码 46-55 doi: 10.1007/s11705-022-2170-2

摘要： Because of the increasing amount of oily wastewater produced each day, it is important to develop superhydrophilic/underwater superoleophobic oil/water separation membranes with ultrahigh flux and high separation efficiency. In this paper, a superhydrophilic/underwater superoleophobic N-isopropylacrylamide-coated stainless steel mesh was prepared through a simple and convenient graft polymerization approach. The obtained mesh was able to separate oil/water mixtures only by gravity. In addition, the mesh showed high-efficiency separation ability (99.2%) and ultrahigh flux (235239 L∙m^–2∙h^–1). Importantly, due to the complex cross-linked bilayer structure, the prepared mesh exhibited good recycling performance and chemical stability in highly saline, alkaline and acidic environments.

关键词： oil/water separation N-isopropylacrylamide stainless steel mesh ultrahigh flux

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盾构法修建水下隧道的关键技术问题

孙谋,谭忠盛

《中国工程科学》 2009年第11卷第7期页码 18-23

摘要：

结合武汉长江隧道等水下盾构隧道工程，对水下盾构施工合理覆盖层厚度、盾构类型及关键参数确定进行了分析。对水下盾构施工关键技术如开挖面稳定技术、预防泥水喷发技术、防止隧道上浮技术、盾构姿态控制技术、长距离掘进及盾构水中对接技术、盾构始发与到达技术等进行了归纳。

关键词：水下隧道盾构法覆盖层厚度盾构选型关键技术

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水下攻防对抗体系及其未来发展

谢伟,杨萌,龚俊斌

《中国工程科学》 2019年第21卷第6期页码 71-79 doi: 10.15302/J-SSCAE-2019.06.014

摘要：

为顺应现代海战的演进趋势，水下攻防对抗正朝着体系化方向发展，综合了水下预警、侦察、探测、攻防等一系列行动。虽然单一领域的武器装备发展迅速，但水下攻防仍存在对抗体系的能力建设、作战样式、未来发展重点不甚清晰等问题。本文梳理了军事强国水下对抗体系建设的现状与基础，分析研判了未来水下攻防对抗体系的功能组成和典型作战样式，重点阐述了水下攻防对抗体系装备发展的主要方向，同时提出了加强综合感知和导航、发展联合指挥控制、注重军民融合式发展等水下攻防体系与装备的建设举措。相关研究可为我国未来水下攻防对抗的顶层设计和装备论证提供理论参考。

关键词：水下攻防对抗体系协同作战无人系统

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Hydrophilic/underwater superoleophobic graphene oxide membrane intercalated by TiO

Zhichao Wu, Chang Zhang, Kaiming Peng, Qiaoying Wang, Zhiwei Wang

《环境科学与工程前沿（英文）》 2018年第12卷第3期 doi: 10.1007/s11783-018-1042-y

摘要： Membrane technology for oil/water separation has received increasing attention in recent years. In this study, the hydrophilic/underwater superoleophobic membrane with enhanced water permeability and antifouling ability were fabricated by synergistically assembling graphene oxide(GO) nanosheets and titanium dioxide (TiO ) nanotubes for oil/water separation. GO/TiO membrane exhibits hydrophilic and underwater superoleophobic properties with water contact angle of 62° and under water oil contact angle of 162.8°. GO/TiO membrane shows greater water permeability with the water flux up to 531 L/(m ·h·bar), which was more than 5 times that of the pristine GO membrane. Moreover, GO/TiO membrane had excellent oil/water separation efficiency and anti-oil-fouling capability, as oil residual in filtrate after separation was below 5 mg/L and flux recovery ratios were over 80%.The results indicate that the intercalation of TiO nanotubes into adjacent GO nanosheets enlarged the channel structure and modified surface topography of the obtained GO/TiO membranes, which improved the hydrophilicity, permeability and anti-oil-fouling ability of the membranes, enlightening the great prospects of GO/TiO membrane in oil-water treatment.

关键词： Hydrophilic Superoleophobic Graphene oxide Membrane Titanium dioxide nanotubes Oil-water separation

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水下隧道盾构法施工安全风险评估探讨

卢浩,施烨辉,戎晓力

《中国工程科学》 2013年第15卷第10期页码 91-96

摘要：

随着地铁、公路等交通隧道的不断发展，隧道往往穿越江河湖泊等水体，大直径泥水平衡盾构广泛应用于水下隧道施工。大直径盾构施工风险高、控制难度大，加上水下施工不确定因素多，风险因素具有不断动态变化的特点，使得施工过程中存在较大的风险。风险评估越来越多地应用于水下隧道施工安全管理中。本文介绍了大直径泥水盾构的几个特点，并对这几个特点引起风险增大的机理进行了分析，针对风险评估常用的几种方法中存在的不足，提出了一种适用于类似工程的指数法，给出了该方法的评估流程及基本计算模型，并将该方法初步应用于某水下隧道施工风险评估。该方法能够适应风险因素的变化，并且不拘泥于真实概率，通过进一步的细化和完善，能够更好地适用于水下隧道施工安全风险评估。

关键词：水下隧道安全风险动态评估