Geomorphic and hydrodynamic responses in salt marsh-tidal creek systems, Jiangsu, China

Salt marsh-tidal creek systems as a coastal geomorphological unit represent an important natural resource. The present study on Jiangsu salt marshes, eastern China, shows that variations in tidal current velocities in salt marsh creeks are controlled by the local tidal wave characteristics and the bed slope and elevation of the salt marshes and creeks. Likewise, the tidal currents modify the geomorphology of the salt marsh-tidal creek systems by transporting sediments and causing erosion/deposition. Storm events, which appear to have cyclical changes in their intensity relating to sunspot activities, can affect the geomorphic evolution of such systems. Further, in response to accelerated sea-level rise, accretional rates on salt marshes may increase. The tidal creeks have the function of transporting water and sediment onto the salt marsh surface; further, the energy of tidal currents and waves are dissipated within the salt marsh-tidal creek system. Hence, this coastal system has a potential value for coastal protection.

Higher-order Boussinesq-type equations for interfacial waves in a two-fluid system

Interfacial waves propagating along the interface between a three-dimensional two-fluid system with a rigid upper boundary and an uneven bottom are considered. There is a light fluid layer overlying a heavier one in the system, and a small density difference exists between the two layers. A set of higher-order Boussinesq-type equations in terms of the depth-averaged velocities accounting for stronger nonlinearity are derived. When the small parameter measuring frequency dispersion keeping up to lower-order and full nonlinearity are considered, the equations include the Choi and Camassa's results (1999). The enhanced equations in terms of the depth-averaged velocities are obtained by applying the enhancement technique introduced by Madsen et al. (1991) and Schaffer and Madsen (1995a). It is noted that the equations derived from the present study include, as special cases, those obtained by Madsen and Schaffer (1998). By comparison with the dispersion relation of the linear Stokes waves, we found that the dispersion relation is more improved than Choi and Camassa's (1999) results, and the applicable scope of water depth is deeper.

Strongly nonlinear long interfacial waves in uniform basic flows and their dispersion relationship

In this paper, long interfacial waves of finite amplitude in uniform basic flows are considered with the assumption that the aspect ratio between wavelength and water depth is small. A new model is derived using the velocities at arbitrary distances from the still water level as the velocity variables instead of the commonly used depth-averaged velocities. This significantly improves the dispersion properties and makes them applicable to a wider range of water depths. Since its derivation requires no assumption on wave amplitude, the model thus can be used to describe waves with arbitrary amplitude.

Numerical modeling of water wave interaction with a soft mud bed

A vertical 2-D numerical model is presented for simulating the interaction between water waves and a soft mud bed. Taking into account nonlinear rheology, a semi-empirical rheological model is applied to this water-mud model, reflecting the combined visco-elasto-plastic properties of soft mud under such oscillatory external forces as water waves. In order to increase the resolution of the flow in the neighborhood of both sides of the inter-surface, a logarithmic grid in the vertical direction is employed for numerical treatment. Model verifications are given through comparisons between the calculated and the measured mud mass transport velocities as well as wave height changes.

Circulation in the western tropical Pacific Ocean and its seasonal variation

An assimilation data set based on the GFDL MOM3 model and the NODC XBT data set is used to examine the circulation in the western tropical Pacific and its seasonal variations. The assimilated and observed velocities and transports of the mean circulation agree well. Transports of the North Equatorial Current (NEC), Mindanao Current (MC), North Equatorial Countercurrent (NECC) west of 140degreesE and Kuroshio origin estimated with the assimilation data display the seasonal cycles, roughly strong in boreal spring and weak in autumn, with a little phase difference. The NECC transport also has a semi-annual fluctuation resulting from the phase lag between seasonal cycles of two tropical gyres' recirculations. Strong in summer during the southeast monsoon period, the seasonal cycle of the Indonesian throughflow (ITF) is somewhat different from those of its upstreams, the MC and New Guinea Coastal Current (NGCC), implying the monsoon's impact on it.

Tidal current observation in the southern Yellow Sea in the summers of 2001 and 2003

Direct current observations in the Yellow Sea interior are very scarce due to intense fishing and trawling activities. Most previous studies on tides in the area were based on coastal measurements or satellite altimeter sea levels and have not been rigorously compared with direct measurements. In this paper, tidal currents are studied with current profiles from three bottom-moored Sontek Acoustic Doppler Profilers (ADPs) deployed in the southern Yellow Sea in summer of 2001 and 2003. The measured current series were dominated by tidal currents. Maximum velocities are between 40-80 cm/s at the mooring stations. M-2 current is the most dominant primary tidal constituent, while MS4 and M-4 are the most significant shallow water tides with much smaller amplitudes than the primary tides.

Characteristics of nonlinear internal waves observed in the northern South China Sea

The South China Sea (SCS) is one of the most active areas of internal waves. We undertook a program of physical oceanography in the northern South China Sea from June to July of 2009, and conducted a 1-day observation from 15:40 of June 24 to 16:40 of June 25 using a chain of instruments, including temperature sensors, pressure sensors and temperature-pressure meters at a site (117.5A degrees E, 21A degrees N) northeast of the Dongsha Islands. We measured fluctuating tidal and subtidal properties with the thermistor-chain and a ship-mounted Acoustic Doppler Current Profiler, and observed a large-amplitude nonlinear internal wave passing the site followed by a number of small ones. To further investigate this phenomenon, we collected the tidal constituents from the TPXO7.1 dataset to evaluate the tidal characteristics at and around the recording site, from which we knew that the amplitude of the nonlinear internal wave was about 120 m and the period about 20 min. The horizontal and vertical velocities induced by the soliton were approximately 2 m/s and 0.5 m/s, respectively. This soliton occurred 2-3 days after a spring tide.

Measurements of ocean wave and current field using dual polarized X-band radar

A new ocean wave and sea surface current monitoring system with horizontally-(HH) and vertically-(VV) polarized X-band radar was developed. Two experiments into the use of the radar system were carried out at two sites, respectively, for calibration process in Zhangzi Island of the Yellow Sea, and for validation in the Yellow Sea and South China Sea. Ocean wave parameters and sea surface current velocities were retrieved from the dual polarized radar image sequences based on an inverse method. The results obtained from dual-polarized radar data sets acquired in Zhangzi Island are compared with those from an ocean directional buoy. The results show that ocean wave parameters and sea surface current velocities retrieved from radar image sets are in a good agreement with those observed by the buoy. In particular, it has been found that the vertically-polarized radar is better than the horizontally-polarized radar in retrieving ocean wave parameters, especially in detecting the significant wave height below 1.0 m.

Mud mass transport due to waves based on an empirical rheology model featured by hysteresis loop

A vertical 2-D water-mud numerical model is developed for estimating the rate of mud mass transport under wave action. A nonlinear semi-empirical rheology model featured by remarkable hysteresis loops in the relationships of the shear stress versus both the shear strain and the rate of shear strain of mud is applied to this water mud model. A logarithmic grid in the vertical direction is employed for numerical treatment, which increases the resolution of the flow in the neighborhood of both sides of the interface. Model verifications are given through comparisons between the calculated and the measured mud mass transport velocities as well as wave height changes. (C) 2006 Elsevier Ltd. All rights reserved.

Fine sediment resuspension dynamics in Moreton Bay

A comprehensive field study has been undertaken to investigate sediment resuspension dynamics in the Moreton Bay, a large semi-enclosed bay situated in South East Queensland, Australia. An instrumented tripod, which housed three current meters, three OBS sensors and one underwater video camera, was used to collect the field data on tides, currents, waves and suspended sediment concentrations at four sites (Sites 1, 2, 4, and 5) in the bay. Site I was located at the main entrance, Site 2 at the central bay in deep water, and Sites 4 and 5 at two small bays in shallow water. The bed sediment was fine sand (d(50) = 0. 2 mm) at Site 1, and cohesive sediment at the other three sites. Based on the collected field data, it is found that the dominant driving forces for sediment resuspension are a combination of ocean swell and tidal currents at Site 1, tidal currents at Site 2, and wind-waves at Sites 4 and 5. The critical bed shear stress for cohesive sediment resuspension is determined as 0. 079 Pa in unidirectional flow at Site 2, and 0. 076 Pa in wave-induced oscillatory flow at Site 5.

Isolation and characterization of novel marine Roseobacter clade members producing unique intracellular chromium-rich aggregates

The marine Roseobacter clade comprises one of the largest fractions of heterotrophic marine bacteria and accounts for about 16% of 16S rRNA gene clones retrieved from marine bacterioplankton. Their global distribution seems to be related to oceanic water masses and their environmental and biogeochemical properties. In this study, we report isolation and characterization of novel Roseobacter clade members from the Yellow Sea, China. Phylogenetic analysis of 16S rRNA gene sequences reveals that the new isolates (YSCB1, YSCB2, YSCB3 and YSCB4) are closely related to uncultured Arctic seawater bacterium R7967 (99.57-100% sequence identity) and to the cultured Roseobacter sp. DSS-1 (99.27-99.76% sequence identity) isolated from the southeastern coastal water of the USA. Interestingly, YSCB strains possess unique intracellular chromium-containing aggregates. Therefore, these novel Roseobacter clade members exhibit a peculiar property in mineral biogeneration. (c) 2006 Elsevier SAS. All rights reserved.

Karyomorphology of Biebersteinia Stephan (Geraniaceae) and its systematic and taxonomic significance

The systematic and taxonomic position of Biebersteinia Stephan has long been in dispute. The present paper describes for the first time the karyomorphology of two species in Biebersteinia Stephan. Both species commonly showed the interphase nuclei of the simple chromocenter type and the mitotic prophase chromosomes of the interstitial type. The karyotype formulae of both B. heterostemon and B. odora were 2n=10=2m(2sec)+8sm(2sec), belonging to the 3A type of Stebbins' classification. The karyotype of this genus is recorded for the first time. The basic chromosome numbers of four of the five known species of Biebersteinia have been recorded as x=5. The combination of resting nuclei of the simple chromocenter type, mitotic prophase chromosomes of the interstitial type, two pairs of chromosomes with four obvious secondary constrictions at the mitotic prophase and metaphase stages, and the peculiar 3A karyotype in Biebersteinia can be regarded as the karymorphological marker of this genus. The karyomorphological data presented here do not support the traditional grouping of this genus in Geraniaceae. The unique karyomorphology of Biebersteinia justifies its familiar or ordinal status, which is congruent with embryological, anatomical, chemical and molecular data. The systematic position of Biebersteinia needs further study.

平面自由运动半物理仿真系统的初始条件实现

提出了一种平面自由运动半物理仿真系统的设计,对系统仿真试验的初始条件形成过程进行了具体阐述。系统中应用了一种平面两自由度直角坐标运动装置,用于完成系统驱动及速度和位置控制,同时这种运动装置能够进行直角坐标跟随运动,并与其末端测量机构共同实现对平面自由运动物体的高精度大范围位姿测量。建立了系统的运动学模型,并设计相应的控制算法实现试验所需的运动过程,采用半闭环和闭环相结合的方法有效控制系统的末端累积误差;针对提出的复合测量方法,建立了测量原理的数学模型,并进行了精度分析和仿真计算。实验证明这种设计和相应的控制测量方法合理可行。

一种轮式移动机器人实时速度估计方法

环境和机器人自身的不确定性影响轮式移动机器人的轨迹跟踪控制性能,此时仅仅使用里程计往往不能正确表达机器人的状态信息。在无速度传感器的情况下,讨论了使用加速度传感器和位置传感器的输出实时估计轮式移动机器人的速度。首先使用滑模观测器进行里程计信号处理,然后对车体加速度信号进行带通滤波提取车体扰动信息,通过频域融合信号表达轮式移动机器人的速度,并针对正交轮式全方位移动机器人进行了轨迹跟踪控制研究。试验结果表明采用融合数据可以更准确提供机器人的状态信息并得到更好的控制性能。

Theoretical and experimental research on time-optimal trajectory planning and control of industrial robots

提出了一种用于工业机器人时间最优轨迹规划及轨迹控制的新方法，它可以确保在关节位移、速度、加速度以及二阶加速度边界值的约束下，机器人手部沿笛卡尔空间中规定路径运动的时间阳短。在这种方法中，所规划的关节轨迹都采用二次多项式加余弦函数的形式，不仅可以保证各关节运动的位移、速度 、加速度连续而且还可以保证各关节运动的二阶加速度连续。采用这种方法，既可以提高机器人的工作效率又可以延长机器人的工作寿命以PUMA560机器人为对象进行了计算机仿真和机器人实验，结果表明这种方法是正确的有效的。它为工业机器人在非线性运动学约束条件下的时间最优轨迹规划及控制问题提供了一种较好的解决方案。