Shallow gas in the muddy sediments of Eckernförde Bay, Germany

The seafloor of central Eckernförde Bay is characterised by soft muddy sediments that contain free methane gas. Bubbles of free gas cause acoustic turbidity which is observed with acoustic remote sensing systems. Repeated surveys with subbottom profiler and side scan sonar revealed an annual period both of depth of the acoustic turbidity and backscatter strength. The effects are delayed by 3–4 months relative to the atmospheric temperature cycle. In addition, prominent pockmarks, partly related to gas seepage, were detected with the acoustic systems. In a direct approach gas concentrations were measured from cores using the gas chromatography technique. From different tests it is concluded that subsampling of a core should start at its base and should be completed as soon as possible, at least within 35 min after core recovery. Comparison of methane concentrations of summer and winter cores revealed no significant seasonal variation. Thus, it is concluded that the temperature and pressure influences upon solubility control the depth variability of acoustic turbidity which is observed with acoustic remote sensing systems. The delay relative to the atmospheric temperature cycle is caused by slow heat transfer through the water column. The atmospheric temperature cycle as ‘exiting function’ for variable gas solubility offers an opportunity for modelling and predicting the depth of the acoustic turbidity. In practice, however, small-scale variations of, e.g., salinity, or gas concentration profile in the sediment impose limits to predictions. In addition, oceanographic influences as mixing in the water column, variable water inflow, etc. are further complications that reduce the reliability of predictions.

Geomorphology, sedimentary processes and development of the Zenisu deep-sea channel, northern Philippine Sea

The Zenisu deep-sea channel originates on the Izu-Ogasawara island arc, and disappears in the Shikoku Basin of the Philippine Sea. The geomorphology, sedimentary processes, and the development of the Zenisu deep-sea channel were investigated on the basis of swath bathymetry, side-scan sonar imagery, submersible observations, and seismic data. The deep-sea channel can be divided into three segments according to the downslope gradient and channel orientation. They are the Zenisu Canyon, the E-W fan channel, and the trough-axis channel. The sediment fill is characterized by turbidite and debrite deposition and blocky-hummocky avalanche deposits on the flanks of the Zenisu Ridge. In the Zenisu Canyon and the Zenisu deep-sea channel, sediment transport by turbidity currents generates sediment waves (dunes) observed during the Shinkai 6500 dive 371. The development of the Zenisu Canyon is controlled by a N-S shear fault, whereas the trough-axis channel is controlled by basin subsidence associated with the Zenisu Ridge. The E-W fan channel was probably affected by the E-W fault and the basement morphology.

The stability zone of gas hydrate in the slope of East China Sea and neighboring trough basin area

We analyze the distribution of temperature and heat flow of the sea floor sediment in the area of East China Sea slope and West basin area of the Okinawa Trough. Based on the Sonar Buoy and OBS data, 6 velocity layers are recognized, each of which has velocity of 1.8(1.8 similar to 2.2) km/s,2.2(2.0 similar to 2.5)km/s,2.8 (2.7 similar to 3.2)km/s,3.4 similar to 3.6km/s,4.2(4.1 similar to 4.7)km/s and 5.1km/s, respectively. The upper velocity layer of 1.8 similar to 2.2 km/s corresponds to the Quaternary sediment stratum. The layer with velocity 3.4 similar to 4.2km/s is the Pliocene sediment stratum. The area that is suitable for stable existence of gas hydrate by the temperature and pressure is 70,000km(2) about 1/10 the total area of East China Sea. The thickness of the stability zone ranges from 400m (Middle Part of Okinawa Trough) to 1100m (North and South Part of Okinawa Trough). The Quaternary and Pliocene layers are suitable for stable exitence of gas hydrate. According to the tectonic stability and heat flow, the north part and south part of the Okinawa Trough are the most perspective area for the gas hydrate explorations.

Characteristics of shallow gas hydrate in Okhotsk Sea

Multidisciplinary field investigations were carried out in Okhotsk Sea by R/V Akademik M.A. Lavrentyev (LV) of the Russian Academy of Sciences (RAS) in May 2006, supported by funding agencies from Korea, Russia, Japan and China. Geophysical data including echo-sounder, bottom profile, side-scan-sonar, and gravity core sample were obtained aimed to understand the characteristics and formation mechanism of shallow gas hydrates. Based on the geophysical data, we found that the methane flare detected by echo-sounder was the evidence of free gas in the sediment, while the dome structure detected by side-scan sonar and bottom profile was the root of gas venting. Gas hydrate retrieved from core on top of the dome structure which was interbedded as thin lamination or lenses with thickness varying from a few millimeters to 3 cm. Gas hydrate content in hydrate-bearing intervals visually amounted to 5%-30% of the sediment volume. This paper argued that gases in the sediment core were not all from gas hydrate decomposition during the gravity core lifting process, free gases must existed in the gas hydrate stability zone, and tectonic structure like dome structure in this paper was free gas central, gas hydrate formed only when gases over-saturated in this gas central, away from these structures, gas hydrate could not form due to low gas concentration.

A moored underwater energy conservation system for profiling measurement

There is a need to obtain the hydrologic data including ocean current, wave, temperature and so on in the South China Sea. A new profiling instrument which does not suffer from the damage due to nature forces or incidents caused by passing ships, is under development to acquire data from this area. This device is based on a taut single point mid-water mooring system. It incorporates a small, instrumented vertically profiling float attached via an electromechanical cable to a winch integral with the main subsurface flotation. On a pre-set schedule, the instrument float with sensors is winched up to the surface if there is no strip passing by, which is defined by an on-board miniature sonar. And it can be immediately winched down to a certain depth if the sonar sensor finds something is coming. Since, because Of logistics, the area can only be visited once for a long time and a minimum of 10 times per day profiles are desired, energy demands are severe. To respond to these concerns, the system has been designed to conserve a substantial portion of the potential energy lost during the ascent phase of each profile and subsequently use this energy to pull the instrument down. Compared with the previous single-point layered measuring mode, it is advanced and economical. At last the paper introduces the test in the South China Sea.

分散式控制和管理的UUV体系结构模型研究

针对传统的分层式体系结构在UUV 控制系统开发设计、维护和升级过程中所遇到的困难，首先分析了集中式控制和管理方法的不足和原因。在此基础上，借鉴自主计算的思想，提出了分散控制和管理的体系结构。这种方法把系统中每个独立的功能模块都抽象成为具有相同模型的控制基元，称之为“自主基元”，然后通过自主基元层次式、嵌套式的组织，构成完整的系统。分析表明，这种方法能够缩短控制系统的开发周期，也降低了维护和升级的难度。

估计从UUV航行参数的混合坐标系下的EKF算法

在主从式UUV 协作系统中，由于定位和导航的需要，要求尽快估计出从UUV 的航行参数，但通常所用的递推最小二乘（RLS）算法，其初始方位测量对滤波结果影响大且存在收敛速度慢、计算精度低的缺点，难以满足应用需求，而推广卡尔曼滤波（EKF）算法能较好地克服上述问题。在直角坐标系下（CEKF），方位信息与距离信息相互耦合导致初始振荡剧烈，改为混合坐标系（MEKF）后问题得到了极大的改善。最后，通过仿真及现场试验验证了此改进方法的有效性。

一种欠驱动AUV的三维实时避碰方法

针对以测距声纳为避碰传感器的一类欠驱动型AUV，提出了一种水平面和垂直面相结合的三维实时避碰方法。根据测距声纳和欠驱动AUV 的特殊性，首先从运动规划和路径规划2 个层次提出了AUV 混合型实时避碰结构，并分别设计了基于事件反馈监控的避碰自动机和基于免疫遗传的局部路径规划算法。多种典型障碍场景的半物理仿真实验表明，论文所提方法能够实现AUV 安全、稳定的三维避碰过程。

主从式UUV群的随从UUV导航

单只水下机器人导航方法存在着各自的缺陷,无法满足低成本UUV群的作业需要。建立由一只具有高精度自主导航能力的主UUV和多只由低成本导航传感器的随从UUV组成的一主多从式UUV群,研究随从UUV导航方法。与前人的极坐标化方法不同,在直角坐标系下对随从UUV导航系统进行了能观性证明。随从UUV通过测距传感器测量自身到主UUV的距离,采用EKF算法进行位置估计,给出了机动航行方案。仿真实验证明了有效性。

一个面向异构多UUV协作任务的分层式控制系统

针对异构多UUV协作任务,提出了基于多智能体系统的分层式体系结构(MAHA).在个体层面,将UUV智能体的思维状态分为社会心智和个体心智两个层次分别实现,更加符合人类社会协作模式;在群体层面,提出了复杂海洋环境下UUV群体结构的评价准则,并据此将MAHA与现有结构进行了对比分析.此外,利用面向对象的Petri网理论建立了系统的协作模型,有效降低了系统建模的复杂性.最后,水下多目标搜索使命的实例研究表明,MAHA能够保证异构UUV之间进行有效的协作.

反水雷UUV的作战效能模型分析

针对UUV的战术技术性能和使用特点,基于WSEIAC方法建立了反水雷UUV的作战效能基本评估模型,系统地论述了反水雷UUV作战效能的定义、量度和反水雷UUV作战效能基本评估模型及效能评定所涉及的UUV可用性、可信性及作战能力的分析方法。该模型能鲜明反映UUV装备的系统效能的物理本质,并在工程应用上具有简便灵活的特点,对于设计反水雷UUV——一种未来海军必要的新型反水雷装备,具有重要的指导意义。

UUV推进系统容错控制分配算法研究

针对水下机器人(UUV)推进系统容错控制分配问题,本文提出了基于SVD分解(奇异值分解)与定点分配的混合算法。与传统的方法相比,它回避了求伪逆矩阵的问题,降低了计算量;能够满足推进器饱和约束限制。利用水下实验平台推进系统模型进行了仿真实验,验证了算法的正确性和有效性。

综合权值递推最小二乘法估计从UUV航行参数

根据主UUV观测系统测量的从UUV方位信息精度高、距离信息精度低的特点,将遗忘因子和位置权值构成的综合权值融入递推最小二乘算法(RLS)用于从UUV航行参数分析,避免采用EKF算法对观测噪声要求高的缺陷,克服数据饱和现象。同时对从UUV方位信息进行预处理以提高航行参数估计的收敛速度。仿真实验证明了方法的有效性。

AUV定位信号检测延时的蒙特卡洛模拟分析

在简要介绍AUV声学定位声纳接收机原理基础上,分析了CW脉冲信号在极性相关检测电路中的传输过程,建立了极性相关积分检测延时仿真分析模型。提出采用蒙特卡洛模拟方法获取检测延时的分布特征和统计参数的观点。实验结果表明蒙特卡洛模拟实验与硬件电路实验结果一致,对于解决随机性检测延时问题具有很强的能力。获得的结果可为AUV定位声纳检测门限的设定、声学测距和定位精度分析以及水声通信延时分析提供参考。

多UUV协作系统的研究现状与发展

介绍了多UUV(Unmanned Underwater Vehicle)协作系统的结构和特点,分析了其未来应用前景,并对国外多UUV系统的应用现状进行了综述.在此基础上,着重分析了系统涉及的导航、通信、控制和能源等技术的研究现状并展望了其未来的发展方向.