海洋机器人动态定位的坐标变换与系统结构

本文给出海洋机器人的原理性流体动力学模型.动态定位的基本定义,海洋机器人既定向又定位的坐标变换与系统结构,和只定位不定向的坐标变换与系统结构.

角速率陀螺在海洋机器人“海人1号”航向控制中的应用

本文给出“海人1号”航向控制的流体动力学模型、航向控制系统结构,海上实验记录以及角速率陀螺作用原理和分析。这将对从事海洋机器人控制系统的设计研究,有一定的考参值价。

关于海洋机器人去耦

本文给出一开启式海洋机器人流体动力学模型、去耦方案选择、系统结构设计和仿真,供同行交流。

A regime shift in the North Sea circa 1988 linked to changes in the North Sea horse mackerel fishery

After 1987, Phytoplankton Colour (a visual estimate of chlorophyll) measured on samples taken by the continuous plankton recorder (CPR) in the North Sea increased substantially, both in level and seasonal extent, compared to earlier years since 1946. Many species of phytoplankton and zooplankton showed marked changes in abundance at about the same time. These events coincided with a large increase in catches of the western stock of the horse mackerel (Trachurus trachurus L.) in the northern North Sea reflecting a northerly expansion of the stock along the shelf edge from the Bay of Biscay to the North Sea after 1987. Using a 3D hydrodynamic model, with input from measured wind parameters, monthly transport of oceanic water into the North Sea has been calculated for the period 1976–1994, integrated for a section from Orkney to Shetland to Norway. A substantial increase in oceanic inflow occurred in the winter months, December to March, from 1988. Higher sea surface temperatures were also measured after 1987 especially in spring and summer months. These biological and physical events may be a response to observed changes in pressure distribution over the North Atlantic. From 1988 onwards, the North Atlantic Oscillation (NAO) index, the pressure difference between Iceland and the Azores, increased to the highest positive level observed in this century. Positive NAO anomalies are associated with stronger and more southerly tracks of the westerly winds and higher temperatures in western Europe. These changing wind distributions may have led to an increase in the northerly advection of water along the western edge of the European shelf and may have assisted the migration of the horse mackerel. This study is possibly a unique demonstration of a correlation between three different trophic levels of a marine ecosystem and hydrographic and atmospheric events at decadal and regional scales. The results emphasise the importance of maintaining into the future long term programmes such as the CPR.

Ecohydrodynamics of cold-water coral reefs: A case study of the Mingulay Reef complex (western Scotland)

Ecohydrodynamics investigates the hydrodynamic constraints on ecosystems across different temporal and spatial scales. Ecohydrodynamics play a pivotal role in the structure and functioning of marine ecosystems, however the lack of integrated complex flow models for deep-water ecosystems beyond the coastal zone prevents further synthesis in these settings. We present a hydrodynamic model for one of Earth's most biologically diverse deep-water ecosystems, cold-water coral reefs. The Mingulay Reef Complex (western Scotland) is an inshore seascape of cold-water coral reefs formed by the scleractinian coral Lophelia pertusa. We applied single-image edge detection and composite front maps using satellite remote sensing, to detect oceanographic fronts and peaks of chlorophyll a values that likely affect food supply to corals and other suspension-feeding fauna. We also present a high resolution 3D ocean model to incorporate salient aspects of the regional and local oceanography. Model validation using in situ current speed, direction and sea elevation data confirmed the model's realistic representation of spatial and temporal aspects of circulation at the reef complex including a tidally driven current regime, eddies, and downwelling phenomena. This novel combination of 3D hydrodynamic modelling and remote sensing in deep-water ecosystems improves our understanding of the temporal and spatial scales of ecological processes occurring in marine systems. The modelled information has been integrated into a 3D GIS, providing a user interface for visualization and interrogation of results that allows wider ecological application of the model and that can provide valuable input for marine biodiversity and conservation applications.

Modelling large-scale CO2 leakages in the North Sea

A three dimensional hydrodynamic model with a coupled carbonate speciation sub-model is used to simulate large additions of CO2into the North Sea, representing leakages at potential carbon sequestration sites. A range of leakage scenarios are conducted at two distinct release sites, allowing an analysis of the seasonal, inter-annual and spatial variability of impacts to the marine ecosystem. Seasonally stratified regions are shown to be more vulnerable to CO2release during the summer as the added CO2remains trapped beneath the thermocline, preventing outgasing to the atmosphere. On average, CO2 injected into the northern North Sea is shown to reside within the water column twice as long as an equivalent addition in the southern North Sea before reaching the atmosphere. Short-term leakages of 5000 tonnes CO2over a single day result in substantial acidification at the release sites (up to -1.92 pH units), with significant perturbations (greater than 0.1 pH units) generally confined to a 10 km radius. Long-term CO2leakages sustained for a year may result in extensive plumes of acidified seawater, carried by major advective pathways. Whilst such scenarios could be harmful to marine biota over confined spatial scales, continued unmitigated CO2emissions from fossil fuels are predicted to result in greater and more long-lived perturbations to the carbonate system over the next few decades.

The effect of sub-optimal control and the spectral wave climate on the performance of wave energy converter arrays

A linear hydrodynamic model is used to assess the sensitivity of the performance of a wave energy converter (WEC) array to control parameters. It is found that WEC arrays have a much smaller tolerance to imprecision of the control parameters than isolated WECs and that the increase in power capture of WEC arrays is only achieved with larger amplitudes of motion of the individual WECs. The WEC array radiation pattern is found to provide useful insight into the array hydrodynamics. The linear hydrodynamic model is used, together with the wave climate at the European Marine Energy Centre (EMEC), to assess the maximum annual average power capture of a WEC array. It is found that the maximum annual average power capture is significantly reduced compared to the maximum power capture for regular waves and that the optimum array configuration is also significantly modified. It is concluded that the optimum configuration of a WEC array will be as much influenced by factors such as mooring layout, device access and power smoothing as it is by the theoretical optimum hydrodynamic configuration. © 2009 Elsevier Ltd.

Modelling the fate of persistent organic pollutants (POPs) in the North Sea system

The environmental fate of selected persistent organic pollutants (POPs) in the North Sea system is modelled with a high resolution Fate and Transport Ocean Model (FANTOM) that uses hydrodynamic model output from the Hamburg Shelf Ocean Model (HAMSOM). Large amounts of POPs enter the North Sea from the surrounding highly populated, industrialised and agricultural countries. Major pathways to the North Sea are atmospheric deposition and river inputs, with additional contributions coming from bottom sediments and adjacent seas. The model domain covers the entire North Sea region, extending northward as far as the Shetland Islands, and includes adjacent basins such as the Skagerrak, Kattegat, and the westernmost part of the Baltic Sea. Model resolution (for both models) is 1.5’ latitude x 2.5’ longitude (approximately 3 km horizontal resolution) with 30 vertical levels. The POP model also has 20 sediment layers. Important model processes controlling the fate of POPs in the North Sea system are discussed. Results focus on Lindane gamma- HCH or gamma-hexachlorocyclohexane) and PCB 153.

Lagrangian transport of particles in Ria de Aveiro lagoon, Portugal

A two-dimensional vertically integrated hydrodynamic model coupled to a particle tracking model is applied to study the dispersion processes and residence time in Ria de Aveiro lagoon (Portugal). The only dispersion process that is considered in this study is the advection, according to the main characteristics of the local hydrodynamic. The particle tracking model computes the particles position at each time step, using a fourth-order Runge-Kutta integration method. The dispersion of passive particles released along the lagoon and in critical areas are studied in this work. The residence time is also determined for the entire lagoon. The results show that the mixture between particles coming from different channels of the lagoon is negligible in a time scale higher than 2 tidal cycles. The residence time for the lagoon central area is about 2 days, revealing a strong marine influence in this area. At the upper reaches of the channels were found values higher than 2 weeks.

Influência de plumas de água doce na hidrodinâmica do estuário da Ria de Arousa (NW Espanha), uma abordagem de modelação matemática

Localizada na parte sul da costa da Galiza, a ria de Arousa, tem um interesse particular devido à sua importante indústria de exploração de marisco, especialmente culturas de bivalves. O crescimento, qualidade e mortalidade destes bivalves não só são afetados por possíveis incidentes de poluição, mas também por episódios de grande run-off, que podem produzir decréscimos sazonais significativos de salinidade. Neste contexto, a presente dissertação pretende contribuir para uma melhor compreensão de como as plumas de água doce provenientes dos rios vão influenciar os gradientes de salinidade e temperatura no estuário da ria de Arousa. O objetivo é proceder a uma melhoria da previsão hidrodinâmica do modelo operacional oceanográfico desta ria, que é executado diariamente pela MeteoGalicia. Para atingir esse objectivo executaram-se simulações numéricas para diferentes cenários de forçamento. Foram escolhidos dois períodos com diferentes condições meteorológicas: um período de inverno, coincidindo com chuvas fortes e um período de verão, coincidindo com a ausência de precipitação. Foi aplicado o modelo hidrodinâmico MOHID (Hydrodynamic Model) para simular os processos físicos da ria de Arousa, utilizando a metodologia de modelos encaixados. O forçamento para a superfície foi imposto através do modelo atmosférico WRF (Weather Regional Forecast), que fornece as variáveis meteorológicas necessárias. Para fronteira terra, uma ferramenta hidrológica foi implementada, o modelo SWAT (Soil water Assessment Tool), este providencia as descargas de água doce para os principais rios da região. É feita neste trabalho uma descrição da implementação deste sistema, assim como a caracterização da área de estudo. Os resultados do modelo foram comparados com medidas provenientes de bóias oceanográficas e perfis de CTDs (Conductivity-Temperature-Depth instrument) em diferentes localizações.

Salt marsh morphodynamics: An investigation of tidal flows and marsh channel equilibrium

Although numerous field studies have evaluated flow and transport processes in salt marsh channels, the overall role of channels in delivering and removing material from salt marsh platforms is still poorly characterised. In this paper, we consider this issue based on a numerical hydrodynamic model for a prototype marsh system and on a field survey of the cross-sectional geometry of a marsh channel network. Results of the numerical simulations indicate that the channel transfers approximately three times the volume of water that would be estimated from mass balance considerations alone. Marsh platform roughness exerts a significant influence on the partitioning of discharge between the channel and the marsh platform edge, alters flow patterns on the marsh platform due to its effects on channel-to-platform transfer and also controls the timing of peak discharge relative to marsh-edge overtopping. Although peak channel discharges and velocities are associated with the flood tide and marsh inundation, a larger volume of water is transferred by the channel during ebb flows, a portion of which transfer takes place after the tidal height is below the marsh platform. Detailed surveys of the marsh channels crossing a series of transects at Upper Stiffkey Marsh, north Norfolk, England, show that the total channel cross-sectional area increases linearly with catchment area in the inner part of the marsh, which is consistent with the increase in shoreward tidal prism removed by the channels. Toward the marsh edge, however, a deficit in the total cross-sectional area develops, suggesting that discharge partitioning between the marsh channels and the marsh platform edge may also be expressed in the morphology of marsh channel systems.

Scheduling satellite-based SAR acquisition for sequential assimilation of water level observations into flood modelling

Satellite-based Synthetic Aperture Radar (SAR) has proved useful for obtaining information on flood extent, which, when intersected with a Digital Elevation Model (DEM) of the floodplain, provides water level observations that can be assimilated into a hydrodynamic model to decrease forecast uncertainty. With an increasing number of operational satellites with SAR capability, information on the relationship between satellite first visit and revisit times and forecast performance is required to optimise the operational scheduling of satellite imagery. By using an Ensemble Transform Kalman Filter (ETKF) and a synthetic analysis with the 2D hydrodynamic model LISFLOOD-FP based on a real flooding case affecting an urban area (summer 2007,Tewkesbury, Southwest UK), we evaluate the sensitivity of the forecast performance to visit parameters. We emulate a generic hydrologic-hydrodynamic modelling cascade by imposing a bias and spatiotemporal correlations to the inflow error ensemble into the hydrodynamic domain. First, in agreement with previous research, estimation and correction for this bias leads to a clear improvement in keeping the forecast on track. Second, imagery obtained early in the flood is shown to have a large influence on forecast statistics. Revisit interval is most influential for early observations. The results are promising for the future of remote sensing-based water level observations for real-time flood forecasting in complex scenarios.

Satellite-supported flood forecasting in river networks: a real case study

Satellite-based (e.g., Synthetic Aperture Radar [SAR]) water level observations (WLOs) of the floodplain can be sequentially assimilated into a hydrodynamic model to decrease forecast uncertainty. This has the potential to keep the forecast on track, so providing an Earth Observation (EO) based flood forecast system. However, the operational applicability of such a system for floods developed over river networks requires further testing. One of the promising techniques for assimilation in this field is the family of ensemble Kalman (EnKF) filters. These filters use a limited-size ensemble representation of the forecast error covariance matrix. This representation tends to develop spurious correlations as the forecast-assimilation cycle proceeds, which is a further complication for dealing with floods in either urban areas or river junctions in rural environments. Here we evaluate the assimilation of WLOs obtained from a sequence of real SAR overpasses (the X-band COSMO-Skymed constellation) in a case study. We show that a direct application of a global Ensemble Transform Kalman Filter (ETKF) suffers from filter divergence caused by spurious correlations. However, a spatially-based filter localization provides a substantial moderation in the development of the forecast error covariance matrix, directly improving the forecast and also making it possible to further benefit from a simultaneous online inflow error estimation and correction. Additionally, we propose and evaluate a novel along-network metric for filter localization, which is physically-meaningful for the flood over a network problem. Using this metric, we further evaluate the simultaneous estimation of channel friction and spatially-variable channel bathymetry, for which the filter seems able to converge simultaneously to sensible values. Results also indicate that friction is a second order effect in flood inundation models applied to gradually varied flow in large rivers. The study is not conclusive regarding whether in an operational situation the simultaneous estimation of friction and bathymetry helps the current forecast. Overall, the results indicate the feasibility of stand-alone EO-based operational flood forecasting.

Hydrodynamics: Fluctuating initial conditions and two-particle correlations

Event-by-event hydrodynamics (or hydrodynamics with fluctuating initial conditions) has been developed in the past few years. Here we discuss how it may help to understand the various structures observed in two-particle correlations. (C) 2010 Elsevier B.V. All rights reserved.

Antihyperon polarization in high-energy inclusive processes

We propose a model for the antihyperon polarization in high-energy proton-nucleus inclusive reactions, based on the final-state interactions between the antihyperons and other produced particles (predominantly pions). To formulate this idea, we use the previously obtained low-energy pion-(anti-)hyperon interaction using effective chiral Lagrangians, and a hydrodynamic parametrization of the background matter, which expands and decouples at a certain freezeout temperature.