一种含运动固壁超声速流动的Descartes网格算法

提出一种Descartes网格算法,用于数值求解含任意复杂及运动固壁的超声速流动问题.采用位标集函数确定和跟踪流-固界面.引入虚网格技术处理流-固边界条件,并沿法向和切向分别进行计算.该算法简单、稳健,可与高阶有限差分格式并用.选取一组一维/二维静止或运动物体绕流算例,验证其有效性.

Fishing gears survey of Lake Chad

The paper reports on a survey on gear assessment for the three intensive fishing seasons in Lake Chad (Nigeria). These seasons coincide with the flood period (Nov-Feb), the receding (March-June)and the recession period (July-September 2001). During this year the questionnaires were requested to ten fishers in each of the selected fishing islands. In the flood season, identified fishing gears on the lake included baited and un-baited Malian traps which constituted about 35% of the total gears recorded. While Ndurutu and Heri (Kung)traps represented, each, 3.2% of the total. About 15.9% of fishers employed hook lines of various length and sizes: Another 15.9% of fishers mounted fish fences (Dumba) during the season. Those that employ seine net accounted for about 11.1% while 9.5% use gill nets.The species belonging to the Cichilidae, Claridae and Osteoglossidae families dominated fish catches. During the receding period, hook lines and fences (Dumba) (6.20%) were found to be predominantly used on the lake due to reducing water level, followed by gill net and draw net which accounted for 17.9% and 16.1 % respectively. During the lake recession only two groups of active gears were recorded. Sixty percent of fishers use combined seine net with cutlass and scoop net, while 40% use to combine only cutlass with kabara net. Fish fences (Dumma)during the flood season were mounted with giant Malian traps of abut 1.5m by 0.5m diameter, covered with net of mesh size (6.3mm-25mm).Each Dumba contained between 150 and 2000 of such traps. Larger number of species was recorded from seine net followed by gill nets and the l kilometre multi mesh fleet drift net. The use of seine net and cutlass known as Genima was predominant during the lake recession

An overview of the Clupeid fishing gear of Kainji Lake

Fishing gears and methods that target the Clupeids are atalla lift net, light attraction, midwater trawl and dala (Clupeid beach seine).Dala fisheries have been the most lucrative fishing gear on Clupeids within the recent past. However, it has been declared as 100% illegal gear having a mesh size of 0.1 mm, because it catches indiscriminately undersized (juveniles/larvae) commercial fish. The ban on the gear was therefore mounted through promulgation and implementation of special fisheries laws for Kainji Lake (Nigeria). Although, the use of Dala fishing gear and method has decreased due to this management approach, its use is currently increased again. It is therefore suggested that the ban on the use of Dala may not be the answer to indiscriminate fisheries, but modification of the gear and methods for harvesting Clupeids should be the main objective

The distribution and abundance of Copepoda and Cladocera in the Lake Victoria, Kenya

Fourteen stations were sampled in the Kenyan waters of Lake Victoria in order to assess distribution and abundance of zooplankton. Seven stations were selected in the Nyanza gulf while the rest were in the open waters of the lake. Zooplanktons samples were collected monthly from November 1998 to January 1999, using a 1.5 m long Nansen type plankton net of 243 mu m mesh size and 50 cm diameter. Representative specimens were dissected and identified to species level

Results of the first hydroacoustic survey of the Ugandan waters of Lake Victoria

A lakewide hydroacoustic research programme was designed in the Ugandan waters of Lake Victoria in order to ascertain the status of fish stocks. Data obtained from the hydroacoustic surveys were complemented with by catch data from multi mesh gillnets and frame trawls to validate acoustic estimates. Fish were distributed over the whole survey area, though the densities and species composition varied from place to place. Echo traces showed the fish formed schools during daytime and became more dispersed towards evening. Approximately equivalent indices of abundance were estimated for Rastrineobola argentea and Haplocromines. The distribution of the freshwater prawn, Caridina nilotica and the lakefly Chaoborus sp. was patchy. Dense swarms of Chaoborus larvae were observed to disperse from the lake bottom as the night approached thus assuring echo-traces formed by fish on the echogram and making their interpretation difficult. Caridina nilotica were observed to form dense echo-traces at the thermocline

Zooplankton-fish interactions in the littoral zone of Nyanza Gulf, Lake Victoria

Samples of zooplankton and fish were collected from six sampling points in Nyanza Gulf, Lake Victoria in Kenya from June to December 1998, using 76 mu m memo-filament mesh size strainer and an 80 mu m mesh size plankton net. Identification and enumeration were done in the laboratory. Occurrence, numerical and points methods were used in stomach anlaysis of fish. Copepoda, Rotifera and Cladocera were the major zooplankton groups identified, zooplankton such as Moina, Daphnia and Caridina nilotica were important prey items for Lates niloticus, Oreochromis niloticus and Rastrineobola argentea

Untersuchungen zur Langleinenfischerei auf Dorsch und Aal in der Ostsee

With the aim to reduce bycatches and discards first investigations were carried out in longlining for cod and eel in the Baltic. In the case of eel fisheries they are compared with small mesh size trawling and in the case of cod fisheries with gillnetting, where during the winter season unwished bycatches of seabirds could be a problem. First results show that these investigations should be continued.

Problems when generating virtual models representing real objects: Hondarribia walls

[EN] This paper is based in the following project:

Estimation and inference for grasping and manipulation tasks using vision and kinesthetic sensors

This thesis presents a novel framework for state estimation in the context of robotic grasping and manipulation. The overall estimation approach is based on fusing various visual cues for manipulator tracking, namely appearance and feature-based, shape-based, and silhouette-based visual cues. Similarly, a framework is developed to fuse the above visual cues, but also kinesthetic cues such as force-torque and tactile measurements, for in-hand object pose estimation. The cues are extracted from multiple sensor modalities and are fused in a variety of Kalman filters.

A hybrid estimator is developed to estimate both a continuous state (robot and object states) and discrete states, called contact modes, which specify how each finger contacts a particular object surface. A static multiple model estimator is used to compute and maintain this mode probability. The thesis also develops an estimation framework for estimating model parameters associated with object grasping. Dual and joint state-parameter estimation is explored for parameter estimation of a grasped object's mass and center of mass. Experimental results demonstrate simultaneous object localization and center of mass estimation.

Dual-arm estimation is developed for two arm robotic manipulation tasks. Two types of filters are explored; the first is an augmented filter that contains both arms in the state vector while the second runs two filters in parallel, one for each arm. These two frameworks and their performance is compared in a dual-arm task of removing a wheel from a hub.

This thesis also presents a new method for action selection involving touch. This next best touch method selects an available action for interacting with an object that will gain the most information. The algorithm employs information theory to compute an information gain metric that is based on a probabilistic belief suitable for the task. An estimation framework is used to maintain this belief over time. Kinesthetic measurements such as contact and tactile measurements are used to update the state belief after every interactive action. Simulation and experimental results are demonstrated using next best touch for object localization, specifically a door handle on a door. The next best touch theory is extended for model parameter determination. Since many objects within a particular object category share the same rough shape, principle component analysis may be used to parametrize the object mesh models. These parameters can be estimated using the action selection technique that selects the touching action which best both localizes and estimates these parameters. Simulation results are then presented involving localizing and determining a parameter of a screwdriver.

Lastly, the next best touch theory is further extended to model classes. Instead of estimating parameters, object class determination is incorporated into the information gain metric calculation. The best touching action is selected in order to best discern between the possible model classes. Simulation results are presented to validate the theory.

Untersuchungen zu selektionsverbessernden technischen Maßnahmen in der Ostsee-Aalfischerei

With the aim to reduce unwanted bycatches and discards in small mesh size trawling for Baltic eel some technical measurements are described and investigated. They include as well sorting grids as the more selective technological alternative longlining.

Fishing gear survey of Kainji Lake, northern Nigeria, 1996

A survey was carried out in September 1996 alongside the annual frame survey of Kainji Lake, Nigeria. As in the previous surveys, there were 6 main fishing gear types in use on the lake, which included gill nets, drift nets, beach seines, cast nets, longlines (baited and foul hooking) acid fishing traps. A total of 813 canoes were sampled. The canoe lengths were similar to the previous gear surveys. Altogether 466 gill nets were measured. They had an average length of 149 m, and were mostly bottom set. Of the gill nets measured 68% had a mesh size below 3 inches the minimum mesh size allowable according to the Niger and Kebbi State Fisheries Edict, 1996. Of concern was the large increase in the number of 1 inch meshed nets recorded on the lake. Drift nets had a mean length of 74 m. A total of 88% of all drift nets measured had a mesh size below 2.5 inches, the minimum mesh size stipulated in the State Edict. A total number of 102 beach seines were sampled with a mean length of 110 m, the mesh size in use on the lake remained as 0.1 inches under the Edict beach seines are banned from fishing in Kainji Lake. The decline in the lengths of the beach seines (and therefore catch rates) recorded since l995 was encouraging in the light of the destructive nature of these nets. A total of 30 cast nets were sampled, they had a mean diameter of 9.8 and a mean mesh size of 1.9 inches. All the nets had a hanging ratio of 0.5. Of the cast nets measured 40% had a mesh size below the minimum size of 2 inches recommended by the State Fisheries Edicts. Of concern was the continued rise in the number of gill nets with mesh sizes less than 2 inches. There were 2 types of longlines in operation on the lake. The baited and the foul hooking longlines. They were mostly bottom set and the hook size nos. 12-14 (Kirby sea hook) were predominant. Two types of fishing traps were identified, one was covered with a mesh of thin cane, one with netting material. The fishing traps had a mean height of 0.8 m and a mean width at the vase of 0.53 m. The mean mesh size used was 0.86 inches. Citharinus was reported as the most targeted of all fish species on the lake. Synodontis membranaceous was also targeted by most gears especially the smaller meshed nets. Labeo and Tilapia were low on the list of targeted species but their incidence remains high in the catches. (PDF contains 27 pages)

Frame survey of Kainji Lake, northern Nigeria, 1996

Since 1993, annual frame surveys have been conducted by the Nigerian-German Kainji Lake Fisheries Promotion Project to determine the distribution and number of fishing localities, fishing canoes and fishing gears around Kainji Lake, Nigeria. The total number of fishing localities has increased from 221 in 1993 to 286 in 1996. The fishing localities included 245 permanent fishing villages, 29 permanent fishing camps, 8 temporary fishing camps (with fishermen from Kainji Lake) and 4 temporary fishing camps (with fishermen from outside Kainji Lake area). There was an increase in the total number of fishing entrepreneurs, fishing assistants and fishing canoes over the years. A total number of 5,499 fishing entrepreneurs, 12,449 fishing assistants and 9,278 fishing canoes were recorded during the 1996 frame survey. From 1995 there was a decrease in the number of shoreline fisherfolk and a decrease in the number of transport canoes, the number of engines remained the same. During the 1996 survey, a total number of 18,655 gill nets, 1,560 drift nets, 753 beach seines, 5,548 cast nets, 7,400 longlines and 36,979 traps were recorded. The concentration of the gears (number per km shoreline) was highest in substrata 06 and 08. The total number of gill nets increased from 17,680 in 1995 to 18,655 in 1996. For the remaining 5 gear types a decrease in number was observed. Despite increasing numbers of gears on the lake, of concern is the decline recorded in all the fishing methods of the number of gears owned by individual entrepreneurs. This was most notable in the gill net and longline fisheries. These two fisheries have the lowest daily catch values and coupled with the problem of gear theft on the lake, ownership in future, may be expected to fall further. The number of larger fishing units also declined as did the number of gears new entrants enter the fishery with. The decline is particularly worrying for the beach seine fishery where diversification into other fishing methods would be beneficial in light of the present ban on seines. The group of not active fishing entrepreneurs (those who do not themselves participate in fishing activities) had the highest ownership of gears whilst the new entrants into the fishery had the lowest. There was evidence that these new entrants into the fishery were using cast nets which is worrying given the trend of using smaller mesh size of this gearSince 1993, annual frame surveys have been conducted by the Nigerian-German Kainji Lake Fisheries Promotion Project to determine the distribution and number of fishing localities, fishing canoes and fishing gears around Kainji Lake, Nigeria. The total number of fishing localities has increased from 221 in 1993 to 286 in 1996. The fishing localities included 245 permanent fishing villages, 29 permanent fishing camps, 8 temporary fishing camps (with fishermen from Kainji Lake) and 4 temporary fishing camps (with fishermen from outside Kainji Lake area). There was an increase in the total number of fishing entrepreneurs, fishing assistants and fishing canoes over the years. A total number of 5,499 fishing entrepreneurs, 12,449 fishing assistants and 9,278 fishing canoes were recorded during the 1996 frame survey. From 1995 there was a decrease in the number of shoreline fisherfolk and a decrease in the number of transport canoes, the number of engines remained the same. During the 1996 survey, a total number of 18,655 gill nets, 1,560 drift nets, 753 beach seines, 5,548 cast nets, 7,400 longlines and 36,979 traps were recorded. The concentration of the gears (number per km shoreline) was highest in substrata 06 and 08. The total number of gill nets increased from 17,680 in 1995 to 18,655 in 1996. For the remaining 5 gear types a decrease in number was observed. Despite increasing numbers of gears on the lake, of concern is the decline recorded in all the fishing methods of the number of gears owned by individual entrepreneurs. This was most notable in the gill net and longline fisheries. These two fisheries have the lowest daily catch values and coupled with the problem of gear theft on the lake, ownership in future, may be expected to fall further. The number of larger fishing units also declined as did the number of gears new entrants enter the fishery with. The decline is particularly worrying for the beach seine fishery where diversification into other fishing methods would be beneficial in light of the present ban on seines. The group of not active fishing entrepreneurs (those who do not themselves participate in fishing activities) had the highest ownership of gears whilst the new entrants into the fishery had the lowest. There was evidence that these new entrants into the fishery were using cast nets which is worrying given the trend of using smaller mesh size of this gear. (PDF contains 44 pages)

The effect of long term exploitation by the gill net fishery on the multispecies fish stocks in Kainji Lake, Nigeria, 1969-1997

The findings are presented of an assessment made of the gillnet fishery in Kainji Lake, Nigeria from 1969 to the present, on the basis of data sets from commercial and experimental gillnet fishing, with the purpose to detect trends in some key fishery monitoring indicators. During this period, there has been an increase in the number of small meshed nets in the fishery resulting in a shift in the mode to lower mesh sizes; consequently, the average mesh size declined gradually in the fishery. This trend is found to be directly correlated with the decline in the CPUE and mean weight of the fish species. It is argued that the observed trend in CPUE and mean weight is forcing the fishermen to switch effort to gears such as traps which have very small meshes and can indescriminately take all sizes of the fish. It is shown that the catch composition by weight of Citharinus citharus, Lates niloticus and tilapias declined in the gillnet fishery in the late 70's and early 80's. Recent data, from 1994 to 1996, however indicates that C. citharus is recovering, but with declining mean weight. This suggests that the exploitation pattern is shifting to the smaller fish through the use of small meshed nets. In general, however, there has not been drastic changes in species bio-diversity in the Lake as a result of predatory effect and ecosystem overfishing as has happened in other great African Lakes. The species composition since lake formation continued to be dominated by fewer that 20 species. The potential yield for the lake has been estimated to be 32,166 tonnes (excluding clupeids) and the required optimum fishing effort to be 1,814 fishing canoes. In view of the relative stability of the species diversity in the lake and the current fish production level, it is proposed here that this MSY be adopted for all species. This would be achieved with the current effort level in the lake assuming that the efficiency of the fishermen and their gears do not improve. It should be reviewed after 10 or more years of catch and effort data collection. (PDF contains 65 pages)

The cast net fishery, Kainji Lake, Nigeria 1970-1997

This study was carried out to establish trends in the cast net fishery of Kainji Lake, Nigeria. The cast net fishery was second in importance to the gillnet fishery in the early years after impoundment of the lake and still continues to be an important component of the fishery. Some of the economically important species such as Citharinus spp, Tilapia spp, Labeo spp, Alestes spp and Synodontis spp are exploited by cast nets. The study has not revealed any drastic perturbation in the species diversity, catch composition, and any real ecosystem overfishing. On the other hand, both the catfish, Auchenoglanis spp and the predator Hydrocynus spp appear to have increased in the catch in recent years. Never-the-less there is a decline in the mean weight of the major exploited fish species due to the capture of under sized fishes without allowing them to grow to 'legally' marketable sizes. The use of small meshed cast net and also fishing in the shallow waters of the lake can give rise to this situation. Thus, there are signs of growth overfishing in the fish stocks. It must also be acknowledged that the situation is complicated by the fact that in a multi-gear fishery as on Kainji Lake, the cast net fishery could not be managed in isolation without due regard to the other competing gears. The catch per unit of effort (CPUE) has declined in the cast net fishery possibly due to the increase in effort by the major fishing gears over the years. The ongoing extension campaigns by the KLFPP appears to be having the desired effect, as there was reduction in the number of the major fishing gears on the Lake in 1997. It can be anticipated that if this trend continues, the CPUE will recover in the long run. Yields observed from the mesh selectivity study revealed that for major species in the cast net fishery, both by number and weight, were maximal at 2.5 inch mesh, which contrasts with the fact that current minimum allowable mesh in the Fisheries Edict for the Lake is 2.0 inch. The adoption of 2.5 inch as the minimum allowable mesh in the cast net fishery is recommended to be included in future revision of existing regulations. It is also recommended that for this control to have a desired effect, the casting of the net from the shore should be prohibited so as to reduce the incidence of juvenile mortality in the nursery areas. (PDF contains 28 pages)

Fisheries statistical bulletin, Kainji Lake, Nigeria, 1998

A tabulated summary is presented of the main fisheries data collected to date (1998) by the Nigerian-German Kainji Lake Fisheries Promotion Project, together with a current overview of the fishery. The data are given under the following sections: 1) Fishing localities and types; 2) Frame survey data; 3) Number of licensed fishermen by state; 4) Mesh size distribution; 5) Fishing net characteristics; 6) Fish yield; 7) Total annual fishing effort by gear type; 8) Total annual value of fish landed by gear type; 9) Graphs of effort and CPUE by gear type. (PDF contains 36 pages)