The net buoyancy of the deep-sea self-holding intelligent buoy(DSIB)will change with depth due to pressure hull deformation in the deep submergence process.The net buoyancy changes will affect the hovering performance...The net buoyancy of the deep-sea self-holding intelligent buoy(DSIB)will change with depth due to pressure hull deformation in the deep submergence process.The net buoyancy changes will affect the hovering performance of the DSIB.To make the DSIB have better resistance to the external disturbances caused by the net buoyancy and water resistance,a depth controller was designed to improve the depth positioning based on the active disturbance rejection control(ADRC).Firstly,a dynamic model was established based on the motion analysis of the DSIB.In addition,the extended state observer(ESO)and nonlinear state error feedback controller were designed based on the Lyapunov stability principle.Finally,semi-physical simulations for the depth control process were made by using the ADRC depth controller and traditional PID depth controller,respectively.The results of the semi-physical simulations indicate that the depth controller based on the ADRC can achieve the predefined depth control under the external disturbances.Compared with the traditional PID depth controller,the overshoot of the ADRC depth controller is 1.74%,and the depth error is within 0.5%.It not only has a better control capability to restrain the overshoot and shock caused by the external disturbances,but also can improve intelligence of the DSIB under the depth tracking task.展开更多
With long-term marine surveys and research,and especially with the development of new marine environment monitoring technologies,prodigious amounts of complex marine environmental data are generated,and continuously i...With long-term marine surveys and research,and especially with the development of new marine environment monitoring technologies,prodigious amounts of complex marine environmental data are generated,and continuously increase rapidly.Features of these data include massive volume,widespread distribution,multiple-sources,heterogeneous,multi-dimensional and dynamic in structure and time.The present study recommends an integrative visualization solution for these data,to enhance the visual display of data and data archives,and to develop a joint use of these data distributed among different organizations or communities.This study also analyses the web services technologies and defines the concept of the marine information gird,then focuses on the spatiotemporal visualization method and proposes a process-oriented spatiotemporal visualization method.We discuss how marine environmental data can be organized based on the spatiotemporal visualization method,and how organized data are represented for use with web services and stored in a reusable fashion.In addition,we provide an original visualization architecture that is integrative and based on the explored technologies.In the end,we propose a prototype system of marine environmental data of the South China Sea for visualizations of Argo floats,sea surface temperature fields,sea current fields,salinity,in-situ investigation data,and ocean stations.An integration visualization architecture is illustrated on the prototype system,which highlights the process-oriented temporal visualization method and demonstrates the benefit of the architecture and the methods described in this study.展开更多
基金Wenhai Program of Qingdao National Laboratory for Marine Science and Technology(No.ZR2016WH01)Tianjin Marine Economic Innovation and Development of Regional Demonstration Projects of State Oceanic Administration(No.BHSF2017-27)。
文摘The net buoyancy of the deep-sea self-holding intelligent buoy(DSIB)will change with depth due to pressure hull deformation in the deep submergence process.The net buoyancy changes will affect the hovering performance of the DSIB.To make the DSIB have better resistance to the external disturbances caused by the net buoyancy and water resistance,a depth controller was designed to improve the depth positioning based on the active disturbance rejection control(ADRC).Firstly,a dynamic model was established based on the motion analysis of the DSIB.In addition,the extended state observer(ESO)and nonlinear state error feedback controller were designed based on the Lyapunov stability principle.Finally,semi-physical simulations for the depth control process were made by using the ADRC depth controller and traditional PID depth controller,respectively.The results of the semi-physical simulations indicate that the depth controller based on the ADRC can achieve the predefined depth control under the external disturbances.Compared with the traditional PID depth controller,the overshoot of the ADRC depth controller is 1.74%,and the depth error is within 0.5%.It not only has a better control capability to restrain the overshoot and shock caused by the external disturbances,but also can improve intelligence of the DSIB under the depth tracking task.
基金Supported by the Knowledge Innovation Program of the Chinese Academy of Sciences (No.KZCX1-YW-12-04)the National High Technology Research and Development Program of China (863 Program) (Nos.2009AA12Z148,2007AA092202)Support for this study was provided by the Institute of Geographical Sciences and the Natural Resources Research,Chinese Academy of Science (IGSNRR,CAS) and the Institute of Oceanology, CAS
文摘With long-term marine surveys and research,and especially with the development of new marine environment monitoring technologies,prodigious amounts of complex marine environmental data are generated,and continuously increase rapidly.Features of these data include massive volume,widespread distribution,multiple-sources,heterogeneous,multi-dimensional and dynamic in structure and time.The present study recommends an integrative visualization solution for these data,to enhance the visual display of data and data archives,and to develop a joint use of these data distributed among different organizations or communities.This study also analyses the web services technologies and defines the concept of the marine information gird,then focuses on the spatiotemporal visualization method and proposes a process-oriented spatiotemporal visualization method.We discuss how marine environmental data can be organized based on the spatiotemporal visualization method,and how organized data are represented for use with web services and stored in a reusable fashion.In addition,we provide an original visualization architecture that is integrative and based on the explored technologies.In the end,we propose a prototype system of marine environmental data of the South China Sea for visualizations of Argo floats,sea surface temperature fields,sea current fields,salinity,in-situ investigation data,and ocean stations.An integration visualization architecture is illustrated on the prototype system,which highlights the process-oriented temporal visualization method and demonstrates the benefit of the architecture and the methods described in this study.
