Hybrid-driven underwater glider is a new type of tmmanned underwater vehicle, which combines the advantages of autonomous underwater vehicles and traditional underwater gliders. The autonomous underwater vehicles have...Hybrid-driven underwater glider is a new type of tmmanned underwater vehicle, which combines the advantages of autonomous underwater vehicles and traditional underwater gliders. The autonomous underwater vehicles have good maneuverability and can travel with a high speed, while the traditional underwater gliders are highlighted by low power consumption, long voyage, long endurance and good stealth characteristics. The hybrid-driven underwater gliders can realize variable motion profiles by their own buoyancy-driven and propeller propulsion systems. Stability of the mechanical system determines the performance of the system. In this paper, the Petrel-II hybrid-driven underwater glider developed by Tianjin University is selected as the research object and the stability of hybrid-driven underwater glider unitedly controlled by buoyancy and propeller has been targeted and evidenced. The dimensionless equations of the hybrid-driven underwater glider are obtained when the propeller is working. Then, the steady speed and steady glide path angle under steady-state motion have also been achieved. The steady-state operating conditions can be calculated when the hybrid-driven underwater glider reaches the desired steady-state motion. And the steady- state operating conditions are relatively conservative at the lower bound of the velocity range compared with the range of the velocity derived from the method of the composite Lyapunov function. By calculating the hydrodynamic coefficients of the Petrel-II hybrid-driven underwater glider, the simulation analysis has been conducted. In addition, the results of the field trials conducted in the South China Sea and the Danjiangkou Reservoir of China have been presented to illustrate the validity of the analysis and simulations.and to show the feasibility of the method of the composite Lyapunov function which verifies the stability of the Petrel-II hybrid-driven underwater glider.展开更多
Mountain block recharge(MBR),an important water resource,is a widespread process that recharges lowland aquifers.However,little is known about MBR due to the limited climatic and geologic data in mountainous regions s...Mountain block recharge(MBR),an important water resource,is a widespread process that recharges lowland aquifers.However,little is known about MBR due to the limited climatic and geologic data in mountainous regions such as the northern central foothills of Tianshan.Here,we present an approach to quantify MBR through the combination of water balance calculations and numerical modeling.MBR calculated from the water balance in the data-limited Tianshan Mountains is employed as a fluid-flux boundary condition in the numerical model of the plain.To verify the performance of the model,mean absolute error and root mean square error were used.Results show that the volume of water that is recharging the aquifer via MBR is 107.29 million m^(3)/yr,accounting for 2.2% of the total precipitation that falls in the mountains.Additionally,53.3% of that precipitation enters the plain aquifer via runoff,totaling 2,652.68 million m^(3)/yr.The lower volume of MBR is attributed to a major range-bounding anticline with apparent low permeability in the Tianshan Mountains.Through numerical modeling of groundwater,MBR coming from bedrock was found to be significant,accounting for 14% of total aquifer recharge in the plain,only after the portion of runoff seepage.This research contributes to a deeper understanding of MBR,and may provide instructions for estimating groundwater recharge in arid and semi-arid areas.展开更多
基金financially supported by the National Natural Science Foundation of China(Grant Nos.51475319 and 51722508)the National Key R&D Plan(Grant No.2016YFC0301100)Aoshan Talents Program of Qingdao National Laboratory for Marine Science and Technology
文摘Hybrid-driven underwater glider is a new type of tmmanned underwater vehicle, which combines the advantages of autonomous underwater vehicles and traditional underwater gliders. The autonomous underwater vehicles have good maneuverability and can travel with a high speed, while the traditional underwater gliders are highlighted by low power consumption, long voyage, long endurance and good stealth characteristics. The hybrid-driven underwater gliders can realize variable motion profiles by their own buoyancy-driven and propeller propulsion systems. Stability of the mechanical system determines the performance of the system. In this paper, the Petrel-II hybrid-driven underwater glider developed by Tianjin University is selected as the research object and the stability of hybrid-driven underwater glider unitedly controlled by buoyancy and propeller has been targeted and evidenced. The dimensionless equations of the hybrid-driven underwater glider are obtained when the propeller is working. Then, the steady speed and steady glide path angle under steady-state motion have also been achieved. The steady-state operating conditions can be calculated when the hybrid-driven underwater glider reaches the desired steady-state motion. And the steady- state operating conditions are relatively conservative at the lower bound of the velocity range compared with the range of the velocity derived from the method of the composite Lyapunov function. By calculating the hydrodynamic coefficients of the Petrel-II hybrid-driven underwater glider, the simulation analysis has been conducted. In addition, the results of the field trials conducted in the South China Sea and the Danjiangkou Reservoir of China have been presented to illustrate the validity of the analysis and simulations.and to show the feasibility of the method of the composite Lyapunov function which verifies the stability of the Petrel-II hybrid-driven underwater glider.
基金funded by the National Natural Science Foundation of China-Henan Talent Training Joint Foundation (Grant No.U1504404)the National Natural Science Foundation of China: Dynamic mechanism and ecological effect of watershed transformation of surface water and groundwater and groundwater in some typical areas in Junggar basin (Grant No.U1603243)。
文摘Mountain block recharge(MBR),an important water resource,is a widespread process that recharges lowland aquifers.However,little is known about MBR due to the limited climatic and geologic data in mountainous regions such as the northern central foothills of Tianshan.Here,we present an approach to quantify MBR through the combination of water balance calculations and numerical modeling.MBR calculated from the water balance in the data-limited Tianshan Mountains is employed as a fluid-flux boundary condition in the numerical model of the plain.To verify the performance of the model,mean absolute error and root mean square error were used.Results show that the volume of water that is recharging the aquifer via MBR is 107.29 million m^(3)/yr,accounting for 2.2% of the total precipitation that falls in the mountains.Additionally,53.3% of that precipitation enters the plain aquifer via runoff,totaling 2,652.68 million m^(3)/yr.The lower volume of MBR is attributed to a major range-bounding anticline with apparent low permeability in the Tianshan Mountains.Through numerical modeling of groundwater,MBR coming from bedrock was found to be significant,accounting for 14% of total aquifer recharge in the plain,only after the portion of runoff seepage.This research contributes to a deeper understanding of MBR,and may provide instructions for estimating groundwater recharge in arid and semi-arid areas.
