Resonance due to critical slope makes the internal wave generation more effectively than that due to supercritical or subcritical slopes(Zhang et al., 2008). Submarine ridges make a greater contribution to ocean mixin...Resonance due to critical slope makes the internal wave generation more effectively than that due to supercritical or subcritical slopes(Zhang et al., 2008). Submarine ridges make a greater contribution to ocean mixing than continental margins in global oceans(Müller, 1977; Bell, 1975; Baines, 1982; Morozov, 1995). In this paper, internal wave generation driven by tidal flow over critical topography is examined in laboratory using Particle Image Velocimetry(PIV) and synthetic schlieren methods in synchrony. Non-tidal baroclinic velocities and vertical isopycnal displacements are observed in three representative regions, i.e., critical, outward-propagating, and reflection regions. Temporal and spatial distributions of internal wave rays are analyzed using the time variations of baroclinic velocities and vertical isopycnal displacement, and the results are consistent with those by the linear internal wave theory. Besides, the width of wave beam changes with the outward propagation of internal waves. Finally, through monitoring the uniformly-spaced 14 vertical profiles in the x-z plane, the internal wave fields of density and velocity fields are constructed. Thus, available potential energy, kinetic energy and energy fluxes are determined quantitatively. The distributions of baroclinic energy and energy fluxes are confined along the internal wave rays. The total depth averaged energy and energy flux of vertical profiles away from a ridge are both larger than those near the ridge.展开更多
This paper presents the comprehensive results of landing site topographic mapping and rover localization in Chang’e-3 mission.High-precision topographic products of the landing site with extremely high resolutions(up...This paper presents the comprehensive results of landing site topographic mapping and rover localization in Chang’e-3 mission.High-precision topographic products of the landing site with extremely high resolutions(up to 0.05 m)were generated from descent images and registered to CE-2 DOM.Local DEM and DOM with 0.02 m resolution were produced routinely at each waypoint along the rover traverse.The lander location was determined to be(19.51256°W,44.11884°N,-2615.451 m)using a method of DOM matching.In order to reduce error accumulation caused by wheel slippage and IMU drift in dead reckoning,cross-site visual localization and DOM matching localization methods were developed to localize the rover at waypoints;the overall traveled distance from the lander is 114.8 m from cross-site visual localization and 111.2 m from DOM matching localization.The latter is of highest accuracy and has been verified using a LRO NAC image where the rover trajeactory is directly identifiable.During CE-3 mission operations,landing site mapping and rover localization products including DEMs and DOMs,traverse maps,vertical traverse profiles were generated timely to support teleoperation tasks such as obstacle avoidance and rover path planning.展开更多
基金supported by the National Natural Science Foundation of China (Nos. 40906001 and 40906099)National 863 High-Tech Program (No. 2008AA09A402)Chinese National Science & Technology Supporting Program (No. 2011BAC03B02-03-02)
文摘Resonance due to critical slope makes the internal wave generation more effectively than that due to supercritical or subcritical slopes(Zhang et al., 2008). Submarine ridges make a greater contribution to ocean mixing than continental margins in global oceans(Müller, 1977; Bell, 1975; Baines, 1982; Morozov, 1995). In this paper, internal wave generation driven by tidal flow over critical topography is examined in laboratory using Particle Image Velocimetry(PIV) and synthetic schlieren methods in synchrony. Non-tidal baroclinic velocities and vertical isopycnal displacements are observed in three representative regions, i.e., critical, outward-propagating, and reflection regions. Temporal and spatial distributions of internal wave rays are analyzed using the time variations of baroclinic velocities and vertical isopycnal displacement, and the results are consistent with those by the linear internal wave theory. Besides, the width of wave beam changes with the outward propagation of internal waves. Finally, through monitoring the uniformly-spaced 14 vertical profiles in the x-z plane, the internal wave fields of density and velocity fields are constructed. Thus, available potential energy, kinetic energy and energy fluxes are determined quantitatively. The distributions of baroclinic energy and energy fluxes are confined along the internal wave rays. The total depth averaged energy and energy flux of vertical profiles away from a ridge are both larger than those near the ridge.
基金supported by the National Natural Science Foundation of China(Grant Nos.41201480,41171355 and 41301528)the Key Research Program of the Chinese Academy of Sciences(Grant No.KGZD-EW-603)
文摘This paper presents the comprehensive results of landing site topographic mapping and rover localization in Chang’e-3 mission.High-precision topographic products of the landing site with extremely high resolutions(up to 0.05 m)were generated from descent images and registered to CE-2 DOM.Local DEM and DOM with 0.02 m resolution were produced routinely at each waypoint along the rover traverse.The lander location was determined to be(19.51256°W,44.11884°N,-2615.451 m)using a method of DOM matching.In order to reduce error accumulation caused by wheel slippage and IMU drift in dead reckoning,cross-site visual localization and DOM matching localization methods were developed to localize the rover at waypoints;the overall traveled distance from the lander is 114.8 m from cross-site visual localization and 111.2 m from DOM matching localization.The latter is of highest accuracy and has been verified using a LRO NAC image where the rover trajeactory is directly identifiable.During CE-3 mission operations,landing site mapping and rover localization products including DEMs and DOMs,traverse maps,vertical traverse profiles were generated timely to support teleoperation tasks such as obstacle avoidance and rover path planning.
