Through five years (1996-2000) experiment, the growth characteristics and resistance to insect and cold of the seven poplar varieties including P. po pularis, P. opera, P. pseudo-simonii, P. beijinensis, P. bolleana,...Through five years (1996-2000) experiment, the growth characteristics and resistance to insect and cold of the seven poplar varieties including P. po pularis, P. opera, P. pseudo-simonii, P. beijinensis, P. bolleana, P. ( eurameri cana and P. simonii, which were planted in loess hilly land in northwest Shanxi Province, were tested under different planting densities and site conditions. A randomized block design and three times repetition were adopted in the test. Bas ed on the test results in arid and cold area of the northwest Shanxi, the hybrid poplar trees taking Populus cathaysna as their female parent could be selected for afforestation, such as P. popularis and P. opera, and the growing space of s ingle plant should be larger than 20 m2. P. bolleana as an introduced tree speci es grows well in this area, but its growth is likely affected by ground water co ndition. On the site with relatively abundant soil water, P. bolleana usually su ffer from frost crack at its trunk base. As a result, P. bolleara is suited to p lanting in the site where is short of soil water. P. x euramericana is not suita ble for large-scale afforestation, especially in arid slopes and ridges of loess hilly land .展开更多
The eco-environmental vulnerability and underdevelopment of the agriculture in Southwest China would strengthen its disadvantage conditions further on the condition of arid climate change.It is necessary to deal with ...The eco-environmental vulnerability and underdevelopment of the agriculture in Southwest China would strengthen its disadvantage conditions further on the condition of arid climate change.It is necessary to deal with the relations between resource utilization and eco-environment finely and ascertain the adaptive principles on the dry valley agriculture to the arid climate change in order to change the extensive utilization of the special agricultural resources.The paper gave some adaptive countermeasures that develop modern rangeland husbandry,strengthening the special agriculture and agricultural industrialization,emphasis on the ecological agriculture development,constructing the extension system of water-saving modern agriculture,encouraging the service industry related to "agriculture,peasants and the countryside",constructing water utilization facilities,and exploiting the renewable energies.展开更多
To overcome the inter-carrier interference (ICI) of orthogonal frequency division multiplexing (OFDM) systems subject to unknown carrier frequency offset (CFO) and multipath, this paper develops a blind adaptive...To overcome the inter-carrier interference (ICI) of orthogonal frequency division multiplexing (OFDM) systems subject to unknown carrier frequency offset (CFO) and multipath, this paper develops a blind adaptive interference suppression scheme based on independent component analysis (ICA). Taking into account statistical independence of subcarriers' signals of OFDM, the signal recovery mechanism is investigated to achieve the goal of blind equalization. The received OFDM signals can be considered as the mixed observation signals. The effect of CFO and multipath corresponds to the mixing matrix in the problem of blind source separation (BSS) framework. In this paper, the ICA- based OFDM system model is built, and the proposed ICA-based detector is exploited to extract source signals from the observation of a received mixture based on the assumption of statistical independence between the sources. The blind separation technique can increase spectral efficiency and provide robustness performance against erroneous parameter estimation problem. Theoretical analysis and simulation results show that compared with the conventional pilot-based scheme, the improved performance of OFDM systems is obtained by the proposed ICA-based detection technique.展开更多
In this paper,we proposed a framework for evaluating the performance of ecosystem strategies prepared for enhancing vulnerability reduction in the face of hazards due to climate change.The framework highlights the pos...In this paper,we proposed a framework for evaluating the performance of ecosystem strategies prepared for enhancing vulnerability reduction in the face of hazards due to climate change.The framework highlights the positive effects of human activities in the coupled human and natural system(CHANS) by introducing adaptive capacity as an evaluation criterion.A built-in regional vulnerability to a certain hazard was generated based upon interaction of three dimensions of vulnerability:exposure,sensitivity and adaptive capacity.We illustrated the application of this framework in the temperate farming-grazing transitional zone in the middle Inner Mongolia of the northern China,where drought hazard is the key threat to the CHANS.Specific indices were produced to translate such climate variance and social-economic differences into specific indicators.The results showed that the most exposed regions are the inner land areas,while counties located in the eastern part are potentially the most adaptive ones.Ordos City and Bayannur City are most frequently influenced by multiple climate variances,showing highest sensitivity.Analysis also indicated that differences in the ability to adapt to changes are the main causes of spatial differences.After depiction of the spatial differentiations and analysis of the reasons,climate zones were divided to depict the differences in facing to the drought threats.The climate zones were shown to be similar to vulnerability zones based on the quantitative structure of indexes drafted by a triangular map.Further analysis of the composition of the vulnerability index showed that the evaluation criteria were effective in validating the spatial differentiation but potentially ineffective because of their limited time scope.This research will be a demonstration of how to combine the three dimensions by quantitative methods and will thus provide a guide for government to vulnerability reduction management.展开更多
Some successful experiences of rainwater harvesting in Brazil’s semi-arid region are shown how rural communities are living during the severe drought from 2011 to 2013 using technologies of rainwater harvesting for t...Some successful experiences of rainwater harvesting in Brazil’s semi-arid region are shown how rural communities are living during the severe drought from 2011 to 2013 using technologies of rainwater harvesting for the household in agriculture livestock raising and the environment.Starting from the positive experiences principles of living in the challenge of droughts and climate change are elaborated and summarized into different guidelines for sustainable livelihood and production access to water and sufficient land area rainwater harvesting to provide water security to households and communities preservation recovering and management of drought-resistant vegetation emphases on raising of small and medium sized livestock and water and forage storage appropriate crop selection and sustainable extraction processing and marketing of crop products capacity building of the people. These principles contribute to preparing a national policy on living in harmony with the semi-arid climate. Rainwater harvesting is an important part of a package of measures which enables a sustainable livelihood in such a difficult environment.展开更多
We propose a novel method for seismic noise attenuation by applying nonstationary polynomial fitting (NPF), which can estimate coherent components with amplitude variation along the event. The NPF with time-varying ...We propose a novel method for seismic noise attenuation by applying nonstationary polynomial fitting (NPF), which can estimate coherent components with amplitude variation along the event. The NPF with time-varying coefficients can adaptively estimate the coherent components. The smoothness of the polynomial coefficients is controlled by shaping regularization. The signal is coherent along the offset axis in a common midpoint (CMP) gather after normal moveout (NMO). We use NPF to estimate the effective signal and thereby to attenuate the random noise. For radial events-like noise such as ground roll, we first employ a radial trace (RT) transform to transform the data to the time-velocity domain. Then the NPF is used to estimate coherent noise in the RT domain. Finally, the coherent noise is adaptively subtracted from the noisy dataset. The proposed method can effectively estimate coherent noise with amplitude variations along the event and there is no need to propose that noise amplitude is constant. Results of synthetic and field data examples show that, compared with conventional methods such as stationary polynomial fitting and low cut filters, the proposed method can effectively suppress seismic noise and preserve the signals.展开更多
The use of repeater for the support of high rate data trans- mission and the extension of cell coverage is imperative for the Wibro system, which based on the IEEE 802.16e standardization. Generally, if the separation...The use of repeater for the support of high rate data trans- mission and the extension of cell coverage is imperative for the Wibro system, which based on the IEEE 802.16e standardization. Generally, if the separation between transmitting and receiving antennas is not sufficient, the oscillation of repeater and the interference due to the feedback signals from original transmitted signal may be oectLrr. Hence, the Interference Cancellation System (ICS) should be implemented as the important part of the repeater system for the mobile cellular systems in order to eliminate unwanted signals from the corrupted signals in the receiver. In this paper, we propose an adaptive technique for the Least Mean Square(LMS)-based interference cancellation methods by changing the step size according to the variation of channel envirorauent in onter to improve the performance degradation which occta-rs by using the fixed step size approach. Simulation results show that the proposed scheme attains a little lower Ber Error Rate(BER) performance and much faster convergence speed compared to the conventional LMS-based interference cancellation techniques. The proposed scheme can be applied to other Orthogonal Frequency Division Multiple(OFDM)-based cellular systenas and also be expected to achieve a similar performance improvement to IMT-advanced system, which is called as the next generation mobile communication standards.展开更多
Single gimbal control moment gyroscope(SGCMG)with high precision and fast response is an important attitude control system for high precision docking,rapid maneuvering navigation and guidance system in the aerospace f...Single gimbal control moment gyroscope(SGCMG)with high precision and fast response is an important attitude control system for high precision docking,rapid maneuvering navigation and guidance system in the aerospace field.In this paper,considering the influence of multi-source disturbance,a data-based feedback relearning(FR)algorithm is designed for the robust control of SGCMG gimbal servo system.Based on adaptive dynamic programming and least-square principle,the FR algorithm is used to obtain the servo control strategy by collecting the online operation data of SGCMG system.This is a model-free learning strategy in which no prior knowledge of the SGCMG model is required.Then,combining the reinforcement learning mechanism,the servo control strategy is interacted with system dynamic of SGCMG.The adaptive evaluation and improvement of servo control strategy against the multi-source disturbance are realized.Meanwhile,a data redistribution method based on experience replay is designed to reduce data correlation to improve algorithm stability and data utilization efficiency.Finally,by comparing with other methods on the simulation model of SGCMG,the effectiveness of the proposed servo control strategy is verified.展开更多
Mountainous rangelands play a pivotal role in providing forage resources for livestock, particularly in summer, and maintaining ecological balance. This study aimed to identify environmental variables affecting range ...Mountainous rangelands play a pivotal role in providing forage resources for livestock, particularly in summer, and maintaining ecological balance. This study aimed to identify environmental variables affecting range plant species distribution, ecological analysis of the relationship between these variables and the distribution of plants, and to model and map the plant habitats suitability by the Random Forest Method(RFM) in rangelands of the Taftan Mountain, Sistan and Baluchestan Province, southeastern Iran. In order to determine the environmental variables and estimate the potential distribution of plant species, the presence points of plants were recorded by using systematic random sampling method(90 points of presence) and soils were sampled in 5 habitats by random method in 0–30 and 30–60 cm depths. The layers of environmental variables were prepared using the Kriging interpolation method and Geographic Information System facilities. The distribution of the plant habitats was finally modelled and mapped by the RFM. Continuous maps of the habitat suitability were converted to binary maps using Youden Index(?) in order to evaluate the accuracy of the RFM in estimation of the distribution of species potentialhabitat. Based on the values of the area under curve(AUC) statistics, accuracy of predictive models of all habitats was in good level. Investigating the agreement between the predicted map, generated by each model, and actual maps, generated from fieldmeasured data, of the plant habitats, was at a high level for all habitats, except for Amygdalus scoparia habitat. This study concluded that the RFM is a robust model to analyze the relationships between the distribution of plant species and environmental variables as well as to prepare potential distribution maps of plant habitats that are of higher priority for conservation on the local scale in arid mountainous rangelands.展开更多
The χ^2 family of signal fluctuation distributions represents the main fluctuation models which most radar targets follow it in their reflections. This family can be categorized as fluctuation distribution with two d...The χ^2 family of signal fluctuation distributions represents the main fluctuation models which most radar targets follow it in their reflections. This family can be categorized as fluctuation distribution with two degrees of freedom and those with four degrees of freedom. The first category represents all important class of fluctuation models which when illuminated by a coherent pulse train, return a train of fully correlated pulses (Swerling Ⅰ model) or fully decorrelated pulses (Swerling Ⅱ model). The detection of this type of fluctuating targets is therefore of great importance. This paper is devoted to the analysis of Cell-Averaging (CA) based detectors for the case where the radar receiver noncoherently integrates M square-law detected pulses and the signal fluctuation obeys 2 statistics with two degrees of freedom. These detectors include the Mean-Of (MO), the Greatest-Of (GO) and the Smallest-Of(SO) schemes. In these processors, the estimation of the noise power levels from the leading and the trailing reference windows is based on the CA technique. Exact formulas for the detection probabilities are derived, in the absence as well as in the presence of spurious targets. The primary and the secondary interfering targets are assumed to be fluctuating in accordance with the χ^2 fluctuation model with two degrees of freedom (SWI & SWII). The numerical results show that the MO version has the best homogeneous performance, the SO scheme has the best multiple-target performance, while the GO procedure does not offer any merits, neither in the absence nor in the presence of outlying targets.展开更多
This paper proposed a new concept of an adaptable multi-legged skid design for retro-fitting to a remotely-operated vehicle (ROV) during high tidal current underwater pipeline inspection. The sole reliance on propel...This paper proposed a new concept of an adaptable multi-legged skid design for retro-fitting to a remotely-operated vehicle (ROV) during high tidal current underwater pipeline inspection. The sole reliance on propeller-driven propulsion for ROV is replaced with a proposed low cost biomimetic solution in the form of an attachable hexapod walking skid. The advantage of this adaptable walking skid is the high stability in positioning and endurances to strong current on the seabed environment. The computer simulation flow studies using Solidworks Flow Simulation shown that the skid attachment in different compensation postures caused at least four times increase in overall drag, and negative lift forces on the seabed ROV to achieve a better maneuvering and station keeping under the high current condition (from 0.5 m/s to 5.0 m/s). A graphical user interface is designed to interact with the user during robot-in-the-loop testing and kinematics simulation in the pool.展开更多
文摘Through five years (1996-2000) experiment, the growth characteristics and resistance to insect and cold of the seven poplar varieties including P. po pularis, P. opera, P. pseudo-simonii, P. beijinensis, P. bolleana, P. ( eurameri cana and P. simonii, which were planted in loess hilly land in northwest Shanxi Province, were tested under different planting densities and site conditions. A randomized block design and three times repetition were adopted in the test. Bas ed on the test results in arid and cold area of the northwest Shanxi, the hybrid poplar trees taking Populus cathaysna as their female parent could be selected for afforestation, such as P. popularis and P. opera, and the growing space of s ingle plant should be larger than 20 m2. P. bolleana as an introduced tree speci es grows well in this area, but its growth is likely affected by ground water co ndition. On the site with relatively abundant soil water, P. bolleana usually su ffer from frost crack at its trunk base. As a result, P. bolleara is suited to p lanting in the site where is short of soil water. P. x euramericana is not suita ble for large-scale afforestation, especially in arid slopes and ridges of loess hilly land .
基金funded by Arid Meteorology Research Fund(IAM201007)Research Fund of Chengdu University of Information Technology(KYTZ201030)National Natural Science Foundation Project(40971304)~~
文摘The eco-environmental vulnerability and underdevelopment of the agriculture in Southwest China would strengthen its disadvantage conditions further on the condition of arid climate change.It is necessary to deal with the relations between resource utilization and eco-environment finely and ascertain the adaptive principles on the dry valley agriculture to the arid climate change in order to change the extensive utilization of the special agricultural resources.The paper gave some adaptive countermeasures that develop modern rangeland husbandry,strengthening the special agriculture and agricultural industrialization,emphasis on the ecological agriculture development,constructing the extension system of water-saving modern agriculture,encouraging the service industry related to "agriculture,peasants and the countryside",constructing water utilization facilities,and exploiting the renewable energies.
基金supported by a grant from the national High Technology Research and development Program of China(863 Program)(No.2012AA01A502)National Natural Science Foundation of China(No.61179006)Science and Technology Support Program of Sichuan Province(No.2014GZX0004)
文摘To overcome the inter-carrier interference (ICI) of orthogonal frequency division multiplexing (OFDM) systems subject to unknown carrier frequency offset (CFO) and multipath, this paper develops a blind adaptive interference suppression scheme based on independent component analysis (ICA). Taking into account statistical independence of subcarriers' signals of OFDM, the signal recovery mechanism is investigated to achieve the goal of blind equalization. The received OFDM signals can be considered as the mixed observation signals. The effect of CFO and multipath corresponds to the mixing matrix in the problem of blind source separation (BSS) framework. In this paper, the ICA- based OFDM system model is built, and the proposed ICA-based detector is exploited to extract source signals from the observation of a received mixture based on the assumption of statistical independence between the sources. The blind separation technique can increase spectral efficiency and provide robustness performance against erroneous parameter estimation problem. Theoretical analysis and simulation results show that compared with the conventional pilot-based scheme, the improved performance of OFDM systems is obtained by the proposed ICA-based detection technique.
基金Under the auspices of Public Welfare Scientific Research Project of Chinese Ministry of Land and Resource (No. 200911015-2)
文摘In this paper,we proposed a framework for evaluating the performance of ecosystem strategies prepared for enhancing vulnerability reduction in the face of hazards due to climate change.The framework highlights the positive effects of human activities in the coupled human and natural system(CHANS) by introducing adaptive capacity as an evaluation criterion.A built-in regional vulnerability to a certain hazard was generated based upon interaction of three dimensions of vulnerability:exposure,sensitivity and adaptive capacity.We illustrated the application of this framework in the temperate farming-grazing transitional zone in the middle Inner Mongolia of the northern China,where drought hazard is the key threat to the CHANS.Specific indices were produced to translate such climate variance and social-economic differences into specific indicators.The results showed that the most exposed regions are the inner land areas,while counties located in the eastern part are potentially the most adaptive ones.Ordos City and Bayannur City are most frequently influenced by multiple climate variances,showing highest sensitivity.Analysis also indicated that differences in the ability to adapt to changes are the main causes of spatial differences.After depiction of the spatial differentiations and analysis of the reasons,climate zones were divided to depict the differences in facing to the drought threats.The climate zones were shown to be similar to vulnerability zones based on the quantitative structure of indexes drafted by a triangular map.Further analysis of the composition of the vulnerability index showed that the evaluation criteria were effective in validating the spatial differentiation but potentially ineffective because of their limited time scope.This research will be a demonstration of how to combine the three dimensions by quantitative methods and will thus provide a guide for government to vulnerability reduction management.
文摘Some successful experiences of rainwater harvesting in Brazil’s semi-arid region are shown how rural communities are living during the severe drought from 2011 to 2013 using technologies of rainwater harvesting for the household in agriculture livestock raising and the environment.Starting from the positive experiences principles of living in the challenge of droughts and climate change are elaborated and summarized into different guidelines for sustainable livelihood and production access to water and sufficient land area rainwater harvesting to provide water security to households and communities preservation recovering and management of drought-resistant vegetation emphases on raising of small and medium sized livestock and water and forage storage appropriate crop selection and sustainable extraction processing and marketing of crop products capacity building of the people. These principles contribute to preparing a national policy on living in harmony with the semi-arid climate. Rainwater harvesting is an important part of a package of measures which enables a sustainable livelihood in such a difficult environment.
基金supported by the National Basic Research Program of China (973 program, grant 2007CB209606) the National High Technology Research and Development Program of China (863 program, grant 2006AA09A102-09)
文摘We propose a novel method for seismic noise attenuation by applying nonstationary polynomial fitting (NPF), which can estimate coherent components with amplitude variation along the event. The NPF with time-varying coefficients can adaptively estimate the coherent components. The smoothness of the polynomial coefficients is controlled by shaping regularization. The signal is coherent along the offset axis in a common midpoint (CMP) gather after normal moveout (NMO). We use NPF to estimate the effective signal and thereby to attenuate the random noise. For radial events-like noise such as ground roll, we first employ a radial trace (RT) transform to transform the data to the time-velocity domain. Then the NPF is used to estimate coherent noise in the RT domain. Finally, the coherent noise is adaptively subtracted from the noisy dataset. The proposed method can effectively estimate coherent noise with amplitude variations along the event and there is no need to propose that noise amplitude is constant. Results of synthetic and field data examples show that, compared with conventional methods such as stationary polynomial fitting and low cut filters, the proposed method can effectively suppress seismic noise and preserve the signals.
基金supported bythe IT R&D Programof MKE/ⅡTA:Development of Service Platform for Next Generation Mobile Communications
文摘The use of repeater for the support of high rate data trans- mission and the extension of cell coverage is imperative for the Wibro system, which based on the IEEE 802.16e standardization. Generally, if the separation between transmitting and receiving antennas is not sufficient, the oscillation of repeater and the interference due to the feedback signals from original transmitted signal may be oectLrr. Hence, the Interference Cancellation System (ICS) should be implemented as the important part of the repeater system for the mobile cellular systems in order to eliminate unwanted signals from the corrupted signals in the receiver. In this paper, we propose an adaptive technique for the Least Mean Square(LMS)-based interference cancellation methods by changing the step size according to the variation of channel envirorauent in onter to improve the performance degradation which occta-rs by using the fixed step size approach. Simulation results show that the proposed scheme attains a little lower Ber Error Rate(BER) performance and much faster convergence speed compared to the conventional LMS-based interference cancellation techniques. The proposed scheme can be applied to other Orthogonal Frequency Division Multiple(OFDM)-based cellular systenas and also be expected to achieve a similar performance improvement to IMT-advanced system, which is called as the next generation mobile communication standards.
基金This work was supported by the National Natural Science Foundation of China(No.62022061)Tianjin Natural Science Foundation(No.20JCYBJC00880)Beijing Key Laboratory Open Fund of Long-Life Technology of Precise Rotation and Transmission Mechanisms.
文摘Single gimbal control moment gyroscope(SGCMG)with high precision and fast response is an important attitude control system for high precision docking,rapid maneuvering navigation and guidance system in the aerospace field.In this paper,considering the influence of multi-source disturbance,a data-based feedback relearning(FR)algorithm is designed for the robust control of SGCMG gimbal servo system.Based on adaptive dynamic programming and least-square principle,the FR algorithm is used to obtain the servo control strategy by collecting the online operation data of SGCMG system.This is a model-free learning strategy in which no prior knowledge of the SGCMG model is required.Then,combining the reinforcement learning mechanism,the servo control strategy is interacted with system dynamic of SGCMG.The adaptive evaluation and improvement of servo control strategy against the multi-source disturbance are realized.Meanwhile,a data redistribution method based on experience replay is designed to reduce data correlation to improve algorithm stability and data utilization efficiency.Finally,by comparing with other methods on the simulation model of SGCMG,the effectiveness of the proposed servo control strategy is verified.
基金funded by University of Zabol,Iran(Grant No.UOZ-GR-9517-24)the Vice Chancellery for Research and Technology,University of Zabol,for funding this study
文摘Mountainous rangelands play a pivotal role in providing forage resources for livestock, particularly in summer, and maintaining ecological balance. This study aimed to identify environmental variables affecting range plant species distribution, ecological analysis of the relationship between these variables and the distribution of plants, and to model and map the plant habitats suitability by the Random Forest Method(RFM) in rangelands of the Taftan Mountain, Sistan and Baluchestan Province, southeastern Iran. In order to determine the environmental variables and estimate the potential distribution of plant species, the presence points of plants were recorded by using systematic random sampling method(90 points of presence) and soils were sampled in 5 habitats by random method in 0–30 and 30–60 cm depths. The layers of environmental variables were prepared using the Kriging interpolation method and Geographic Information System facilities. The distribution of the plant habitats was finally modelled and mapped by the RFM. Continuous maps of the habitat suitability were converted to binary maps using Youden Index(?) in order to evaluate the accuracy of the RFM in estimation of the distribution of species potentialhabitat. Based on the values of the area under curve(AUC) statistics, accuracy of predictive models of all habitats was in good level. Investigating the agreement between the predicted map, generated by each model, and actual maps, generated from fieldmeasured data, of the plant habitats, was at a high level for all habitats, except for Amygdalus scoparia habitat. This study concluded that the RFM is a robust model to analyze the relationships between the distribution of plant species and environmental variables as well as to prepare potential distribution maps of plant habitats that are of higher priority for conservation on the local scale in arid mountainous rangelands.
文摘The χ^2 family of signal fluctuation distributions represents the main fluctuation models which most radar targets follow it in their reflections. This family can be categorized as fluctuation distribution with two degrees of freedom and those with four degrees of freedom. The first category represents all important class of fluctuation models which when illuminated by a coherent pulse train, return a train of fully correlated pulses (Swerling Ⅰ model) or fully decorrelated pulses (Swerling Ⅱ model). The detection of this type of fluctuating targets is therefore of great importance. This paper is devoted to the analysis of Cell-Averaging (CA) based detectors for the case where the radar receiver noncoherently integrates M square-law detected pulses and the signal fluctuation obeys 2 statistics with two degrees of freedom. These detectors include the Mean-Of (MO), the Greatest-Of (GO) and the Smallest-Of(SO) schemes. In these processors, the estimation of the noise power levels from the leading and the trailing reference windows is based on the CA technique. Exact formulas for the detection probabilities are derived, in the absence as well as in the presence of spurious targets. The primary and the secondary interfering targets are assumed to be fluctuating in accordance with the χ^2 fluctuation model with two degrees of freedom (SWI & SWII). The numerical results show that the MO version has the best homogeneous performance, the SO scheme has the best multiple-target performance, while the GO procedure does not offer any merits, neither in the absence nor in the presence of outlying targets.
基金Suuported by Newcastle University in United Kingdom(Project account number:C0570D2330)
文摘This paper proposed a new concept of an adaptable multi-legged skid design for retro-fitting to a remotely-operated vehicle (ROV) during high tidal current underwater pipeline inspection. The sole reliance on propeller-driven propulsion for ROV is replaced with a proposed low cost biomimetic solution in the form of an attachable hexapod walking skid. The advantage of this adaptable walking skid is the high stability in positioning and endurances to strong current on the seabed environment. The computer simulation flow studies using Solidworks Flow Simulation shown that the skid attachment in different compensation postures caused at least four times increase in overall drag, and negative lift forces on the seabed ROV to achieve a better maneuvering and station keeping under the high current condition (from 0.5 m/s to 5.0 m/s). A graphical user interface is designed to interact with the user during robot-in-the-loop testing and kinematics simulation in the pool.