This study introduces the lattice spring model(LSM)to investigate the incline angle of a non-uniform three-segment towed array under steady-state conditions.A numerical model was established,and parametric analysis wa...This study introduces the lattice spring model(LSM)to investigate the incline angle of a non-uniform three-segment towed array under steady-state conditions.A numerical model was established,and parametric analysis was conducted to examine the effects of towing speed and cable density on the incline angle.The numerical simulations demonstrate that for a conventional three-segment towed array with heavy vibration-isolation cable and density exceeding that of seawater,the towing speed must exceed 4 kn to maintain the acoustic cable's average incline angle below 10°.To validate the proposed LSM,a 100-meter-long towed array with variable densities was fabricated and tested through lake trials.The experimental results align closely with simulations,confirming LSM as a reliable model for predicting towed array position and posture.The study concludes by analyzing the parallel computing capabilities of LSM and its application in Fluid-Structure Interaction(FSI)problems.The model's precision and parallel computing capabilities make LSM an efficient,reliable tool for analyzing the steady-state behavior of towed systems.展开更多
Dynamic model of aerial towed decoy system is established and simulations are performed to research the dynamic characteristics of the system. Firstly, Kinetic equations based on spinor are built, where the cable is d...Dynamic model of aerial towed decoy system is established and simulations are performed to research the dynamic characteristics of the system. Firstly, Kinetic equations based on spinor are built, where the cable is discretized into a number of rigid segments while the decoy is modeled as a rigid body hinged on the cable. Then tension recurrence algorithm is developed to improve computational efficiency, which makes it possible to predict the dynamic response of aerial towed decoy system rapidly and accurately. Subsequently, the efficiency and validity of this algorithm are verified by comparison with Kane’s function and further validated by wind tunnel tests.Simulation results indicate that the distance between the towing point and the decoy’s center of gravity is suggested to be 5%–20% of the length of decoy body to ensure the stability of system.In up-risen maneuver process, the value of angular velocity is recommended to be less than0.10 rad/s to protect the cable from the aircraft exhaust jet. During the turning movement of aircraft, the cable’s extent of stretching outwards is proportional to the aircraft’s angular velocity.Meanwhile, the decoy, aircraft and missile form a triangle, which promotes the decoy’s performance.展开更多
This paper aims to research the cable-lead-in rod effect on a towed system through mathematical modeling and numerical simulations.The rod dynamics,as a key part of this study,is modeled using the combination of cable...This paper aims to research the cable-lead-in rod effect on a towed system through mathematical modeling and numerical simulations.The rod dynamics,as a key part of this study,is modeled using the combination of cable node governing equations and kinematic constraint conditions.As the first attempt to analyze such a problem,the rod is simply treated as an elastic cable segment so as to be incorporated into the dynamics of the cable,and a set of algorithm is then proposed based on the kinematic constraint conditions to fully describe its motions.Meanwhile,the cable and the underwater vehicle are modeled by the traditional lumped mass method and the 6 degree-of-freedom maneuverability equations for submarines respectively;the coupling boundary conditions besides the rod dynamics are also given to form the whole system's model.Several numerical cases are performed to investigate the rod effect on the system in different maneuver situations.Some meaningful conclusions are drawn through comparative analysis.展开更多
This article discusses the dynamic state analysis of underwater towed-cable when tow-ship changes its speed in a direction making parabolic profile path. A three-dimensional model of underwater towed system is studied...This article discusses the dynamic state analysis of underwater towed-cable when tow-ship changes its speed in a direction making parabolic profile path. A three-dimensional model of underwater towed system is studied. The established governing equations for the system have been solved using the central implicit finite-difference method. The obtained difference non-linear coupled equations are solved by Newton＇s method and satisfactory results were achieved. The solution of this problem has practical importance in the estimation of dynamic loading and motion, and hence it is directly applicable to the enhancement of safety and the effectiveness of the offshore activities.展开更多
Currently, the deghosting of towed streamer seismic data assumes a flat sea level and a sea-surface reflection coefficient of-1; this decreases the precision of deghosting. A new method that considers the rough sea su...Currently, the deghosting of towed streamer seismic data assumes a flat sea level and a sea-surface reflection coefficient of-1; this decreases the precision of deghosting. A new method that considers the rough sea surface is proposed to suppress ghost reflections. The proposed deghosting method obtains the rough sea surface reflection coefficient using Gaussian statistics, and calculates the optimized deghosting operator in the r/p domain. The proposed method is closer to the actual sea conditions, offers an improved deghosting operator, removes the ghost reflections from marine towed seismic data, widens the bandwidth and restores the low-frequency information, and finally improves the signal-to- noise ratio and resolution of the seismic data.展开更多
Efficient numerical schemes were presented for the steady state solutions of towed marine cables. For most of towed systems,the steady state problem can be resolved into two-point boundary-value problem,or initial val...Efficient numerical schemes were presented for the steady state solutions of towed marine cables. For most of towed systems,the steady state problem can be resolved into two-point boundary-value problem,or initial value problem in some special cases where the initial values are available directly.A new technique was proposed and attempted to solve the two-point boundary-value problem rather than the conventional shooting method due to its algorithm complexity and low efficiency.First,the boundary conditions are transformed into a set of nonlinear governing equations about the initial values,then bisection method is employed to solve these nonlinear equations with the aid of 4th order Runge-Kutta method.In common sense,non-uniform (sheared) current is assumed,which varies in magnitude and direction with depth.The schemes are validated through the DE Zoysa's example,then several numerical examples are also presented to illustrate the numerical schemes.展开更多
Towed cable systems are frequently used in marine measurements where the length of the towed cable varies during launch and recovery. In this paper a novel method for modeling variable length cable systems is introduc...Towed cable systems are frequently used in marine measurements where the length of the towed cable varies during launch and recovery. In this paper a novel method for modeling variable length cable systems is introduced based on the finite segment formulation. The variable length of the towed cable is described by changing the length of the segment near the towing point and by increasing or decreasing the number of the discrete segments of the cable. In this way, the elastic effects of the cable can be easily handled since geometry and material properties of each segment are kept constant. Experimental results show that the dynamic behavior of the towed cable is consistent between the model and the physical cable. Results show that the model provides numerical efficiency and simulation accuracy for the variable length towed system.展开更多
A numerical approach was developed to analyze the transient behavior of towed cable during ac- tively controlled deployment/retrieval (DR).The cable motion is described by the lumped parameter method, its correspondin...A numerical approach was developed to analyze the transient behavior of towed cable during ac- tively controlled deployment/retrieval (DR).The cable motion is described by the lumped parameter method, its corresponding boundary conditions are presented.In view of its varying length during DR,two auxiliary arguments are introduced to describe its continuous varying length and discrete number of nodes(equations), the length is determined by the pay out(or reel-in) rate,which is then used to determine the node number by a logic relation.For the discrete mathematical model of towed cable,an algorithm was developed to deal with the discrete governing equations.The simulation results indicate that the cable experiences more com- plex motions due to its varying length,and tension fluctuates seriously in the startup and ending stage of deployment/retrieval.The effect of towing ship's motion in waves on cable during deployment/retrieval is also considered via numerical simulation.展开更多
In the towed line array sonar system,the tow ship noise is the main factor that affects the sonar performance.Conventional noise cancelling methods assume that the noise is towards the endfire direction of the array.A...In the towed line array sonar system,the tow ship noise is the main factor that affects the sonar performance.Conventional noise cancelling methods assume that the noise is towards the endfire direction of the array.An acoustic experiment employing a towed line array is conducted in the western Pacific Ocean,and a strange bearing-splitting phenomenon of the tow ship noise is observed in the array.The tow ship noise is split into multiple noise signals whose bearings are distributed between 10°and 90°deviating from the endfire direction.The multiple interferences increase the difficulty in recognizing the target for the sonar operator and noise cancellation.Therefore,making the mechanism clear and putting forward the tow ship noise splitting bearing estimation method are imperative.In this paper,the acoustic multi-path structure of the tow ship in deep water is analyzed.Then it is pointed out that the bearing-splitting phenomenon is caused by the main lobe of direct rays and bottom-reflected rays,as well as several side lobes of direct rays.Meanwhile,the indistinguishability between the elevation angle and the bearing angle due to the axial symmetry of a strict horizontal line array causes the bearing to deviate from the endfire direction.Based on the theory above,a method of estimating bearing of the tow ship noise in deep water is proposed.The theoretical analysis results accord with the experimental results,which helps to identify the target and provide correct initial bearing guidance for noise cancelation methods.展开更多
In this paper, the dynamic response of undersea -+towed systems is numerically simulated. A two body towed system is especially considered in detail. The factors influencing the heave of towed-bodies, such as the weig...In this paper, the dynamic response of undersea -+towed systems is numerically simulated. A two body towed system is especially considered in detail. The factors influencing the heave of towed-bodies, such as the weight of the towed-body (in sea water), the length and the weight (in sea water) per unit length of the cable between towed-bodies and towing ship, are investigated in detail. Calculations show that the two-body towed system can greatly increases the stability of the towed system.展开更多
Mobile observation platforms are widely used in oceanographic and marine resource exploration and other applications. Wave Glider is a mobile platform that can transform wave energy into locomotion power and overcome ...Mobile observation platforms are widely used in oceanographic and marine resource exploration and other applications. Wave Glider is a mobile platform that can transform wave energy into locomotion power and overcome the bottleneck of low energy supply. Wave Glider has recently been applied to tow underwater sensors fulfilling observation tasks. In this paper, the dynamic system of Wave Glider with a towed body is studied by applying multibody mechanics, and the relevant motion conditions of the system are investigated. Dynamic models of Wave Glider with a towed body and tether are first developed individually and then integrated into a whole model. The numerical method is used to obtain the dynamic responses and assess performance of the towed body pulled by the submerged glider of Wave Glider. The effects of sea state, mass of the towed body, and length of the towed cable are investigated on the basis of simulation results. This work can be used for the design and analysis of Wave Glider-towed body systems.展开更多
The small autonomous platform with a thin line array is an important tool for underwater acoustic mobile surveillance.Generally,only one-dimensional(1-D)direction-of-arrival(DOA)of the source signal can be estimated u...The small autonomous platform with a thin line array is an important tool for underwater acoustic mobile surveillance.Generally,only one-dimensional(1-D)direction-of-arrival(DOA)of the source signal can be estimated using a thin towed line array.In this work,the two-dimensional(2-D)DOA estimation is achieved by the thin line array towed by a small autonomous platform due to its flexible maneuver.Two perpendicular tow paths are formed through the fast turning of this array.An L-shaped array is formed by the same towed array on these two tow paths at different times.Using the array on these two straight paths,two 1-D DOAs of the source signal are obtained respectively,and then the 2-D DOA based on the formed L-shaped array can be estimated.The effectiveness of proposed approach is verified by numerical simulations and its theoretical error is analyzed.展开更多
The horizontal vibration of towed seismic streamers is a main reason for effciency reduction of the seismic survey and tail tangling.A vibration suppression scheme of towed seismic streamers is investigated in this pa...The horizontal vibration of towed seismic streamers is a main reason for effciency reduction of the seismic survey and tail tangling.A vibration suppression scheme of towed seismic streamers is investigated in this paper.The towed seismic streamer is divided into two spans,a controlled span,i.e.,the low tension span, and an uncontrolled span,i.e.,the high tension span,by a bird.The system model includes a hyperbolic partial differential equation with variable coeffcient describing the towed seismic streamers,and an ordinary differential equation describing the dynamic of bird.Robust based-model knowledge and adaptive controllers,based on the Lyapunov method,are designed to isolate the vibration of towed seismic streamers caused by the course deviations of towing vessel,the variations of towing vessel velocity and the variations of towed seismic streamer density.The robust based-model knowledge and adaptive controllers exponentially and asymptotically drive the span-towed seismic streamer displacement to zero,respectively.A finite difference scheme is used to validate the effciency of the control law.The proposed controller can isolate effectively the disturbance originated from the towed vessel, and can provide the improved damping but not sacrifice the isolation performance.The adaptive scheme can tolerate the lack of knowledge of some uncertain parameters and can directly execute the online adjustment of the parameters.Meanwhile,the proposed control law is robust and can resist the model uncertainty due to parameter incertitude,model error and unknown disturbance and so on.The control law only includes velocity and slope,while it does not need the displacement which is diffcult to measure in the practical operations.Thus it is easy to implement.展开更多
The safety limitation of large new-built seagoing ves- sel design and operation is investigated to ensure safety of the new vessels towed through bridge area. We analyze the maneuverabil- ity characteristics of a towi...The safety limitation of large new-built seagoing ves- sel design and operation is investigated to ensure safety of the new vessels towed through bridge area. We analyze the maneuverabil- ity characteristics of a towing fleet, and develop a mathematical drift model of ship motion for the fleet. Based on this drift model and the hydro-meteorological conditions in bridge area, we pro- pose a method to systematically ascertain the safety limitations of water stages, current, wind, speed and visibility. This method is conducive to the safety of both navigation and bridges when large towing fleets transit through bridges.展开更多
Based on the fundamental equation of flexible cable dynamics for a towed system, an easily solved mathematical model is set up in this paper by means of appropriate simplification. Several regular patterns of spatial ...Based on the fundamental equation of flexible cable dynamics for a towed system, an easily solved mathematical model is set up in this paper by means of appropriate simplification. Several regular patterns of spatial motion of towed flexible cables in water are obtained through numerical simulation with the finite difference method, and then modification and verification by trial results at sea. A technical support is provided for the towing ship to maneuver properly when a flexible cable is towed. Furthermore, the relations between two towed flexible cables, which are towed simultaneously by a ship, are investigated. The results show that the ship towing two flexible cables is safe under the suggested arrangement of two winches for the towing system, and the coiling/uncoiling sequences of the cables as well as the suggested way of maneuvering.展开更多
The key to achieving the optimal design of towed cables,maintaining numerical simulation accuracy,and achieving precise control of the towed body lies in sensitivity analysis.However,the traditional global sensitivity...The key to achieving the optimal design of towed cables,maintaining numerical simulation accuracy,and achieving precise control of the towed body lies in sensitivity analysis.However,the traditional global sensitivity analysis method presents challenges such as high calculation costs and low accuracy.To ad-dress these issues,this paper introduces polynomial chaos expansion(PCE)to quantitatively analyze the impact of uncertainties in physical and environmental parameters on the position and attitude of the towed cable.Latin hypercube sampling is employed to obtain sample sets of input parameters,and these samples are applied to the lumped mass method to calculate the end position coordinates of the towed cable,which serves as the output response.PCE is utilized to quantitatively compute the Sobol global sensitivity index of the towed cable parameters.The accuracy of the PCE model is verified,and the op-timal degree of basis functions is selected using the bias-variance trade-off.The advantages of PCE are demonstrated by comparing it with the Monte Carlo and Morris methods.The results indicate that PCE accurately calculates the global sensitivity index of towed cable parameters even with a limited sample size.Under the condition of a fixed cable length,the position and attitude of the towed cable are sensi-tive to the current rate,liquid density,cable diameter,normal drag coefficient,and specific gravity.The feasibility and efficiency of PCE applied to the sensitivity analysis of towed cable parameters is verified,and recommendations for the engineering application of towed cables are summarized.展开更多
Three-dimensional motion equations with consideration of the bending and torsional effects of a marine towed cable system under large elastic deformation conditions are formulated using the lumped parameter model. The...Three-dimensional motion equations with consideration of the bending and torsional effects of a marine towed cable system under large elastic deformation conditions are formulated using the lumped parameter model. The lumped mass model is used to simulate a circular maneuver of a towed horizontal array that was first presented by Ablow. The results of this paper are in a good agreement with those obtained by finite difference schemes, and the minimum depth is closer to the experimental result. Although the calculations take more computation time, the lumped mass model is a good method, which can also be used to solve problems of towed line array, especially multi-branched towed line array, because of its flexibility.展开更多
Discrete noise source suppression in underwa-ter acoustic channel has attracted great attention in recent years. The paper proposes a new principle for dealing with the problem. This new principle is called matched fi...Discrete noise source suppression in underwa-ter acoustic channel has attracted great attention in recent years. The paper proposes a new principle for dealing with the problem. This new principle is called matched field noise suppression (MFNS). Based on a previous work of the au-thors group, a full understanding about how a discrete noise source shows effects on the performance of a towed hydro-phone line array has been obtained. In light of that finding, MFNS is proposed, which explores and utilizes the charac-teristics of the noise transmission channel to achieve much greater suppression of the noise in comparison with existing approaches. MFNS combines the concept of matched field processing (MFP) and optimal sensor array processing (OSAP) together to suppress the discrete noise source and to maintain an optimal beam for receiving far-field wanted plane wave signals. A MFNS beam-former is deduced in constraint with signal plane-wave response being unit and noise matched field response being zero. A closed-form solution of the weight vec-tor for the beam-former is given. Computer simulation results agree well to the theoretical analysis.展开更多
The receiving response of towed line array to the noise radiated from the tow ship is investigated through normal mode modeling and computer simulation. The phenomenon that the maximum output of the towed line array i...The receiving response of towed line array to the noise radiated from the tow ship is investigated through normal mode modeling and computer simulation. The phenomenon that the maximum output of the towed line array is away from the endfire direction towards the tow ship is explained. The result is important for the understanding of the phenomenon and also for the application research concerning the suppression of the noise from the tow ship as well as adequate application of towed array techniques in shallow water.展开更多
In this article, a new acoustic test technique using towed model was introduced to study flow noise caused by a surface ship. The project of model test was be properly designed for acoustic signal collecting and with ...In this article, a new acoustic test technique using towed model was introduced to study flow noise caused by a surface ship. The project of model test was be properly designed for acoustic signal collecting and with the help of appropriate data processing method different kinds of acoustic sources could be successfully identified. A lot of work about fuid noise could be carried on with the towed model, and the noise corresponding to low frequency which is especially interested for its long distance radiating with small attenuation could also be studied in this way.展开更多
基金supported by the Key Research Project of Zhejiang Lab(Grant No.K2022MEOAC01)。
文摘This study introduces the lattice spring model(LSM)to investigate the incline angle of a non-uniform three-segment towed array under steady-state conditions.A numerical model was established,and parametric analysis was conducted to examine the effects of towing speed and cable density on the incline angle.The numerical simulations demonstrate that for a conventional three-segment towed array with heavy vibration-isolation cable and density exceeding that of seawater,the towing speed must exceed 4 kn to maintain the acoustic cable's average incline angle below 10°.To validate the proposed LSM,a 100-meter-long towed array with variable densities was fabricated and tested through lake trials.The experimental results align closely with simulations,confirming LSM as a reliable model for predicting towed array position and posture.The study concludes by analyzing the parallel computing capabilities of LSM and its application in Fluid-Structure Interaction(FSI)problems.The model's precision and parallel computing capabilities make LSM an efficient,reliable tool for analyzing the steady-state behavior of towed systems.
文摘Dynamic model of aerial towed decoy system is established and simulations are performed to research the dynamic characteristics of the system. Firstly, Kinetic equations based on spinor are built, where the cable is discretized into a number of rigid segments while the decoy is modeled as a rigid body hinged on the cable. Then tension recurrence algorithm is developed to improve computational efficiency, which makes it possible to predict the dynamic response of aerial towed decoy system rapidly and accurately. Subsequently, the efficiency and validity of this algorithm are verified by comparison with Kane’s function and further validated by wind tunnel tests.Simulation results indicate that the distance between the towing point and the decoy’s center of gravity is suggested to be 5%–20% of the length of decoy body to ensure the stability of system.In up-risen maneuver process, the value of angular velocity is recommended to be less than0.10 rad/s to protect the cable from the aircraft exhaust jet. During the turning movement of aircraft, the cable’s extent of stretching outwards is proportional to the aircraft’s angular velocity.Meanwhile, the decoy, aircraft and missile form a triangle, which promotes the decoy’s performance.
基金the National Natural Science Foundation of China(No.51779140)
文摘This paper aims to research the cable-lead-in rod effect on a towed system through mathematical modeling and numerical simulations.The rod dynamics,as a key part of this study,is modeled using the combination of cable node governing equations and kinematic constraint conditions.As the first attempt to analyze such a problem,the rod is simply treated as an elastic cable segment so as to be incorporated into the dynamics of the cable,and a set of algorithm is then proposed based on the kinematic constraint conditions to fully describe its motions.Meanwhile,the cable and the underwater vehicle are modeled by the traditional lumped mass method and the 6 degree-of-freedom maneuverability equations for submarines respectively;the coupling boundary conditions besides the rod dynamics are also given to form the whole system's model.Several numerical cases are performed to investigate the rod effect on the system in different maneuver situations.Some meaningful conclusions are drawn through comparative analysis.
文摘This article discusses the dynamic state analysis of underwater towed-cable when tow-ship changes its speed in a direction making parabolic profile path. A three-dimensional model of underwater towed system is studied. The established governing equations for the system have been solved using the central implicit finite-difference method. The obtained difference non-linear coupled equations are solved by Newton＇s method and satisfactory results were achieved. The solution of this problem has practical importance in the estimation of dynamic loading and motion, and hence it is directly applicable to the enhancement of safety and the effectiveness of the offshore activities.
基金supported by the 12th Five Year Plan National Science and Technology Major Projects(No.20011ZX05023-003-002)Research projects of CNOOC(No.C/KJF JDCJF 006-2009)
文摘Currently, the deghosting of towed streamer seismic data assumes a flat sea level and a sea-surface reflection coefficient of-1; this decreases the precision of deghosting. A new method that considers the rough sea surface is proposed to suppress ghost reflections. The proposed deghosting method obtains the rough sea surface reflection coefficient using Gaussian statistics, and calculates the optimized deghosting operator in the r/p domain. The proposed method is closer to the actual sea conditions, offers an improved deghosting operator, removes the ghost reflections from marine towed seismic data, widens the bandwidth and restores the low-frequency information, and finally improves the signal-to- noise ratio and resolution of the seismic data.
文摘Efficient numerical schemes were presented for the steady state solutions of towed marine cables. For most of towed systems,the steady state problem can be resolved into two-point boundary-value problem,or initial value problem in some special cases where the initial values are available directly.A new technique was proposed and attempted to solve the two-point boundary-value problem rather than the conventional shooting method due to its algorithm complexity and low efficiency.First,the boundary conditions are transformed into a set of nonlinear governing equations about the initial values,then bisection method is employed to solve these nonlinear equations with the aid of 4th order Runge-Kutta method.In common sense,non-uniform (sheared) current is assumed,which varies in magnitude and direction with depth.The schemes are validated through the DE Zoysa's example,then several numerical examples are also presented to illustrate the numerical schemes.
基金This work was financially supported by National Hi-Tech R&D Program of China (863 Program)( Grant No2006AA04Z127)New Century Excellent Talents (NCET) of Tianjin University,2005
文摘Towed cable systems are frequently used in marine measurements where the length of the towed cable varies during launch and recovery. In this paper a novel method for modeling variable length cable systems is introduced based on the finite segment formulation. The variable length of the towed cable is described by changing the length of the segment near the towing point and by increasing or decreasing the number of the discrete segments of the cable. In this way, the elastic effects of the cable can be easily handled since geometry and material properties of each segment are kept constant. Experimental results show that the dynamic behavior of the towed cable is consistent between the model and the physical cable. Results show that the model provides numerical efficiency and simulation accuracy for the variable length towed system.
文摘A numerical approach was developed to analyze the transient behavior of towed cable during ac- tively controlled deployment/retrieval (DR).The cable motion is described by the lumped parameter method, its corresponding boundary conditions are presented.In view of its varying length during DR,two auxiliary arguments are introduced to describe its continuous varying length and discrete number of nodes(equations), the length is determined by the pay out(or reel-in) rate,which is then used to determine the node number by a logic relation.For the discrete mathematical model of towed cable,an algorithm was developed to deal with the discrete governing equations.The simulation results indicate that the cable experiences more com- plex motions due to its varying length,and tension fluctuates seriously in the startup and ending stage of deployment/retrieval.The effect of towing ship's motion in waves on cable during deployment/retrieval is also considered via numerical simulation.
基金Project supported by the National Defense Basic Science Research Program,China(Grant No.JCKY2016607C009)the Youth Innovation Promotion Association of the Chinese Academy of Sciences(Grant No.2018025)。
文摘In the towed line array sonar system,the tow ship noise is the main factor that affects the sonar performance.Conventional noise cancelling methods assume that the noise is towards the endfire direction of the array.An acoustic experiment employing a towed line array is conducted in the western Pacific Ocean,and a strange bearing-splitting phenomenon of the tow ship noise is observed in the array.The tow ship noise is split into multiple noise signals whose bearings are distributed between 10°and 90°deviating from the endfire direction.The multiple interferences increase the difficulty in recognizing the target for the sonar operator and noise cancellation.Therefore,making the mechanism clear and putting forward the tow ship noise splitting bearing estimation method are imperative.In this paper,the acoustic multi-path structure of the tow ship in deep water is analyzed.Then it is pointed out that the bearing-splitting phenomenon is caused by the main lobe of direct rays and bottom-reflected rays,as well as several side lobes of direct rays.Meanwhile,the indistinguishability between the elevation angle and the bearing angle due to the axial symmetry of a strict horizontal line array causes the bearing to deviate from the endfire direction.Based on the theory above,a method of estimating bearing of the tow ship noise in deep water is proposed.The theoretical analysis results accord with the experimental results,which helps to identify the target and provide correct initial bearing guidance for noise cancelation methods.
文摘In this paper, the dynamic response of undersea -+towed systems is numerically simulated. A two body towed system is especially considered in detail. The factors influencing the heave of towed-bodies, such as the weight of the towed-body (in sea water), the length and the weight (in sea water) per unit length of the cable between towed-bodies and towing ship, are investigated in detail. Calculations show that the two-body towed system can greatly increases the stability of the towed system.
基金support of the National Natural Science Foundation of China (No.51875540)。
文摘Mobile observation platforms are widely used in oceanographic and marine resource exploration and other applications. Wave Glider is a mobile platform that can transform wave energy into locomotion power and overcome the bottleneck of low energy supply. Wave Glider has recently been applied to tow underwater sensors fulfilling observation tasks. In this paper, the dynamic system of Wave Glider with a towed body is studied by applying multibody mechanics, and the relevant motion conditions of the system are investigated. Dynamic models of Wave Glider with a towed body and tether are first developed individually and then integrated into a whole model. The numerical method is used to obtain the dynamic responses and assess performance of the towed body pulled by the submerged glider of Wave Glider. The effects of sea state, mass of the towed body, and length of the towed cable are investigated on the basis of simulation results. This work can be used for the design and analysis of Wave Glider-towed body systems.
基金National Key Research and Development Plan Project(No.2020YFB2010800)National Natural Science Foundation of China(Nos.61971307,61905175,51775377)。
文摘The small autonomous platform with a thin line array is an important tool for underwater acoustic mobile surveillance.Generally,only one-dimensional(1-D)direction-of-arrival(DOA)of the source signal can be estimated using a thin towed line array.In this work,the two-dimensional(2-D)DOA estimation is achieved by the thin line array towed by a small autonomous platform due to its flexible maneuver.Two perpendicular tow paths are formed through the fast turning of this array.An L-shaped array is formed by the same towed array on these two tow paths at different times.Using the array on these two straight paths,two 1-D DOAs of the source signal are obtained respectively,and then the 2-D DOA based on the formed L-shaped array can be estimated.The effectiveness of proposed approach is verified by numerical simulations and its theoretical error is analyzed.
基金the National Natural Science Foundation of China(No.51079083)
文摘The horizontal vibration of towed seismic streamers is a main reason for effciency reduction of the seismic survey and tail tangling.A vibration suppression scheme of towed seismic streamers is investigated in this paper.The towed seismic streamer is divided into two spans,a controlled span,i.e.,the low tension span, and an uncontrolled span,i.e.,the high tension span,by a bird.The system model includes a hyperbolic partial differential equation with variable coeffcient describing the towed seismic streamers,and an ordinary differential equation describing the dynamic of bird.Robust based-model knowledge and adaptive controllers,based on the Lyapunov method,are designed to isolate the vibration of towed seismic streamers caused by the course deviations of towing vessel,the variations of towing vessel velocity and the variations of towed seismic streamer density.The robust based-model knowledge and adaptive controllers exponentially and asymptotically drive the span-towed seismic streamer displacement to zero,respectively.A finite difference scheme is used to validate the effciency of the control law.The proposed controller can isolate effectively the disturbance originated from the towed vessel, and can provide the improved damping but not sacrifice the isolation performance.The adaptive scheme can tolerate the lack of knowledge of some uncertain parameters and can directly execute the online adjustment of the parameters.Meanwhile,the proposed control law is robust and can resist the model uncertainty due to parameter incertitude,model error and unknown disturbance and so on.The control law only includes velocity and slope,while it does not need the displacement which is diffcult to measure in the practical operations.Thus it is easy to implement.
基金Supported by the Key Projects of Golden Waterway Transit Capacity Improving Technologies(201132822430)
文摘The safety limitation of large new-built seagoing ves- sel design and operation is investigated to ensure safety of the new vessels towed through bridge area. We analyze the maneuverabil- ity characteristics of a towing fleet, and develop a mathematical drift model of ship motion for the fleet. Based on this drift model and the hydro-meteorological conditions in bridge area, we pro- pose a method to systematically ascertain the safety limitations of water stages, current, wind, speed and visibility. This method is conducive to the safety of both navigation and bridges when large towing fleets transit through bridges.
文摘Based on the fundamental equation of flexible cable dynamics for a towed system, an easily solved mathematical model is set up in this paper by means of appropriate simplification. Several regular patterns of spatial motion of towed flexible cables in water are obtained through numerical simulation with the finite difference method, and then modification and verification by trial results at sea. A technical support is provided for the towing ship to maneuver properly when a flexible cable is towed. Furthermore, the relations between two towed flexible cables, which are towed simultaneously by a ship, are investigated. The results show that the ship towing two flexible cables is safe under the suggested arrangement of two winches for the towing system, and the coiling/uncoiling sequences of the cables as well as the suggested way of maneuvering.
基金supported by the National Natural Science Foundation of China(Grant No.52071215)ponsored by the Oceanic Interdisciplinary Program of Shanghai Jiao Tong University(project number SL2022MS003).
文摘The key to achieving the optimal design of towed cables,maintaining numerical simulation accuracy,and achieving precise control of the towed body lies in sensitivity analysis.However,the traditional global sensitivity analysis method presents challenges such as high calculation costs and low accuracy.To ad-dress these issues,this paper introduces polynomial chaos expansion(PCE)to quantitatively analyze the impact of uncertainties in physical and environmental parameters on the position and attitude of the towed cable.Latin hypercube sampling is employed to obtain sample sets of input parameters,and these samples are applied to the lumped mass method to calculate the end position coordinates of the towed cable,which serves as the output response.PCE is utilized to quantitatively compute the Sobol global sensitivity index of the towed cable parameters.The accuracy of the PCE model is verified,and the op-timal degree of basis functions is selected using the bias-variance trade-off.The advantages of PCE are demonstrated by comparing it with the Monte Carlo and Morris methods.The results indicate that PCE accurately calculates the global sensitivity index of towed cable parameters even with a limited sample size.Under the condition of a fixed cable length,the position and attitude of the towed cable are sensi-tive to the current rate,liquid density,cable diameter,normal drag coefficient,and specific gravity.The feasibility and efficiency of PCE applied to the sensitivity analysis of towed cable parameters is verified,and recommendations for the engineering application of towed cables are summarized.
基金Project supported by the Science Program of Ningbo City (Grant No. szxl1066)the Program for Changjiang Scholars and Innovative Research Programs in Higher Learning Institutions (Grant No. IRT0734)the National Natural Science Foundation of China (Grant Nos. 11272060 and10872098)
文摘Three-dimensional motion equations with consideration of the bending and torsional effects of a marine towed cable system under large elastic deformation conditions are formulated using the lumped parameter model. The lumped mass model is used to simulate a circular maneuver of a towed horizontal array that was first presented by Ablow. The results of this paper are in a good agreement with those obtained by finite difference schemes, and the minimum depth is closer to the experimental result. Although the calculations take more computation time, the lumped mass model is a good method, which can also be used to solve problems of towed line array, especially multi-branched towed line array, because of its flexibility.
文摘Discrete noise source suppression in underwa-ter acoustic channel has attracted great attention in recent years. The paper proposes a new principle for dealing with the problem. This new principle is called matched field noise suppression (MFNS). Based on a previous work of the au-thors group, a full understanding about how a discrete noise source shows effects on the performance of a towed hydro-phone line array has been obtained. In light of that finding, MFNS is proposed, which explores and utilizes the charac-teristics of the noise transmission channel to achieve much greater suppression of the noise in comparison with existing approaches. MFNS combines the concept of matched field processing (MFP) and optimal sensor array processing (OSAP) together to suppress the discrete noise source and to maintain an optimal beam for receiving far-field wanted plane wave signals. A MFNS beam-former is deduced in constraint with signal plane-wave response being unit and noise matched field response being zero. A closed-form solution of the weight vec-tor for the beam-former is given. Computer simulation results agree well to the theoretical analysis.
文摘The receiving response of towed line array to the noise radiated from the tow ship is investigated through normal mode modeling and computer simulation. The phenomenon that the maximum output of the towed line array is away from the endfire direction towards the tow ship is explained. The result is important for the understanding of the phenomenon and also for the application research concerning the suppression of the noise from the tow ship as well as adequate application of towed array techniques in shallow water.
基金Project supported by the Hydrodynamic Research Foundation (Grant No. 40104050202).
文摘In this article, a new acoustic test technique using towed model was introduced to study flow noise caused by a surface ship. The project of model test was be properly designed for acoustic signal collecting and with the help of appropriate data processing method different kinds of acoustic sources could be successfully identified. A lot of work about fuid noise could be carried on with the towed model, and the noise corresponding to low frequency which is especially interested for its long distance radiating with small attenuation could also be studied in this way.
