For the first time in the world, underwater acoustic transmission of images, human voice, data and texts between vehicle under 7000 m depth and surface ship was accomplished by underwater acoustic communication system...For the first time in the world, underwater acoustic transmission of images, human voice, data and texts between vehicle under 7000 m depth and surface ship was accomplished by underwater acoustic communication system of manned deep submersible Jiaolong＇. In this paper, signal processing in underwater acoustic communication system for manned deep submersible ＂Jiaolong＂ is introduced. （1） Four communication methods are integrated to meet different needs： 1） coherent underwater acoustic communication, with a variable transmission rate from 5 kbps to 15 kbps, to transmit images. 2） Non-coherent underwater acoustic com- munication, with a transmission rate 300 bps, to transmit texts, instructions, and sensor data. 3） Spread spectrum underwater acoustic communication, with a transmission rate 16 bps, to transmit instructions. 4） Underwater voice communication, using single sideband modulation to transmit hmnan voice. （2） Signal processing method in coherent communication mainly consists of concatenation of decision feedback equalizer and Turbo decoder, and wavelet based image compression with fixed length coding. In the equalizer, Doppler compensation, multi- channel combining and equalizer coefficients updating are all using fast self-optimized adaptive algorithm. （3） A linear hydrophone array is lowered from the mother ship to certain depth, and spatial diversity combining technology is adopted. （4） Diving trials of ＂Jiaolong＂ were carried out in Pacific Ocean. The communication range can cover nearly all ocean depth. One optical/acoustic image can be transmitted in 7 or 14 seconds.展开更多
The complicated topographies of the deep sea pose significant challenges for the core drilling with the Jiaolong submersible manipulator.To address this problem,we proposed a core-drilling kinematic model and evaluate...The complicated topographies of the deep sea pose significant challenges for the core drilling with the Jiaolong submersible manipulator.To address this problem,we proposed a core-drilling kinematic model and evaluated the core-drilling behavior of the submersible manipulator by comprehensively considering the uncertain posture of the Jiaolong submersible.First,we established a forward kinematic model for the core-drilling task in deep sea,which satisfied the requirement of gravitational-direction core drilling.Based on the forward kinematic equations,we then built a double-redundancy inverse kinematic model,which was able to determine the required motion trajectories of six active joints according to the desired core-drilling trajectory.The core-drilling workspaces and the motions of the Jiaolong submersible manipulator were assessed with several calculation examples.The established forward and inverse kinematic models are constructed with clear analytic equations,and thus are directly applicable to the Jiaolong submersible manipulator-based core-drilling task.展开更多
Methane(CH_(4) )and dimethylsulphoniopropionate(DMSP)are major carbon and sulfur sources for bacterioplankton in the ocean.We investigated the characteristics of CH_(4) and DMSP in the southern Yap Trench from sea sur...Methane(CH_(4) )and dimethylsulphoniopropionate(DMSP)are major carbon and sulfur sources for bacterioplankton in the ocean.We investigated the characteristics of CH_(4) and DMSP in the southern Yap Trench from sea surface to hadal zone in June 2017.We found that concentrations of CH_(4) varied from 1.5 to 4.5 nmol/L with saturation between 94% and 204% in the euphotic layer.Concentrations of dissolved DMSP(DMSPd)ranged from 0.5 to 3.7 nmol/L with higher values in surface water and decreased with depth.Concentrations of particulate DMSP(DMSPp)varied from 0 to 13.6 nmol/L.Concentrations of total DMSP(DMSPt)ranged 2.0-15.2 nmol/L.Their concentrations decreased slightly and reached consistent levels in 200-3000-m depth due probably to heterotrophic bacterial production in marine aphotic and high-pressure environments.An exception occurred around 4000-m depth where their concentrations increased considerably and then decreased in deeper water.This previously unrecognized phenomenon sheds light on the elevated concentrations of DMSP in the abyssal layer that might be affected by the Lower Circumpolar Deep Water(LCPW).Concentrations of CH_(4) in seawater of the Benthic Boundary Layer of the southern Yap Trench were slightly higher than those in the water column at approximate depth,and concentrations of DMSP in seawater of the Benthic Boundary Layer of the southern Yap Trench were not much higher than those in the water column at the approximate depth,indicating that sediment was a weak source of CH_(4) but was not a source of DMSP for seawater in the study area.This study presented clear correlations between CH_(4) and DMSP from sea surface to sea bottom,proving that DMSP might be a potential substrate for CH_(4) not only in oxic surface seawater but also in deep water.展开更多
基金supported by the Chinese National 863 Projects(2002AA401004,2009AA093301,2009AA093601)
文摘For the first time in the world, underwater acoustic transmission of images, human voice, data and texts between vehicle under 7000 m depth and surface ship was accomplished by underwater acoustic communication system of manned deep submersible Jiaolong＇. In this paper, signal processing in underwater acoustic communication system for manned deep submersible ＂Jiaolong＂ is introduced. （1） Four communication methods are integrated to meet different needs： 1） coherent underwater acoustic communication, with a variable transmission rate from 5 kbps to 15 kbps, to transmit images. 2） Non-coherent underwater acoustic com- munication, with a transmission rate 300 bps, to transmit texts, instructions, and sensor data. 3） Spread spectrum underwater acoustic communication, with a transmission rate 16 bps, to transmit instructions. 4） Underwater voice communication, using single sideband modulation to transmit hmnan voice. （2） Signal processing method in coherent communication mainly consists of concatenation of decision feedback equalizer and Turbo decoder, and wavelet based image compression with fixed length coding. In the equalizer, Doppler compensation, multi- channel combining and equalizer coefficients updating are all using fast self-optimized adaptive algorithm. （3） A linear hydrophone array is lowered from the mother ship to certain depth, and spatial diversity combining technology is adopted. （4） Diving trials of ＂Jiaolong＂ were carried out in Pacific Ocean. The communication range can cover nearly all ocean depth. One optical/acoustic image can be transmitted in 7 or 14 seconds.
基金the National Natural Science Foundation of China(No.52175018)the Key R&D Program of Shandong Province(Major Scientific and Technological Innovation Project)(No.2019JZZY010802),China.
文摘The complicated topographies of the deep sea pose significant challenges for the core drilling with the Jiaolong submersible manipulator.To address this problem,we proposed a core-drilling kinematic model and evaluated the core-drilling behavior of the submersible manipulator by comprehensively considering the uncertain posture of the Jiaolong submersible.First,we established a forward kinematic model for the core-drilling task in deep sea,which satisfied the requirement of gravitational-direction core drilling.Based on the forward kinematic equations,we then built a double-redundancy inverse kinematic model,which was able to determine the required motion trajectories of six active joints according to the desired core-drilling trajectory.The core-drilling workspaces and the motions of the Jiaolong submersible manipulator were assessed with several calculation examples.The established forward and inverse kinematic models are constructed with clear analytic equations,and thus are directly applicable to the Jiaolong submersible manipulator-based core-drilling task.
基金Supported by the National Key Research and Development Program of China(No.2022YFC2803803)the National Natural Science Foundation of China(No.42076040)+1 种基金the National Basic Research Program of China(973 Program)(No.2015CB755904)the 111 Project(No.B13030)。
文摘Methane(CH_(4) )and dimethylsulphoniopropionate(DMSP)are major carbon and sulfur sources for bacterioplankton in the ocean.We investigated the characteristics of CH_(4) and DMSP in the southern Yap Trench from sea surface to hadal zone in June 2017.We found that concentrations of CH_(4) varied from 1.5 to 4.5 nmol/L with saturation between 94% and 204% in the euphotic layer.Concentrations of dissolved DMSP(DMSPd)ranged from 0.5 to 3.7 nmol/L with higher values in surface water and decreased with depth.Concentrations of particulate DMSP(DMSPp)varied from 0 to 13.6 nmol/L.Concentrations of total DMSP(DMSPt)ranged 2.0-15.2 nmol/L.Their concentrations decreased slightly and reached consistent levels in 200-3000-m depth due probably to heterotrophic bacterial production in marine aphotic and high-pressure environments.An exception occurred around 4000-m depth where their concentrations increased considerably and then decreased in deeper water.This previously unrecognized phenomenon sheds light on the elevated concentrations of DMSP in the abyssal layer that might be affected by the Lower Circumpolar Deep Water(LCPW).Concentrations of CH_(4) in seawater of the Benthic Boundary Layer of the southern Yap Trench were slightly higher than those in the water column at approximate depth,and concentrations of DMSP in seawater of the Benthic Boundary Layer of the southern Yap Trench were not much higher than those in the water column at the approximate depth,indicating that sediment was a weak source of CH_(4) but was not a source of DMSP for seawater in the study area.This study presented clear correlations between CH_(4) and DMSP from sea surface to sea bottom,proving that DMSP might be a potential substrate for CH_(4) not only in oxic surface seawater but also in deep water.
