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完整後設資料紀錄
DC 欄位 | 值 | 語言 |
---|---|---|
dc.contributor.advisor | 郭振華(J.Guo) | |
dc.contributor.author | Li-Yuan Zhang | en |
dc.contributor.author | 張理源 | zh_TW |
dc.date.accessioned | 2021-06-08T03:27:05Z | - |
dc.date.copyright | 2020-01-14 | |
dc.date.issued | 2020 | |
dc.date.submitted | 2020-01-09 | |
dc.identifier.citation | W. Munk, and C. Wunsch. 'Ocean acoustic tomography: A scheme for large scale monitoring.' Deep Sea Research, vol. 26A, pp. 123-161, February 1979.
C.-F. Huang, Y.-W. Li, and N. Taniguchi, 'Mapping of ocean currents in shallow water using moving ship acoustic tomography.' The Journal of the Acoustical Society of America, vol. 145, pp. 858-868, February 2019. B. L. Lipphardt, A. D. Kirwan, C. E. Grosch, J. K. Lewis and J. D. Paduan, 'Blending HF radar and model velocities in Monterey Bay through normal mode analysis.' Journal of Geophysical Research, vol. 105, No. C2, pp.3425-3450, February 2000. F. Lekien, C. Coulliette, R. Bank and J. Marsden, 'Open‐boundary modal analysis: Interpolation, extrapolation, and filtering.' Journal of Geophysical Research, vol. 109, C12004, December 2004. D. M. Kaplan and F. Lekien, 'Spatial interpolation and filtering of surface current data based on open‐boundary modal analysis.' Journal of Geophysical Research, vol. 112, No. 1, C12007, December 2007. J.S. Willcox, J.G. Bellingham, Y. Zhang and A.B. Baggeroer, ' Performance metrics for oceanographic surveys with autonomous underwater vehicles' IEEE Journal of Ocean Engineering, vol.26, pp. 711, 2001. J. S. Willcox, “Oceanographic surveys with autonomous underwater vehicles: Performance metrics and survey design,” master’s thesis, Massachusetts Institute of Technology, Feb 1998 P.R. Eiseman and A. P. Stone, 'Hodge decomposition theorem.' Notice of the American Mathematical Society, Vol. 20, pp. A169-A169, 1973. D. M. Kaplan, 'OpenMA Matlab Toolbox. ', November 2007 https://websites.pmc.ucsc.edu/~dmk/software/openMA/ R. C. Aster, B. Borchers, and C. H. Thurber, Parameter estimation and inverse problems. Elsevier, June 2003 C. Wunsch. Discrete inverse and state estimation problems: with geophysical fluid applications. London: Cambridge University Press, 2006. 'Moving vehicles tomography I,' class notes for Ocean 5061, Institute of Oceanography, National Taiwan University, Spring 2018. 'Moving vehicles tomography II,' class notes for Ocean 5061, Institute of Oceanography, National Taiwan University, Spring 2018. J.K. Lewis, J. Rudzinsky , S. Rajan, P.J. Stein, A. Vandiver, and The KauaiEx Group, 'Model-oriented ocean tomography using higher frequency, bottom-mounted hydrophones.' The Journal of the Acoustical Society of America, vol. 117, pp. 3539-3554, February 2005. F.A. Graybill and R.B. Deal, 'Combining unbiased estimators.' Biometrics, vol. 15, No 4, pp. 543-550, December 1959. ' Introduction of data assimilation,' class notes for AtmSci7056, Institute of Oceanography, National Taiwan University, Spring 2015. 'SHIP MANEUVERING AND CONTROL,' class notes for SYS 7507, Systems and Naval Mechatronic Engineering, National Cheng Kung University, Spring 2018. Motora, S, 'On the measurement of added mass and added moment of inertia for ship motions.' Journal of Zosen Kiokai , 1959.105, pp: 83-92 ,May 1959. Motora, S, 'On the measurement of added mass and added moment of inertia for ship motions.' Journal of Zosen Kiokai , 1960.107, pp: 83-89 ,May 1960. Y. J. Chan, 'Observability Analysis of Autonomous Underwater Vehicles Using Range and Range-Rate Measurements.' M.S. thesis, National Taiwan University, October 2018. Y. Xu and J. Choi, 'Adaptive Sampling for Learning Gaussian Processes Using Mobile Sensor Networks.' Sensors, vol.11, No 3, pp. 3051-3066, March 2011. | |
dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/21107 | - |
dc.description.abstract | 本研究利用多載具進行海灣內的流速量測,透過比較兩種感測器估算得到的模型誤差作為根據,進而探討自主水面載具編隊於望海巷灣的建圖成效。在本文中,流速的觀測手段,可藉由常見的船載式聲學都卜勒流速剖面儀(Acoustic Doppler Current Profilers , ADCP)對量測點進行精準的流速測量或者藉由海洋聲學層析成像(Ocean acoustic tomography , OAT)遙測海洋內部的大面積區域。藉由開放邊界模態分析可以建立僅具備幾何條件的流場模態,並以對流場模態係數的估算得以適當的內插與過濾流場。基於開放邊界模態分析作為觀測模型,透過卡爾曼濾波器將單點流速量測的模型與面域內部流速遙測的模型進行狀態更新,更新後的地圖可得到更低不確定性的地圖,藉由2017年於基隆望海巷海域,以一編組隊伍配備有一台ADCP與聲學層析儀所搜集之實驗數據進行分析,融合由該次資料估算的流場模型作為模擬所需的流場,在考量載具的耗能下設計載具的航行模擬,並以相同的條件比較望海巷灣內點量測與線量測之差別。由結果可以得到線量測具有比點量測更小的誤差。 | zh_TW |
dc.description.abstract | This study investigates measurement of the current field in the bay using multi-vehicles in a formation. Observations of the current can be performed by the point measurement with the shipboard Acoustic Doppler Current Profilers (ADCP) or remote-sensing a velocity field by Ocean Acoustic Tomography (OAT). Open-boundary modal analysis (OMA) is employed to establish a set of modes constrained by geometric profiles of the bay, and the currents field can be interpolated and filtered by the estimated mode coefficients. Based on OMA as the observation matrix, an optimal state estimator is used to fuse the status of the ADCP and the OAT estimations. The updated map is a map with lower uncertainty. Based on the analysis of experimental data collected using an ADCP and OAT in WangHiXiang Bay in 2017, the current model estimated from the experimental data was used as a ground truth for the comparison of estimation error produced by the ADCP and OAT. Considering the energy consumption, and observation time, a fleet of autonomous surface vehicle (ASVs) that carries OAT will result in less estimation error in current measurements compared to the fleet that carries ADCP. | en |
dc.description.provenance | Made available in DSpace on 2021-06-08T03:27:05Z (GMT). No. of bitstreams: 1 ntu-109-R06525010-1.pdf: 2731274 bytes, checksum: 591cbd5055e6316fd939e15b2449de09 (MD5) Previous issue date: 2020 | en |
dc.description.tableofcontents | 誌謝 i
摘要 ii ABSTRACT iii CONTENTS iv LIST OF FIGURES vii LIST OF TABLES xi LIST OF SYMBOLS xii Chapter 1 Introduction 1 1.1 Motivation 1 1.2 Literature Review 2 1.3 Thesis Organization 4 Chapter 2 Open-boundary Modal Analysis 6 2.1 Parameter Inside the Domain 6 2.2 Boundary Conditions 8 2.3 Interior Modes 11 2.4 Boundary Modes 12 2.5 Complete Basis 14 2.6 Application to WangHiXiang Bay 14 Chapter 3 Current mapping using ADCP and OAT 24 3.1 Environment Sensing 24 3.2 ADCP Parameter Estimation 25 3.2.1 Point Velocity Fitting 25 3.2.2 Spatially Inhomogeneous Data: Data Gaps 27 3.3 Tomography Parameter Estimation 30 3.3.1 Acoustic Tomographic Basic Equations 30 3.3.2 Doppler Compensation of Relative Motion 32 3.3.3 Observation matrix of Ocean Acoustic Tomography 34 3.4 Extrapolation, Interpolation, and Filtering 37 Chapter 4 Oceanographic Survey and Error Analysis 43 4.1 Data Fusion 43 4.2 Survey Path Simulation 46 4.3 Survey Energy Consumption 47 4.4 Spatial Survey Error Simulation 54 4.5 Application 57 Chapter 5 Conclusions 60 5.1 Conclusions 60 5.2 Suggestions for Future Work 61 REFERENCE 62 Appendix: ASV Design 65 A. Architecture of ASV 65 B. Navigation Method 73 | |
dc.language.iso | zh-TW | |
dc.title | 自主式無人水面船隊觀測海灣流場之點量測與積分量測估測誤差比較研究 | zh_TW |
dc.title | Comparison of Bay Current Estimations using Point and Integral Measurements Surveyed with a Fleet of Autonomous Surface Vehicles | en |
dc.type | Thesis | |
dc.date.schoolyear | 108-1 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 黃千芬(C.-F. Huang),丁肇隆(C. L. Ting),黃盛煒(S.W. Huang) | |
dc.subject.keyword | 開放邊界模態分析,水聲層析法,海流建圖,狀態更新,無人船舶,誤差分析, | zh_TW |
dc.subject.keyword | open-boundary modal analysis,ocean acoustic tomography,current mapping,state update,autonomous surface vehicle,error analysis, | en |
dc.relation.page | 75 | |
dc.identifier.doi | 10.6342/NTU202000068 | |
dc.rights.note | 未授權 | |
dc.date.accepted | 2020-01-10 | |
dc.contributor.author-college | 工學院 | zh_TW |
dc.contributor.author-dept | 工程科學及海洋工程學研究所 | zh_TW |
顯示於系所單位: | 工程科學及海洋工程學系 |
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