317 results about "Ocean environment" patented technology

This invention discloses a method and system for constructing an investment risk assessment index system. The method includes obtaining basic data for constructing the target index system through relevant literature retrieval in a literature database; identifying investment risk factors by using a risk factor identification model to perform routine project risk factor identification on the basic data; mining risk factors for offshore photovoltaic power generation projects based on preset criteria and marine characteristic data; and determining investment risk assessment indicators based on the investment risk factors and the offshore photovoltaic power generation project risk factors. This invention can consider the characteristics of photovoltaic power generation projects and the features of the marine environment, and construct a scientific, systematic, applicable, and comprehensive investment risk assessment index system for offshore photovoltaic power generation projects according to principles.

The application discloses a marine buoy multi-source fusion positioning method and system based on a factor graph optimization, which acquires GNSS observation data, IMU measurement data and marine environment auxiliary data; a factor graph containing state nodes, GNSS position factors, IMU pre-integration factors and marine dynamics constraint factors is constructed, and wave and current theories are used to constrain buoy movement; in view of multipath effects, marine surface reflection geometry and marine root mean square wave height are combined to calculate a multipath weighting factor, and a GNSS covariance matrix is adaptively adjusted; according to IMU data, a sea state level is discriminated, and an edge window length and a trigger interval of incremental smoothing solving are adaptively linked and adjusted; through adjacent buoy ranging information, collaborative constraints are constructed, and based on Mahalanobis distance and chi-square distribution threshold value detection, abnormalities are detected and local reconstruction is performed. The application effectively suppresses marine surface multipath interference, slows down the accumulation of calculation errors during signal interruption, and realizes high-availability continuous positioning under limited computing power.

The application belongs to the technical field of marine environment monitoring and early warning, and specifically relates to a multi-channel internal wave flow early warning system and an early warning measurement method, which comprises the following steps: a buoy body is fixedly arranged through a fixed anchor, and a marine profile comprehensive detection module synchronously collects multi-dimensional profile data such as flow velocity, temperature and salinity. A main control unit is embedded with a mixed driving early warning model, a phase velocity of an internal wave is solved based on a physical model, a nonlinear correction is performed through a machine learning residual correction module, a high-precision internal wave phase velocity is obtained, and then early warning time, shear flow and displacement amplitude are calculated and an alarm level is determined. Alarm information is redundantly sent to a shore station receiving system through a ground mobile communication link and a satellite communication link of a multi-channel communication module, and the shore station receiving system regularly updates the machine learning model by taking measured data as incremental samples. The application realizes high-precision and low-delay early warning of internal wave flow, has high communication reliability, and is suitable for marine engineering, underwater vehicles and safety guarantee of offshore operations.

The present application provides a kind of marine aquaculture risk prediction method based on marine multi-source observation data, belong to marine aquaculture risk technical field, the present application is reconstructed three-dimensional marine environment field by sparse bayesian field reconstruction algorithm based on the constraint of ocean dynamics, then the risk benchmark distribution of long historical observation aquaculture area is migrated along the manifold coordinate to new aquaculture area by marine risk field manifold alignment migration algorithm, and the physical correction is carried out to bottom shape data and tidal harmonic constant, the risk index uncertainty interval is obtained by non-stationary generalized extreme value distribution combined with bayesian markov chain monte carlo sampling, drive physical constraint artificial intelligence to complete local high-resolution field reconstruction, according to the comparison result of risk index and early warning threshold, corresponding early warning level is triggered, finally form marine aquaculture insurance risk index product, solve the technical problem that new aquaculture area cannot establish reliable risk benchmark distribution due to lack of long-term historical observation data.

The embodiment of the application provides a marine environment field reconstruction method based on a multi-stage interpolation method. The method is used for multi-source data fusion of low-resolution grid environment field output by a marine dynamic model and high-precision data observed by a mobile node, and a high-resolution and high-precision marine environment field is obtained through multi-stage interpolation reconstruction. The multi-source data fusion is always carried out in a uniform grid, first, the mobile node observation data is fused into the low-resolution grid field output by the marine dynamic model through a mean substitution method to obtain a fused grid field. Then, a radial basis function (RBF) grid interpolation model is constructed to extract grid features, and the fused grid field is expanded and the grid interpolation model is used to fill in the grid attribute values to obtain an expanded grid field. Finally, the foregoing steps are repeated, and the high-resolution reconstruction of the marine environment field is completed through multi-stage iteration. The application has potential application value in improving the resolution and precision of the environment field in the multi-source environment field data fusion scene in the marine information field.

The application discloses an underwater unmanned submarine environmental noise sensing method and system, and the method comprises the following steps: A, using an underwater unmanned submarine to preprocess marine environmental noise acoustic data; B, performing marine environmental noise probability density function (PDF) fitting calculation; C, performing PDF calculation of different distribution models; D, calculating the fitting parameters of the plurality of different models, and outputting the fitting results. According to the application, the probability density function (PDF) fitting of the complex marine environmental noise and the fitting of various distribution models can be performed, the distribution type of the marine environmental noise can be judged, and the robustness of the sensing marine environmental noise characteristics can be improved.

This invention discloses a method and system for monitoring and assessing the marine aquaculture environment using IoT big data. The method includes: collecting multi-dimensional environmental parameters such as dissolved oxygen, nitrogen and phosphorus nutrients, and pH value through IoT sensing devices; performing parallel reception and status verification through a high-concurrency marine environmental data processing platform; using a multi-dimensional time-series data adaptive clustering algorithm to perform time-series segmentation and similarity clustering of the parameters; quantitatively assessing water quality status based on the clustering results using a eutrophication assessment model; and then dynamically predicting stress intensity and duration using an environmental stress response prediction model, combined with parameters adapted to the growth cycle of aquaculture organisms. The platform integrates the assessment and prediction results to generate a structured report including parameter change trajectories, level indicators, and predicted trend curves, achieving precise monitoring and assessment of the marine aquaculture environment throughout the entire process, providing reliable technical support for aquaculture environment regulation.

The application discloses a kind of light-assisted anticorrosion coating materials and preparation method based on metal coordination structure, the light-assisted anticorrosion coating material is on the basis of traditional anticorrosion metal zinc layer continue to be coordinated with the metal coordination polymer Co (bpy) (dhbq) (bq) with photoelectric conversion capability, and form coordination complex Co (bpy) (dhbq) (bq) @Zn.Because metal coordination polymer Co (bpy) (dhbq) (bq) itself can additionally generate photo-generated electron and photo-generated current after being illuminated, provide redundant charge for Zn layer, make it be in lower potential, strengthen the function of cathodic protection.Corrosion can be inhibited through this mechanism, prolong the service life of Zn layer, provide efficient, green anticorrosion protection for the steel material that needs to be protected.In addition, metal coordination light-assisted anticorrosion technology can also inhibit marine bioattachment by slowly releasing metal ions Co, prevent biofilm formation, reduce microbial growth, prolong the service life of protected material in marine environment, also applicable to underwater bioinduced corrosion and the protection of fouling metal structure.

The application belongs to the technical field of marine environment expansion, and discloses a shipborne radar sea wave perception domain expansion method and system based on deep learning, which constructs a sea wave perception domain step-by-step expansion model, uses a sea wave perception domain expansion submodule to realize spatial feature modeling and limited range expansion of local observation data, and gradually deduces larger range sea wave field information through a step-by-step expansion and residual connection mode; meanwhile, a sea wave continuity constraint mechanism is introduced to apply continuity constraints at the junction of the expanded sea area and the original observation sea area, so that the overall wave field can maintain high accuracy and spatial continuity in a large range. Through the shipborne radar sea wave perception domain expansion method based on deep learning, the real-time perception ability of the shipborne radar to a large range of sea areas in the local environment can be significantly improved, the independent operation of the ship in the marine environment is supported, and the real-time sea wave perception ability of the ship navigation safety and the marine engineering application is significantly improved.

The present application belongs to the field of marine environment monitoring and signal processing technology, and relates to a real-time processing method for data denoising and time lag correction of a marine dissolved gas sensor, which comprises: identifying a steady-state interval of historical observation data of the sensor, fitting a steady-state jump with a Sigmoid function to generate a virtual true value of gas concentration; constructing a neural network model with observation data as input and a preliminary correction value of gas concentration as output, training the model with historical observation data as input and the virtual true value of gas concentration as a training target; using a sliding window mechanism to intercept observation data segments of the current and historical time of the sensor, inputting the data segments into the model to output a preliminary correction value of gas concentration at the current time; and using a logic state machine for post-processing to obtain a final correction value of gas concentration at the current time. The present application can provide the sensor with real-time compensation functions that take into account high dynamic response and zero steady-state drift, thereby realizing in-situ acquisition and real-time return of high-precision observation data.

The invention relates to a marine bacteria diversity fluorescence detection system, which comprises a bearing substrate, a fluorescence detection device, a light transmission protection cover and a light shielding protection cover, wherein at least one fluorescence detection device is embedded on the outer surface of the bearing substrate and is slidably connected to the outer surface of the bearing substrate through a sliding rail, the sliding rail circles the axial line of the bearing substrate to form a closed ring-like structure, the bearing substrate outer surface corresponding to the fluorescence detection device is provided with a layer of the light transmission protection cover and a layer of the light shielding protection cover, at least two separation plates are arranged in the bearing substrate, the bearing substrate is sequentially divided into a control cavity, a detection cavity and a power cavity from front to rear by the separation plates, and the fluorescence detectiondevice is positioned in the detection cavity. According to the present invention, the marine bacteria diversity fluorescence detection system can effectively meet the on-site continuous fluorescencedetection of marine bacteria in different marine environments, and further has advantages of simple equipment structure, low use cost, low maintenance cost, convenient transportation and carrying, andhigh automation operation degree.

This utility model discloses an adjustable and replaceable device for reducing vibration of rotating equipment in marine environments, comprising: an outer pipe, a main shaft, and a bearing bracket. The outer pipe is coaxially arranged with the main shaft, and the bearing bracket is sleeved on the outside of the main shaft. An annular groove is provided on the inner wall of the outer pipe at a position corresponding to that of the bearing bracket. A positioning ring is detachably installed in the annular groove. An outer ring is provided on the outer edge of the bearing bracket, and the outer ring cooperates with the positioning ring. The positioning ring reduces the fitting gap, improves the overall stability of the bearing bracket and the outer pipe, and thus enhances the stability of the bearing and pump unit. It can reduce the vibration amplitude of the rotating equipment and improve the long-term safe and stable operation capability of the rotating equipment in marine environments. The addition of the 316L positioning ring simplifies on-site construction, and the positioning ring can be adjusted and replaced in a timely manner according to the subsequent vibration of the rotating equipment.

The utility model relates to ship fire fighting equipment technical field, concretely relates to a marine lifting deck fire -fighting nozzle, including base and telescopic cylinder, base is equipped with the accommodation hole, telescopic cylinder is limitedly installed in the accommodation hole and slides, the upper end of telescopic cylinder is sealed and is arranged, the lower end of telescopic cylinder is towards the water inlet end of accommodation hole, and the lateral wall of telescopic cylinder is opened and has the water jet opening, in the accommodation hole, under the condition of storage, the telescopic cylinder is kept in the accommodation hole by the spring in the base, under the condition of water jet, external water source overcomes the spring force and pushes the telescopic cylinder and slides, and the water jet opening removes to the outside of accommodation hole. The fire -fighting nozzle is especially suitable for the ship without stable power supply or the high corrosive marine environment. Effectively change the mode of traditional motor drive lifting and reduce the security risk. Simple design does not need external force intervention, and works by water pressure. Remove the nozzle design, change into the water jet opening of the side wall hole of telescopic cylinder, simplify the design structure, reduce the nozzle blockage risk, and reduce the maintenance cost.

The utility model discloses a kind of compressed air energy storage systems suitable for marine environment, it is related to compressed air energy storage technical field.It includes including n group compressor, n group heat exchanger, n group cooler and closed cooling water system, it is sequentially connected through heat exchanger and cooler between adjacent compressor, nth group compressor is sequentially connected with gas storage through nth group heat exchanger and nth group cooler;Cooler one end is connected with seawater condenser closed water inlet through cooler closed water outlet pipeline, the other end is connected with seawater condenser closed water outlet through cooler closed water inlet pipeline.The utility model uses seawater as cooling water source, water source is stable, conducive to system stable operation;Adopt seawater as cold source, inexhaustible, and seawater temperature fluctuation is small, it can be regarded as constant temperature within 1 energy storage period, conducive to seawater condenser temperature control.

The application relates to the technical field of marine environment monitoring, and discloses a marine environment multi-parameter monitoring buoy, which comprises a base, a CTD sensor arranged at the underwater position of the base and internally integrated with a wave sensor; a support, a wind direction and speed sensor, an air pressure sensor and an air temperature and humidity sensor being mounted at the top of the support; a photovoltaic panel angle adjusting module; a photovoltaic panel frame; a cleaning assembly; and a self-adaptive angle adjusting module. The longitudinal rotating scraper is separated from seawater after rotating, so that the long-term immersion of the scraper in seawater is avoided, the corrosion of the scraper is accelerated, meanwhile, the biological organisms such as barnacles in the seawater cannot be attached and grown on the surface of the scraper, and the service life of the scraper is prolonged. The space posture of the mounting disc is adjusted through the cooperation of the telescopic adjustment, the corresponding push rod is driven to independently extend and retract, the mounting disc always keeps a dynamic horizontal state when the buoy swings with waves, and the requirements of the meteorological observation specification on the wind direction and speed measurement accuracy are met.

This invention relates to the field of information security technology, specifically to a blockchain-based anti-tampering system for marine environmental data. The system includes a wave crest localization module, a waveform feature extraction module, a fingerprint generation module, a tag mapping module, and an on-chain storage module. In this invention, deep analysis of seawater multispectral light intensity waveform data is performed to extract wave crest curvature geometric indices and wavelength differences, constructing a set of morphological parameters. Component coupling weights are used to generate an on-chain fingerprint sequence reflecting the constraints of water quality components. Dynamic state tags are generated by mapping instantaneous flow velocity to tidal cycle flow velocity ranges. The fingerprint sequence and dynamic tags are encapsulated into blocks and subjected to fluid dynamic continuity verification. A distributed ledger consensus mechanism is used to lock the physical temporal relationship of the data, realizing a transformation from simple numerical recording to multi-dimensional logical verification of environmental characteristics, effectively avoiding the tampering risks associated with centralized storage.

The application belongs to the technical field of marine environmental protection and functional materials, and particularly relates to a marine oil stain adsorbing material based on a mussel bionic structure, a preparation method and a device, which comprises a porous base material, a polydopamine interface layer and a metal-polyphenol network; the porous base material has three-dimensionally connected pores; the polydopamine interface layer is formed on the surface and internal pores of the porous base material through self-oxidation polymerization of dopamine; and the metal-polyphenol network is formed by coordination of transition metal ions and plant polyphenols on the polydopamine interface layer. By constructing a PDA-metal-polyphenol ternary synergistic interface, efficient capture and firm combination of high-viscosity crude oil are realized, a hierarchical porous structure is induced to form through an ozone rapid polymerization method, and the adsorption kinetics and thermodynamic performance are comprehensively improved, and after saturation of the material, the material can be quickly recovered through an external magnetic field, and regeneration can be realized through pH adjustment or heating.

This invention discloses a method, device, computer equipment, and medium for pitch control of offshore wind turbine blades. The method includes: receiving pre-processed multi-source heterogeneous monitoring data transmitted from the offshore wind turbine end; the multi-source heterogeneous monitoring data is acquired through a high-frequency multi-dimensional monitoring network that integrates mechanical state and marine environmental characteristics; constructing a digital twin model by integrating physical mechanisms and data compensation; continuously purifying the multi-source heterogeneous monitoring data through a potential denoising autoencoder model and calibrating the digital twin model; establishing a multi-dimensional health assessment index system based on the digital twin model to calculate health assessment indicators for the health status of key components of the offshore wind turbine; calculating the safe operating boundary of the offshore wind turbine under the current health state based on the real-time health assessment results; and converting the dynamic safe operating boundary and real-time health state into pitch control commands for each blade. This invention can improve the safety and power generation economy of offshore wind turbines.

This invention discloses a photovoltaic (PV) and energy storage collaborative regulation and management platform and control method, belonging to the field of shipboard new energy storage regulation. It aims to solve the problems of poor adaptability, insufficient safety protection, and lagging regulation in shipboard PV-storage systems. The platform includes a shipboard PV-storage regulation parameter acquisition module, a PV-storage-fuel power collaborative scheduling module, and a marine environment early warning and regulation module. It collects multi-source data and associates it with spatiotemporal tags to construct a dataset and calculate core regulation parameters, predicting PV output trends. It quantifies marine environmental stress factors, couples equipment parameters to analyze failure probabilities, and provides graded early warnings. It executes a three-level scheduling based on "PV priority consumption – energy storage supplementation – fuel oil backup," linking risk levels to dynamically optimize strategies. This invention achieves precise matching of energy supply and demand, reduces the risk of equipment failure caused by the marine environment, ensures continuous power supply to core loads, improves PV consumption efficiency and system stability, and balances environmental protection and operational economy, making it suitable for various shipboard new energy power supply scenarios.

This application relates to the field of marine engineering technology and discloses a marine cofferdam anti-scour structure. The structure includes permanent support piles formed by modifying temporary cofferdam steel pipe piles; a riprap protection body constructed around the support piles; and a capping concrete layer poured on top of the riprap protection body. The riprap protection body is a differentiated structure. In scour hotspot areas calculated based on a hydrodynamic model, its upper riprap layer consists of a mixture of large-diameter boulders and a bio-induced matrix. The bio-induced matrix contains a slow-release marine microbial nutrient binder, which can induce biomineralization in the marine environment to cement loose boulders into a biomimetic reef body with self-healing capabilities. The construction method of this invention correspondingly includes hydrological optimization design and the formation of permanent support piles. This invention achieves precise protection against scour risks through the synergistic optimization of structure and construction method, improving the long-term stability and durability of the cofferdam foundation.

This invention belongs to the field of ship formation control technology, specifically relating to a neural network-based anti-interference control method for multi-ship formations at sea. It utilizes neural networks to approximate and compensate for uncertainties in the model, while simultaneously constructing a disturbance observer to achieve effective estimation of coupled marine environmental disturbances. To overcome the problem of traditional observers' dependence on accurate models, this method parameterizes the ship motion equations and disturbance terms to establish a canonical model of the disturbance, and uses a disturbance filter to achieve exponential convergence estimation of the disturbance state vector, thus transforming the disturbance suppression problem into an adaptive control problem. Furthermore, this method fully considers input quantization, effectively reducing propeller wear and communication burden by slowing down the rate of change of actuator output. Compared with existing technologies, the anti-interference formation control strategy proposed in this invention can achieve online estimation and suppression of unknown disturbances without relying on any prior model dynamics knowledge.

This invention provides a multimodal fusion-based method for correlation analysis of deep-sea environmental data outside the Yangtze River Estuary, belonging to the field of deep-sea environmental analysis technology. This invention achieves accurate data registration by establishing a spatiotemporal standardization model for multi-source data and employing an adaptive spatiotemporal kriging interpolation algorithm. It utilizes a sparse coding marine signal separation algorithm to construct an overcomplete dictionary to separate mixed signals and extract pure features. Based on an attention mechanism, a feature extraction network is constructed to automatically learn deep feature representations of physical, chemical, and biological parameters. A matrix rank deficiency detection algorithm is used to automatically supplement feature compensation vectors to ensure feature integrity. A cross-scale attention mechanism based on wavelet transform is constructed to fuse multi-scale features. A Shapley value interpretability evaluation system is established to quantify the importance of correlated features. This invention solves the technical problem of inaccurate correlated feature extraction during the fusion of multi-source heterogeneous marine environmental data.

The present application relates to screw processing technical field, especially to a kind of green anticorrosion environmental protection screw for marine environment and processing equipment, including collection barrel, the upper side of the collection barrel is equipped with head beating component, the screw body is placed in the head beating component, the bottom end of the collection barrel is inserted with the ring block of insertion, the bottom end of the collection barrel is away from the end of ring block insertion and is equipped with liquid delivery groove hole, the liquid delivery groove hole is connected with the inner chamber of collection barrel, another end of the liquid delivery groove hole is connected with cooling water spray head.This application provides a kind of green anticorrosion environmental protection screw for marine environment and processing equipment, for marine environment special anticorrosion screw point, with "fluid self-driving" as core, simultaneously realized the green of cooling circulation, the self-cleaning automation of production process, the long-acting stabilization of equipment operation, while reducing cost and increasing efficiency, improve the processing quality of marine anticorrosion screw.

The invention discloses an FPSO (Floating Production Storage and Offloading) intelligent directional spraying method based on multi-sensor fusion, which is suitable for fire prevention and control of an FPSO upper module. The method comprises the following steps: firstly, dividing protection sub-areas, arranging infrared, ultraviolet, visible light and attitude sensors, matching with mixed nozzles and networking; establishing a module coordinate system, and completing sensor calibration and multi-modal data registration; and a multi-task CNN fire identification model is constructed, and fire source positioning, type discrimination and spreading prediction are realized. When the system operates, image stabilization is performed through hull attitude compensation, fusion feature input models are extracted, and personalized fire extinguishing strategies are generated; and generating a spraying instruction through space calculation and the like, driving the nozzle to spray in a directional and constant-flow manner, and dynamically optimizing the strategy based on real-time feedback until the fire is extinguished. Point-to-point fire extinguishing is achieved, water stain loss and fire fighting water waste are reduced, and the accuracy and efficiency of fire fighting in the marine environment are improved.

This invention relates to the field of building waterproofing construction technology, providing a replaceable water-stopping device and an expansion joint sealing system. The replaceable water-stopping device includes: a cylindrical body with a receiving cavity, an inlet opening on the radially outward side of the receiving cavity, and an outlet channel within the cylindrical body; a selectively permeable membrane, with the inlet opening also equipped with a selectively permeable membrane; a hydrophobic liquid sealing medium with a density less than seawater within the receiving cavity, allowing seawater to enter the receiving cavity while preventing the hydrophobic liquid sealing medium from flowing out; the bottom of the receiving cavity communicating with the outlet channel; and a counterweight, positioned within the receiving cavity and above the hydrophobic liquid sealing medium, and slidingly sealingly engaging with the receiving cavity vertically. This invention solves the defects of existing technologies, such as irreplaceable sealing structures, poor resistance to marine environmental corrosion, inability to actively drain water, and difficulty in adapting to dynamic load deformation.

This invention discloses a data-driven method for monitoring marine phytoplankton abundance using underwater acoustic networks. The method includes: constructing and training a multi-level spatiotemporal feature ensemble model based on historical marine phytoplankton abundance and corresponding marine environmental data to determine the optimal spatial location and monitoring time window of the underwater acoustic network nodes; constructing a teacher model for channel prediction, including a multi-layer cascaded structure and residual modules, and compressing the teacher model into a student model using spatiotemporal knowledge distillation; training the student model to achieve real-time channel state prediction at the underwater acoustic network nodes; matching suitable underwater acoustic communication devices and seasonal optimal routing strategies to each underwater acoustic network node based on the optimal spatial location and real-time predicted channel state, and performing adaptive modulation and coding at the link level, while simultaneously monitoring phytoplankton abundance using the underwater acoustic network. This invention can improve data throughput and prediction accuracy under strict energy consumption constraints.

This application relates to a marine vortex SAR imaging simulation method, comprising: acquiring marine environmental data of a target marine vortex region; generating a first geostrophic velocity field based on the sea surface dynamic height data, and generating a second geostrophic velocity field based on the three-dimensional temperature data and three-dimensional salinity data; performing a weighted summation of the first and second geostrophic velocity fields according to their respective weight values ​​to generate a composite geostrophic field corresponding to the target marine vortex region; and performing SAR simulation imaging on the target marine vortex region based on the composite geostrophic field to obtain a simulated SAR image of the target marine vortex region. Based on the above method, the problem of unclear details due to resolution limitations in sea surface dynamic height data can be improved; and the characteristics of vortices can be more fully represented, increasing the imaging effect of SAR in marine vortex imaging simulation applications.

This application relates to a data analysis-based method and system for monitoring the seabed environment, belonging to the field of marine environmental monitoring technology. The method includes: acquiring the required monitoring area; controlling a robot to acquire, in real-time, the actual location of the device, the data storage ratio, and the monitoring environment data within the required monitoring area; determining the theoretical monitoring path when the data storage ratio exceeds a storage release threshold; delineating a theoretical acquisition path based on the theoretical monitoring path and the actual location of the device; determining the distance between objects along the theoretical acquisition path and defining effective receiving points; determining the theoretical storage ratio based on the unit storage ratio and the data storage ratio, and determining the theoretical release coefficient based on the theoretical storage ratio and the distance between objects at the effective receiving points; defining the optimal release point based on the theoretical release coefficient, and controlling the robot to move towards the effective receiving point when the actual location of the device coincides with the optimal release point. This application has the function of improving the overall monitoring effect of the seabed environment.

Techniques for reducing biofouling on optical equip- ment, using minimum power in a marine environment are provided. An example of an apparatus according to the disclosure includes a housing including a cavity and an ultraviolet transparent window disposed over the cavity, an optical device disposed in the cavity and directed towards the ultraviolet transparent window, one or more ultraviolet light emit- ting diodes disposed in the cavity and directed towards the ultraviolet transparent window, and a controller operably coupled to the one or more ultraviolet light emitting diodes and configured to provide at least one lamp power function to the one or more ultraviolet light emitting diodes, wherein the at least one lamp power function is based on at least a flash power value, a flash duration, a rest power value and a rest duration.

The application belongs to the technical field of unmanned ship motion control, and specifically discloses an unmanned ship trajectory tracking control method based on state constraint planning and execution, which comprises the following steps: a second-order motion control model in a unified form is established for longitudinal tracking, heading tracking and lateral tracking of the unmanned ship respectively; based on a preset convergence time and a tracking error and a change rate in a current period, a polynomial trajectory satisfying terminal error and change rate of zero is planned online to obtain a polynomial planning acceleration; based on the polynomial planning acceleration and a system lumped nonlinear term estimated in the last period, an algebraic form control law is used to obtain control input in the current period; and based on the polynomial planning acceleration in the current period and the system lumped nonlinear term estimated in the last period, the system lumped nonlinear term estimated in the current period is obtained through recursive updating. Through the application, the trajectory tracking performance of the underactuated unmanned ship in the actual complex marine environment is effectively improved.