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1.
A mathematical model is proposed to investigate electromagnetic fields induced by the motion of conductive sea water in the wake of a moving body. An exact solution is obtained for the induced field. The results show that undersea mobile vehicles can generate measurable fields. The frequency-domain solution and its unique properties are also derived 相似文献
2.
Maintaining a fixed position near the sea floor is a critical capability during the deployment of remotely operated or intelligent (autonomous) undersea vehicles in a variety of missions, including inspection and repair of undersea structures, data collection, and surveillance. We present an automatic optical station-keeping system for application to submersible vehicles in deep waters by exploiting the information in sea floor images. Readily measurable spatio-temporal image gradients are used to detect and compute the vehicle's translational and yaw motions using a direct motion vision technique. The vision system has been implemented on a Windows-NT Pentium platform, and the estimated positions and yaw angles are communicated via a serial link to the control system, running on a PC-386. Accurate station-keeping is demonstrated in experiments with a three-thruster floating vehicle in a 6-ft×12-ft×6-ft water tank 相似文献
3.
The necessity and the preliminary tentative plan for the construction of the undersea tunnel across Taiwan Strait are expounded in this atricle. The strait undersea tunnels, which have been built and investigated in the world, and their engineering characteristics and construction methods have been introduced herein briefly. Taiwan has been a part of China since ancient times and the people between the mainland and Taiwan are kindred compatriots in the extended family of the Chinese multinational country. For a long time, the people between southeast of China and Taiwan have had frequent communication in economy and culture. With the progress of times and the need of development, it has been put forward to build a safe and reliable undersea tunnel that is not affected by the environment across Taiwan Strait, and one which is also a magnificent project for the China in the long-term. Whether by using a bridge or an undersea tunnel or both across the strait is a problem worthy of further research. According to such conditions as the weather of Taiwan Strait, depth of water, undersea terrain, possibility of engineering and hydrological geology under the sea, as well as the possibility of Taiwan Strait as a main shipping passage from south to north of China and the experience of existing passage across strait in the world, the primary analysis shows that the scheme of an undersea tunnel should be considered. Therefore the concept of the undersea tunnel engineering across Taiwan Strait is introduced in detail here. 相似文献
4.
The necessity and the preliminary tentative plan for the construction of the undersea tunnel across Taiwan Strait are expounded in this atricle. The strait undersea tunnels, which have been built and investigated in the world, and their engineering characteristics and construction methods have been introduced herein briefly.?Taiwan has been a part of China since ancient times and the people between the mainland and Taiwan are kindred compatriots in the extended family of the Chinese multinational country. For a long time, the people between southeast of China and Taiwan have had frequent communication in economy and culture. With the progress of times and the need of development, it has been put forward to build a safe and reliable undersea tunnel that is not affected by the environment across Taiwan Strait, and one which is also a magnificent project for the China in the long-term.?Whether by using a bridge or an undersea tunnel or both across the strait is a problem worthy of further research. According to such conditions as the weather of Taiwan Strait, depth of water, undersea terrain, possibility of engineering and hydrological geology under the sea, as well as the possibility of Taiwan Strait as a main shipping passage from south to north of China and the experience of existing passage across strait in the world, the primary analysis shows that the scheme of an undersea tunnel should be considered. Therefore the concept of the undersea tunnel engineering across Taiwan Strait is introduced in detail here. 相似文献
5.
As a kind of transportation mode for crossing channels,undersea tunnel has incomparable advantages for its directness,convenience,fastness,insusceptibility to weather conditions,and smaller influences on environments.In recent years,with the development of undersea tunnel construction,the design and construction technologies have been greatly enhanced.The first undersea tunnel in China has just been built.Waterproofing is the key technique of undersea tunneling.A new concept of waterproofing scheme of grouting,sealing,draining and divided sections was adopted in the construction of the tunnel based on the researches,the in-situ geological features,the astuteness of the current technology,and the cost of construction.The structural details of the sealing and draining system are introduced to illustrate the salient features of the new waterproofing technique.It is hoped that experiences described in the paper can offer guidance for the construction of the extensive undersea tunnels in the coming years. 相似文献
6.
考虑钢悬链线立管大变形的特性以及内流的影响,利用Kane方法和拉格朗日应变理论建立钢悬链线立管的二维动力学模型。将顶部浮体的激励简化为一个沿顺流向的周期作用力施加于立管顶部,采用平均加速度法求解立管的动力响应。探讨顶部浮体不同激励频率下立管的非线性动力响应以及内流流速的大小对管道共振响应幅值的影响。 相似文献
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8.
This communication is dedicated to the investigation history and naming of the undersea morphostructures of the Sea of Japan for the last 50 years. Many of them were first described and studied during long-term geological-geophysical investigations in this basin carried out by Russian scientists. The analysis of 60 names of its undersea feature names revealed that only approximately half of them are cited in the GEBCO Gazetteer some of the undersea morphostructures are known under two or more names, the origin of their names is unknown, or their names were chosen voluntarily. For maintaining the priority of Russian investigations, the nomenclature and names of the undersea features should be adjusted in accordance with the national and international principles and regulations. 相似文献
9.
Power systems for undersea observatories combine ideas from terrestrial power systems and switching power supplies with experience from undersea cable systems. Basic system tradeoffs for various design decisions are explored in this paper. First, design questions including whether the power delivery should be alternating or direct current and a parallel or series network are examined. This introduces the question of maximum power delivery capability, which is explored in depth. A separate issue, the negative incremental resistance presented to the delivery system by the use of constant-voltage converters, is examined, and the resulting dynamics explored by simulation 相似文献
10.
It is necessary to construct the undersea tunnel across the Taiwan Straits because it would help strengthen communication between Taiwan and the mainland, promote economic and cultural exchanges, and uphold national unification and territorial integrity. Nowadays, there are many undersea tunnels in the world; the English Channel Tunnel and the Seikan Tunnel are two of the most famous. Rich experience has been obtained during the exploration, surveying, design, construction and operation of these undersea tunnels. So, technologically, it is completely feasible to construct the undersea tunnel of the Taiwan Straits. The total length of the undersea Taiwan Straits tunnel is about 220?km; however, water along most of the proposed tunnel site, is less than 50?m deep and the geological condition of the site is relatively good. Although technical difficulties exists in design and construction, there are some favorable aspects. It is, therefore, necessary to start a study by launching some exploration surveys and collecting related data. 相似文献
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12.
It is necessary to construct the undersea tunnel across the Taiwan Straits because it would help strengthen communication between Taiwan and the mainland, promote economic and cultural exchanges, and uphold national unification and territorial integrity. Nowadays, there are many undersea tunnels in the world; the English Channel Tunnel and the Seikan Tunnel are two of the most famous. Rich experience has been obtained during the exploration, surveying, design, construction and operation of these undersea tunnels. So, technologically, it is completely feasible to construct the undersea tunnel of the Taiwan Straits. The total length of the undersea Taiwan Straits tunnel is about 220 km; however, water along most of the proposed tunnel site, is less than 50 m deep and the geological condition of the site is relatively good. Although technical difficulties exists in design and construction, there are some favorable aspects. It is, therefore, necessary to start a study by launching some exploration surveys and collecting related data. 相似文献
13.
美国水下无人系统发展处于世界领先水平,跟踪和了解其现状和发展趋势具有非常重要的意义。 介绍了美国若干个水下无人系统的发展规划内容,描述了美军典型的水下无人系统的主要使命任务和技术性能,分析了美军水下无人系统的发展特点和趋势。 相似文献
14.
During the construction process of Qingdao Jiaozhou Bay Undersea Tunnel, the faults and other unfavorable geological discontinuities were often encountered. To study the water inrush mechanism in the faults, both physical model test and numerical analysis were carried out. The results of crown displacement and hydraulic pressure of the monitoring sections in the physical model and numerical model were analyzed in this paper. It was found that the displacement and hydraulic pressure in the process of tunnel construction are often interacted as both cause and effect, and the lower of hydraulic pressure is often accompanied with the growth of its displacement. The changing of the excavation disturbed zone during the excavation in the undersea tunnel was also studied. The results show that the excavation disturbed zone in fault is larger than that in surrounding rock mass, and the excavation disturbance effects in the filling type fault are both transient and persistent. When the displacement and hydraulic pressure in the undersea tunnel change sharply during excavation, there are relatively slow and continuous change trend of the displacement and hydraulic pressure. For practical purposes, to prevent water inrush in the undersea tunnel, more attentions should also be paid to the undersea tunnel after excavation. 相似文献
15.
《Coastal Engineering》1999,38(1):1-24
This paper presents a new and more accurate set of deterministic evolution equations for the propagation of fully dispersive, weakly nonlinear, irregular, multidirectional waves. The equations are derived directly from the Laplace equation with leading order nonlinearity in the surface boundary conditions. It is demonstrated that previous fully dispersive formulations from the literature have used an inconsistent linear relation between the velocity potential and the surface elevation. As a consequence these formulations are accurate only in shallow water, while nonlinear transfer of energy is significantly underestimated for larger wave numbers. In the present work we correct this inconsistency. In addition to the improved deterministic formulation, we present improved stochastic evolution equations in terms of the energy spectrum and the bispectrum for multidirectional waves. The deterministic and stochastic formulations are solved numerically for the case of cross shore motion of unidirectional waves and the results are verified against laboratory data for wave propagation over submerged bars and over a plane slope. Outside the surf zone the two model predictions are generally in good agreement with the measurements, and it is found that the accuracy of e.g., the energy spectrum and of the third-order statistics is considerably improved by the new formulations, particularly outside the shallow-water range. 相似文献
16.
船坞内制作的大型结构物浮运沉放到海底的支撑基础上之后,受其自重及基础强度等因素的影响,在其初期会有一个明显沉降过程;为研究其沉降规律性,须对其进行监测.由于结构物在海水面以下,其底部位置靠测量设置的塔目标位置反求.通过对某电厂取水工程的海底取水头监测,介绍了监测方法及其沉降数据规律. 相似文献
17.
An integrated hydrodynamics and control model to simulate tethered underwater robot system is proposed. The governing equation of the umbilical cable is based on a finite difference method, the hydrodynamic behaviors of the underwater robot are described by the six-degrees-of-freedom equations of motion for submarine simulations, and a controller based on the fuzzy sliding mode control (FSMC) algorithm is also incorporated. Fluid motion around the main body of moving robot with running control ducted propellers is governed by the Navier–Stokes equations and these nonlinear differential equations are solved numerically via computational fluid dynamics (CFD) technique. The hydrodynamics and control behaviors of the tethered underwater robot under certain designated trajectory and attitude control manipulation are then investigated based on the established hydrodynamics and control model. The results indicate that satisfactory control effect can be achieved and hydrodynamic behavior under the control operation can be observed with the model; much kinematic and dynamic information about tethered underwater robot system can be forecasted, including translational and angular motions of the robot, hydrodynamic loading on the robot, manipulation actions produced by the control propellers, the kinematic and dynamic behaviors of the umbilical cable. Since these hydrodynamic effects are fed into the proposed coupled model, the mutual hydrodynamic influences of different portions of the robot system as well as the hydrological factors of the undersea environment for the robot operation are incorporated in the model. 相似文献
18.
Prediction of threshold conditions and incipient motion is the essential issue for the study of sediment transport. This work compares existing empirical threshold curves proposed for Shields diagram, a method based on the concept of probability of sediment movement, and an empirical method based on movability number. These methods are used to predict the incipient motion conditions for experimental runs taken from various studies. Most of the experimental data, used in this work, have not been used before in derivation of alternative formulations for Shields diagram and other methods. The empirical threshold curves based on the Shields entrainment function was the least successful at predicting the measured incipient motion conditions, while the use of the movability number gives good predictions of critical shear velocity compared with experimental data. 相似文献
19.
沉管在海底的位置靠露在水上的测量棱镜塔目标位置反求,为及时知道水下对接数据,调整施工,要求计算机实时通讯,同步观测棱镜目标,实时显示水底管段的位置特征。结合嘉兴电厂海底隧道工程,介绍了沉管隧道对接的测量理论和实施措施。 相似文献
20.
Hyungwon Shim Bong-Huan Jun Pan-Mook Lee Hyuk Baek Jihong Lee 《Ocean Engineering》2010,37(11-12):1036-1047
This paper presents a control technique for structured undersea tasks that require a high degree of precision. The overall efficiency of tele-operated underwater manipulation is improved by reducing the burden on the human operator. A new workspace-control system composed of a computer and input devices in workspace was developed to support the operator. The computer transforms the desired velocity of end-effector in workspaces to desired joint angles by solving the inverse kinematics of the slave manipulators. The desired joint angles are transferred to the slave controller through RS-485 serial communication, and be followed by the slave manipulator. The developed master system provides advantages in conducting structured tasks(coring, drilling, underwater connector mating, etc.) that require precise control of the end-effector’s motion and attitude. The existing master system, however, is more useful for unstructured tasks than newly developed master system. By combining the two master systems, the work efficiency of the underwater tele-operated manipulator system was improved. This paper presents the development of the workspace-control system and a working strategy to alleviate operator’s burden in underwater works. Experimental results are presented to evaluate the effectiveness of the proposed method using underwater manipulators mounted on the KORDI deep-sea ROV Hemire. 相似文献