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UML在深海集矿机远程监控系统中应用研究 总被引：3，自引：1，他引：2
分析了UML（unified modeling language）建模方法在信息建模中的优点,具体研究了UML建模方法在深海集矿机远程监控系统建模中的应用;针对深海集矿机远程监控系统的工艺流程,采用UML中的用例图、活动图和序列图等描述远程监控系统的需求、分析和设计阶段的信息系统模型;并对深海集矿机远程监控系统进行建模,使系统模型更通用、更易理解,增强了系统模型的重用性和互操作性。以Rational Rose 2002为工具来描述UML方法的建模过程,开发了深海集矿机远程监控系统,在海洋采矿系统的模型机上试验运行情况良好。 相似文献
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大洋采矿输送软管动力特性的数值研究 总被引：8，自引：0，他引：8
在大量勘探数据的基础上，对中国东太平洋7．5万km^2矿区采矿环境进行研究，得出集矿机是否安全行驶，直接关系着大洋采矿的成败。影响集矿机行驶的因素很多，其中输送软管是重要因素之一。通过理论分析计算和小型模拟实验相结合的研究方法，进行了软管与集矿机受力分析与仿真计算研究，开发了相应的应用软件。总结了大洋采矿系统中输送软管动态特性数值研究的最新研究成果，对我国大洋多金属结核矿产资源的开发，深海采矿系统的设计和回采策略的制定有一定的参考价值和实用意义。 相似文献
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基于长基线系统深海采矿ROV精确定位 总被引：1，自引：0，他引：1
对于深海采矿集矿机ROV的定位,采用传统的长基线水声定位系统通常存在较大误差。对此提出了一种新的算法模型,首先通过比较集矿机测量位置与前一次修正位置的几何关系,对当前集矿机的位置进行修正,然后利用新的集矿机位置修正声速的数值,并得出重新修正后的集矿机测量位置。这样反复的多重迭代使得在某一时刻集矿机ROV的测量位置逐步趋近其理想位置,实现长基线系统的水声精确的三维立体定位。通过数值仿真分析,结果显示与传统的长基线水声定位方法相比,通过该方法获得的集矿机行驶轨迹能更好地趋近其理想行驶曲线,表明该算法的有效性。 相似文献
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流体阻力对软管空间平衡形态的影响 总被引：1，自引：0，他引：1
深海采矿系统中的一个关键环节是连接中继舱和集矿机的软管。软管空间形态的非线性分析是一个复杂的问题。本文采用荷载增量法与牛顿一拉夫逊相结合的方法研究了软管在稳定水流作用下位移的反应,利用非线性有限元理论与Morison流体阻力计算公式分析了流体阻力对软管空间形态的影响。该计算模型可为软管输送性能的设计提供理论参考依据。 相似文献
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针对深海采矿机器人"鲲龍500"行走液压系统,建立深海采矿机器人行走液压系统理论模型,分析深海高压和低温环境对油液特性影响,并基于AMESim软件平台,建立深海采矿机器人行走液压系统数值模型,研究了0～6 000 m不同作业深度下的行走液压系统泵和马达的动态特性,以及在6 000 m水深时不同牌号液压油和行走启动特性对其行走性能的影响,对比分析了深海采矿机器人水池行走试验和500 m海底行走试验的行走泵的输出压力与流量曲线与其数值模拟曲线。研究表明,随着超过1 000 m作业水深的增加,深海行走液压系统的动态响应性能和稳定性显著降低,通过减小行走输入电压斜坡斜率和减小控制电压可以提高行走液压系统的稳定性,并通过试验验证了行走液压系统数值建模与仿真的正确性,为深海液压系统研究提供理论基础。 相似文献
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作为深海采矿系统的重要组成部分,深海集矿机的技术研究和开发一直是许多国家的难题。为了提高深海集矿机在稀软沉积物上的牵引性能,基于水牛蹄的曲面结构特征和特殊几何结构,设计了一款仿水牛蹄蹄型履齿。以该款履齿的结构参数为研究对象,通过对朗肯被动土压力理论的优化,得到了仿水牛蹄蹄型履齿的牵引力解析解,建立了对应的履齿仿生参数对履齿牵引力的影响公式。结合正交试验方法进行了不同形式履齿在沉积物上运动的单、多履齿剪切试验,将仿水牛蹄蹄型履齿与直型履齿、仿水牛蹄轮廓履齿（另一种仿生履齿）进行对比试验,并通过模型车试验验证了该款履齿的可行性。结果表明：3种履齿中,仿水牛蹄蹄型履齿提供的最大牵引力最高。研究可为进一步优化仿水牛蹄蹄型履齿结构参数和提高深海稀软底质机械的牵引性能提供参考依据。 相似文献
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介绍了国内外各型深海AUV产品的基本参数、配置、功能和使用方式,论述了深海AUV发展现状及发展趋势,并着重阐述了深海 AUV 在深海探测、目标识别、深海反制等领域的应用,在此基础上深入分析了深海 AUV 在能源、控制、导航、通行等方面的关键技术,并阐明当前关键技术的现状以及未来的发展方向,同时根据国内外发展趋势提出了深海 AUV 经过 3 个阶段的发展,最终向着使用便捷化、重量轻量化、 外形小型化、智能化、网络信息化的方向发展。 相似文献
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深海采矿作为新领域资源重点开发项目,国外已开展部分试验研究,国内现阶段仅停留在重点设备部件级功能验证,还未开展过系统整体联动,距离海洋油气等正在进行的规模化商业开采还有很大距离。本文以深海采矿系统整体联动模型为基础,与海洋油气工程作业平台技术模型进行对比,对整体联动风险点进行深度分析,并根据重点风险部件开展其悬挂模式、力学模型研究,探讨深海采矿系统整体联动时应急撤离的策略。研究总结了深海采矿系统整体联动的特点,提出了管道摇摆幅度超出设计范围、平台升沉行程超出伸缩冲程范围等两大关键风险点、提升硬管受力分析方法和对应的应急撤离方案,对深海采矿工程总体设计和工程实施具有指导意义和参考价值。 相似文献
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This paper presents a computational model of simulating a deep-sea hydrothermal plume based on a Lagrangian particle random walk algorithm. This model achieves the efficient process to calculate a numerical plume developed in a fluid-advected environment with the characteristics such as significant filament intermittency and significant plume meander due to flow variation with both time and location. Especially, this model addresses both non-buoyant and buoyant features of a deep-sea hydrothermal plume in three dimensions, which significantly challenge a strategy for tracing the deep-sea hydrothermal plume and localizing its source. This paper also systematically discusses stochastic initial and boundary conditions that are critical to generate a proper numerical plume. The developed model is a powerful tool to evaluate and optimize strategies for the tracking of a deep-sea hydrothermal plume via an autonomous underwater vehicle (AUV). 相似文献
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Catherine Pierre Germain Bayon Marie-Madeleine Blanc-Valleron Jean Mascle Stéphanie Dupré 《Geo-Marine Letters》2014,34(2-3):253-267
On the passive margin of the Nile deep-sea fan, the active Cheops mud volcano (MV; ca. 1,500 m diameter, ~20–30 m above seafloor, 3,010–3,020 m water depth) comprises a crater lake with hot (up to ca. 42 °C) methane-rich muddy brines in places overflowing down the MV flanks. During the Medeco2 cruise in fall 2007, ROV dives enabled detailed sampling of the brine fluid, bottom lake sediments at ca. 450 m lake depth, sub-surface sediments from the MV flanks, and carbonate crusts at the MV foot. Based on mineralogical, elemental and stable isotope analyses, this study aims at exploring the origin of the brine fluid and the key biogeochemical processes controlling the formation of these deep-sea authigenic carbonates. In addition to their patchy occurrence in crusts outcropping at the seafloor, authigenic carbonates occur as small concretions disseminated within sub-seafloor sediments, as well as in the bottom sediments and muddy brine of the crater lake. Aragonite and Mg-calcite dominate in the carbonate crusts and in sub-seafloor concretions at the MV foot, whereas Mg-calcite, dolomite and ankerite dominate in the muddy brine lake and in sub-seafloor concretions near the crater rim. The carbonate crusts and sub-seafloor concretions at the MV foot precipitated in isotopic equilibrium with bottom seawater temperature; their low δ13C values (–42.6 to –24.5‰) indicate that anaerobic oxidation of methane was the main driver of carbonate precipitation. By contrast, carbonates from the muddy lake brine, bottom lake concretions and crater rim concretions display much higher δ13C (up to –5.2‰) and low δ18O values (down to –2.8‰); this is consistent with their formation in warm fluids of deep origin characterized by 13C-rich CO2 and, as confirmed by independent evidence, slightly higher heavy rare earth element signatures, the main driver of carbonate precipitation being methanogenesis. Moreover, the benthic activity within the seafloor sediment enhances aerobic oxidation of methane and of sulphide that promotes carbonate dissolution and gypsum precipitation. These findings imply that the coupling of carbon and sulphur microbial reactions represents the major link for the transfer of elements and for carbon isotope fractionation between fluids and authigenic minerals. A new challenge awaiting future studies in cold seep environments is to expand this work to oxidized and reduced sulphur authigenic minerals. 相似文献
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便携式AUV具有结构紧凑、机动性好、制造和使用成本低等优点,本文设计AUV的底层控制系统和自主导航系统,并进行仿真验证和人工湖试验,结果证明底层控制系统具有很好的鲁棒性,基于AHRS、数字罗盘和GPS的惯性导航算法能够通过浅水节点潜航方式实现AUV自主导航。 相似文献
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自主水下机器人(AUV)对接技术是目前水下机器人的研究热点,精确可靠的AUV的回坞导航是实现对接的关键技术。对于追求轻便的便携式AUV的对接系统,考虑到便携式AUV的搭载能力有限又需要足够的定位精度用于对接,提出了一种基于超短基线(USBL)定位的回坞导航方法,该方法让AUV只需装载电子罗盘和水声应答器就能完成精确的回坞定位。根据导航方法的特点,设计了一种改进的扩展卡尔曼滤波算法,其优点是能在处理滞后的USBL数据的同时动态估算海流、更新状态方程以消除海流造成的定位误差。通过湖试和大量仿真实验,验证了定位算法在海流影响下的定位性能。 相似文献
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PETREL,a winged hybrid-driven underwater glider is a novel and practical marine survey platform which combines the features of legacy underwater glider and conventional AUV (autonomous underwater vehicle).It can be treated as a multi-rigid-body system with a floating base and a particular hydrodynamic profile.In this paper,theorems on linear and angular momentum are used to establish the dynamic equations of motion of each rigid body and the effect of translational and rotational motion of internal masses on the attitude control are taken into consideration.In addition,due to the unique external shape with fixed wings and deflectable rudders and the dual-drive operation in thrust and glide modes,the approaches of building dynamic model of conventional AUV and hydrodynamic model of submarine are introduced,and the tailored dynamic equations of the hybrid glider are formulated.Moreover,the behaviors of motion in glide and thrust operation are analyzed based on the simulation and the feasibility of the dynamic model is validated by data from lake field trials. 相似文献
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深海及其底部生物圈的探测和研究,是当前海洋大科学研究的焦点,是未来的海洋科学,具有重要的战略意义。深海及其底深部生态学的研究,是其中的一项重要内容。本文简要回顾了深海生态学发展的三个里程碑以及中国在该学科的研究进展,提出了大力发展深海探测和钻探设备、技术,建设深海生态站和大洋钻探船;以生态系统为中心开展深海生态研究;将深海生态研究纳入国家和有关部门的研究计划、支持多学科交叉和融合的建议。 相似文献
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A. Camerlenghi 《Marine Chemistry》1990,31(1-3)
A brief review of the geological knowledge on the anoxic basins of the eastern Mediterranean is presented. Anoxic basins have been discovered in two different geological settings in the eastern Mediterranean. Bannock Basin belongs to the compressional style of the Mediterranean Ridge, and Tyro and Poseidon Basins belong to the transcurrent tectonic style of the Strabo Trench. The origin of the basins is subsurface salt dissolution triggered by tectonic deformation of the sediments on the Mediterranean Ridge, and tectonic subsidence (pull-apart mechanism) in the Strabo Trench. The onset of a deep-sea brine lake is always related to the outcrop of Messinian salts on the side-walls of the basin. The rate of basin subsidence controls the evolution of the brine lakes, which can also be completely diluted by bottom water circulation. 相似文献
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With the development of marine energy in full swing, an increasing number of pipelines are being installed in deep-sea areas, which inevitably pass through extremely complex topographic conditions, to form natural sections of suspension over submarine canyons. The seabed is easily eroded and shaped by active deep-sea bottom currents and watercourses, resulting in different span heights for pipelines originally laid on the seabed. In particularly, deep-sea geological hazards frequently occur, and submarine landslides seriously threaten the safe operation of the pipelines. To address these problems, an improved numerical analysis method combined with low-temperature rheological models of landslides and the optimization design method of the geometric model, is developed to simulate the landslides’ impacts on pipelines. Based on these, the effect of the span heights on the pipelines’ impact forces induced by deep-sea landslides is systematically investigated, and three modes of the forces on pipelines under the impact of landslides and related mechanism are proposed. Further, the span height ratio is put forward, and four formulas for evaluating the forces on pipeline are established. Through the analysis of calculation results, the lift force coefficient even increases nearly 20 times considering different span heights. This research provides a theoretical basis for the design and protection of deep-sea pipelines. 相似文献
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Robust control based on feedback linearization for roll stabilizing of autonomous underwater vehicle under wave disturbances 总被引：1，自引：0，他引：1
In the case of Autonomous Underwater Vehicle(AUV) navigating with low speed near water surface,a new method for design of roll motion controller is proposed in order to restrain wave disturbance effectively and improve roll stabilizing performance.Robust control is applied,which is based on uncertain nonlinear horizontal motion model of AUV and the principle of zero speed fin stabilizer.Feedback linearization approach is used to transform the complex nonlinear system into a comparatively simple linear system.For parameter uncertainty of motion model,the controller is designed with mixed-sensitivity method based on H-infinity robust control theory.Simulation results show better robustness improved by this control method for roll stabilizing of AUV navigating near water surface. 相似文献