共查询到19条相似文献，搜索用时 78 毫秒
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首先,介绍了 ROV 的分类、特点、组成和应用场景,并基于现实问题提出级联式 ROV 的设计构想,简要说明了级联式 ROV 的特点与组成。然后,从整体控制技术、整体设计技术、水下布放回收技术、 母船与级联式 ROV 之间的通信技术、冗余设计和模块化设计技术、水声与电磁防护技术 6 个方面探讨了级联式 ROV 设计需要解决的关键技术和解决措施。最后,对级联式 ROV 典型的应用场景进行了举例说明。 相似文献
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动力定位系统（ＤＰＳ）是开发深海的一种较为有效的海上开发系统。由于ＤＰＳ是一个较为复杂的系统,在进行模型试验时,每个Ｚ型螺旋桨都设有计算机芯片以及遥控装置,用以接收ＰＩＤ系统发出的指令,为模型试验的模拟也带来了一定困难。本文讨论了动力定位系统的数学模型,模型试验中推力的分配及控制方程和试验中的一些要求。 相似文献
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介绍一种新研制的用于近海海洋环境检测的轻型机器人,该机器人由智能检测控制台、水下检测器和控制电缆三部分构成;水下检测器由6个独立密封舱室和尾翼组成,具有一个主推进器和两个侧向推进器。特点是采用了潜艇式ROV结构,大幅降低了成本,适度增大了负载,可以满足一般工程检测的需要。通过在控制台上发出指令,可控制ROV完成前进、后退,上浮、下沉、左右转弯等动作;可以实现一定流速下的动力悬停,可以使ROV保持一定的倾角,以配合实现检测作业。该水下机器人可以检测腐蚀电位、温度、深度等最多16个参数,设计深度为40m。 相似文献
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动力定位系统发展状况及研究方法 总被引：21，自引：2，他引：21
动力定位系统（Dynamic Positioning System)是一种闭环的控制系统，其采用推力器来提供抵抗风、浪、流等作用在船上的环境力，从而使船尽可能地保持在海平面上要求的位置上，其定位成本不会随着水深增加而增加，并且操作也比较方便。本文对动力定位系统发展及各组成部分进行了介绍，以期对动力定位系统有个比较完整的认识。 相似文献
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基于ROV的近海底地形测量及其在马努斯盆地热液区的应用 总被引：3，自引：0，他引：3
针对重点的特殊深海研究区（如热液冷泉、洋中脊区域）,在船载多波束数据获得研究区大面积地形资料的基础上,有必要选取典型深海小靶区进行高分辨率地形测量为进一步深入研究提供保障。根据船载多波束实测数据选取PACMANUS热液区作为靶区,基于长基线定位,利用“发现”ROV搭载多波束系统进行近海底全覆盖地形测量。结果表明,依托于船动力定位系统及差分GPS,长基线为ROV提供了可靠的高精度定位,使得近海底测量的地形数据分辨率数倍优于船载多波束测得的地形数据的分辨率。高分辨率地形清晰的显示了PACMANUS热液区锥形丘体等特殊微地形,与已发现的热液点和火山区有很好的对应。进一步分析发现,该区域活动的热液区主要发育于坡度大于30°斜坡上的地形突变区,其成因仍需深入研究。利用ROV搭载多波束近底测量是获取深海小靶区高分辨率地形的可靠途径和方法,有利于提高深海海底研究的针对性,将促进我国深海科学研究的发展。 相似文献
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This paper reviews the last two years operational deep-water performance record of two manned/unmanned tethered ROV Mantis vehicles. Deviations of the system as compared to conventional submersibles and remotely operated vehicles (ROV's) are discussed and evaluated. Applications and advantages of this system in support of deep-water operations are appraised. Results and observations concluded in this paper deal with the importance of having a man in the water, or at least available to go in the water, and also those circumstances which require a remotely operated system either for safety or total bottom time requirement. The significance of each mode of operation is examined. Observations and conclusions have been compiled from operational data collected during over 250 actual dives in deep-water work to depths of 2000 ft (sim 600 m). 相似文献
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The effectiveness of subsea intervention has been found to be dependent upon the capability of an autonomous underwater vehicle's (AUV's) or remotely operated underwater vehicle's (ROV's) auto-positioning system. However, these vessel's dynamics vary considerably with operating condition, and are strongly coupled; they are expensive and difficult to derive, theoretically or through conventional testing, making the design of conventional autopilots difficult to achieve. Multi-input-multi-output self-tuning controllers offer a possible solution. Two such schemes are presented. The first is an implicit linear quadratic online, self-tuning controller, and the other uses a robust control law based on a first-order approximation of the open-loop dynamics and online recursive identification. The controllers' performance is evaluated by examining their behavior when controlling a comprehensive nonlinear simulation of an ROV and its navigation system. An interesting offshoot of this study is the application of recursive system identification techniques to the derivation of ROV models from data gathered from the trials; the potential advantages of this method are discussed 相似文献
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This paper presents an investigation of the robustness of an inter-frame feature measure classifier for underwater sector scan sonar image sequences. In the initial stages the images are of either divers or remotely operated vehicles (ROV's). The inter-frame feature measures are derived from sequences of sonar scans to characterize the behavior of the objects over time. The classifier has been shown to produce error rates of 0%-2% using real nonnoisy images. The investigation looks at the robustness of the classifier with increased noise conditions and changes in the filtering of the images. It also identifies a set of features that are less susceptible to increased noise conditions and changes in the image filters. These features are the mean variance, and the variance of the rate of change in time of the intra-frame feature measures area, perimeter, compactness, maximum dimension and the first and second invariant moments of the objects. It is shown how the performance of the classifier can be improved. Success rates of up to 100% were obtained for a classifier trained under normal noise conditions, signal-to-noise ratio (SNR) around 9.5 dB, and a noisy test sequence of SNR 7.6 dB 相似文献
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Following success in remotely operated vehicle (ROV) designs such as MMIM, IZE, SOLO, ORVIL, CIRRUS, PIC, and OBSERVER, Slingsby Engineering Limited (SEL) has now developed its technology to build and prove a new ROV, TROJAN. TROJAN is a dedicated subsea support vehicle, which results from extensive market research being applied to a base of 15 years in the underwater technology market. SEL has been at the forefront of the evolution of this market from early manned submersible days, followed by atmospheric diving systems to ROV's. The TROJAN ROV is conceived as a subsea workhorse offering a new dimension to subsea support operations. TROJAN benefits by incorporation of proven technology developed by SEL in recent years on SOLO, PIC, and CIRRUS projects. Using standard components, TROJAN's high reliability and efficient performance offer a versatile and cost-effective work system. 相似文献
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本文结合实际应用介绍一种人工智能系统。系统的重要特点是,根据预报指标经验知识的产生过程的机理性知识所设计成功的系统主程序之一的“预报指标自动归纳程序”,能够通过对多因子历史资料的分析归纳,自动生成含有较全面知识规则的规则库。有关专家只须凭感性经验提供可能因子和原始资料,系统便能帮助升华出理性的经验规则,自动建成某一专项业务的应用预报系统。对这种“母系统”的反复使用,就可以根据不同类别的资料生成相应的多种应用系统。既适用于气象上风雨暑寒各类天气预报,也适用于其他某些专业,如水文、地震等的定性预报或分析。 本文除简单介绍系统的构造、功能、设计原理之外,还给出一个应用实例,介绍了如何使用本系统去产生应用性系统的具体方法步骤。 相似文献
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受损结构余度评估的半概率方法 总被引：3，自引：0，他引：3
本文给出了一种结构系统余度的度量定义，基于结构系统机构化失效概念和相当可靠性指数。本文提出了对受损结构安全评做的半概率方法。所示算例表明了本方法的有效性。 相似文献