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1.
为了加快建立深海载人潜水器潜航员体系,实现深海载人潜水器业务化运行,提高我国载人深潜科考作业水平,文章结合"深海进入、深海探测、深海开发"战略需要,分析研究了载人潜水器作业环境、作业需求和潜航员岗位要求。提出了能力、知识、技能三位一体化的培养模式和基于专家系统课程设置架构,实践表明该培养模式科学、严谨,极大地推动了"蛟龙"号载人潜水器潜航员队伍的培育,对未来我国深海载人潜水器潜航员培养具有重要的指导意义。结合培训的实际情况,让潜航员培养工作顺利开展,提出构建科学的管理体制、完善潜航员培养保障机制、建立系统的制度保障制度等建议。  相似文献   

2.
孙俊岭 《海洋工程》2011,29(4):135-140
随着地理信息系统技术的发展,电子海图作为一种专门的电子地图也越来越成熟。电子海图中提供了详细而准确的海洋环境信息。利用电子海图的环境建模和考虑海流因素的遗传搜索策略为解决大范围海洋环境下智能潜水器全局路径规划提供了一个新的方法。利用电子海图中的信息对智能潜水器的工作环境进行环境建模,以遗传多目标优化算法为搜索策略进行全局路径规划,并考虑海流因素对潜水器的影响,使潜水器在航行时可充分利用海流的能量。通过仿真试验对环境建模和路径规划进行了验证。该方法具有很好的实用性。  相似文献   

3.
为提升"蛟龙号"载人潜水器海底综合探测能力,介绍一种采用多子阵海底自动检测—子空间拟合的信号参数估计技术的高精度测深侧扫声纳系统。该系统安装于载人潜水器的两侧,能够测量海底的微地形地貌以及海底和水中的目标,同时获得探测区域高分辨率的地形图和地貌图。通过介绍该高精度测深侧扫系统的工作原理、技术指标及系统组成,结合"蛟龙号"载人潜水器试验性应用航次获得的高分辨率地形地貌数据,对该系统在载人潜水器中的应用和海底地形地貌探测结果进行了分析和展望。  相似文献   

4.
杨新平  徐鹏飞  胡震 《海洋工程》2012,30(1):137-144
以载人深潜器的各种水动力参数和实际尺寸为基础,根据几何空间坐标方程建立了其运动学模型,采用MultiGen公司的Creator建模工具和Vega视景环境完成了在深海虚拟环境下的系统仿真。该系统可以实现深海机器人的可视化,更加直观、生动和实时的反映其位姿状态和水面、水下巡航过程。该系统实际应用在中国科学技术馆深海机器人展馆项目上,一方面展示载人深潜器的水下工作过程,同时也使得观众有机会亲身体验潜水器的操纵与驾驶。实际运行结果表明,该系统逼真地演示了载人深潜器水面备航、无动力下潜以及近海底巡航等仿真过程,能够满足系统仿真的实时性要求。该系统还可以应用到深海环境模拟研究、水下机器人运动仿真、控制系统调试以及操纵驾驶训练等中。  相似文献   

5.
一种新型潜水器HROV及其关键技术综述   总被引:8,自引:0,他引:8  
沈明学  胡震  刘正元 《海洋工程》2006,24(3):119-123
介绍一种新概念潜水器———混合型潜水器(HROV)。该潜水器能在两种不同的模式下工作,可以像AUV一样进行大范围的探测和搜索,也可以通过直径小于1 mm的微细光纤,执行传统ROV的近距离观察和采样任务。介绍了HROV的系统组成和工作过程,探讨与之相关的关键技术及其主要研究内容,并对HROV技术的应用前景也作了一些分析。  相似文献   

6.
为了提高潜水器工作的安全性和可靠性,对潜水器的在线绝缘检测方法进行了研究。描述了无源检测法和有源检测法的工作原理,并基于有源检测法提出了绝缘检测对电气系统设计的要求,同时给出了绝缘故障的排查、定位和隔离方法。最后,通过在潜水器上的实际应用,验证了有源检测法的实用性和有效性。  相似文献   

7.
大深度载人潜水器低速大漂角模糊滑模航向控制研究   总被引:1,自引:0,他引:1  
马岭  崔维成 《海洋工程》2006,24(3):74-78
通过模型试验测量大深度载人潜水器低速大漂角运动时所受到的非线性水动力。基于一种新的模糊滑模控制策略,为潜水器设计了鲁棒航向控制器。在不同的漂角子区间内分别设计局部镇定的滑模控制器,然后通过Takagi-Sugeno模糊推理系统将它们光滑连接,得到模糊滑模控制。仿真计算结果充分显示了该控制策略的有效性。  相似文献   

8.
根据极地冰下探测仪器的工作要求设计了一款高可靠性、低功耗和实用性强的自动升降控制系统.针对极地特定的自然环境和电池容量的限制,该系统在电路的设计方面充分考虑了器件的抗低温、低功耗等特点.同时,对于系统突然断电的情况,该系统还具有状态记忆功能.考虑到电路工作异常导致的问题,该系统能自动断电,从而避免测量仪器受损,最大限度地保证探测仪器能够长期可靠的工作.  相似文献   

9.
法国国家海洋开发中心和DTCN于1984年联合研制成功了“SM97””号新型载人潜水器,1985年正式投入使用。由于该潜水器的下潜深度为6000米,能直接考察世界上97%的洋底,故命名为“SM97”号。它能以1节速度在海底潜航15公里,同时采集岩石、泥沙、热液矿床样品等,亦可进行水下摄影和录像。该潜水器是在法国著名的载人潜水器“西亚纳”号的基础上,总结了十多年的实践经验,经过改进设计的。“SM97”号潜水器从制造工艺和基本性能上都大大优于法国著名的载人潜水器“西亚纳”号,并将接替法国海军的“阿基米德”号潜水器的工作,成为法国深海调查,作业的主要工具。  相似文献   

10.
为对载人潜水器运行管理工作进行科学考核评价,保障重大深海装备安全高效运行,文章以“蛟龙”号载人潜水器为例,分析研究了“蛟龙”号载人潜水器的运行管理特点,针对我国科技管理体制和“蛟龙”号载人潜水器的管理技术要求,在结合“蛟龙”号载人潜水器海试与试验性应用实际工作的基础上,建立了科学合理、具备可操作性的考核评价体系。通过在“蛟龙”号载人潜水器运行管理工作中的试应用,充分证明该体系建设方法的有效性,值得在载人无人潜水器等重大装备管理中推广应用。  相似文献   

11.
观察型水下机器人ROV系统配置研究   总被引:1,自引:0,他引:1       下载免费PDF全文
桑金 《海洋测绘》2012,(4):81-84
在简述无人遥控潜行器(ROV)系统构成的基础上,就观察型ROV的推进系统、成像系统、应用环境以及风险分析等方面进行深入探讨,提出了在我国海域环境下,有关水下机器人系统配置以及实际应用等方面的建议。  相似文献   

12.
This paper presents the features of newly designed hydrodynamics test for the scaled model of 4500 m deepsea open-framed remotely operated vehicle(ROV),which is being researched and developed by Shanghai Jiao Tong University.Accurate hydrodynamics coefficients measurement and spatial modeling of ROV are significant for the maneuverability and control algorithm.The scaled model of ROV was constructed by 1:1.6.Hydrodynamics coefficients were measured through VPMM and LAHPMM towing test.And dynamics model was derived as a set of equations, describing nonlinear and coupled 5-DOF spatial motions.Rotation control motion was simulated to verify spatial model proposed.Research and application of hydrodynamics coefficients are expected to enable ROV to overcome uncertainty and disturbances of deepsea environment,and accomplish some more challengeable and practical missions.  相似文献   

13.
Hsin-Hung Chen   《Ocean Engineering》2008,35(10):983-994
Parameter identification of a remotely operated vehicle (ROV) is often based on the dynamic responses collected by its onboard sensors. However, for commercial ROVs, the required data for identification may not be available due to the absence of suitable sensors or limitations in accessing onboard sensor data. Therefore, this study proposes a vision-based tracking system to measure the dynamic response of an ROV. The tracking system is independent of the ROV, and is able to localize an ROV to a high degree of precision by means of projective mapping. The validity of the proposed tracking system is demonstrated through identification of a commercial ROV. A simplified nonlinear ROV dynamic model with six degrees of freedom (DOF) is used for identification. Uncoupled motions, including surge, sway, and yaw, are obtained from the ROV dynamic model, and the corresponding experiments are carried out for each DOF. Hydrodynamic parameters are then estimated with numerical optimizations by comparing the measured ROV responses with the output of the mathematical model. The experimental results show that the vision-based tracking system can accurately measure the transient and steady-state responses of an ROV. Additionally, the simulations of the ROV dynamic model, with the optimal parameter estimates, give results in agreement with the measured data.  相似文献   

14.
The topic of this paper is the modeling, parameter identification, and analysis of the heave and pitch dynamics in a remote operated vehicle (ROV). The work presented here is motivated by an unusual dynamic behavior experienced on the Gaymarine Pluto-Gigas ROV: if the depth is regulated using a proportional controller, the ROV exhibits permanent oscillations at high forward speed. The purpose of this paper is to gain insight into ROV dynamics, so as to explain the reason for the oscillations. To this end, a dynamic gray-box model is developed and its uncertain parameters are identified from real data. The analysis of such a model shows that the nonlinear dynamics of the ROV contains a limit cycle. This discovery explains the observed oscillatory behavior. An interesting aspect of this limit-cycling behavior is that it is not due (as usual) to saturation effects of the actuators, but is intrinsic in the ROV dynamics.  相似文献   

15.
CTD可以获取海洋物理学环境参数,为海洋物理学的研究提供重要的基础性数据,而ROV作为重要的海洋探测工具和科学研究平台已经在世界各国主要的海洋研究机构中得到广泛应用。根据"海狮号"ROV系统的体系结构特点,对其通讯、控制和电源等接口进行扩展,实现了CTD传感器在ROV上的应用,并在海洋区域地质调查的ROV测站作业时进行了CTD数据的采集,数据质量满足了海洋区域地质调查的要求。  相似文献   

16.
An adaptive control scheme for dynamic positioning (DP) of remotely operated underwater vehicles (ROV) is proposed based on a recently developed output feedback variable structure control (VSC) algorithm named VS-MRAC. Only position measurement is required. Precise modeling of the ROV is not needed and unmodeled perturbations can be effectively rejected. A simple method for discretizing the original continuous-time VS-MRAC is proposed based on dead-beat response. Other important practical implementation issues are considered. The performance is evaluated by simulation with a realistic ROV model and by full-scale experimental pool tests with an actual ROV  相似文献   

17.
A deep ROV "DOLPHIN 3K": Design and performance analysis   总被引:1,自引:0,他引:1  
DOLPHIN 3K is a tethered remotely operated vehicle (ROV) system for ocean bottom surveys down to a depth of 3300 m. The system will be completed in fiscal year 1986. This paper describes the design of the system, and analyzes the maneuverability of the vehicle and the transmission performance of the optical fiber data communication system.  相似文献   

18.
文章从海洋污损生物的危害分析入手,首先概述海洋污损生物的清除方法,并结合空化水射流技术的原理与优势开展实例应用研究,指出空化射流清洗技术是一种切实可行的新型清洗技术,可以在不破坏设施表面完整防腐层的基础上,高效、安全地清洗水下设施表面附着的海洋生物污垢层;最后对空化水射流技术进行展望,指出其关键技术在于空化射流喷嘴的设计和ROV自动控制系统的研制。  相似文献   

19.
介绍了如何根据近年来海上走私的新特点,利用成熟的声纳探测和水下机器人技术,进行反走私水下取证系统设计的设计思想和技术方案,并对系统的组成、性能及工作原理和使用方法进行了阐述。  相似文献   

20.
In this paper, a hydrodynamic model is developed to simulate the six degrees of freedom motions of the underwater remotely operated vehicle (ROV) including the umbilical cable effect. The corresponding hydrodynamic forces on the underwater vehicle are obtained by the planar motion mechanism test technique. With the relevant hydrodynamic coefficients, the 4th-order Runge–Kutta numerical method is then adopted to solve the equations of motions of the ROV and the configuration of the umbilical cable. The multi-step shooting method is also suggested to solve the two-end boundary-value problem on the umbilical cable with respect to a set of first-order ordinary differential equation system. All operation simulations for the ROV including forward moving, ascending, descending, sideward moving and turning motions can be analyzed, either with or without umbilical cable effect. The current effect is also taken into consideration. The present results reveal that the umbilical cable indeed significantly affects the motion of the ROV and should not be neglected in the simulation.  相似文献   

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