快速液动网络仿水母软体机器人的结构优化          下载免费PDF全文

于添  吴校生 《数字海洋与水下攻防》2023,6(4):496-503

水母在海洋内分布深度范围大,经过数亿年的进化,它具备极强的环境适应性,提出了一种新型仿水母软体机器人结构。为避免以往仿水母机器人的缺陷,采用快速液动网络（Fast Liquid Network,简称 FLN）构建驱动结构,采用电推杆来实现仿水母软体机器人的外伞摆动。新的设计具有全封闭结构,适合独立自主和大水深环境下运行。构建了仿水母软体机器人的总体模型,基于 Yeoh 超弹性材料本构模型对机器人进行有限元仿真优化,获得了优化的结构参数（腔室和驱动器的尺寸）。采用精密加工模具实现了软体结构的制作,采用弹簧钢片对软体结构进行刚度加强,通过各部件的联接实现了模型的系统集成。通过对原型机的测试,实现了仿水母机器人水下自主上浮运动,验证了本设计方案的可行性。  相似文献   

南极纳尔逊冰川土壤中微生物的群落结构及其代谢特征研究          下载免费PDF全文

范启连  田琛  吕永新  张宇  肖湘 《应用海洋学学报》2023,42(2):187-194

冰川土壤中的微生物是冰冻圈生态系统中的重要组成部分。南极纳尔逊冰川四周环海,临近海洋的物质输送和其他因素扰动改变了近岸土壤中部分理化因子,从而对土壤中的微生物群落产生影响。本研究采集了南极纳尔逊冰川不同近海距离处的土壤样品,并对其进行了细菌和古菌V4区扩增子测序以及宏基因组测序,探讨了不同近海距离的冰川土壤中的微生物群落结构和代谢潜能。物种多样性结果显示,不同位点的土壤微生物群落组成有所差异,但变形菌门、放线菌门、拟杆菌门等在冰川土壤样品中普遍存在且相对丰度较高。宏基因组分析结果显示,不同近海距离的冰川土壤微生物群落的功能基因分布不同,且能量代谢和跨膜运输等代谢途径的基因的丰度随着采样位点远离海洋而降低。冰川土壤中碳、氮、硫代谢分别以还原性柠檬酸循环、反硝化、同化硫酸盐还原途径为主,其中反硝化途径基因在所有样品中丰度较高。通过分箱组装获得了含有反硝化功能基因的基因组bin_71,并重构了其核心的代谢通路。本研究初步揭示了南极纳尔逊冰川土壤中微生物的群落结构及代谢潜能,为后续南极冰川土壤新物种的发现、功能基因的挖掘、以及探究全球气候变暖下海洋对沿海生态系统的影响提供了基础数据。  相似文献   

立柱直径比对四立柱平台涡激运动性能影响的数值研究     

陈元鑫  寇雨丰  林志良  刘明月 《海洋工程》2021,39(1):43-52

与单立柱平台(Spar)类似,四立柱平台在洋流作用下也容易发生涡激运动,对锚泊和立管系统的疲劳寿命产生不利影响。一种非对称半潜式平台具有两种不同尺寸的立柱,立柱直径比对非对称平台涡激运动性能的影响尚需深入研究。采用计算流体力学(CFD)方法,对直径比分别为1.0、1.5和2.0的立柱组合在两种不同角度水流作用下的运动响应进行了二维数值模拟,分析发现:立柱直径比不为1时四立柱平台也具有明显的涡激运动,其横荡运动具有显著的锁定现象;在广义折合速度定义下,与相同直径的四立柱平台相比,立柱直径比不为1时其横荡运动锁定区间变宽且滞后,横荡响应幅值的峰值具有明显差异;在所研究的直径比范围内,大直径立柱在上游时涡激运动响应比其在下游时更显著,且这种差异随着直径比变大而变大。  相似文献   

基于M-BEMT2.0研究串列海流发电机的水动力性能     

王佳玉  余龙 《海洋工程》2021,39(2):110-120

海流发电机(MCT)是开发海洋可再生能源的重要装置。在预测海流发电机水动力性能方面,修正叶素动量理论(M-BEMT)方法被验证是一种简单有效的方法。为了进一步提高M-BEMT方法的适用性和准确性,基于M-BEMT方法开发M-BEMT2.0方法包括时均法(TA-BEMT2.0)和瞬态积分法(TI-BEMT2.0),新方法考虑了来流的轴向非均匀性和周向非均匀性。首先使用文献的试验结果验证均匀来流时新方法的适用性。然后使用计算流体力学(CFD)计算结果验证非均匀来流时新方法的适用性。最后结合新方法和CFD方法深入研究两个串列排布海流发电机(MCTA)的水动力性能。基于M-BEMT2.0研究发现,均匀来流时计算结果与试验结果基本吻合,非均匀来流时新方法的计算结果优于M-BEMT的计算结果。对于MCTA,当第一个MCT的叶尖速度比越大,第二个MCT功率比和推力比恢复到90%的距离越短。  相似文献   

基于合成孔径雷达回波信号的海洋溢油监测方法研究     

孙健  胥亚  陈方玺  彭仲仁 《海洋学报》2014,36(9):103-105

海洋油污染是各类海洋污染中最常见、分布面积最广且危害程度最大的污染之一。近年来,海洋特别是近海人类活动频繁,且随着海上运输和石油加工业的发展,油田井喷、钻井平台爆炸、船舶碰撞等所造成的溢油事故增多,因而,监测海洋溢油具有重要的经济和社会现实意义。研究采用MatLAB工具,通过图像预处理(图像校正和增强)、特征提取和神经网络识别等方法,对合成孔径雷达(SAR)海洋溢油图像进行处理,最终期望实现半自动区分SAR图像上各类目标,并进行多种神经网络方法效果比较。研究首先对SAR海洋溢油图像进行初步人工识别;然后进行图像预处理(几何校正、滤波处理等)和基于灰度共生矩阵的特征值计算;最后,借助神经网络方法对溢油区域和疑似溢油区域进行分类,输出分类处理后的图像。通过输出图像分析发现,神经网络能对SAR海洋溢油图像中溢油、海水、土地3类目标进行明确分类,且RBF神经网络模型精度高于BP神经网络。本文提出的半自动分类方法不仅能提高SAR图像处理效率,将分类目标扩充有溢油和非溢油扩充到溢油、海水、土地3类,提高图像处理的全面性,同时通过比较RBF和BP神经网络在SAR溢油图像分类上的具体优劣,有着较好实际意义。  相似文献   

超低剂量心脏CT扫描对冠状动脉狭窄分级和量化的价值     

陈安  解学乾  王政  李远  张皓  李念云  孟捷 《CT理论与应用研究》2018,27(6):701-707

目的:在冠状动脉CT成像（CCTA）中,以100 kV扫描为参照,评估70 kV扫描对冠状动脉狭窄程度分级和量化的一致性。方法:选取70名临床怀疑或已知冠心病且适合行CCTA检查的患者,使用256排宽探测器CT,分别用70 kV和100kV管电压进行单心动周期CCTA检查。比较两组扫描的有效辐射剂量（ED）及图像信噪比（SNR）。对冠状动脉的9个节段进行狭窄程度分析。将狭窄程度分为正常（0%）、轻度（1%~49%）、中度（50%~69%）和重度（70%~100%）四个等级。记录狭窄程度一致的冠状动脉节段数目。使用Bland-Altman分析比较冠脉狭窄程度的一致性。结果:70 kV扫描的有效辐射剂量显著低于100 kV扫描的,分别为（0.26±0.08）mSv和（1.07±0.05）mSv （P<0.01）,信噪比显著低于100 kV扫描,分别为16.53±5.87和18.19±6.07（P<0.05）。在630个冠状动脉节段中,608个（96.5%）分级一致。Bland-Altman分析显示两组扫描方法评估狭窄程度差异性的95%可信区间约在15%~30%之间。结论:70kV冠状动脉CTA成像可以大幅度降低辐射剂量,对冠脉狭窄程度的分级与常规100kV扫描基本一致。但是对冠状动脉的精确量化测量与常规扫描有一定的差异性。   相似文献   

Three-dimensional analysis of ozone and PM<Subscript>2.5</Subscript> distributions obtained by observations of tethered balloon and unmanned aerial vehicle in Shanghai,China     

Xiao-Bing?Li  Dongfang?Wang  Qing-Chang?Lu  Zhong-Ren?PengEmail author  Qingyan?Fu  Xiao-Ming?Hu  Juntao?Huo  Guangli?Xiu  Bai?Li  Chao?Li  Dong-Sheng?Wang  Hanyu?Wang 《Stochastic Environmental Research and Risk Assessment (SERRA)》2018,32(5):1189-1203

A lightweight unmanned aerial vehicle (UAV) and a tethered balloon platform were jointly used to investigate three-dimensional distributions of ozone and PM_2.5 concentrations within the lower troposphere (1000 m) at a localized coastal area in Shanghai, China. Eight tethered balloon soundings and three UAV flights were conducted on May 25, 2016. Generalized additive models (GAMs) were used to quantitatively describe the relationships between air pollutants and other obtained parameters. Field observations showed that large variations were captured both in the vertical and horizontal distributions of ozone and PM_2.5 concentrations. Significant stratified layers of ozone and PM_2.5 concentrations as well as wind directions were observed throughout the day. Estimated bulk Richardson numbers indicate that the vertical mixing of air masses within the lower troposphere were heavily suppressed throughout the day, leading to much higher concentrations of ozone and PM_2.5 in the planetary boundary layer (PBL). The NO and NO₂ concentrations in the experimental field were much lower than that in the urban area of Shanghai and demonstrated totally different vertical distribution patterns from that of ozone and PM_2.5. This indicates that aged air masses of different sources were transported to the experimental field at different heights. Results derived from the GAMs showed that the aggregate impact of the selected variables for the vertical variations can explain 94.3% of the variance in ozone and 94.5% in PM_2.5. Air temperature, relative humidity and atmospheric pressure had the strongest effects on the variations of ozone and PM_2.5. As for the horizontal variations, the GAMs can explain 56.3% of the variance in ozone and 57.6% in PM_2.5. The strongest effect on ozone was related to air temperature, while PM_2.5 was related to relative humidity. The output of GAMs also implied that fine aerosol particles were in the stage of growth in the experimental field, which is different from ozone (aged air parcels of ozone). Geographical parameters influenced the horizontal variations of ozone and PM_2.5 concentrations by changing underlying surface types. The differences of thermodynamic properties between land and sea resulted in quick changes of PBL height, air temperature and dew point over the coastal area, which was linked to the extent of vertical mixing at different locations. The results of GAMs can be used to analyze the sources and formation mechanisms of ozone and PM_2.5 pollutions at a localized area.  相似文献   

Effectiveness of servo struts in controlling excavation-induced wall deflection and ground settlement     

Li  Ming-Guang  Demeijer  Olivier  Chen  Jin-Jian 《Acta Geotechnica》2020,15(9):2575-2590

Acta Geotechnica - Deformations in deep excavations can be controlled by providing adjustable support using servo struts; however, the design of strut positions and applied forces remains to be...  相似文献   

肺亚实性结节CT图像定量变化对浸润的判断          下载免费PDF全文

施丽萍  张亚平  解学乾  蒋蓓蓓  陈安 《CT理论与应用研究》2019,28(5):541-548

目的:定量评估肺亚实性结节（SSN）内非实性成分从基线到随访CT扫描之间的变化,以鉴别诊断有浸润表现的SSN,即微浸润性腺癌（MIA）和浸润性腺癌（IAC）。材料与方法:回顾性纳入有基线和复查CT,并有组织学结果的SSN。测量指标为SSN整体最大直径,非实性成分CT值均值、最大CT值、最小CT值和CT值标准差。以时间为因变量,用线性回归评估SSN测量值从基线到复查扫描的进展。采用受检者工作特征曲线（ROC）和曲线下面积（AUC）评价测量值年化改变对有浸润表现SSN的诊断能力。结果:71名患者（男32,女39）中纳入78个SSN,其中良性19个,原位腺癌10个,微浸润腺癌36个,浸润腺癌13个。所有SSN分类的直径均与时间呈显著正相关（P<0.05）。有浸润表现SSN的非实性成分CT值标准差与时间显著正相关（P=0.037）。良性和原位腺癌中,所有4个CT值指标与时间无相关性（P>0.05）。ROC分析提示CT值标准差年化改变可以明显诊断有浸润表现的SSN（P=0.014）,诊断敏感性、特异性和AUC分别为68.7％,77.8％和0.747。结论:在SSN的复查过程中,良性、原位腺癌、MIA和IAC的直径都有增加,评估CT值标准差的变化能够鉴别诊断有浸润表现的SSN（MIA和IAC）。   相似文献   

Exact solution and approximate solution of irregular wave radiation stress for non-breaking wave     

Liangduo Shen  Zhili Zou  Zhaode Zhang  Yun Pan 《海洋学报(英文版)》2021,40(7):58-67

Wave radiation stress is the main driving force of wave-induced near-shore currents. It is directly related to the hydrodynamic characteristics of near-shore current whether the calculation of wave radiation stress is accurate or not. Irregular waves are more capable of reacting wave motion in the ocean compared to regular waves.Therefore, the calculation of the radiation stress under irregular waves will be more able to reflect the wave driving force in the actual near-shore current. Exact solution and approximate solution of the irregular wave radiation stress are derived in this paper and the two kinds of calculation methods are compared. On the basis of this, the experimental results are used to further verify the calculation of wave energy in the approximate calculation method. The results show that the approximate calculation method of irregular wave radiation stress has a good accuracy under the condition of narrow-band spectrum, which can save a lot of computing time, and thus improve the efficiency of calculation. However, the exact calculation method can more accurately reflect the fluctuation of radiation stress at each moment and each location.  相似文献