自主水下机器人水下接驳插拔传输与无线感应传输研究现状及对比分析     

刘菲菲  郑荣 《海洋工程》2023,41(3):157-167

水下对接传输技术作为自主水下机器人（autonomous underwater vehicle,简称AUV）水下能源补给及数据传输的重要方式,受到国内外的重点关注,目前采用的水下对接传输方式主要分为接驳插拔传输及无线感应传输。在探究国内外AUV水下对接研究概况的基础上,归纳、总结以上两种传输方式的研究现状,分析对比其在对接传输效率、发展限制因素、对接控制技术等方面的区别。通过分析发现,接驳插拔传输在传输效率及功率方面具备优势,无线感应传输则具有更高的简易性、经济性。此发现为不同作业需求下传输方式的选择提供了基础。通过技术发展限制因素对比得出,在未来技术发展方向上,接驳插拔传输技术需提升系统稳定性、灵活性及费效比,无线感应传输需解决能量损耗、系统鲁棒性及涡旋损耗等问题。对两种传输技术未来发展前景及方向的预测,能够为AUV水下传输的发展提供重要参考。  相似文献   

PAA─水泥─泥浆快速絮凝堵漏浆液的研制          下载免费PDF全文

何世呜  任德兵 《探矿工程》1994,(2):52-54

通过正文试验方法及体积比试验选出了ＰＡＡ－水泥－泥浆浆液最优配方，在平顶山岩金矿区２个钻孔３次堵漏成功。这种浆液是因地制宜研制成功的一种快速堵漏浆液。  相似文献   

Influence of connection typology on seismic response of MR‐Frames with and without ‘set‐backs’          下载免费PDF全文

Rosario Montuori  Elide Nastri  Vincenzo Piluso  Marina Troisi 《地震工程与结构动力学》2017,46(1):5-25

The work presented is aimed at the investigation of the influence of beam‐to‐column connections on the seismic response of MR‐Frames, with and without ‘set‐backs’, designed according to the Theory of Plastic Mechanism Control. The investigated connection typologies are four partial strength connections whose structural details have been designed to obtain the same flexural resistance. The first three joints are designed by means of hierarchy criteria based on the component approach and are characterized by different location of the weakest joint component, leading to different values of joint rotational stiffness and plastic rotation supply and affecting the shape of the hysteresis loops governing the dissipative capacity. The last typology is a beam‐to‐column connection equipped with friction pads devoted to the dissipation of the earthquake input energy, thus preventing the connection damage. An appropriate modelling is needed to accurately represent both strength and deformation characteristics, especially with reference to partial‐strength connections where the dissipation of the earthquake input energy occurs. To this aim, beam‐to‐column joints are modelled by means of rotational inelastic springs located at the ends of the beams whose moment‐rotation curve is characterized by a cyclic behaviour which accounts for stiffness and strength degradation and pinching phenomena. The parameters characterizing the cyclic hysteretic behaviour have been calibrated on the base of experimental results aiming to the best fitting. Successively, the prediction of the structural response of MR‐Frames, both regular frames and frames with set‐backs, equipped with such connections has been carried out by means of both push‐over and Incremental Dynamic Analyses. Copyright © 2016 John Wiley & Sons, Ltd.  相似文献   

Deterring effects of 8-45 kHz tone pulses on harbour seals (Phoca vitulina) in a large pool     

Kastelein RA  van der Heul S  Terhune JM  Verboom WC  Triesscheijn RJ 《Marine environmental research》2006,62(5):356-373

The marine aquaculture industry suffers losses due to pinniped attacks which damage net enclosures and fish stocks. Acoustic harassment devices (AHDs) emit loud sounds which are intended to deter pinnipeds from approaching aquaculture enclosures. At present, many AHDs emit sounds in the 8-20 kHz frequency range. It is not known whether sounds of higher frequencies have a deterrent effect on seals. Therefore five captive harbour seals (Phoca vitulina) were subjected to four series of tone pulses together spanning a broad frequency range (8, 16, 32 and 45 kHz). Pulse duration was 250 ms and pulse interval was 5s. Each of the four sounds was made deterrent by increasing the amplitude. The seals reacted by swimming away from the sounds. The displacement effect of each sound was judged by comparing the animals' surface positions, and number of surfacings, during ten 45 min baseline periods with ten 45 min test periods per frequency (one frequency per day in rotation, 40 sessions in total). The seals were displaced by all four frequencies throughout the 40 trial days. The seals came to the surface more often when the test tones were produced than in the baseline periods. The initial displacement distances did not change over the 40 test days. This suggests that operating AHDs for only short periods will be more effective and less likely to result in habituation by the seals than operating them continuously. The discomfort threshold sound pressure level (SPL) was established for each of the four pulse frequencies. The acoustic discomfort threshold SPL is defined as the boundary SPL between the area that the animals generally occupied during the transmission of the sounds and the area that they generally did not enter during sound transmission. The discomfort threshold SPL may depend on the context.  相似文献   

相变前的热力学平衡态对铁电液晶排列的影响          下载免费PDF全文

唐先柱  彭增辉  刘永刚  鲁兴海  宣丽 《海洋学报》2010,32(9):6261-6265

本实验选用ZLI-3654型铁电液晶(FLC)以及SE-3140型取向剂制备FLC器件样品,通过改变FLC相变过程中的降温速率以及相变前的热力学平衡态来研究FLC相变前的热力学平衡态对FLC排列的影响,共进行了十组实验.实验后,将FLC器件静态对比度进行比较,得出手性向列相到近晶A相(N^*-SmA)相变前的热力学平衡态对FLC实现均匀排列起着极其重要的作用的结论.实验结果表明:器件的静态对比度可高达620 ∶1, N^*-SmA相变前的热力学平衡态有利于形成高对比  相似文献