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This paper describes a new device for measuring seabed sliding resistance in situ, and provides an associated interpretation procedure. The device is designed to use a work class ROV as a testing platform to allow measurements to be obtained without use of a specialized geotechnical survey platform. The measurements are to assist pipeline design or analysis of the sliding resistance of other on-bottom infrastructure such as anchor chains. The device has been trialled using three tools: a flat plate, a cylindrical pipe section and a length of chain. The tools are dragged axially along the seabed using the ROV thrusters or a separate hydraulic actuator. An interpretation technique has been developed to estimate the passive resistance mobilized by the faces of the tools to eliminate end effects and to account for shape effects such as wedging. Onshore-trial tests were performed in a bed of dry sand. The individual tools exhibited different overall coefficients of friction, but the back-analysis method yielded equal interface friction angles acting on all three devices, indicating internal consistency. The interface friction angle also matched shear box test results. These outcomes confirm the correct operation of the device in drained seabed conditions, and yield useful information on the sliding resistance of pipes and chains. In addition, the back-analysis method allows measurements from one shape of tool to be used to estimate the response of other objects. 相似文献
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荔湾3-1外输海底管道中落管抛石技术 总被引：1，自引：0，他引：1
落管抛石是进行深水抛石的一种工程技术,可作为保证管道稳定性、处理悬跨、抑制隆起屈曲和进行跨越支撑的工程解决方案。系统研究了抛石在波流作用下的稳定性,落石对管道冲击的影响以及施工技术。针对南海环境条件下的抛石稳定理论进行了修正;分析了三层聚丙烯涂层管道在落石冲击下的可接受抛石粒径;提出同时结合石块稳定性结果和管道抗冲击性能要求下的石料分级的方法;最后,对该技术在荔湾3-1外输海底管道的工程应用进行详细阐述。 相似文献
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Nautilus矿业公司SMS勘探中采用的取样技术与装备 总被引：1，自引：0，他引：1
海底大块状硫化物(SMS)富含铜、锌、铅等金属,特别是富含贵金属金、银,引起了国际采矿业的浓厚兴趣。近年来,以澳大利亚Nautilus矿业公司为先驱代表的国际大型资源开发商和投资商已介入海底多金属硫化物的商业化开采。文中介绍了Nautilus公司在巴布亚新几内亚专属经济区针对海底块状硫化物矿床开展的一系列以商业开采为目的的勘探取样活动,详细介绍了勘探中所采用的基本方法与技术,并重点对其地质调查中所应用的拖网挖掘取样、ROV海底表面取样、大洋钻探船岩芯取样和专门开发的ROV岩芯钻探取样的装备、取样结果及作业效率进行了较为系统全面地介绍。 相似文献
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Many underwater intervention tasks are today performed using manned submersibles or remotely operated vehicles in teleoperation mode. Autonomous underwater vehicles are mostly employed in survey applications. In fact, the low bandwidth and significant time delay inherent in acoustic subsea communications represent a considerable obstacle to remotely operate a manipulation system, making it impossible for remote controllers to react to problems in a timely manner.Nevertheless, vehicles with no physical link and with no human occupants permit intervention in dangerous areas, such as in deep ocean, under ice, in missions to retrieve hazardous objects, or in classified areas. The key element in underwater intervention performed with autonomous vehicles is autonomous manipulation. This is a challenging technology milestone, which refers to the capability of a robot system that performs intervention tasks requiring physical contacts with unstructured environments without continuous human supervision.Today, only few AUVs are equipped with manipulators. SAUVIM (Semi Autonomous Underwater Vehicle for Intervention Mission, University of Hawaii) is one of the first underwater vehicle capable of autonomous manipulation.This paper presents the solutions chosen within the development of the system in order to address the problems intrinsic to autonomous underwater manipulation. In the proposed approach, the most noticeable aspect is the increase in the level of information transferred between the system and the human supervisor.We describe one of the first trials of autonomous intervention performed by SAUVIM in the oceanic environment. To the best knowledge of the authors, no sea trials in underwater autonomous manipulation have been presented in the literature. The presented operation is an underwater recovery mission, which consists in a sequence of autonomous tasks finalized to search for the target and to securely hook a cable to it in order to bring the target to the surface. 相似文献
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Tang Rongqing Wang Daoyan Zhang Xixian Egnineer Shanghai Jiao Tong University Shanghai Associate Professor Shanghai Jiao University Shanghai 《中国海洋工程》1993,(3)
- The authors have used a low-cost ROV of observation type for underice surveying of the Nen-Jiang Cross-river oil pipe line in the Da Qing oil field. The operation method, process and the safety measures for severe cold areas are presented. The fruitful tries and experience may be useful to ROV operators in severe cold areas. 相似文献
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The advantages of using unmanned underwater vehicles in coastal ocean studies are emphasized. Two types of representative vehicles, remotely operated vehicle (ROV) and autonomous underwater vehicle (AUV) from University of South Florida, are discussed. Two individual modular sensor packages designed and tested for these platforms and field measurement results are also presented. The bottom classification and albedo package, BCAP, provides fast and accurate estimates of bottom albedos, along with other parameters such as in-water remote sensing reflectance. The real-time ocean bottom optical topographer, ROBOT, reveals high-resolution 3-dimentional bottom topography for target identification. Field data and results from recent Coastal Benthic Optical Properties field campaign, 1999 and 2000, are presented. Advantages and limitations of these vehicles and applications of modular sensor packages are compared and discussed. 相似文献
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海底管道对海上油气田安全生产有着非常重要的作用,对东方1-1海管进行了连续6年的无人有缆遥控水下机器人(remote operatedvehicle,ROV)调查,根据调查数据,分析了海管悬跨的分布特征以及变化情况,按海管悬跨严重程度进行了风险等级分区。结果表明在受水动力影响最大的深水平坦区海管悬跨分布密集,并有逐年加剧趋势,安全风险较大。并对悬跨形成机理和极限悬跨长度进行了分析和阐述。介绍了沙袋支撑和局部抛石填埋悬跨治理方法的原理和优缺点,对比分析了治理效果情况,认为局部抛石治理方法效果优于沙袋治理。 相似文献
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