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文章详细讲述了针对铁路线路采用全数字航空摄影方法,进行铁路沿线像片控制点布设、空中加密、铁路用地图三维立体采集。充分利用已收集用地资料,差分铁路里程,转绘铁路界址线,绘制符合现状的铁路用地图。实践生产表明,采用航空摄影法绘制铁路用地图不仅能够满足相关规范要求,而且为绘制铁路用地图提供了高效、精确、大面积的生产技术条件。 相似文献
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深渊着陆器技术研究及马里亚纳海沟科考应用 总被引：2，自引：0，他引：2
海斗深渊是指海洋中深度超过6 000 m的区域,占据了海洋底部45%的深度范围,是海洋生态系统的重要组成部分,海斗深渊科学代表着当前海洋研究最新的前沿领域。面向海斗深渊科学近海底长时探测与采样应用需求,介绍了我国自主研制的7 000 m级"天涯"号、"海角"号深渊着陆器系统,针对深渊着陆器的装备特点,重点研究了生物原位观测、微生物富集与固定、生物诱捕及沉积物取样等技术。描述了深渊着陆器在马里亚纳海沟开展的试验和科考应用,验证了着陆器及采样技术的可行性、有效性及其对深渊科考的适用性,并取得了多项科考成果。 相似文献
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自治水下机器人机械手系统协调运动研究 总被引：1，自引：0，他引：1
简单描述了自治水下机器人搭载的三功能水下电动机械手的设计,鉴于自治水下机器人-机械手系统运动学冗余、内部可能干涉以及载体圆筒式外形等特点,将惩罚调节因子引入系统运动学伪逆矩阵,保证了关节在允许范围内运动,避免载体大幅度姿态变化及载体与机械手之间的干涉,同时采用梯度投影法优化海流作用下的系统推力。仿真表明,该算法在解决系统冗余度的同时,有效地协调多任务下的系统动作。 相似文献
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为预测复杂海底环境下的小型履带式机器人转向运动性能,运用履带与土壤之间的剪切应力-剪切位移关系,考虑履带滑转以及转向离心力因素,并将水中浮力和水阻力参数引入构建履带式机器人深海底质土壤环境下的稳态转向动力学模型。将海底土壤参数、机器人结构参数代入动力学模型迭代求解,分析得到影响海底履带式机器人运动性能的因素。以一款深海小型履带式机器人为研究对象,在动力学仿真软件Recurdyn中构建动力学模型,通过动力学仿真得到的数据与理论计算数据具有较高的一致性,最后通过水池试验对比验证了动力学仿真的正确性。本文提出的稳态动力学模型可以作为海底履带式机器人不同机械结构参数、土壤条件下通过性预测的理论依据。 相似文献
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This paper proposes a geometrically exact formulation for three-dimensional static and dynamic analyses of the umbilical cable in a deep-sea remotely operated vehicle (ROV) system. The presented formulation takes account of the geometric nonlinearities of large displacement, effects of axial load and bending stiffness for modeling of slack cables. The resulting nonlinear second-order governing equations are discretized spatially by the finite element method and solved temporally by the generalized- implicit time integration algorithm, which is adapted to the case of varying coefficient matrices. The ability to consider three-dimensional union action of ocean current and ship heave motion upon the umbilical cable is the key feature of this analysis. The presented formulation is firstly validated, and then three numerical examples for the umbilical cable in a deep-sea ROV system are demonstrated and discussed, including the steady configurations only under the action of depth-dependent ocean current, the dynamic responses in the case of the only ship heave motion, and in the case of the combined action of the ship heave motion and ocean current. 相似文献
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文章讲述了利用航空摄影绘制的铁路用地图绘制铁路安全保护区图的方法,利用铁路用地图在车站及区间线路新建及改建设计、既有线复测、控制性详细规划和修建性详细规划编制、办理不动产登记等方面得到了具体应用。 相似文献
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This paper proposes a geometrically exact formulation for three-dimensional static and dynamic analyses of the umbilical cable in a deep-sea remotely operated vehicle(ROV) system. The presented formulation takes account of the geometric nonlinearities of large displacement, effects of axial load and bending stiffness for modeling of slack cables. The resulting nonlinear second-order governing equations are discretized spatially by the finite element method and solved temporally by the generalized-a implicit time integration algorithm, which is adapted to the case of varying coefficient matrices. The ability to consider three-dimensional union action of ocean current and ship heave motion upon the umbilical cable is the key feature of this analysis. The presented formulation is firstly validated, and then three numerical examples for the umbilical cable in a deep-sea ROV system are demonstrated and discussed, including the steady configurations only under the action of depth-dependent ocean current, the dynamic responses in the case of the only ship heave motion, and in the case of the combined action of the ship heave motion and ocean current. 相似文献