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《中国舰船研究》2017,(2)
[目的]针对无人水下机器人(UUV)的回收任务要求,研制开发一台新式腹部作业型水下遥控机器人(ROV)。腹部作业型ROV不同于一般依赖机械手作业的传统ROV,其通过腹部作业机构完成与UUV的水下对接及回收。[方法]介绍腹部作业型ROV的系统组成及原理,提出一种以一体化工业加固计算机为水面监控单元,PC104嵌入式工业控制计算机为水下主控单元,各驱动板为驱动单元的控制系统架构。同时建立腹部作业型ROV的动力学模型,并设计水平面定向控制的H∞鲁棒控制器。[结果]单项试验、系统联调及水池试验表明,腹部作业型ROV控制系统具有良好的实时性和可靠性,能够满足UUV回收任务的要求。[结论]该架构和算法对于其他移动机器人、无人机、仿生机器人的控制系统开发均具有参考意义。 相似文献
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详细介绍了一种全新概念的水下机器人-ARV(Autonomous& Remotely-operated Vehicle).它综合了遥控水下机器人(ROV)和自治水下机器人(AUV)的优点,既可以像AUV一样依靠预设指令进行自主巡航来完成大范围搜索探测任务,又可以像ROV一样,通过水面遥控完成精细作业.ARV最显著的特点是用微细光缆取代了传统的脐带电缆,使水下机器人更具长距离、大深度、实时操作、机动灵活及高可靠性等特点.着重阐述其研究背景、关键技术、实物样机的研制及其发展的重要意义. 相似文献
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《中国舰船研究》2018,(6)
[目的]针对船体、大坝、水下钢结构等表面附着物的安全检测,以及附着物清除作业的要求,需要研制一款新型水下安全检测和作业型带缆遥控水下机器人(ROV)。此类ROV需针对不同作业任务更换机械手,实现抓取、切割的功能,从而保证去除结构物上的附着物。[方法]阐述水下安全检测和作业型机器人的整套系统组成及原理。该系统以Arduino单片机为控制面板信号采集工具、以水面监控系统开发工控机为平台,零浮力脐带缆以2对双绞线、1对电源线为信号电力传输线,水下控制系统以ARM嵌入式为主控单元。建立ROV动力学模型,设计ROV艏向控制的广义预测控制器。经过系统调试,进行水池试验和湖上试验。[结果]试验证明,该系统运行正常,整套控制系统的稳定性、可靠性、实时性均达到设计要求,满足水下安全检测及作业要求。[结论]该系统设计方案和控制算法对于其他水下机器人的控制系统研究均有借鉴意义。 相似文献
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水下机器人全称为水下遥控运载器,(英译:Remotely Operated Vehicle以下简称:ROV)是一种高科技仪器设备的集成体,文章将介绍ROV的现状与特点,对ROV在水下工程检测中的应用前景进行了探讨,提出在水下探摸检测工作中引进ROV的建议。 相似文献
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《机电设备》2019,(4)
<正>原价:400元/本30%OFF包邮优惠价低至280元/本数量有限欲购从速水下机器人也称无人遥控潜水器(ROV),是一种工作于水下的极限作业机器人。英文版《水下机器人技术手册》来自国际知名的爱思唯尔出版集团,本书的作者Robert Christ和Robert Wernli在水下机器人及水下技术领域拥有超过40年的丰富经验,在业界享有盛名。由中国船舶重工集团公司第七○四研究所引进版权,并联合上海交通大学出版社的中文版《水下机器人技术手册》已经面世。全书700多页,内容涵盖ROV行业背景、海洋环境、设计原理和标准、潜水器控制和仿真、潜水器设计和稳性、推进器、动力和遥测、电缆和接头、 相似文献
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《船舶与海洋工程学报》2014,(1):126-126
正San Francisco,California,June 8-13,2014.OMAE 2014 is the ideal forum for researchers,engineers,managers,technicians and students from the scientific and industrial communities from around the world to:·meet and present advances in technology and its scientific support;·to exchange ideas and experiences whilst promoting technological progress and its application in industry·to promote international cooperation in ocean,offshore and arctic engineering.In line with the tradition of excellence of previous OMAE conferences,more than 900 technical papers are planned for presentation.Outreach for Engineers Specialty Forum This Specialty Forum is designed for students and professionals who may not be familiar with the Ocean and Offshore industry,as well as those who have just recently specialized in this field. 相似文献
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《船舶与海洋工程学报》2014,(1)
正19–24 October 2014 SingaporeCONFERENCE THEMES The overall aim of the ICHD Conference is to provide a forum for participants from around the world to review,discuss and present the latest developments in the broad discipline of hydrodynamics and fluid mechanics.The first International Conference on Hydrodynamics(ICHD)was initiated in 1994 in Wuxi,China.Since then,9 more ICHD conferences were held subsequently in Hong Kong,Seoul,Yokohama,Tainan,Perth,Ischia,Nantes,Shanghai and St Petersburg.Evidently the ICHD conference has become an important event among academics,researchers,engineers and operators,working in the fields closely related to the science and technology of hydrodynamics.The 11th ICHD will be held in Singapore in 2014. 相似文献
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《船舶与海洋工程学报》2014,(2)
正November 4-6,2014Moody Gardens HotelConvention Center/Galveston,TX The Deepwater Operations Conference and Exhibition is celebrating its 12th anniversary this year.This growing event will continue the tradition of excellence in addressing operational challenges involved in developing deepwater resources.We will return to the Moody Gardens Hotel and Convention Center on November 5-7,2014 in Galveston,Texas. 相似文献
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Donna J. Nickerson-Tietze 《Coastal management》2013,41(1):65-74
Fishing communities, the Government of Thailand Department of Fisheries, local nongovermnental organizations, universities, the Food and Agriculture Organization of the United Nations (FAO), and FAO's Bay of Bengal Program have undertaken a partnership in management of Phang-nga Bay's coastal resources. It is the first project of its kind in Thailand, and although still in the early stages, offers insights that may contribute to our knowledge of how we can improve our management of coastal resources, including the importance of (1) building relationships within the governance process; (2) combining education, enforcement, and economic incentives to achieve compliance; (3) implementing solutions early; and (4) government support of community-based decisions. These insights reinforce trends emerging in other coastal management projects in the Asian region. 相似文献
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Lynne Zeitlin Hale Mark Amaral Abdulrahman S. Issa B. A. J. Mwandotto 《Coastal management》2013,41(1):75-85
Site-based projects were initiated in Chawka Bay-Paje, Zanzibar, and Nyali-Bamburi-Shanzu, Kenya, to demonstrate the benefits of an integrated coastal management (ICM) approach for addressing coastal issues such as tourism development and enhancement of resource-dependent village economies in eastern Africa. A two-year, multidonor project used three primary strategies to make rapid, but sustainable, progress toward ICM. These included using interagency government teams for ICM planning, adopting an internationally recognized framework for ICM as a project ''road map,'' and explicitly incorporating capacity-building strategies into all aspects of the project. Within two years, integrated ICM action strategies, prepared through participatory processes, were being implemented at both sites, and both teams were working to expand the scale and scope of ICM in their nation. More importantly, the project helped create committed, capable, interagency groups that continue to work together to address urgent ICM issues. 相似文献
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《船舶与海洋工程学报》2014,(2)
正In the paper"Influence of Fouling Assemblage on the Corrosion Behaviour of Mild Steel in the Coastal Waters of The Gulf of Mannar,India"in Vol.12,No.4,Page:509,References were lost,and the two authors’biographies were identical.The correct text is shown below.We apologize to the authors and our readers for any inconvenience caused by the errors. 相似文献
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文章详细分析了单相VSR型PWM整流器的整流原理,建立了电流内环,电压外环的单相VSR型PWM整流控制器的数学模型和逻辑框图。在MATLAB/Simulink软件环境中进行了仿真,分析了模型的可行性。 相似文献
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This paper presents a simplified method for the reliability- and the integrity-based optimal design of engineering systems and its application to offshore mooring systems. The design of structural systems is transitioning from the conventional methods, which are based on factors of safety, to more advanced methods, which require calculation of the failure probability of the designed system for each project. Using factors of safety to account for the uncertainties in the capacity (strength) or demands can lead to systems with different reliabilities. This is because the number and arrangement of components in each system and the correlation of their responses could be different, which could affect the system reliability. The generic factors of safety that are specified at the component level do not account for such differences. Still, using factors of safety, as a measure of system safety, is preferred by many engineers because of the simplicity in their application. The aim of this paper is to provide a simplified method for design of engineering systems that directly involves the system annual failure probability as a measure of system safety, concerning system strength limit state. In this method, using results of conventional deterministic analysis, the optimality factors for an integrity-based optimal design are used instead of generic safety factors to assure the system safety. The optimality factors, which estimate the necessary change in average component capacities, are computed especially for each component and a target system annual probability of system failure using regression models that estimate the effect of short and long term extreme events on structural response. Because in practice, it is convenient to use the return period as a measure to quantify the likelihood of extreme events, the regression model in this paper is a relationship between the component demands and the annual probability density function corresponding to every return period. This method accounts for the uncertainties in the environmental loads and structural capacities, and identifies the target mean capacity of each component for maximizing its integrity and meeting the reliability requirement. In addition, because various failure modes in a structural system can lead to different consequences (including damage costs), a method is introduced to compute optimality factors for designated failure modes. By calculating the probability of system failure, this method can be used for risk-based decision-making that considers the failure costs and consequences. The proposed method can also be used on existing structures to identify the riskiest components as part of inspection and improvement planning. The proposed method is discussed and illustrated considering offshore mooring systems. However, the method is general and applicable also to other engineering systems. In the case study of this paper, the method is first used to quantify the reliability of a mooring system, then this design is revised to meet the DNV recommended annual probability of failure and for maximizing system integrity as well as for a designated failure mode in which the anchor chains are the first components to fail in the system. 相似文献