捞雷船总体设计

雷船属于海军辅助舰船，它是一种工作船，由于它的作业特殊，雷船就具有其独特怀，本文介绍捞雷船总体设计要求和方法，供人事这方面工作的读者参考。     

基于蠕动原理拱泥机器人方案研究

本文针对目前沉般打捞作业中潜水员手工攻打千斤洞的现状，首次提出了拱泥机器人的概念。它基于蚯蚓在泥土中爬行的运动机理，可以在水下泥土环境中按预定轨迹从沉船底部一侧向另一侧蠕动爬行，并随时根据检测到的位置和力信息调整运动位置和姿态。将地下穿孔机的冲击原理与蚯蚓的蠕动机理相结合，提出了一种头部冲击式的拱泥机器人的方案。研究了拱泥机器人的运动控制与位姿检测方案，并建立了拱泥机器人在水下泥土环境中作业的力学模型。     

机器人智能焊接技术在甲板片体框架结构上的应用

针对甲板片体框架结构特点和机器人智能化焊接工艺要求，在合理的甲板片体分段划分基础上，综合运用机器人智能控制、离线编程、焊接工艺数据库和视觉识别等技术，完善机器人焊接作业流程，优化机器人焊接分段作业顺序，提高机器人焊接可达性，可进一步提高甲板片体框架结构机器人智能焊接技术应用水平。     

布缆船的捞缆作业及捞缆装置

本文通过布缆船设计实践介绍了布缆船的特种装置一捞缆装置的组成及作用以及捞缆作业概况与特性。     

船舶涂装机器人应用技术分析

船舶涂装是船舶建造过程中的一个重要环节,引入各类涂装机器人进行涂装作业是未来发展的趋势。对此,分析国内外船舶涂装机器人的发展现状,阐述应用涂装机器人需突破的技术,包括:机器人喷涂涂层累积成长模型;涂装机器人试验分析方法;工艺接口和工艺库设计;计算机辅助设计(Computer Aided Design,CAD)模型转换和路径识别等。     

水下船体表面清刷作业机器人的控制系统

水下船体表面清刷作业机器人是一种新型的用于水下特种作业的机器人。作者从电机驱动、姿态检测、自主控制等几个方面进行了机器人控制系统的硬件及软件设计，实验结果表明控制系统性能达到了设计要求。     

水下船体表面清刷机器人方案研究

介绍一种新型的用于船体表面清刷、涂装等作业的水下船体表面清刷机器人总体组成、基本功能和工作原理，并提出了机械本体、清刷作业装置和控制系统三部分的设计方案。该机器人具有工作效率高，安全性好等优点。     

深海作业型机器人液压推进系统的非线性校正（英文）

文章研究了应用于深海作业型机器人的比例减压阀控型液压推进系统,提出了一种通过改善液压推进系统的非线性特性提高深海作业型机器人控制性能的方法。通过给液压马达两端提供相等的初始压力,可显著改善当期望推力较小时由于系统背压、比例减压阀和驱动板的非线性所引起的液压推进系统的非线性特性,对该非线性特性分段校正,降低液压推进系统的非线性特性对深海作业型机器人控制性能的影响。单推进器的水池实验证明了比例阀控型液压推进系统的非线性特性、液压推进系统仿真模型的准确性。数字仿真实验说明了液压推进系统的非线性特性对深海作业型机器人控制性能的影响以及非线性校正后控制性能的显著改善。     

海浪扰动信号的仿真方法

给出了一种新的以遭遇频率表示的海浪遭遇谱和遭遇波倾角谱的数学表达式，介绍了建立随机海浪模型的三种仿真方法，即频率等分法、能量等分法和有理谱法，并采用能量等分法进行了海浪模型的仿真和分析。它对于研究船舶装备、船舶行业机器人、海上作业平台和船舶的运动控制具有重要意义。     

小型化碟形水下机器人系统设计

当前应用于湖泊海域的小型水下机器人较少，且成本较高。提出一种自主式碟形水下机器人，并完成了系统设计和相关试验，实现其高度自主化和无疲劳连续性作业等功能，大幅提升小型水下机器在湖泊海域作业的可靠性、安全性和高效性，对于推进小型水域的科考工作发展具有重要意义。     

蠕动爬行攻泥机构转向工作特性的有限元分析

针对用于沉船打捞的水下攻泥机器人蠕动爬行攻泥机构的结构与工作机理，建立了适当的有限元计算模型，进而通过弹塑性有限元计算，模拟了攻泥机构处于土中不同深度的工作情况，建立了攻泥机构前进位移V和转向角θ之间关系的通用公式。通过它可以实现对攻泥机构前进路线的规划与自动控制。     

Prediction of the forces acting on container carriers in muddy navigation areas using a fluidization parameter

To assess the safety of navigation in muddy areas, a comprehensive captive manoeuvring model test program was executed. Based on the results of this experimental program, a four-quadrant manoeuvring model was built with a separate set of coefficients for each combination of under-keel clearance and mud layer characteristics. The disadvantage of this model is that only conditions corresponding with the experimental ones can be simulated. A more consolidated mathematical model was needed. This was achieved with the introduction of a fluidization parameter that determines the corresponding hydrodynamically equivalent depth above a solid bottom. As a result, the under-keel clearance dependency of a given mathematical manoeuvring model can be reformulated in such way that the effect of any realistic muddy condition is included. In this article, the modelling of the hull forces, the propeller thrust and torque, and the forces acting on the rudder will be discussed.     

Modelling propeller and rudder induced forces acting on deep drafted vessels in muddy navigation areas

To assess the navigability of deep drafted vessels in muddy navigation areas a mathematical model has been built that takes into account the characteristics of the mud layer. This was achieved with the introduction of a fluidization parameter which determines the corresponding hydrodynamically equivalent depth above a solid bottom. As a result, the under keel clearance dependency of a given mathematical manoeuvring model can be reformulated in such way that the effect of any realistic muddy condition is included. In this article the modelling of the propeller and rudder induced forces and the implementation possibilities of the model will be discussed. It is concluded that the mathematical model, initially formulated for a 6,000 TEU container carrier, provides reliable predictions of the behaviour of larger container carriers and even fuller deep drafted ships.     

基于AHP法的潜射鱼雷性能模糊评估

将层次分析法（AHP）与模糊评估法有机结合。首先依据专家评判法建立了潜射鱼雷性能评估分层指标,并根据每层中各指标因素的重要程度而分别赋予相应的权重向量。运用结合层次分析的模糊综合评判算法建立了潜射鱼雷性能综合评估模型,在该模型基础上进行具体应用分析。     

不同发射参数下潜射鱼雷初始弹道建模与仿真

为研究潜射鱼雷发射参数设定对鱼雷初始弹道的影响,建立鱼雷初始弹道数学模型,对鱼雷在纵平面的初始弹道进行了研究,利用Simulink编程进行了仿真,得出在不同发射参数设定下弹道的袋深、最大超调量和到达设定深度所需时间.仿真结果表明,鱼雷横舵管制舵角和出管速度对鱼雷初始弹道都有影响,其中鱼雷横舵管制舵角影响较大,为进一步优...     

训练雷发射安全性仿真分析

本文重点分析了训练雷出管速度对训练雷离艇与训练雷入水后初始段的运动安全性的影响,分别建立了训练雷离艇和训练雷入水初始阶段运动方程,进行了仿真计算。结果表明不会出现训练雷碰艇情况。在仿真初始条件给定的条件下,训练雷可以较快的达到设定深度。     

鱼雷攻击潜艇的毁伤效果评估模型研究

客观、准确地评价鱼雷攻击潜艇的毁伤效果是鱼雷与潜艇对抗的最后一环,也是评价鱼雷武器系统作战效能的重要指标。本文在现有毁伤概率计算方法的基础上引进了舱段的毁伤程度、要害指数、命中概率、毁伤效果累积系数和齐射毁伤系数等参数,建立了一种比较全面的用来评价鱼雷攻击潜艇毁伤效果的数学模型,并给出了典型应用。     

Centrifuge modelling of a combined pile-type anchor subjected to general inclined loading

One of the main challenges associated with anchoring offshore platforms is the logistic needed to install them in deep water. The growing need for high capacity anchors has prompted the development of new systems where the feasibility of transporting them out to sea is a crucial consideration. With respect to torpedo piles used by Petrobras in Brazil, new platforms installed in deep water required robust anchoring systems, and a cluster of small torpedoes was considered instead of one large torpedo. However, torpedo pile installation is hindered by deep water streams, which can deviate their trajectory during the fall. This is of great concern for the design of torpedo pile clusters because the distance between the piles cannot be controlled during installation. The present study aims to determine the variation in the load capacity of a cluster or array of single piles as a function of the distance between the piles and the load direction after installation on the seabed. To that end, a series of centrifuge tests were carried out on pile clusters installed in loose sand, varying the distance between the piles and the loading direction. The results show considerable interactions between the adjacent piles depending on the load direction and pile spacing. The optimal spacing for maximum cluster efficiency was determined, and comparisons were made with values from the literature for capped pile clusters.     

Numerical investigations into the influence of geometric configurations on hydrodynamic characteristics of torpedo anchors

Torpedo anchors are an innovative and cost-effective technology in marine foundation engineering; however, there is a lack of systematic and comprehensive studies on the influence of torpedo anchor geometry on its hydrodynamic characteristics, especially the effect of anchor fin configuration on the hydrodynamic characteristics is rarely reported in the existing literature. Therefore, this study investigates the influence of geometric characteristics of both finless and finned torpedo anchors on their terminal velocity, drag coefficient and installation directional stability in water through CFD numerical analysis in a systematical manner. The considered geometric characteristics include the center of gravity position, shape and angle of anchor tip, shaft and fin aspect ratio, fin number, fin thickness, fin shape, fin position and fin area. Based on the obtained numerical results, some practical design recommendations and impact weighting charts of different anchor geometric factors are provided, which enables a quick qualitative and quantitative assessment of torpedo anchors. In addition, a simple weight-based approach for estimation of terminal velocity and drag coefficient of torpedo anchors considering multiple geometric configuration factors is proposed, which may provide some reference and scientific guidance for experimental and engineering design of torpedo anchors.