水下机器人近水面横摇运动的解耦控制

水下机器人在近水面低速航行时,为了有效克服海浪干扰的作用,提高水下机器人横摇控制的性能,依据解耦控制理论和零航速减摇鳍的工作原理,在水下机器人水平面运动耦合模型的基础上运用解耦控制方法进行横摇控制.该方法将水平面运动耦合模型分解为横荡、横摇和艏摇三个子系统进行分析,根据期望性能指标配置横摇子系统模型的极点,并将均方差最小线性递推滤波算法引入到状态信号的反馈通路中.通过对各种海情下水下机器人的横摇运动姿态进行仿真,结果表明:该解耦控制方法可应用于水下机器人近水面横摇运动的控制,其控制结果良好.     

Radio Fiber Fine Structure During the Solar Flare on July 14，2000

Introduction　　AmongthefinestructuressuperposedonthecontinuumemissionofsolartypeIVradiobursts,oneofthemostfrequentlyobservedisfiber .Fibers,orintermediatedriftbursts ,werefirstobservedinsolartypeIVcontinuabyYoungetalin 196 1[1] .Thefiberstructuresinmetri…     

基于固弃物的固化土路用性能及固化机理研究

为探索矿渣、粉煤灰和脱硫石膏等固体废弃物应用于黄泛区道路工程建设的可行性,基于粉煤灰、矿渣、脱硫石膏、普通硅酸盐水泥和固废基硫铝酸盐水泥制备了粉土固化剂。研究了固化剂掺量（4%、6%、8%、10%）对固化土无侧限抗压强度、劈裂强度、加州承载比（CBR）、水稳性能及抗干湿循环性能的影响。结果表明：使用固废基硫铝酸盐水泥和普通硅酸盐水泥与其他固弃物协同制备的固化剂固化效果最优;固化剂掺量不低于8%时,固化土强度满足JTG D50-2017要求;固化土CBR值高于75%,满足JTG D30-2015中路基填料承载比要求;基于X射线衍射分析和二次电子成像技术,发现固化土中存在水化硅酸钙凝胶（CSH）和钙矾石晶体（AFt）;这些物质通过填充缝隙、挤密、黏结土颗粒,增强土体性能。     

光纤测试常见问题的剖析

主要论述在光缆施工过程中,经常出现的问题、解决方法和OTDR使用的注意事项。     

SBS改性沥青的相容性研究

对不同类型、不同牌号的SBS和不同的基质沥青按照相同的加工工艺制备SBS改性沥青,通过技术指标试验来分析SBS类型、牌号和基质沥青对SBS改性沥青性能的影响,结果表明:星型SBS的改性效果并不一定优于线型SBS,但嵌段比为30/70SBS的改性效果优于嵌段比为40/60SBS的;与同一类型SBS改性剂相容性越好的基质沥青,其改性效果越好;组分比R>3的基质沥青与SBS有较好的相容性.将合理剂量的增容剂Z和稳定剂W掺加到SBS改性兰炼沥青中,可显著改善其相容性,同时能提高其路用性能,使其达到规范要求.     

掺纤维沥青混合料对比试验研究

对不同纤维掺量的沥青混合料进行马歇尔、车辙、劈裂对比试验，并评价掺纤维沥青混合料的高温稳定性及低温抗裂性。     

光纤光栅及其在传感技术中的应用

主要对光纤光栅的工作原理进行了阐述,并着重以光纤Bragg光栅传感器为例介绍了这一新兴科技在传感器技术中的应用,特别阐述了光纤光栅传感器在民用结构中的用途,从而指出了光栅传感器目前最热门的研究方向是光栅传感器的实际应用研究.     

SMA混合料高温稳定性能影响因素浅析

通过对SMA混合料中的矿料、沥青、纤维稳定剂等影响因素的调整,进行了一系列室内对比试验,并结合SMA混合料的组成结构、强度机理对SMA混合料影响因素进行了探讨。试验结果表明,各因素的变动对SMA混合料的高温稳定性能有重要的影响。     

加装减摇鳍船舶横摇运动的计算研究

船舶加装减摇鳍目的是减小船舶的横摇运动.鳍的运动通过由PID控制的液压装置驱动.文章考虑了船舶的粘性阻尼系数,结合减摇鳍运动特性,通过PID控制法对加装减摇鳍船舶横摇进行预报并通过实船验证.     

VIV response of a flexible cylinder with varied coverage by buoyancy elements and helical strakes

Many significant engineering challenges have emerged as the petroleum industry has moved their field development and production activities into increasingly deeper water depths. The design of deepwater marine risers presents the combined challenges to minimize top tensioning requirements, mitigate any flow-induced vibrations, and if possible to increase the expected fatigue life of these slender structural members. As part of the design process to achieve these goals external buoyancy modules and strakes have been employed. To gain insight into the complex multi-mode response behavior a recent experimental study was performed and the analysis of selected data sets is presented. In the experiments a horizontal cylinder with a length to diameter ratio of 263 was fitted with a variety of strake and buoyancy element configurations. The models were towed at uniform speeds ranging from 0.4 to 2.0 m/s and fiber optic strain gages were used to measure both in-line and cross-flow strain response. The resulting time series information was processed utilizing the method of time domain decomposition formulated for strain data input and the introduction of modal assurance criterion to resolve the modal strain information that included frequency, mode shape, and critical damping ratio information. The pre-tensioned cylinder without appendages was used as a base case and the results were basically consistent with expectations. In the case of 0.8 m/s low-tension test, multiple closely spaced non-overlapping peaks were observed in both in-line and cross-flow directions and were identified as being of the same mode with mode shapes distorted away from purely sinusoidal behavior. The test data for the 100% coverage by helical stakes demonstrated the effectiveness of that suppression device over the range of current velocities investigated. The most interesting case was that of a staggered combination of helical strakes and buoyancy element whose total for each type of coverage was equal. This effective asymmetric VIV suppression approach is presented and discussed in detail.