海底脐带缆铺设系统动力学仿真及张力补偿研究(英文)

For studying the dynamic performance of subsea umbilical cable laying system and achieving the goal of cable tension and laying speed control,the rigid finite element method is used to discrete and transform the system into a rigid-flexible coupling multi-body system which consists of rigid elements and spring-damping elements.The mathematical model of subsea umbilical cable laying system kinematic chain is presented with the second order Lagrange equation in the joint coordinate system,and dynamic modeling and simulation is performed with ADAMS.The dynamic analysis is conducted assuming the following three statuses:ideal laying,practical laying under wave disturbance,and practical laying with tension compensation.Results show that motion disturbances of the laying budge under sea waves,especially with heaving and pitching,will cause relatively serious fluctuations in cable tension and laying speed.Tension compensation,i.e.,active back tension torque control can restrict continuous tension increasing or decreasing effectively and rapidly,thus avoiding cable breach or buckling.     

拉萨河的自然特性对桥梁工程的影响分析

拉萨河有其与众不同的特点,建设拉萨柳梧大桥的过程,也是更进一步认识拉萨河的过程.对拉萨河的特点进行总结,并分析其特点对桥梁工程的影响,对于桥梁工程的设计、施工都具有一定的实际意义.     

煤矸石在加筋挡墙中的应用

利用满足质量要求的工业废渣作为加筋挡墙的主体填料，既节省土地，降低造价，又可减少环境污染，可谓一举多得。本文着重分析煤矸石的化学性质、物理性质及其在工程中的应用。     

新型水下对接装置的研制

本文阐述了新型水下对接装置（系统）的研究目的，分析了对接装置的构成、对接策略和过程，给出了对接目标环相对于对接装置的空间位置和姿态的计算方法。在实验水池中进行了模拟对接实验，验证了对接装置（系统）的有效性和可行性。     

捞雷机器人土力学特性研究

介绍了一种沿半埋鱼雷体表面爬行的捞雷机器人作业装置构成和原理，建立了捞雷机器人在水下泥土环境中作业的力学模型，对该模型和钻进状态进行了较为详细的分析。     

潜器对接装置的设计与分析

随着海洋开发和研究的深入以及国防方面的需要,潜器对接技术在诸如海底探测、沉船打捞、水下工厂、海洋工作站、援潜救生和军事等领域得到了广泛应用.在对国内外潜器对接装置研究的基础上,提出了活动转裙的结构设计方案,其中包括装置的平面设计和三维装配设计.装配设计表明该结构能够满足对接时潜器出入门的工作空间,并可证明无干涉现象;建立了活动转裙的运动学方程,进行了装置的运动仿真分析和对接口的可达空间模拟,显示该装置能够实现各种位姿变化.从理论上分析了该装置能够实现对接时所需大纵横倾角的要求,为装置控制系统设计打下基础.本研究可为潜器对接装置的工程化设计提供参考.     

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。     

海底犁式挖沟机犁体曲面优化设计(英文)

The plow of the submarine plowing trencher is one of the main functional mechanisms, and its optimization is very important. The design parameters play a very significant role in determining the requirements of the towing force of a vessel. A multi-objective genetic algorithm based on analytical models of the plow surface has been examined and applied in efforts to obtain optimal design of the plow. For a specific soil condition, the draft force and moldboard surface area which are the key parameters in the working process of the plow are optimized by finding the corresponding optimal values of the plow blade penetration angle and two surface angles of the main cutting blade of the plow. Parameters such as the moldboard side angle of deviation, moldboard lift angle, angular variation of the tangent line, and the spanning length are also analyzed with respect to the force of the moldboard surface along soil flow direction. Results show that the optimized plow has an improved plow performance. The draft forces of the main cutting blade and the moldboard are 10.6% and 7%, respectively, less than the original design. The standard deviation of Gaussian curvature of moldboard is lowered by 64.5%, which implies that the smoothness of the optimized moldboard surface is much greater than the original.     

海洋平台钢桩起吊的内胀式吊桩原理分析及试验验证

根据海洋石油平台钢桩起吊的要求,设计了一种基于斜面增力原理的内胀式吊桩器,并详细分析了吊桩原理.对提升管桩进行了动力学仿真分析,研究了镶嵌压块的结构和材料性能,对其与管桩壁的接触过程采用剪切摩擦理论进行有限元分析,得到了管桩内壁的压痕深度.最后的吊桩载荷试验表明,论文中给出的内胀式吊桩方式可以保证大型钢桩起吊的安全性和可靠性.