深海采矿机器人行走液压系统特性研究

针对深海采矿机器人"鲲龍500"行走液压系统,建立深海采矿机器人行走液压系统理论模型,分析深海高压和低温环境对油液特性影响,并基于AMESim软件平台,建立深海采矿机器人行走液压系统数值模型,研究了0～6 000 m不同作业深度下的行走液压系统泵和马达的动态特性,以及在6 000 m水深时不同牌号液压油和行走启动特性对其行走性能的影响,对比分析了深海采矿机器人水池行走试验和500 m海底行走试验的行走泵的输出压力与流量曲线与其数值模拟曲线。研究表明,随着超过1 000 m作业水深的增加,深海行走液压系统的动态响应性能和稳定性显著降低,通过减小行走输入电压斜坡斜率和减小控制电压可以提高行走液压系统的稳定性,并通过试验验证了行走液压系统数值建模与仿真的正确性,为深海液压系统研究提供理论基础。     

基于蚁群算法深海采矿机器人工作路径规划

针对深海采矿机器人路径规划问题,提出一种适合于采矿作业的改进蚁群算法。该算法利用位图法建立环境模型,依据构型空间的思想将路径规划问题简化为质点运动问题;利用改进的蚁群算法对问题进行描述,蚁群搜索中采用邻居搜索原则和中线偏移策略。最后通过仿真实验表明,该算法精度高,在海底环境中,能够完成机器人采矿作业的要求。     

A procedural framework for robust environmental management of deep-sea mining projects using a conceptual model

Robust environmental management of deep-sea mining projects must be integrated into the planning and execution of mining operations, and developed concurrently. It should follow a framework indicating the environmental management-related activities necessary at each project phase, and their interrelationships. An environmental management framework with this purpose is presented in this paper; it facilitates the development of environmental information and decision-making throughout the phases of a mining project. It is based environmental management frameworks used in allied industries, but adjusted for unique characteristics of deep-sea mining. It defines the gathering and synthesis of information and its use in decision-making, and employs a conceptual model as a growing repository of claim-specific information. The environmental management activities at each phase have been designed to enable the implementation of the precautionary approach in decision making, while facilitating review of adaptive management measures to improve environmental management as the quantity and quality of data increases and technologies are honed. This framework will ensure fairness and uniformity in the application of environmental standards, assist the regulator in its requirements to protect the environment, and benefit contractors and financiers by reducing uncertainty in the process.     

Dynamic analysis of vessel/riser/equipment system for deep-sea mining with RBF neural network approximations

Abstract

Deep-sea mining (DSM) is an advanced technology. This article is focused on the dynamic analysis of a coupled vessel/riser/equipment system of a DSM based on radial basis function (RBF) neural network approximations while considering vessel dynamic positioning (DP) and active heave compensation (AHC). A coupled model including the production support vessel (PSV), lifting riser, and slurry pump is established containing simulated DP and AHC models. Furthermore, dynamic simulations are implemented to obtain the results of the vessel motions, thruster forces, pump motions and riser tensions. Using optimal Latin hypercube sampling, an RBF neural network approximation model is established, the input includes environmental factors and the output includes the dynamic responses of the pump motion and riser tension. Calculations are performed using RBF network approximations instead of a coupled model. The obtained results show that the PSV wave frequency (WF) motions have significant influence on the dynamic responses of the subsea system. Moreover, the current load affects the compensation effect. The RBF network approximation model can be used to reduce the required calculation time.     

Production key figures for planning the mining of manganese nodules

Under the impression of decreasing ore grades and increasing production costs in conventional mining, seafloor minerals came into focus. Having gained a basic understanding of geological settings, there is still a lack of tools to assess and plan future mining projects in the deep-sea. This paper contributes to a mining concept which is inspired by the high-tech farming industry: strip mining. Potential mining fields are identified using image filters in conjunction with hydroacoustic backscatter data and slope angles and are portioned into long, narrow strips. In the framework of the EU-funded Blue Mining project, these methods were applied to a part of the eastern German exploration area, located in the manganese nodule belt of the Clarion Clipperton Zone, Pacific Ocean. Both, the mapping technique and the mining concept presented in this paper can be used in early-stage feasibility studies to derive estimates on production key figures for seafloor manganese nodule mining.     

深海采矿扬矿泵导叶区域粗颗粒通过特性试验研究

在深海采矿系统中,海底矿石必须经过扬矿泵才能提升到海面船上,但矿石粒径较粗,容易在泵体中形成堵塞,尤其是在扬矿泵导叶区域,因此,研究粗粒在导叶中的运动特性对于保障系统安全工作具有重要意义。针对深海矿物粒径较大的特点,设计并制作了具有宽流道的扬矿泵流道模型,安装于管道输送试验系统。利用高速摄像机对扬矿泵导叶内粗颗粒运动特性进行了记录,并对其运动轨迹、碰撞情况以及颗粒速度等信息进行了分析。结果表明:颗粒在通过导叶区域时,运动轨迹与水流流向基本一致;颗粒与导叶发生碰撞位置主要集中于导叶背面入口处、导叶压力面中部和导叶背面出口处;颗粒粒径越小,跟随性越好,碰撞次数越少。试验结果可为扬矿电泵设计提供参考。     

深海采矿环境影响研究：进展、问题与展望

系统介绍了深海采矿环境影响研究的历史、现状及所取得的主要成果;分析了现有深海采矿环境研究存在的问题;提出了今后深海采矿环境影响研究的对策和主要发展方向。     

履带式深海采矿车软底质行走性能分析

海底底质的物理力学参数不同于陆地土壤,其极低的抗剪强度和承压强度对深海采矿车的行走性能提出高要求。分析基于车辆地面力学理论,开展了底质土力学特性试验研究,建立了深海底质力学模型。根据深海重载作业采矿车样机结构参数,在大型动力学仿真软件Recurdyn中建立了仿真模型。通过直线行走多体动力学仿真与直线行走海试试验的对比,验证了仿真模型的准确性。在此基础上开展了采矿车样机在深海软底质上的多种行走工况动力学仿真,分析与评价其行走性能。结果表明,采矿车样机可以顺利完成转弯、爬坡、越障等基本功能。该研究成果可为深海采矿车海底行走性能评估提供理论参考,为深海采矿车和软底质的相互作用力学研究提供借鉴。     

不同底质粒径下双齿围沙蚕潜底能力和分布特征的研究

Perinereis aibuhitensis(Grube, 1878) lives in marine sediments of estuary or shoal areas, where substrate has some crucial environmental factors affecting its burrowing and distribution. In order to provide basic data for the habitat selection and suitability evaluations of the artificial aquaculture of P. aibuhitensis, this paper conducted a quantified analysis of its burrowing ability and explored its behavioral preferences in different substrates,including mud(75 μm), fine sand(125–250 μm), medium sand(250–500 μm), coarse sand(500–2 000 μm), gravel(2 000–4 000 μm) and ceramsite(4 000–8 000 μm). The research results revealed that substrate grain size significantly affected the burrowing time, burrowing rate, burrowing depth and distribution rate(P0.01).Moreover, P. aibuhitensis demonstrated preferential selections relating to substrate grain sizes, had higher burrowing ability in ceramsite, mud and fine sand compared with other substrates. The strongest burrowing ability and the highest distribution rate were observed in ceramsite. The study indicated that P. aibuhitensis was sensitive to substrate grain size, which also had an impact on its burrowing process and population distribution.In the natural sea, substrates mainly composed of mud and fine sand are fit for aquaculture and stock enhancement. Based on behavioral preferences and ecological rehabilitation function of P. aibuhitensis, this paper proposes a symbiotic system of marine animals and halophytes, and constructs an ecosystem model of"Marine fish-Halophytes-Perinereis aibuhitensis" with P. aibuhitensis as the link.     

浅谈深海多金属硫化物采矿的环境影响和保护措施

深海矿产资源开发及其环境保护问题近年来重新成为一个研究热点。深海环境极其复杂,人类对深海生物及其生态系统的了解仍十分有限,而深海采矿不可避免会对海洋生态环境造成影响,如不加强对采矿环境影响的研究并制定相关的保护措施,未来的深海采矿对海洋环境的破坏将无法估量。本文从深海采矿发展由来、多金属硫化物矿区环境、深海采矿技术发展、采矿环境影响和保护措施等几方面全链条系统地梳理了前人的研究成果,提出了深海采矿环境影响评价的发展方向,从而为今后开展深海采矿环境监测与保护提供参考。     

Heave compensation system of lifting pipeline for deep-sea mining based on combined action of vibration absorber and accumulator

ABSTRACT

A heave compensation system combined with a vibration absorber and accumulator is proposed, with regard to the requirement for poly-metallic nodule mining systems at an ocean depth of 6,000?m in China. The principle of the compensation system was analyzed, its main parameters were designed, and its mathematical model was established. The system performance was simulated and analyzed in MATLAB, and the frequency domain characteristics and compensation rate of the system with different volume accumulators, and with or without vibration absorbers, were compared. A simulation test of the compensation system was conducted. The proposed compensation system had a better compensation effect for a random wave interference under level-6 sea conditions, and the compensation rate being more than 72% with optimal system parameters.     

深海多金属结核水力集矿头流场结构数值模拟研究

深海蕴藏着丰富的多金属结核资源,受海水深度等限制,结核采集目前仍存在巨大挑战。水力式采矿具有结构简单、可靠性高的优势,是目前最具发展前景的采集方式之一。水力式采矿通过水流动力进行结核采集,喷射形成的复杂流场结构直接影响海床上结核颗粒剥离、起动、采集效率和海洋环境扰动强度,采集器离地高度、喷嘴射流角度和速度等具有较大优化空间。基于计算流体力学数值模拟研究了集矿头附近三维水流结构,分析了喷嘴射流速度和结核粒径对局部流场、床面剪切力以及结核采集能效的影响。结果表明：集矿头周围流场存在典型分区结构,包括淹没射流区、冲击区、壁面射流区、汇合区和上升区;随着喷射流速增大,最大床面剪切力近似线性增长,结核有效起动面积指数增长;随着结核粒径增大,有效起动面积减小,结核采集能效降低;综合考虑结核采集强度和采集能效,建议采集器喷射流速取8～9 m/s。     

基于康达效应的海底集矿装置流场与集矿特性试验研究

海底集矿作为深海矿产资源开发的核心技术之一,直接影响到矿石采集效率和海底沉积物受扰动程度。基于康达效应的水力集矿装置因具有结构简单、可靠性高及对海床扰动小等优点,受到广泛关注。针对基于康达效应的水力集矿头模型进行3种类型的试验研究：1)利用粒子图像测速(PIV)技术测得集矿流场速度分布,试验发现流体质点在靠近凸曲面壁处流速和沿法线速度梯度较大,而远离凸曲面壁处则相反;2)通过高速摄像和图像处理获得球形矿粒运动轨迹和速度,试验发现了不同射流流速下5种典型矿粒运动形态;3)分析了射流流量对矿粒采集率的影响,试验得到了颗粒采集率关于射流流量的变化曲线,并根据变化特征划分为增长区、缓变区和跃升区。研究可为新式集矿装置的优化设计与性能分析提供参考。     

有效群体大小对蛤仔F1生长和存活影响

对不同有效群体大小(Ne=2、4、8、16、32、200)的蛤仔F1代生长和存活性状进行了比较。结果表明:浮游期,各试验组幼虫壳长均未表现出显著性差异(P0.05),实验组Ne=200的存活率低于其他各实验组,并随着日龄的增长,差异越来越显著;稚贝期,各实验组的壳长和存活率的变化规律和浮游期基本一致。对壳长变异情况分析表明,浮游期,随着群体有效含量的增大,子代开始出现小型个体和大型个体,壳长分布变异逐渐明显;稚贝期,各试验组组内壳长变异进一步加剧,除Ne=2试验组稚贝壳长介于400μm和600μm之间外,其他各试验组均出现明显的小型和大型个体,表现为有效群体越大,组内稚贝壳长变异越为明显。     

Effects of effective population size on the F2 growth and survival of bay scallop Argopecten irradians irradians(Lamarck)

In 2002, six cohorts ofbroodstock bay scallop Argopecten irradians irradians （Ne=1, 2, 10, 30, 50 and control） were randomly chosen from a population of bay scallop to produce offspring. After one year rearing, with the progeny matured, the similar experiment was done to produce the F2 generation. To determine the magnitude of Ne effects, the growth and survival rates in larvae and adult of six F2 groups were compared. Results showed that inbreeding depression existed not only in the Ne=1 group but also in the Ne=2 group. The growth and survival rates of the two groups were significantly lower than those of the other groups （Ne=10, 30, 50, control）, and there were no significant differences among the latter （P〉0.05）. At the same time, the amount of depression in the Ne=1 group was significantly higher than that of the Ne=2 group （P〈0.05）. These results indicated that the low effective population size （Ne）, which increases the possibility of inbreeding, could lead to some harmful effects on the offspring. So it is essential to maintain a high level of Ne in commercial seed production. Fta＇thermore, as the high fecundity of bay scallop might lead to increased inbreeding, selecting broodstock from different growout sites is recommended.     

Optimization design of bionic grousers for the crawled mineral collector based on the deep-sea sediment

Abstract

Due to the low shear strength of deep-sea sediment, crawled mineral collector is easily slips in the deep-sea mining process, therefore, high-traction bionic grouser is needed to be studied to improve the working efficiency. Based on the rate-dependent characteristics of deep-sea sediment, a rate-dependent extended Drucker-Prager material constitutive model is used to define the deep-sea sediment. The Arbitrary Lagrange-Euler finite element (LEA-FE) was used to simulate the cutting process of different bionic grousers at different speeds. By comparing the simulation of different grousers, it was found that the maximum traction of grouser is related to the grouser parameters (distance L from the top to the curvature change point and curvature radius R). By analyzing the traction characteristics of different bionic grousers, the binary quadratic regression equation between maximum traction and bionic grouser parameters was established and the best bionic grouser parameters were obtained by the optimization algorithm. Based on the rate-dependent properties of deep-sea sediment, the traction characteristics at different speeds were analyzed and the relationship between maximum traction and speeds was established, the best bionic grouser walking speed was obtained, which can provide the theoretical basis for the crawled mineral collector.     

磁场梯度对Hall推力器放电特性影响的实验研究

为进一步探索Hall推力器通道内磁场优化设计理论,通过实验分析了强场区磁场梯度对推进剂的电离与加速等放电过程的影响. 研究发现,在本实验设计的磁场梯度范围内,磁场梯度大小对推进剂的电离过程影响较小,但是对离子流的加速特性会产生较为明显的影响.随着磁场梯度的增加,离子束的能量分布会趋于集中,推力器效率提高. 最后,对磁场轴向梯度进一步变大可能会引起的一系列物理问题如有限Larmor半径效应、电子传导机理转变规律和梯度漂移效应等进行了分析和思考.     

Rhines效应对高度计观测的海洋中尺度涡空间分布特征的影响

Rhines效应是指Rossby波和大湍流（中尺度涡）相互作用,将涡动能量以波的形式传播出去,从而使中尺度涡发生形变,最终消亡的一种动力学机制。本文通过比较海洋里涡特征速度和Rossby长波波速的方法,研究了一种广义的Rhines效应对高度计观测的海洋中尺度涡空间分布特征的影响。结果显示,广义Rhines效应比只考虑行星涡度梯度的传统形式对中尺度涡的分布具有更显著的影响。大部分中尺度涡分布在涡特征速度（U_e）大于由广义Beta值计算的Rossby长波波速（U_cg）的区域。这些涡可以由动能反向串级过程获取能量,成长为振幅和空间尺度较大的涡。热带海域以外的“涡旋沙漠”区域,中尺度涡的数量稀少,强度很弱,大都分布于U_ecg的海域。广义Rhines效应可能是这些海域中尺度涡难以成长的动力学机制。     

有效群体大小对海湾扇贝F1生长和存活的影响

有效群体大小(Ne)为群体内所具有的相当于理想群体繁殖个体的数目[1~3],在群体遗传学中占有十分重要的地位,这方面的研究在国外已有很多报道[4~6].当Ne较小时,由于瓶颈效应,野生或养殖群体倾向于近交水平的增加[7].早期研究表明,为了避免近交衰退,确保群体短期内的生存能力,最小的Ne值应为50;如果要维持适当的遗传变异,进而确保长期的生存能力,Ne数量不应小于500[8,9].     

Particle size effect on the saturation of methane hydrate in sediments – Constrained from experimental results

Except for those occurring at seafloor, most of natural gas hydrate form in sediments and are subject to the influence of sediment. Among these factors, the particle size effect on hydrate saturation level in sediment have been studied with a series of silica sands with various sizes, and the results obtained clearly indicate that particle size does play an important role in affecting the saturation level of hydrate in sediments. The proton relaxation times of water confined in the same series of silica sands, which were determined with NMR measurement, show logarithmic relationship with particle size. By comprehensive consideration of the results of hydrate saturation and water proton relaxation times, the particle size effect observed is tentatively explained by the water availability for hydrate formation in sediments.