“探索者”号自治式水下机器人抛载系统的研制

介绍了“探索者”号抛载系统的用途、组合、性能和两个技术上的难点，并提出了解决问题的方法，使抛载系统在机器人的设备安全和工作可靠性方面，真正发挥了“关键件”的作用。     

一种小型水下自航行器推进系统设计与分析

从系统角度考虑,整体优化,设计了水下自航行器推进系统.通过外形优化减小轴向阻力,根据阻力和综合分析设计螺旋桨,并由敞水池试验验证螺旋桨的性能,在此基础上完成了推进控制系统的分析与优化设计.试验结果证明系统设计方法正确,推进系统性能良好.     

Reliability of mooring lines and piles for a permanently manned vessel in a tropical cyclone environment

The factors of safety for stationkeeping systems in current standards (ISO, API) are not derived or validated using reliability analyses. As the oil and gas exploration and production is breaking new boundaries, deploying new floating systems and moving into regions with harsher environments, it is of paramount importance to understand what level of reliability these new marine structures are achieving. This paper presents a reliability analysis of the mooring system of a Floating LNG (FLNG) vessel permanently moored and permanently manned offshore North West Australia in a tropical cyclone environment. The reliability analysis addresses both the mooring chain and the pile foundation. The analysis accounts for the long term characteristics of the environment, including the short term variability, in response to a given sea state and the variability and uncertainty in strength of the mooring chain and the pile. The stationkeeping system was analysed using detailed time domain simulations, capturing system non-linearities and low frequency oscillations as well as wave frequency responses and, thereby, reducing modelling uncertainties to a minimum.It is found that for the conditions modelled, neither the chain nor the pile meet a target reliability of 10⁻⁴/annum using the factors of safety commonly used in design following current ISO and API standards. New factors of safety are proposed to achieve this target reliability. For the pile design, one complicating factor is that current design standards do not explicitly define the exceedance probability that should be associated with the characteristic value of the undrained shear strength to be used in the design. It is demonstrated that the required factor of safety is crucially dependent on the definition of this characteristic value and on the level and the type of uncertainty in the soil strength profile. A recommendation is made regarding the definition of this characteristic value and the associated factor of safety. Furthermore, it is found that designing the mooring system to an environmental condition with a return period of 10,000 yr (as an Abnormal Limit State event), and setting the factor of safety to unity, meets the target reliability of 10⁻⁴/annum for the pile, if the characteristic undrained shear strength is a lower bound, defined in this paper by the 10th percentile value. For the chain however, this target reliability is not achieved.     

Design of Mooring System for Oil Storage Vessels

The floating oil storage system has been proposed as a new facility for Strategic Petroleum Reserve (SPR) in China. Mooring is one of the key technologies to ensure the safety, reliability, and performance of the oil storage system. This paper describes the concept, analysis, design and reliability of the mooring system. For mooring system design of these oil vessels, analysis is essential of the behavior of the vessel in connection with mooring facilities of nonlinear resilience. A nonlinear mathematical model for analyzing a moored vessel is established and solved. Some results of numerical simulations are presented. Assessment of the safety regarding the mooring system in terms of failure probability is carried out. Another simulation model for calculating the failure probability of the mooring system is proposed. The design parameters that have an influence on the characteristics of the failure probability have been identified. The simulation results show that the mooring system has an annual reliab     

梁板式高桩码头结构整体可靠度计算方法

在环境条件和使用荷载作用下,高桩码头结构损伤和承载力降低是普遍存在的问题。在役梁板式高桩码头结构安全评估,是保证港口设施安全运行的必要措施。结构整体可靠度是结构安全评估的核心指标,但目前尚未建立结构整体可靠度计算的有效方法。基于非线性有限元数值模型,采用蒙特卡罗模拟技术确定了典型梁板式高桩码头结构整体极限承载力概率分布模型及其统计参数,研究了损伤位置、损伤程度和损伤数量等对极限承载力概率分布及其统计参数的影响,明确了无损结构整体极限承载力概率分布模型及其统计参数可用于损伤结构分析。将结构整体极限承载力作为结构抗力随机变量,采用一次二阶矩法计算结构的可靠指标,建立了一种在役梁板式高桩码头结构整体可靠度计算的有效方法。     

Underwater glider modelling and analysis for net buoyancy, depth and pitch angle control

Underwater glider is an autonomous underwater vehicle that glides by controlling their buoyancy and attitude using internal actuators. By changing the vehicle's buoyancy intermittently, vertical motion can be achieved. Characteristics of glider motion include upward and downward movement in a saw tooth pattern, turning and gliding in a vertical spiral motion and gliding without using thrusters or propellers. This paper presents the modelling and identification on net buoyancy, depth and pitching angle of an underwater glider system. A ballast tank subsystem is considered appropriate for the identification process since it is the main parameter for the motion control. By selecting the ballast rate as the input, three aspects of the dynamics of a glider can be observed: buoyancy, depth of the glider and pitching angle. The MATLAB System Identification Toolbox^TM is used to obtain a mathematical model of the glider ballast-buoyancy, ballast-depth and ballast-pitching angle conditioning system. The best three parametric estimation models are chosen, and the results of the comparison between simulated and estimated outputs are presented. The information obtained from the modelling and identification approaches are used for USM's Underwater Glider Prototype controller design. The information observed during this procedure are utilised for optimisation, stability, reliability and robustness analysis of the underwater glider.     

水下生产系统在海洋石油开发中的应用

水下生产系统是一种将全部或部分油气集输设备放置于海底，低成本开发海洋石油的先进方法。对这一方法的研究在我国仅是近几年的事情。本文根据我国海洋油田的具体情况，提出了多种开发边际油田的方案，可供设计、生产部门参考。     

潜水器控制系统层次故障诊断模型设计

在潜水器控制系统的基础上,按照结构、功能和组件的关系,为潜水器控制系统进行故障诊断建模。依据基于模型的层次故障诊断技术,建立了适用于潜水器控制系统故障诊断的具体诊断和推理策略,开发了故障诊断软件系统,描述了故障诊断具体过程,并利用数字仿真验证系统设计的有效性。     

浮游生物图像现场拍摄

利用“水下全自动数字显微成像仪”拍摄了水中的浮游生物图像,介绍了仪器性能和拍摄结果,并对仪器用于赤潮预测预报的可能性作了探讨。     

水下滑翔机器人系统研究

水下滑翔机器人是一种新型的水下机器人,可以作为水下监测平台用于大范围、长时间的大尺度海洋环境监测作业。文中调查了水下滑翔机器人的国内外发展现状,分析了其可能的应用领域。详细介绍了中国科学院沈阳自动化研究所开发的水下滑翔机器人系统,包括载体外形优化设计、载体结构设计和控制系统设计。分析了水下滑翔机器人定常滑翔运动和空间螺旋会转运动的运动性能。     

Reliability Analysis for Offshore Platform Structural Systems

A system reliability estimation method for spatial jacket platforms is developed in this paper,The jacket platform is modeled into three-dimensional assembly of spatial beam and plate elements in Fi-nite Element Method(FEM).The limit failure states correspond to collapse of a series of structural mem-bers which are identified by engineering design criteria.In this paper the following aspects are taken intoaccount:the punching shear and buckiing failures in member failure modes for the tubular joints and tubu-lar columns respectively;incremental loading approach for establishment of the safety margin equations ofsystem failure;the algorithm of enumerating significant failure modes for the structural systems and otherconcepts,such as the false failure mode and the virtual limit state.The final work is devoted to the reliabili-ty analysis for a practical jacket platform presently put into operation on the Bohai Sea.The computed re-sults shows that method suggested in this paper is feasible and effective for     

Underwater acoustic networks

With the advances in acoustic modem technology that enabled high-rate reliable communications, current research focuses on communication between various remote instruments within a network environment. Underwater acoustic (UWA) networks are generally formed by acoustically connected ocean-bottom sensors, autonomous underwater vehicles, and a surface station, which provides a link to an on-shore control center. While many applications require long-term monitoring of the deployment area, the battery-powered network nodes limit the lifetime of UWA networks. In addition, shallow-water acoustic channel characteristics, such as low available bandwidth, highly varying multipath, and large propagation delays, restrict the efficiency of UWA networks. Within such an environment, designing an UWA network that maximizes throughput and reliability while minimizing the power consumption becomes a very difficult task. The goal of this paper is to survey the existing network technology and its applicability to underwater acoustic channels. In addition, we present a shallow-water acoustic network example and outline some future research directions     

Stability Analysis on Speed Control System of Autonomous Underwater Vehicle

The stability of the motion control system is one of the decisive factors of the control quality for Autonomous Underwater Vehicle (AUV).The divergence of control,which the unstable system may be brought about,is fatal to the operation of AUV.The stability analysis of the PD and S-surface speed controllers based on the Lyapunov' s direct method is proposed in this paper.After decoupling the six degree-of-freedom (DOF) motions of the AUV,the axial dynamic behavior is discussed and the condition is deduced,in which the parameters selection within stability domain can guarantee the system asymptotically stable.The experimental results in a tank and on the sea have successfully verified the algorithm reliability,which can be served as a good reference for analyzing other AUV nonlinear control systems.     

滨海核电冷源取水区风险生物的分类及特征分析

近年来由海洋生物入侵造成的核电冷源安全事件频发,表明冷源安全已成为核电安全与可靠的重要影响因素,受到社会高度关注。本文对国内外发生的主要冷源安全事件进行统计分析,归纳总结冷源致灾生物的分类特征及其致灾机制,探讨致灾生物的筛选及分级预警标准,解析相关的探测技术、预警手段及处置方法,提出致灾生物研究中亟待解决的关键科学与技术问题,以期为更好应对解决滨海核电冷源安全问题提供参考与理论依据。     

Partial safety factor system for Tetrapod armor layer depending on shape parameter of extreme wave height distribution

During the last decade, partial safety factor systems have been adopted in the design standards of coastal structures, which are based on probabilistic theories but have a format similar to the traditional safety factor system. Tetrapod is one of the widely used breakwater armor units in the world. The previous partial safety factor system was developed based on limited wave and structure data in several locations. In this paper, a partial safety factor system for Tetrapod armor units is developed by performing reliability analysis and optimal code calibration for 116 breakwater cross-sections and wave conditions in 31 harbors in Korea. The partial safety factors associated with different ranges of the shape parameter of the Weibull extreme wave height distribution for different target probabilities of failure are proposed. For other types of extreme distributions, the skewness of the distribution should be calculated and the partial safety factors of the Weibull distribution of the same skewness could be used (the skewness of the Weibull distribution changes with the shape parameter). The developed system is applied to existing breakwaters to examine its applicability.     

水声通信及组网的现状和展望

水声通信是海洋中无线信息传输的主要技术手段。水声通信技术在海洋环境监测、水下航行器/载人潜水器作业等方面有着广泛应用。同时,水声信道传输状态多变、海洋作业环境恶劣,对通信算法和设备可靠性有较高要求,水声通信及组网成为目前的研究热点。文中面向海洋环境监测领域,从水声通信物理层技术、网络技术及组网应用等方面进行介绍,并对未来技术趋势进行展望。     

Study of the Dynamic Characteristics of A Cone-Shaped Recovery System on Submarines for Recovering Autonomous Underwater Vehicle

National navies equip their submarines with Autonomous Underwater Vehicle(AUV) technology. It has become an important component of submarine development in technologically-advanced countries. Employing advanced and reliable recovery systems directly improves the safety and operational efficiency of submarines equipped with AUVs. In this paper, based on aerial refueling technology, a cone-shaped recovery system with two different guiding covers(closed structure and frame structure) is applied to the submarine. By taking the Suboff model as the research object, STAR-CCM was used to study the influence of the installation position of the recovery system, and the length of the rigid rod, on the Suboff model. It was found that when the recovery system is installed in the middle and rear of the Suboff model at the same velocity and the same length of the rigid rod, the Suboff model has the good stability and less drag. It experiences the largest drag when being installed in the front of the rigid rod. Moreover, when the recovery system is installed in the front and middle of the rigid rod, the drag increases as its length increases, and the lift decreases as its length increases. Compared with the closed structure guiding cover, the Suboff model will have less drag and better stability when the recovery system uses the frame structure guiding cover. Besides, the deflection and vibration of the rigid rod were also analyzed via mathematical theory.     

用于水下潜器的惯性导航系统安装和初始对准技术

水下潜器通常采用捷联惯性导航和多普勒计程仪组合导航系统。为提高惯性导航系统的导航精度,保障水下潜器顺利作业,文章以高性能惯导系统PHINS为例,介绍其安装和初始对准技术。PHINS在安装时须计算其与船体的偏差以及与船体和外部传感器的力臂,尤其与多普勒计程仪组合时应执行传感器自动对准程序;PHINS的初始对准是其精确导航的前提,可在海上或静态时进行;惯导系统的安装误差和初始对准精度对于其导航精度具有决定性的影响。     

基于DSP的水下图像传输系统研究

本文研究了基于高性能的DSP芯片TMS320C549的水下图像传输系统，并采用Goertzel算法进行信源编码和MFSK调制方式、运用Turbo码进行信道的编、解码，来实现水下视频图像高速数据传输的目的。     

Fatigue reliability analysis of mooring system for fish cage

Fish cages in the open sea are exposed to cycle loads due to irregular wave climate during their service life, and thus the fatigue reliability assessment of mooring system should be conducted to ensure the safe operation. The aim of this study is to evaluate the fatigue failure probability of mooring system for fish cage. Numerical simulation of net cage in random waves is performed and the time dependent approach is applied to conduct the fatigue reliability analysis of shackle chains based on S-N curve method. The sensitivity analysis of fatigue reliability of mooring line to the uncertainty of random variables in the fatigue limit state is conducted. In addition, the system reliability for mooring system is analyzed and the effect of the initial pretension and safety factor on system reliability is investigated. The results indicate that a case without the initial pretension on anchor lines is helpful to decrease the failure probability of mooring system and the safety factor of mooring lines in the current regulation is conservative for the system reliability against fatigue damage.