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Dynamic Analysis of the Seafloor Pilot Miner Based on Single-Body Vehicle Model and Discretized Track-Terrain Interaction Model 总被引:2,自引:1,他引:1
In order to achieve the complex dynamic analysis of the self-propelled seafloor pilot miner moving on the seafloor of extremely cohesive soft soil and further to make it possible to integrate the miner system with some subsystems to form the complete integrated deep ocean mining pilot system and perform dynamic analysis,a new method for the dynamic modeling and analysis of the miner is proposed and developed in this paper,resulting in a simplified 3D single-body vehicle model with three translational and three rotational degrees of freedom,while the track-terrain interaction model is built by partitioning the track-terrain interface into discrete elements with parameterized force elements built on the theory of terramechanics acting on each discrete element.To evaluate and verify the correctness and effectiveness of this new modeling and analysis method,typical comparative studies with regard to computational efficiency and solution accuracy are carried out between the traditional modeling method of building the tracked vehicle as a multi-body model and the new modeling method.In full consideration of the particular structure design of the pilot miner,the special characteristics of the seafloor soil and the hydrodynamic force of near-seafloor current,the dynamic simulation analysis of the miner is performed and discussed,which can provide useful guidance and reference for the practical miner system in design and operation.This new method can not only realize the rapid dynamic simulation analysis of the miner but also make possible the integration and rapid dynamic analysis of the complete integrated deep ocean mining pilot system in further researches. 相似文献
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In order to achieve the complex dynamic analysis of the self-propelled seafloor pilot miner moving on the seafloor of extremely cohesive soft soil and further to make it possible to integrate the miner system with some subsystems to form the complete integrated deep ocean mining pilot system and perform dynamic analysis, a new method for the dynamic modeling and analysis of the miner is proposed and developed in this paper, resulting in a simplified 3D single-body vehicle model with three translational and three rotational degrees of freedom, while the track-terrain interaction model is built by partitioning the track-terrain interface into discrete elements with parameterized force elements built on the theory of terramechanics acting on each discrete element. To evaluate and verify the correctness and effectiveness of this new modeling and analysis method, typical comparative studies with regard to computational efficiency and solution accuracy are carried out between the traditional modeling method of building the tracked vehicle as a multi-body model and the new modeling method. In full consideration of the particular structure design of the pilot miner, the special characteristics of the seafloor soil and the hydrodynamic force of near-seafloor current, the dynamic simulation analysis of the miner is performed and discussed, which can provide useful guidance and reference for the practical miner system in design and operation. This new method can not only realize the rapid dynamic simulation analysis of the miner but also make possible the integration and rapid dynamic analysis of the complete integrated deep ocean mining pilot system in further researches. 相似文献
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在透视电镜和扫描电镜下,对绿海龟 Chetonia mydas的外周血细胞形态结构进行了研究.结果表明,在透视电镜下,红细胞核卵圆形,细胞质均匀无细胞器;淋巴细胞核内异染色质较少,多聚集于细胞核的中央,胞质中只有少量颗粒和空泡;单核细胞表面有少量伪足状突起,核呈马蹄形,核内异染色质多,胞质中有少量小的嗜天青颗粒;嗜碱性粒细胞表面有细小胞突或伪足,胞核呈V形,分叶,核内异染色质分布均匀,胞质中特殊颗粒多,圆球形,大小不一,颗粒电子密度高,环绕在胞核周围;嗜酸性粒细胞表面具有细长的指状突起,核内异染色质多,胞质内含有特殊颗粒和嗜天青颗粒两种,胞质中还有少量的空泡和内吞泡;嗜中性粒细胞表面可见突起和微绒毛,细胞质丰富,含有两种大小不等、形态不一的颗粒,胞质内有吞泡.在扫描电镜下,红细胞长椭圆形,可以看见细胞核,细胞表面光滑,无突起;淋巴细胞根据细胞表面结构的特点可分为两种:B淋巴细胞和T淋巴细胞,B淋巴细胞表面凹凸不平,有粗短密集的微绒毛突起,T淋巴细胞表面光滑,无微绒毛突起;单核细胞表面多皱褶,皱褶较B淋巴细胞的起伏大一些,扫描电镜下下还可见到正在分裂的单核细胞;巨噬细胞胞体比一般细胞大,外形不规则,经常伸出伪足把其他细胞包围起来;血栓细胞形态不规则,多有细长突起,聚集成团;粒细胞表面不光滑,有许多皱褶及不规则突起,突起易脱落;提示所有白血细胞表面具有突起,具有吞噬的能力. 相似文献
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海底块状硫化物(SMS)富含铜、锌、铅等金属,特别是富含贵金属金、银,引起了国际采矿业的浓厚兴趣.近年来,以澳大利亚Nautilus矿业公司为先驱的国际大型资源开发商和投资商已介入海底多金属硫化物的商业化开采.介绍了Nautilus公司在巴布亚新几内亚专属经济区针对海底块状硫化物矿床开展的一系列以商业开采为目的的勘探取样活动,详细介绍了勘探中所采用的基本方法与技术,并重点对其地质调查中所应用的拖网挖掘取样、ROV海底表面取样、大洋钻探船岩心取样和专门开发的ROV岩心钻探取样的装备、取样结果及作业效率进行了较为系统全面地介绍。 相似文献
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