依靠科技进步 遏制煤矿瓦斯爆炸事故

煤矿瓦斯爆炸事故是当前社会关注的焦点。分析了煤矿瓦斯爆炸事故产生的原因,提出了依靠科技进步,利用钻探工程技术治理煤矿瓦斯灾害,有针对性地提出了治理瓦斯事故的建议。     

中国东部燕山期火山-岩浆大爆发

中国东部燕山期存在惊天动地的火山－岩浆大爆发,形成了７条火山岩带,８种岩石系列和组合,构成了四大火成岩省。在近２０×１０＾６ａ内有数百万立方千米的高温岩浆出地表,喷发速率约为０．０３ｋｍ＾３／ａ对全球气候环境变化和生物灭绝产生巨大影响,火山－岩浆大爆发与成矿作用大集中是壳幔物质和能量大循环的必然结果,深部地幔柱地岩石圈的突变机制极大地控制了燕山期地质生态的大变革。     

澄江动物群的核心价值:动物界成型和人类基础器官诞生

澄江动物群以富含多门类精美软躯体构造化石享誉学界,是寒武纪大爆发主幕的见证者;它亲眼目睹了地球动物树上几乎所有主要门类祖先的首次大聚会。对该动物群30多年的大规模调查研究大体上可以划分为3个阶段。始自1984年的第一个10年(1984—1994年),早期动物树上的基础动物亚界和原口动物亚界的大量门类被发现,然而对后口动物亚界全然无知。第二个10年研究(1995—2005年),基础动物亚界和原口动物亚界中的更多门类被发现;而最重要的进展,是西北大学团队主导的早期后口动物大发现使后口动物亚界的基本框架被构建,由此地球三分动物树首次成型。第三个10年及其以后时期(2005年之后),3个动物亚界中进一步添加了一些新的门类认知;综合20世纪40年代以来对埃迪卡拉生物群、寒武纪第一世和第二世的珍稀动物群研究成果,学界开始思考三分动物树分步成型与多幕式寒武纪大爆发事件的内在关联,提出了三幕式寒武纪大爆发新假说。澄江动物群研究具有多方面的科学价值,包括动物群结构研究,生态环境研究等,然其核心学术价值主要集中在如下两个方面:(1)作为寒武纪大爆发的主幕见证者,澄江动物群首次创建了地球上三分动物树的完整谱系框架。三幕式寒武纪大爆发假说揭示了地球上动物门类由低等到高等、分阶段爆发创造的本质内涵,即历时约0.4亿年的三幕式寒武纪大爆发与动物树阶段性快速成型的内在耦合性。第一幕发生于埃迪卡拉纪晚期,它诞生了众多基础动物亚界门类(包括大量绝灭门类),也可能出现了少量原口动物的先驱分子;第二幕发生于寒武纪的第一世,除了延续基础动物门类的繁盛外,更创生了原口动物亚界里的主要门类(包括蜕皮类和触手担轮类);第三幕发生于寒武纪第二世(以澄江动物群为代表),不仅延续了基础动物和原口动物门类的兴盛,更重要的是诞生了后口动物亚界里的所有门类。至此,整个三分动物树的框架成型,寒武纪大爆发创新事件宣告基本结束。文章还对几个重要动物类群的生物学属性进行了评述。第一鱼昆明鱼目是已知唯一的最古老脊椎动物,而云南虫、海口虫既不是脊椎动物(即高等脊索动物),也不属于低等脊索动物,而是一类特殊的低等后口动物;长江海鞘是可信的始祖尾索动物,它支持了经典的尾索动物起源假说;古虫动物门首创鳃裂构造,对后口动物亚界的起源探索提供了关键信息。(2)澄江动物群具有深刻的人文哲学意义,所发现的古虫动物门创造的“第一鳃裂”,昆明鱼目创造的“第一头脑”“第一脊椎”“第一心脏”,为达尔文在《人类的由来》中关于人类的主要基础器官起源悬案的破解提供了关键证据。澄江动物群承上启下,其各种形态解剖学信息对解读埃迪卡拉生物群以及寒武纪相关化石库中绝大多数生物类型都具有重要的参考价值。     

Robust trajectory control of underwater vehicles using time delay control law

A new control scheme for robust trajectory control based on direct estimation of system dynamics is proposed for underwater vehicles. The proposed controller can work satisfactorily under heavy uncertainty that is commonly encountered in the case of underwater vehicle control. The dynamics of the plant are approximately canceled through the feedback of delayed accelerations and control inputs. Knowledge of the bounds on uncertain terms is not required. It is shown that only the rigid body inertia matrix is sufficient to design the controller. The control law is conceptually simple and computationally easy to implement. The effectiveness of the controller is demonstrated through simulations and implementation issues are discussed.     

Ice response to an underwater body moving in a frozen channel

Strains in the ice cover of a frozen channel, which are caused by a body moving under the ice at a constant speed along the channel, are studied. The channel is of rectangular cross section, the fluid in the channel is inviscid and incompressible. The ice cover is modeled by a thin viscoelastic plate clamped to the channel walls. The underwater body is modeled by a three-dimensional dipole. The intensity of the dipole is related to the speed and size of the underwater body. The problem is considered within the linear theory of hydroelasticity. For small deflections of the ice cover the velocity potential of the dipole in the channel is obtained by the method of images without account for ice deflection in the leading order. The problem of a dipole moving in the channel with rigid walls provides the hydrodynamic pressure on the upper boundary of the channel, which corresponds to the ice cover. This pressure distribution does not depend on the deflection of the ice cover in the leading approximation. The deflections of ice and the strains in the ice cover are independent of time in the coordinate system moving together with the dipole. The problem is solved numerically using the Fourier transform along the channel, the method of normal modes across the channel, and the truncation method for resulting infinite systems of linear equations. It was revealed that the strains in the ice strongly depend on the speed of the dipole with respect to the critical speeds of the hydroelastic waves propagating along the frozen channel. The width of the channel matters even it is much larger than the characteristic length of the ice cover.     

Dynamical analysis and robust control for dive plane of supercavitating vehicles

The high-speed supercavitating vehicle (HSSV) utilizes advanced technology that enables an underwater vehicle to reach its unprecedented high speed. The vertical motion control of the HSSV is challenging problem because of its complex dynamics with nonlinear planing force, parametric uncertainties, external disturbances, actuator saturation, and sensor noises. This paper deals with dynamical analysis and a robust H∞ loop-shaping synthesis with modified PID (proportional-integral-derivative) algorithm to control the dive plane maneuver of the HSSV. Typically, the control scheme has the low order structure and provides robustness against dynamic uncertainties, which can be implemented using the bilinear matrix inequality (BMI) optimization of an equivalent Schur formula. Simulation results show that the controlled vehicle system provides good performance and high robustness against uncertainties, ensuring no-overshoot and fast in time-domain responses. In addition, the control algorithm can decouple the dynamic interactions in the multi-input multi-output (MIMO) system, overcoming parametric uncertainty, planing force, and actuator saturation while minimizing the effect of the strong external disturbances and measurement noises.     

Local discontinuous Galerkin method for far-field underwater explosion shock wave and cavitation

The shock wave and cavitation are main effects in the far-field underwater explosion, which could cause serious damage to marine structures. In this paper, the fluid mechanical behavior of blast load is described by the propagation of pressure wave. The acoustic pressure caused by far-field explosion is determined by solving the wave equation, where a strongly discontinuous axisymmetric numerical model is established with the local discontinuous Galerkin (LDG) method. The model can calculate the dynamic pressure in the fluid field and capture the high-resolution shock wave. The pressure cutoff model is employed to deal with the cavitation effect due to the reflection of the shock wave. The numerical model is verified by comparing with the analytical solution of the cavitation effect near the structure in one dimension. With the same mesh discretization, the present model shows higher precision than the results calculated by the acoustic finite element method. In addition, the propagation of shock wave in the cylindrical water column is studied. Finally, the formation, growth and collapse of the cavitation region near the free surface are simulated. The LDG model can remove the spurious oscillations behind the shock front and it’s more accurate than the results of the acoustic finite element method, in terms of capturing the sharpness of shock wave and calculating the shock and cavitation loading. And the present model can be applied to calculate the structural damage caused by shock wave in three dimensions.     

水下机器人标准体系框架构建探索

水下机器人作为一类特种机器人,日益成为探索海洋奥秘、开发海洋资源的重要工具,被称为海洋高技术的皇冠,正逐步成为国家间海洋技术竞争的制高点。水下机器人标准体系最直接的作用是指导、规范水下机器人标准制定工作,使人们清楚水下机器人标准化工作方向和重点,有助于推动水下机器人研发和产业化进程,促进快速、健康发展。文章在介绍国内外水下机器人标准制订的基础上,探讨水下机器人标准体系框架构建思路,提出标准体系建设路径,明确水下机器人标准化工作范围和领域,并构建了水下机器人标准体系序列结构、三维结构、层次结构3种框架模型,为构建我国水下机器人标准体系提供了有价值的参考。     

Experiments on vision guided docking of an autonomous underwater vehicle using one camera

This paper introduces an underwater docking procedure for the test-bed autonomous underwater vehicle (AUV) platform called ISiMI using one charge-coupled device (CCD) camera. The AUV is optically guided by lights mounted around the entrance of a docking station and a vision system consisting of a CCD camera and a frame grabber in the AUV. This paper presents an image processing procedure to identify the dock by discriminating between light images, and proposes a final approach algorithm based on the vision guidance. A signal processing technique to remove noise on the defused grabbed light images is introduced, and a two-stage final approach for stable docking at the terminal instant is suggested. A vision-guidance controller was designed with conventional PID controllers for the vertical plane and the horizontal plane. Experiments were conducted to demonstrate the effectiveness of the vision-guided docking system of the AUV.     

Discrete element modelling of an underground explosion in a jointed rock mass

The purpose of this paper is to investigate the application of the discrete element program UDEC for modelling underground explosions in a jointed rock mass. A field underground explosion test has been conducted and UDEC and AUTODYN were utilised in a coupled manner to predict the rock mass response due to the underground explosion. The dynamic equation for the state of the rock material obtained from impact tests was incorporated into the calibration modelling. The comparison of modelling results with test results and empirical formulas shows that UDEC is capable of modelling explosion wave propagation in jointed rock mass with high reliability.