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1.
The three-dimensional coupled behavior during the interaction of buoys with their mooring systems is numerically analyzed. A time-domain model was developed to predict the response of a tethered buoy subject to hydrodynamic loadings. External loadings include hydrodynamic forces, tethers tensions, wind loadings and weight. System nonlinearities include large rotational and translational motions, and non-conservative fluid loadings. The mooring problem is formulated as a combined nonlinear initial-value and two-point-boundary-value problem which is directly integrated both in time and space. Buoy equations of motion are derived using small Eulerian angles. Coupling between rotational and translational degrees of freedom is included and coupling between the buoy and cable is effected by adopting the buoy equations of motion as boundary conditions at one end for the mooring problem. Numerical examples are provided to validate the formulation and solution technique; predicted responses of three types of buoy (sphere, spar, and disc) are compared with experimental results. 相似文献
2.
3.
Hyungwon Shim Bong-Huan Jun Pan-Mook Lee Hyuk Baek Jihong Lee 《Ocean Engineering》2010,37(11-12):1036-1047
This paper presents a control technique for structured undersea tasks that require a high degree of precision. The overall efficiency of tele-operated underwater manipulation is improved by reducing the burden on the human operator. A new workspace-control system composed of a computer and input devices in workspace was developed to support the operator. The computer transforms the desired velocity of end-effector in workspaces to desired joint angles by solving the inverse kinematics of the slave manipulators. The desired joint angles are transferred to the slave controller through RS-485 serial communication, and be followed by the slave manipulator. The developed master system provides advantages in conducting structured tasks(coring, drilling, underwater connector mating, etc.) that require precise control of the end-effector’s motion and attitude. The existing master system, however, is more useful for unstructured tasks than newly developed master system. By combining the two master systems, the work efficiency of the underwater tele-operated manipulator system was improved. This paper presents the development of the workspace-control system and a working strategy to alleviate operator’s burden in underwater works. Experimental results are presented to evaluate the effectiveness of the proposed method using underwater manipulators mounted on the KORDI deep-sea ROV Hemire. 相似文献
4.
Horizontal and vertical distribution of PCBs and chlorinated pesticides in sediments from Masan Bay,Korea 总被引:1,自引:0,他引:1
Horizontal and vertical distributions of organochlorine compounds (OCs) were determined in sediments from Masan Bay. The concentrations of polychlorinated biphenyls (PCBs), dichlorodiphenyltrichloroethanes (DDTs), HCB, hexachlorocyclohexanes (HCHs) and chlordane related compounds (CHLs) in sediments were in the range of 1.24-41.4, 0.28-89.2, 0.02-0.59, nd-1.03, and nd-2.56 ng/g, respectively. The spatial distribution of OCs showed a negative gradient from the inner of the bay to outer part of the bay, indicating that the source of OCs was probably located inside the bay. Compositional pattern of PCB congeners showed a relatively high concentration of high-chlorinated congeners in the inner part of the bay and a relatively low concentration of low-chlorinated congeners in the outer part. In sediment core from Masan Bay maximum concentrations of PCBs and DDTs are observed in the subsurface samples and correspond to an age of early 1980s and late 1960s. The concentration profiles of PCBs and DDTs in sediments of Masan Bay appear to correspond to use of PCBs and DDTs in Korea. 相似文献
5.
W. W. -S. Yim 《Environmental Geology》1981,3(5):245-256
Tin-mine tailings containing high concentrations of Sn, Cu, Zn, Fe, Mn, As, and W are discharged into the Red River of cornwall,
England and are then transported into St. Ives Bay under normal flow conditions. Most of the tin-bearing particles in the
fluvial sediments are smaller than 170 μm, but tin-bearing composite grains or mineral grains with tin interspersed in the
crystal lattices also occur in coarser size fractions. Tin distribution in the sediments is controlledby: (1) the distance
from the source of the tailings, and (2) the concentration processes operating on the river bed. Suspended sediment and sediment
transported by saltation filtered from river water samples also showed high concentrations of metals although, in contrast
to the bottom sediments, they vary within a narrow range. Distributions of Cu, Zn, Fe, As, and Pb in the filtered sediments
probably are related to the physical and chemical behavior of their sulphide minerals during fluvial transportation.
A regional stream-sediment geochemical reconnaissance survey for tin did not show the highest concentration in the Red River;
this indicated that in other rivers and streams tin reconcentration by selective removal of light minerals had taken place
in the bottom sediments after mining operations had ceased. These rivers and streams also can transport large quantitiies
of land-derived sediment including tin-mine tailings discharged into them when mines were operating. The minimum distance
of tin transported by the Red River is at least 10 km; however, most of the tin was derived from mine tailings and is considered
to be unnatural. 相似文献
6.
7.
Up to now,there were no systematic studies of geochemistry and isotopic age for the Yixian(义县) fluorite deposit,western Liaoning(辽宁) Province,China.Based on the analysis of metallogenic geological setting,we studied the REE,Rb-Sr and Sm-Nd isotopes.The chondrite-normalized REE patterns of fluorite are characterized by moderate LREE depletion(LREE/HREE=0.95-3.57,(La/Yb)N=0.08-2.84) and enrichment of Sr(146×10-6-596×10-6) and moderately positive Eu anomalies(δEu=1.10-1.34),which are similar to those of the ho... 相似文献
8.
Retracking considerations in spaceborne GNSS-R altimetry 总被引:1,自引:0,他引:1
Hyuk Park Adriano Camps Enric Valencia Nereida Rodriguez-Alvarez Xavier Bosch-Lluis Isaac Ramos-Perez Hugo Carreno-Luengo 《GPS Solutions》2012,16(4):507-518
The European Space Agency Passive Reflectometry and Interferometry System In-orbit Demonstrator (IoD) aims to perform mesoscale altimetric observations by measuring the Global Navigation Satellite System (GNSS) opportunity signals reflected over the sea surface. Altimetry based on GNSS reflectometry (GNSS-R) is significantly affected by satellite motion, since it requires relatively long integration times to reduce noise. We present the impact of the satellite motion on the GNSS-R observables and the need to retrack the waveforms. By using a detailed GNSS-R space mission simulator, the change of delay difference between the direct and the reflected signals during the incoherent averaging of the waveform has been investigated. Their effects on the waveform shape and the altimetric performance are presented comparing the aligned and non-aligned waveforms. Results show that the performance of spaceborne GNSS-R altimeter is seriously degraded without a proper alignment of the waveform samples. 相似文献
9.
Results of estimating the directional wave fields in front of a detached breakwater are presented here in this paper. Two of non-phase-locked methods, i.e., the Maximum Likelihood Method (MLM) and the Extended Maximum Entropy Principle Method (EMEP), were adopted for the purpose. In general, the latter outperforms the former. It is shown that the reflection coefficients decrease with increasing distances away from the detached breakwater, and within four wavelengths from the detached breakwater, the rate of the decrease is faster for wave fields having larger directional spreads. When the measuring distance is more than four wavelengths away from the detached breakwaters, the reflection coefficients tend to reach to a constant value. It is shown that, with the use of the non-phase-locked EMEP method, the effective region can be extended, as compared with the results of Huntley and Davidson [J. Waterw. Port Coast. Ocean Eng. 124 (1998) 312]. 相似文献
10.
This study experimentally investigates the nonlinear response stability and transition behaviour of a submerged, moored ocean structural system which consists of a spherical buoy and attached multi-point mooring lines. The system is excited by a periodic wave field in a closed channel. System nonlinearities include complex geometric restoring (stiffness) force and coupled fluid-system interaction exciting forces. Experimental set-up, operating procedures and analysis of the measured results are presented. Characteristic motions observed include harmonic, subharmonic and ultraharmonic responses, which demonstrate a signature of the intricate pattern of the nonlinear global behaviour. Good agreements between the measured and most predicted responses are demonstrated in both time and frequency domains. These results confirm the validity of the analytical model presented and calibrate the accuracy of the existing numerical predictions. Primary and secondary resonances in the response are identified via frequency response curves. Response bifurcation cascades are observed in the experimental results and the possible existence of higher-order nonlinear responses is inferred. 相似文献