Pyrite is one of the common authigenic minerals in marine sediments.Previous studies have shown that the morphological and isotopic characteristics of pyrite are closely related to the geochemical environment where it...Pyrite is one of the common authigenic minerals in marine sediments.Previous studies have shown that the morphological and isotopic characteristics of pyrite are closely related to the geochemical environment where it is formed.To better understand the for-mation mechanism of authigenic pyrite,we analyzed the isotopic composition,morphology,and distribution of pyrite in the sediment at 500m below the seafloor from Xisha Trough,South China Sea.Mineral morphologies were observed by scanning electron micros-copy and Raman spectrography.X-Ray computed tomography was applied to measure the particle size of pyrite.The size of pyrite crystals in the matrix sediment mainly ranged between 25 and 65µm(av.ca.40µm),although crystals were larger(av.ca.50μm)in the veins.The pyrites had a fine-grained truncated octahedral shape with occasionally well-developed growth steps,which implies the low growth rate and weak anaerobic oxidation of methane-sulfate reduction when pyrite was formed.Theδ^(34)S values of pyrites ranged from+20.8‰Vienna-defined Canyon Diablo Troilite(V-CDT)to+33.2‰V-CDT and from+44.8‰V-CDT to+48.9‰,which suggest two growth stages.In the first stage,with the continuous low methane flux,the pyrite possibly formed in an environment with good access to seawater.In the second stage,the pyrites mainly developed in sediment fractures and appeared in veins,probably due to the limited availability of sulfate.The less exposure of pyrite to the environment in the second stage was probably caused by sediment accumulation or perturbation.In this study,an episodic pyritization process was identified,and the paleoenvironment was reconstructed for the sediment investigated.展开更多
船舶坞修作为维护和修复船舶结构的关键环节,在船舶行业中扮演着重要的角色。然而,目前船舶坞修时表面打磨过程依赖于传统的人工作业,存在着效率低、工时长、危险性高等问题。为此,提出了一种新型绳驱动式打磨机构,该机构采用四根绳索...船舶坞修作为维护和修复船舶结构的关键环节,在船舶行业中扮演着重要的角色。然而,目前船舶坞修时表面打磨过程依赖于传统的人工作业,存在着效率低、工时长、危险性高等问题。为此,提出了一种新型绳驱动式打磨机构,该机构采用四根绳索驱动打磨装置实现三自由度的运动。首先,通过拉格朗日法建立系统的动力学模型;然后在动力学模型的基础上提出了一种带有绳索张力优化项的Fuzzy-PID(proportional integral derivative)控制策略,该控制策略可以实现精确的轨迹跟踪并保证绳索处于张紧状态;最后,通过数值仿真验证所提控制策略的有效性。结果表明,和绳牵引并联机器人上常用的PID控制相比,所提控制策略控制精度提高25%,具有较高的控制精度和稳定性。本文提出的绳驱动式打磨机构及其控制策略可为大型结构件表面处理和精密制造等应用提供一定理论支持。展开更多
基金supported by the Guangdong Major Project of Basic and Applied Basic Research(No.2020B0301030003).
文摘Pyrite is one of the common authigenic minerals in marine sediments.Previous studies have shown that the morphological and isotopic characteristics of pyrite are closely related to the geochemical environment where it is formed.To better understand the for-mation mechanism of authigenic pyrite,we analyzed the isotopic composition,morphology,and distribution of pyrite in the sediment at 500m below the seafloor from Xisha Trough,South China Sea.Mineral morphologies were observed by scanning electron micros-copy and Raman spectrography.X-Ray computed tomography was applied to measure the particle size of pyrite.The size of pyrite crystals in the matrix sediment mainly ranged between 25 and 65µm(av.ca.40µm),although crystals were larger(av.ca.50μm)in the veins.The pyrites had a fine-grained truncated octahedral shape with occasionally well-developed growth steps,which implies the low growth rate and weak anaerobic oxidation of methane-sulfate reduction when pyrite was formed.Theδ^(34)S values of pyrites ranged from+20.8‰Vienna-defined Canyon Diablo Troilite(V-CDT)to+33.2‰V-CDT and from+44.8‰V-CDT to+48.9‰,which suggest two growth stages.In the first stage,with the continuous low methane flux,the pyrite possibly formed in an environment with good access to seawater.In the second stage,the pyrites mainly developed in sediment fractures and appeared in veins,probably due to the limited availability of sulfate.The less exposure of pyrite to the environment in the second stage was probably caused by sediment accumulation or perturbation.In this study,an episodic pyritization process was identified,and the paleoenvironment was reconstructed for the sediment investigated.
文摘船舶坞修作为维护和修复船舶结构的关键环节,在船舶行业中扮演着重要的角色。然而,目前船舶坞修时表面打磨过程依赖于传统的人工作业,存在着效率低、工时长、危险性高等问题。为此,提出了一种新型绳驱动式打磨机构,该机构采用四根绳索驱动打磨装置实现三自由度的运动。首先,通过拉格朗日法建立系统的动力学模型;然后在动力学模型的基础上提出了一种带有绳索张力优化项的Fuzzy-PID(proportional integral derivative)控制策略,该控制策略可以实现精确的轨迹跟踪并保证绳索处于张紧状态;最后,通过数值仿真验证所提控制策略的有效性。结果表明,和绳牵引并联机器人上常用的PID控制相比,所提控制策略控制精度提高25%,具有较高的控制精度和稳定性。本文提出的绳驱动式打磨机构及其控制策略可为大型结构件表面处理和精密制造等应用提供一定理论支持。
