Mooring model experiment and mooring line tension determination are of significance to the design of mooring systems and berthing structures. This paper mainly involves: (a) description and analysis of a mooring model...Mooring model experiment and mooring line tension determination are of significance to the design of mooring systems and berthing structures. This paper mainly involves: (a) description and analysis of a mooring model experiment; (b) derivation of static equilibrium equations for a moored ship subjected to wind, current and waves; (c) solution of mooring equations with the Monte Carlo method; (d) qualitative analysis of effects of pier piles on mooring line forces. Special emphasis is placed on the derivation of static equilibrium equations, solution method and the mooring model experiment.展开更多
The development of welding robots suitable for specially unstructured working enviroments has been become an important development direction of industrial robot application because large-scale welding structures have ...The development of welding robots suitable for specially unstructured working enviroments has been become an important development direction of industrial robot application because large-scale welding structures have been used more and more widely in modern industry. In this paper, an intelligent mobile robot for welding of ship deck with the function of autosearching weld line was presented. A wheeled motion mechanism and a cross adjustment slider are used for the welding robot body. A sensing system based on laser-PSD （position sensitive detector） displacement sensor was developed to obtain two dimensional deviation signals during seam tracking. A full-digital control system based on DSP and CPLD has also been realized to implement complex and high-performance control algorithms. Furthermore, the system has still the function of auto-searching weld line according to the characteristics information of weld groove and adjusting posture itself to the desired status preparing for welding. The experiment of auto-searching welding line shows that the robot has high tracing accuracy, and can satisfy the requirement of practical welding project.展开更多
文摘Mooring model experiment and mooring line tension determination are of significance to the design of mooring systems and berthing structures. This paper mainly involves: (a) description and analysis of a mooring model experiment; (b) derivation of static equilibrium equations for a moored ship subjected to wind, current and waves; (c) solution of mooring equations with the Monte Carlo method; (d) qualitative analysis of effects of pier piles on mooring line forces. Special emphasis is placed on the derivation of static equilibrium equations, solution method and the mooring model experiment.
文摘The development of welding robots suitable for specially unstructured working enviroments has been become an important development direction of industrial robot application because large-scale welding structures have been used more and more widely in modern industry. In this paper, an intelligent mobile robot for welding of ship deck with the function of autosearching weld line was presented. A wheeled motion mechanism and a cross adjustment slider are used for the welding robot body. A sensing system based on laser-PSD （position sensitive detector） displacement sensor was developed to obtain two dimensional deviation signals during seam tracking. A full-digital control system based on DSP and CPLD has also been realized to implement complex and high-performance control algorithms. Furthermore, the system has still the function of auto-searching weld line according to the characteristics information of weld groove and adjusting posture itself to the desired status preparing for welding. The experiment of auto-searching welding line shows that the robot has high tracing accuracy, and can satisfy the requirement of practical welding project.
