The research on underwater ship-hull cleaning robot was conducted on the purpose of realizing the automation of cleaning underwater ship hull so that service life of ship will be prolonged and ship speed will raised. ...The research on underwater ship-hull cleaning robot was conducted on the purpose of realizing the automation of cleaning underwater ship hull so that service life of ship will be prolonged and ship speed will raised. Moreover, fuel consumption and the work intensity of divers will be reduced. In this paper, the current situation and the latest technology in China and abroad were analyzed;meanwhile, the typical characteristics of the underwater cleaning robot were introduced. According to the work principle of the underwater cleaning robot, the emphasis was put on the analysis and study of permanent-magnetic absorption, magnetic wheel, airproof and anticorrosion, underwater cleaning equipment and control system. The robot is easy in rotation and simple in control.展开更多
It’s very complicated to calculate and analyze the wave and current loads on naval architectures since the sea condition is uncertain and complicated and the determinants vary from different form types and dimensions...It’s very complicated to calculate and analyze the wave and current loads on naval architectures since the sea condition is uncertain and complicated and the determinants vary from different form types and dimensions. For calculating the wave and current loads on upright small-long-size pipe, the Morrison equation is practical and applied. Jacket platform is a kind of offshore space frame structure comprised of lots of poles that are circular cylinders with small diameter and in the oblique status relative to seabed. In this paper, based on Morrison equation, the specific method and procedure calculating the wave and current loads on launching jacket are given and applied on a typical launching jacket. The instance shows that the method and procedure are convenient and make the calculation and analysis in good agreement with actual launching.展开更多
For the purpose of identifying the stern of the SWATH （Small Waterplane Area Twin Hull） availably and perfecting the detection technique of the SWATH ship＇s performance, this paper presents a novel bidirectional im...For the purpose of identifying the stern of the SWATH （Small Waterplane Area Twin Hull） availably and perfecting the detection technique of the SWATH ship＇s performance, this paper presents a novel bidirectional image registration strategy and mosaicing technique based on the scale invariant feature transform （SIFT） algorithm. The proposed method can help us observe the stern with a great visual angle for analyzing the performance of the control fins of the SWATH. SIFT is one of the most effective local features of the scale, rotation and illumination invariant. However, there are a few false match rates in this algorithm. In terms of underwater machine vision, only by acquiring an accurate match rate can we find an underwater robot rapidly and identify the location of the object. Therefore, firstly, the selection of the match ratio principle is put forward in this paper; secondly, some advantages of the bidirectional registration algorithm are concluded by analyzing the characteristics of the unidirectional matching method. Finally, an automatic underwater image splicing method is proposed on the basis of fixed dimension, and then the edge of the image＇s overlapping section is merged by the principal components analysis algorithm. The experimental results achieve a better registration and smooth mosaicing effect, demonstrating that the proposed method is effective.展开更多
A method is presented to calculate the resistance of a high-speed displacement ship taking the effect of sinkage and trim and viscosity of fluid into account.A free surface flow field is evaluated by solving Reynolds ...A method is presented to calculate the resistance of a high-speed displacement ship taking the effect of sinkage and trim and viscosity of fluid into account.A free surface flow field is evaluated by solving Reynolds averaged Navier-Stokes(RANS) equations with volume of fluid(VoF) method.The sinkage and trim are computed by equating the vertical force and pitching moment to the hydrostatic restoring force and moment.The software Fluent,Maxsurf and MATLAB are used to implement this method.With dynamic mesh being used,the position of a ship is updated by the motion of "ship plus boundary layer" grid zone.The hull factors are introduced for fast calculating the running attitude of a ship.The method has been applied to the ship model INSEAN2340 for different Froude numbers and is found to be efficient for evaluating the flow field,resistance,sinkage and trim.展开更多
基金Key Project funded by Department of Science & Technology of Heilongjiang Province (GB03A507)
文摘The research on underwater ship-hull cleaning robot was conducted on the purpose of realizing the automation of cleaning underwater ship hull so that service life of ship will be prolonged and ship speed will raised. Moreover, fuel consumption and the work intensity of divers will be reduced. In this paper, the current situation and the latest technology in China and abroad were analyzed;meanwhile, the typical characteristics of the underwater cleaning robot were introduced. According to the work principle of the underwater cleaning robot, the emphasis was put on the analysis and study of permanent-magnetic absorption, magnetic wheel, airproof and anticorrosion, underwater cleaning equipment and control system. The robot is easy in rotation and simple in control.
基金Supported by Item of Doctor Subject of Colleges and University (No.2000014125) and the Education Office of Liaoning Province (No.05l091).
文摘It’s very complicated to calculate and analyze the wave and current loads on naval architectures since the sea condition is uncertain and complicated and the determinants vary from different form types and dimensions. For calculating the wave and current loads on upright small-long-size pipe, the Morrison equation is practical and applied. Jacket platform is a kind of offshore space frame structure comprised of lots of poles that are circular cylinders with small diameter and in the oblique status relative to seabed. In this paper, based on Morrison equation, the specific method and procedure calculating the wave and current loads on launching jacket are given and applied on a typical launching jacket. The instance shows that the method and procedure are convenient and make the calculation and analysis in good agreement with actual launching.
基金Supported by the "Liaoning Baiqianwan" Talents Program(No.200718625)the Program of Scientific Research Project of Liao Ning Province Education Commission(No.LS2010046)the National Commonweal Industry Scientific Research Project(No.201003024)
文摘For the purpose of identifying the stern of the SWATH （Small Waterplane Area Twin Hull） availably and perfecting the detection technique of the SWATH ship＇s performance, this paper presents a novel bidirectional image registration strategy and mosaicing technique based on the scale invariant feature transform （SIFT） algorithm. The proposed method can help us observe the stern with a great visual angle for analyzing the performance of the control fins of the SWATH. SIFT is one of the most effective local features of the scale, rotation and illumination invariant. However, there are a few false match rates in this algorithm. In terms of underwater machine vision, only by acquiring an accurate match rate can we find an underwater robot rapidly and identify the location of the object. Therefore, firstly, the selection of the match ratio principle is put forward in this paper; secondly, some advantages of the bidirectional registration algorithm are concluded by analyzing the characteristics of the unidirectional matching method. Finally, an automatic underwater image splicing method is proposed on the basis of fixed dimension, and then the edge of the image＇s overlapping section is merged by the principal components analysis algorithm. The experimental results achieve a better registration and smooth mosaicing effect, demonstrating that the proposed method is effective.
基金the National Natural Science Foundation of China (No.50879090)the Advanced Research Program of GAD of the P.L.A (No.7131005)
文摘A method is presented to calculate the resistance of a high-speed displacement ship taking the effect of sinkage and trim and viscosity of fluid into account.A free surface flow field is evaluated by solving Reynolds averaged Navier-Stokes(RANS) equations with volume of fluid(VoF) method.The sinkage and trim are computed by equating the vertical force and pitching moment to the hydrostatic restoring force and moment.The software Fluent,Maxsurf and MATLAB are used to implement this method.With dynamic mesh being used,the position of a ship is updated by the motion of "ship plus boundary layer" grid zone.The hull factors are introduced for fast calculating the running attitude of a ship.The method has been applied to the ship model INSEAN2340 for different Froude numbers and is found to be efficient for evaluating the flow field,resistance,sinkage and trim.
