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
The conventional dynamic control devices,such as fluid viscous damper(VFD)and isolating bearings,are unsuitable for the double-deck cable-stayed bridge due to a lack of sustainability,so it is necessary to introduce s...The conventional dynamic control devices,such as fluid viscous damper(VFD)and isolating bearings,are unsuitable for the double-deck cable-stayed bridge due to a lack of sustainability,so it is necessary to introduce some high-tech dynamic control devices to reduce dynamic response for double-deck cable-stayed bridges under earthquakes.A(90+128)m-span double-deck cable-stayed bridge with a steel truss beam is taken as the prototype bridge.A 3D finite element model is built to conduct the nonlinear time-history analysis of different site categories in fortification intensityⅨ(0.40 g)degree area.Two new types of dynamic control devices-cable sliding friction aseismic bearings(CSFABs)and elasticity fluid viscous dampers composite devices(EVFDs)are introduced to reduce the dynamic responses of double-deck cable-stayed bridges with steel truss beam.The parametric optimization design for the damping coefficient C and the elastic stiffness of spring K of EVFDs is conducted.The following conclusions are drawn:(1)The hybrid support system by EVFDs and CSFABs play a good function under both seismic and regular work,especially in eliminating the expansion joints damage;(2)The hybrid support system can reduce the beam-end displacement by 75%and the tower-bottom bending moment by 60%under the longitudinal seismic excitation.In addition,it can reduce the pier-bottom bending moment by at least 45%under transverse seismic and control the relative displacement between the pier and beam within 0.3 m.(3)Assuming the velocity indexα=0.3,the parametric optimization suggests the damping coefficient C as 2000 kN·s·m-1in siteⅠ0,4000kN·s·m-1in siteⅡ,6000 kN·s·m-1in siteⅣ,and the elastic stiffness of spring K as 10000 kN/m in siteⅠ0,50000 kN/m in siteⅡ,and 100000 kN/m in siteⅣ.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.
文摘The conventional dynamic control devices,such as fluid viscous damper(VFD)and isolating bearings,are unsuitable for the double-deck cable-stayed bridge due to a lack of sustainability,so it is necessary to introduce some high-tech dynamic control devices to reduce dynamic response for double-deck cable-stayed bridges under earthquakes.A(90+128)m-span double-deck cable-stayed bridge with a steel truss beam is taken as the prototype bridge.A 3D finite element model is built to conduct the nonlinear time-history analysis of different site categories in fortification intensityⅨ(0.40 g)degree area.Two new types of dynamic control devices-cable sliding friction aseismic bearings(CSFABs)and elasticity fluid viscous dampers composite devices(EVFDs)are introduced to reduce the dynamic responses of double-deck cable-stayed bridges with steel truss beam.The parametric optimization design for the damping coefficient C and the elastic stiffness of spring K of EVFDs is conducted.The following conclusions are drawn:(1)The hybrid support system by EVFDs and CSFABs play a good function under both seismic and regular work,especially in eliminating the expansion joints damage;(2)The hybrid support system can reduce the beam-end displacement by 75%and the tower-bottom bending moment by 60%under the longitudinal seismic excitation.In addition,it can reduce the pier-bottom bending moment by at least 45%under transverse seismic and control the relative displacement between the pier and beam within 0.3 m.(3)Assuming the velocity indexα=0.3,the parametric optimization suggests the damping coefficient C as 2000 kN·s·m-1in siteⅠ0,4000kN·s·m-1in siteⅡ,6000 kN·s·m-1in siteⅣ,and the elastic stiffness of spring K as 10000 kN/m in siteⅠ0,50000 kN/m in siteⅡ,and 100000 kN/m in siteⅣ.
