This paper proposed a new concept of an adaptable multi-legged skid design for retro-fitting to a remotely-operated vehicle （ROV） during high tidal current underwater pipeline inspection. The sole reliance on propel...This paper proposed a new concept of an adaptable multi-legged skid design for retro-fitting to a remotely-operated vehicle （ROV） during high tidal current underwater pipeline inspection. The sole reliance on propeller-driven propulsion for ROV is replaced with a proposed low cost biomimetic solution in the form of an attachable hexapod walking skid. The advantage of this adaptable walking skid is the high stability in positioning and endurances to strong current on the seabed environment. The computer simulation flow studies using Solidworks Flow Simulation shown that the skid attachment in different compensation postures caused at least four times increase in overall drag, and negative lift forces on the seabed ROV to achieve a better maneuvering and station keeping under the high current condition （from 0.5 m/s to 5.0 m/s）. A graphical user interface is designed to interact with the user during robot-in-the-loop testing and kinematics simulation in the pool.展开更多
A new species of river loach, Schistura megalodon sp. nov., is described from the Irrawaddy basin in Yingjiang County, Dehong Autonomous Prefecture, Yuunan Province, China. The following combination of diagnostic char...A new species of river loach, Schistura megalodon sp. nov., is described from the Irrawaddy basin in Yingjiang County, Dehong Autonomous Prefecture, Yuunan Province, China. The following combination of diagnostic characters serve to distinguish it from all other congeners in the given zoogeographical region： a large processus dentiformes in the upper jaw, a short pre-anus length of 65.4%-66.3% of SL, long paired fins （pectoral： 20.8%-24.2% of SL; pelvic： 17.9%-20.6% of SL）, a wide body of 9.7%-11.3% of SL at anal fin origin, an incomplete lateral line, the absence of an orbital lobe, and a broad and distinct basicaudal bar with forward extensions.展开更多
Solid concentration and particle velocity distributions in the transition section of a Ф 200 mm turbulent fluidized bed （TFB） and a q5200 mrn annulus turbulent fluidized bed （A-TFB） with a Ф 50 mm central standp...Solid concentration and particle velocity distributions in the transition section of a Ф 200 mm turbulent fluidized bed （TFB） and a q5200 mrn annulus turbulent fluidized bed （A-TFB） with a Ф 50 mm central standpipe were measured using a PVBD optical probe. It is concluded that in turbulent regime, the axial distribution of solid concentration in A-TFB was similar to that in TFB, but the former had a shorter transition section. The axial solid concentration distribution, probability density, and power spectral distributions revealed that the standpipe hin- dered the turbulence of gas-solid two-phase flow at a low superficial gas velocity. Consequently, the bottom flow of A-TFB approached the bubbling fluidization pattern. By contrast, the standpipe facilitated the turbulence at a high superficial gas velocity, thus making the bottom flow of A-TFB approach the fast fluidization pattern. Both the particle velocity and solid concentration distribution presented a unimodal distribution in A-TFB and TFB. However, the standpipe at a high gas velocity and in the transition or dilute phase section significantly affected the radial distribution of flow parameters, presenting a bimodal distribution with particle concentration higher near the internal and external walls and in downward flow. Conversely, particle concentration in the middle an- nulus area was lower, and particles flowed upward. This result indicated that the standpipe destroyed the coreannular structure of TFB in the transition and dilute phase sections at a high gas velocity and also improved the particle distribution of TFB. In conclusion, the standpipe improved the fluidization quality and flow homogeneity at high gas velocity and in the transition or dilute phase section, but caused opposite phenomena at low gas velocity and in the dense-phase section.展开更多
基金Suuported by Newcastle University in United Kingdom(Project account number:C0570D2330)
文摘This paper proposed a new concept of an adaptable multi-legged skid design for retro-fitting to a remotely-operated vehicle （ROV） during high tidal current underwater pipeline inspection. The sole reliance on propeller-driven propulsion for ROV is replaced with a proposed low cost biomimetic solution in the form of an attachable hexapod walking skid. The advantage of this adaptable walking skid is the high stability in positioning and endurances to strong current on the seabed environment. The computer simulation flow studies using Solidworks Flow Simulation shown that the skid attachment in different compensation postures caused at least four times increase in overall drag, and negative lift forces on the seabed ROV to achieve a better maneuvering and station keeping under the high current condition （from 0.5 m/s to 5.0 m/s）. A graphical user interface is designed to interact with the user during robot-in-the-loop testing and kinematics simulation in the pool.
文摘A new species of river loach, Schistura megalodon sp. nov., is described from the Irrawaddy basin in Yingjiang County, Dehong Autonomous Prefecture, Yuunan Province, China. The following combination of diagnostic characters serve to distinguish it from all other congeners in the given zoogeographical region： a large processus dentiformes in the upper jaw, a short pre-anus length of 65.4%-66.3% of SL, long paired fins （pectoral： 20.8%-24.2% of SL; pelvic： 17.9%-20.6% of SL）, a wide body of 9.7%-11.3% of SL at anal fin origin, an incomplete lateral line, the absence of an orbital lobe, and a broad and distinct basicaudal bar with forward extensions.
基金Supported by the National Natural Science Foundation of China(U1361112,U1162125)
文摘Solid concentration and particle velocity distributions in the transition section of a Ф 200 mm turbulent fluidized bed （TFB） and a q5200 mrn annulus turbulent fluidized bed （A-TFB） with a Ф 50 mm central standpipe were measured using a PVBD optical probe. It is concluded that in turbulent regime, the axial distribution of solid concentration in A-TFB was similar to that in TFB, but the former had a shorter transition section. The axial solid concentration distribution, probability density, and power spectral distributions revealed that the standpipe hin- dered the turbulence of gas-solid two-phase flow at a low superficial gas velocity. Consequently, the bottom flow of A-TFB approached the bubbling fluidization pattern. By contrast, the standpipe facilitated the turbulence at a high superficial gas velocity, thus making the bottom flow of A-TFB approach the fast fluidization pattern. Both the particle velocity and solid concentration distribution presented a unimodal distribution in A-TFB and TFB. However, the standpipe at a high gas velocity and in the transition or dilute phase section significantly affected the radial distribution of flow parameters, presenting a bimodal distribution with particle concentration higher near the internal and external walls and in downward flow. Conversely, particle concentration in the middle an- nulus area was lower, and particles flowed upward. This result indicated that the standpipe destroyed the coreannular structure of TFB in the transition and dilute phase sections at a high gas velocity and also improved the particle distribution of TFB. In conclusion, the standpipe improved the fluidization quality and flow homogeneity at high gas velocity and in the transition or dilute phase section, but caused opposite phenomena at low gas velocity and in the dense-phase section.
