Structure Design of Underwater Micro Robot

A submergible robot model has been presented, and for 3D printing measures, their parts have been modified enough. It has been shown in our design that using printable connectors—a few engines and weight arrangements can be carried out, permitting distinctive moving prospects. After presenting our configuration and delineating a bunch of potential structures, a helpful model dependent on open-source equipment and programming arrangements has been presented conditionally. The model can be effectively tried in a few makes-a plunge streams and lakes throughout the planet. The unwavering quality of the printed models can be strained distinctly in generally shallow waters. Nonetheless, we accept that their accessibility will inspire the overall population to construct and test submerged robots, subsequently accelerating the improvement of imaginative arrangements and applications.

对称系泊半潜平台在各种可能系泊组合下的动力学分析

In this technologically advancing world,the demand for more energy,oil and gas production is rapidly escalating.To accomplish this,people have inclined more towards completely floating offshore structures,deployed in deep waters.A semi-submersible is selected in the present study,due to its better response characteristics and stability under harsh environmental conditions.The semi-submersible is position restrain with spread mooring lines incorporated with submerged buoy at different locations has been studied.A detailed numerical analysis is carried out using Ansys Aqwa for dynamic response analysis of semi-submersible under the combination of wind,wave,and current forces for 0°,45°,and 90°directions.It was observed that damping ratios and natural periods had been affected based on the position and number of submerged buoys in the mooring system.Also,reduction in mooring force after incorporating buoy in the mooring lines was observed.Subsequently,a Matlab code based on the S-N curve approach was generated and employed to investigate the fatigue damage of mooring lines under dynamic variation of mooring forces.When pegged with submerged buoys,fatigue life of mooring lines is increased under intact and postulated damaged mooring conditions.Moreover,coupling of motion responses of semi-submersible is observed,and unbounded response is not seen in any degrees-offreedom,even during damaged condition of mooring lines.

Stabilisation of estuarine sediments with an alkali-activated cement for deep soil mixing applications

In this work,an alternative alkali-activated cement(AAC)made of ladle slag precursor mixed with sodium hydroxide and sodium silicate has been developed to enhance the bearing capacity of estuarine soils in coastal conditions via deep soil mixing(DSM).The AAC was optimized to use a low reactivity precursor(ladle slag)and to deal with a contaminated high-water content natural sediment cured under water.The material performance was analysed by comparison to a mixture made with Portland cement and cured in the same conditions.Flexural and unconfined compressive strength tests as well as seismic waves measurements after 3-,7-,14-and 28-d curing were performed to obtain a relationship between elastic stiffness and strength with curing time for both mixtures.Remarkably,the AAC mix demonstrated superior strength results,exhibiting almost double flexural and compressive strengths after 28 d compared to the Portland cement mix.The AAC mix also showed a higher rate of stiffness increase than the Portland cement mix,which has a higher initial stiffness at young ages but lower stiffness evolution.Leachate analysis confirmed that the proposed AAC could effectively immobilise any contaminants from soil or precursors.The effect of curing under stress was analysed in triaxial compression tests and found to be insignificant,indicating that laboratory data obtained without stress curing can represent the material's behaviour in a DSM column,which will cure under the weight of the column.

Investigation of hydroxyl-terminated polybutadiene propellant breaking characteristics and mechanism impacted by submerged cavitation water jet

A submerged cavitation water jet(SCWJ)is an effective method to recycle solid propellant from obsolete solid engines by the breaking method.Solid propellant's breaking modes and mechanical process under SCWJ impact are unclear.This study aims to understand those impact breaking mechanisms.The hydroxyl-terminated polybutadiene(HTPB)propellant was chosen as the research material,and a self-designed test system was used to conduct impact tests at four different working pressures.The high-speed camera characterized crack propagation,and the DIC method calculated strain change during the impact process.Besides,micro and macro fracture morphologies were characterized by scanning electron microscope(SEM)and computed tomography(CT)scanning.The results reveal that the compressive strain concentration region locates right below the nozzle,and the shear strain region distributes symmetrically with the jet axis,which increases to 4% at first 16th ms,the compressive strain rises to 2% and 6% in the axial and transverse direction,respectively.The two tensile cracks formed first at the compression strain concentrate region,and there generate many shear cracks around the tensile cracks,and those shear cracks that develop and aggregate cause the cracks to become wider and cut through the tensile cracks,forming the tensile-shear cracks and the impact parts eventually fail.The HTPB propellant forms a breaking hole shaped conical after impact 10 s.The mass loss increases by 17 times at maximum,with the working pressure increasing by three times.Meanwhile,the damage value of the breaking hole remaining on the surface increases by 7.8 times while 2.9 times in the depth of the breaking hole.The breaking efficiency is closely affected by working pressures.The failure modes of HTPB impacted by SCWJ are classified as tensile crack-dominated and tensile-shear crack-dominated damage mechanisms.

Numerical Analysis of the Influence of the Impinging Distance on the Scouring Efficiency of Submerged Jets

Water jet technology is widely used in submerged buried pipes as a non-traditional trenching process,often invol-ving a complex sediment response.An important adjustable and influential engineering variable in this technol-ogy is represented by the impinging distance.In this study,the FLOW-3D software was used to simulate the jet scouring of sand beds in a submerged environment.In particular,four sets of experimental conditions were con-sidered to discern the relationship between the maximum scour depth and mass and the impinging distance.As shown by the results,a critical impinging distance h0 exists by which the static scour depth can be maximized;the scour mass ratio between dynamic and static conditions decreases as the impinging distance increases.Moreover,the profile contours are similar when the erosion parameter Ec is in the range 0.35<Ec<2.Empirical equations applicable for predicting the jet trenching contour under both dynamic and static scour modes are also provided in this study.

Flow and penetration behavior of submerged side-blown gas

To assess the widely used submerged side-blowing in pyrometallurgy,a high-speed camera-digital image processing-statistical approach was used to systematically investigate the effects of the gas flow rate,nozzle diameter,and inclination angle on the space-time distribution and penetration behavior of submerged side-blown gas in an air-water system.The results show that the gas motion gradually changes from a bubbling regime to a steady jetting regime and the formation of a complete jet structure as the flow rate increases.When the flow rate is low,a bubble area is formed by large bubbles in the area above the nozzle.When the flow rate and the nozzle diameter are significant,a bubble area is formed by tiny bubbles in the area above the nozzle.The increased inclination angle requires a more significant flow rate to form a complete jet structure.In the sampling time,the dimensionless horizontal and vertical penetration depths are Gaussian distributed.Decreasing the nozzle diameter and increasing the flow rate or inclination angle will increase the distribution range and discreteness.New correlations for a penetration depth with an error of±20%were obtained through dimensional analysis.The dimensionless horizontal penetration depth of an argon-melt system in a 120 t converter calculated by the correlation proposed by the current study is close to the result calculated by a correlation in the literature and a numerical simulation result in the literature.

Effect of light and nutrients on interspecific interactions between submerged macrophytes:implications for restoration of multispecies aquatic vegetation in eutrophic lakes

Constructing multispecies submerged vegetation systems and maintaining stable seasonal succession is crucial for restoring shallow eutrophic lakes.However,little is known about the interactions between successional and existing species of different growth forms,particularly under the low light and high nutrient conditions of eutrophic lakes.We measured the functional traits of mature Vallisneria natans(Lour.)Hara plants and Potamogeton crispus L.shoots in monoculture and mosaic patterns under different light and nutrient conditions.The effect of light on functional traits of the submerged macrophyte species was more significant than that of nutrients,but the reverse was true for P.crispus biomass allocation.Moreover,interspecific interactions affected only the submerged macrophytes under the low light condition and varied with species.Specifically,the interaction of P.crispus to V.natans was biased towards competition,while the interaction of V.natans to P.crispus was converted from facilitation to competition by eutrophication,particularly in the homogenous mosaic growth pattern.This study demonstrates that sufficient light is a prerequisite and patch planting is an effective means to form a multispecies submerged vegetation system.In addition,we emphasize that the coexistence of eutrophication and low light will likely result in a competition between submerged macrophytes thus simplifying the vegetation,even if their growth forms and growing seasons are different.These findings help explain the collapse of multispecies submerged vegetation and guide the restoration of aquatic plants in eutrophic lakes.

Temporal characteristics of algae-denitrifying bacteria co-occurrence patterns and denitrifier assembly in epiphytic biofilms on submerged macrophytes in Caohai Lake,SW China

Denitrifying bacteria in epiphytic biofilms play a crucial role in nitrogen cycle in aquatic habitats.However,little is known about the connection between algae and denitrifying bacteria and their assembly processes in epiphytic biofilms.Epiphytic biofilms were collected from submerged macrophytes(Patamogeton lucens and Najas marina L.)in the Caohai Lake,Guizhou,SW China,from July to November 2020 to:(1)investigate the impact of abiotic and biotic variables on denitrifying bacterial communities;(2)investigate the temporal variation of the algae-denitrifying bacteria co-occurrence networks;and(3)determine the contribution of deterministic and stochastic processes to the formation of denitrifying bacterial communities.Abiotic and biotic factors influenced the variation in the denitrifying bacterial community,as shown in the Mantel test.The co-occurrence network analysis unveiled intricate interactions among algae to denitrifying bacteria.Denitrifying bacterial community co-occurrence network complexity(larger average degrees representing stronger network complexity)increased continuously from July to September and decreased in October before increasing in November.The co-occurrence network complexity of the algae and nirS-encoding denitrifying bacteria tended to increase from July to November.The co-occurrence network complexity of the algal and denitrifying bacterial communities was modified by ammonia nitrogen(NH_(4)^(+)-N)and total phosphorus(TP),pH,and water temperature(WT),according to the ordinary least-squares(OLS)model.The modified stochasticity ratio(MST)results reveal that deterministic selection dominated the assembly of denitrifying bacterial communities.The influence of environmental variables to denitrifying bacterial communities,as well as characteristics of algal-bacterial co-occurrence networks and the assembly process of denitrifying bacterial communities,were discovered in epiphytic biofilms in this study.The findings could aid in the appropriate understanding and use of epiphytic biofilms denitrification function,as well as the enhancement of water quality.

Evaluation of airlift pump performance for vertical conveying of coal particles

One of the crucial aspects of reducing air consumption when conveying particles with an airlift pump is to know the factors that affect the process of particle motion at an initial velocity of zero.To determine the influence of submer-gence ratio and physical properties of particles(such as size,shape,and mass)on the onset of vertical particle motion,the airlift pump was taken as the research object,and spherical glass together with irregular shaped coal were used as experimental test particles.The results show that unlike the water-solid environment,the start of particle motion in the water-air mixture does not always occur at a certain value of superficial water velocity and this value also increases with increasing submergence level.Among the parameters considered,the role of submergence ratio is much more effective than the dimensions and the shape of the particle,because by increasing submergence from 0.3 to 0.8,it is possible to reduce air consumption by up to 8 times.Based on this study the corresponding theoretical model derived by Fujimoto et al.is optimized,wherein the overall agreement between the modified theory and present experimental data is particularly good.Contrary to Fujimoto,the minimum superficial water velocity for lifting solids in the air-water mixture is not always smaller than water ambient which indicates on optimum submergence ratio higher than 0.7.Finally,a new criterion was introduced to describe the moment of onset of the particle motion as a function of the superficial fluid velocity ratio for each submergence value.

Experimental Study of Submergence Ratio on Local Scour Around a Square Pile in Steady Flow

Scour around a submerged square pile was realized experimentally in a steady flow to study the effects of flow depth on local scour.Flow depth to pile height ratios ranging from 1.5 to 5 in uniform sand and 2 to 5 in non-uniform sand were tested in the approaching flow velocity to critical velocity(larger than which the sediment particle is motivated)ratios of 0.56 and 1.03,respectively.The influences of flow depth were investigated on the basis of analysis of the three-dimensional topography,temporal maximum scour depth,bed profile development,and equilibrium scour depth.Results showed that the maximum scour depth was at the upstream corners of the pile other than at the stagnation point.The evolutions of the maximum scour depth data in non-uniform sand were well fitted with a recent exponential function,which characterized the initial,developing,and equilibrium stages of scour depth.The scour hole slopes upstream of the pile were found to be parallel to each other in the process of each test and were mainly governed by the sediment repose underwater.The equilibrium scour depth varied slightly with flow depth when the submergence ratio was larger than 1 in uniform sand while it was 2 in non-uniform sand.The armoring effects of coarse sediment particles markedly reduced the sediment transport in non-uniform sand despite the 0.34 increment in non-uniformity.

Multi-Parameter Influence Analysis of Interaction Between Internal Solitary Wave and Fixed Submerged Body

To obtain the interaction characteristics between Internal solitary waves(ISWs)and submerged bodies,a three-dimensional numerical model for simulating ISWs was established in the present study based on the RANS equation.The velocity entrance method was adopted to generate the ISWs.First,the reliability of this numerical model was validated by comparing it with theoretical and literature results.Then,the influence of environmental and navigation parameters on interactions between ISWs and a fixed SUBOFF-submerged body was studied.According to research,the hydrodynamic performance of the submerged body has been significantly impacted by the ISWs when the body is nearing the central region of the wave.Besides,the pitching moment(y')will predominate when the body encounters the ISWs at a certain angle between 0°and 180°,and the lateral force is larger than the horizontal force.Additionally,the magnitude of the force acting on the body is mostly affected by the wave amplitude.The variation of the vertical force is the main way that ISWs affect the hydrodynamic performance of the bodies.The investigations and findings discussed above can serve as a guide to forecast how ISWs will interact with submerged bodies.

Study on the Propagation and Focusing Mechanism of Long Waves over A Submerged Atoll

An analytical solution for long waves propagating over a submerged atoll is established. The atolls involved in this study are annular coral reefs with large lagoons in the middle, and the expression of the cross section is a trinomial function of the radial distance, i.e., h=ar(2s)-br~s+h_0, where s is the positive rational number. This analytical solution extends the theory by Wang et al.(2018) as s is no longer limited to s=2/m, where m is the positive integer. In addition, by adjusting the terrain parameters properly, the analytic solution can be degenerated to describe the wave propagation over topography with a hump or pit. According to the relationship between wave rays and wave energy, the distribution characteristics and formation mechanism of energy over the topography are expounded. When the lagoon is non-existent, all wave rays converge at the x-axis, which results in an abrupt amplification of the wave amplitude around the convergence point. When a lagoon is mounted on the top of the atoll, the rays are scattered due to the refraction of the lagoon, and only some rays converge at the symmetrical axis and the ridges on both sides,which results in the amplification of wave amplitudes in these areas.

Comparison Study and Forensic Analysis between Experiment and Coupled Dynamics Simulation for Submerged Floating Tunnel Segment with Free Ends under Wave Excitations

This paper presents dynamic-behavior comparisons and related forensic analyses of a submerged floating tunnel(SFT)between numerical simulation and physical experiment under regular and irregular waves.The experiments are conducted in the 3Dwave tank with 1:33.3 scale,and the corresponding coupled time-domain simulation tool is devised for comparison.The entire SFT systemconsists of a long concrete tunnel and 12 tubular aluminummooring lines.Two numerical simulation models,the Cummins equation with 3D potential theory including second-order wave-body interaction effects and the much simpler Morison-equation-based formula with the lumped-massbased line model,are designed and compared.Forensic analyses for mooring-line adjustments in the simulation are carried out in view of the best representation of the physical system.After that,the measured pre-tension distribution and systemstiffness of twelvemooring lines arewell reproduced in the numericalmodel.Subsequently,the dynamic responses and mooring tensions of the SFT are compared under regular and irregular waves.The measured and simulated results coincide reasonably well for both regular-and irregular-wave conditions.

Iron Toxicity Tolerance of Rice Genotypes in Relation to Growth,Yield and Physiochemical Characters

Iron(Fe)toxicity,generated from excess reduced ferrous Fe(Fe^(2+))ion formation within the soil under submerged condition,is a potent environmental stress that limits lowland rice production.Total 11 diverse Thai rice genotypes,including a recognized tolerant genotype Azucena and a susceptible genotype IR64,were evaluated against 5 Fe^(2+)levels[0(control),150,300,600 and 900 mg/L]to screen the tested genotypes for their Fe-toxicity tolerance and to classify them as a sensitive/tolerant category.The evaluation was conducted by a germination study,followed by a polyhouse study on growth,yield and physiochemical performances.Results showed significant variations in Fe^(2+)-tolerance across genotypes.Increasing Fe^(2+)level beyond 300 mg/L was detrimental for germination and growth of all the tested genotypes,although germination responses were negatively affected at Fe^(2+)≥300 mg/L.Physiochemical responses in the form of leaf greenness,net photosynthetic rate,membrane stability index and Fe contents in leaf and root were the most representative of Fe^(2+)-toxicity-mediated impairments on overall growth and yield.Difference in physiochemical responses was effectively correlated with the contrasting ability of the genotypes on lowering excess Fe^(2+)in tissues.Analysis of average tolerance and stress tolerance index unveiled that the genotypes RD85 and RD31 were the closest to the tolerant check Azucena and the sensitive check IR64,respectively.The unweighted pair group method with arithmetic means clustering revealed three major clusters,with cluster Ⅱ(four genotypes)being Fe^(2+)tolerant and cluster Ⅰ(four genotypes)being Fe^(2+)sensitive.Principal component(PC)analysis and genotype by trait-biplot analysis showed that the first two components explained 90.5%of the total variation,with PC1 accounting for 56.6%and PC2 for 33.9%of the total variation.The identified tolerant rice genotypes show potentials for cultivation in Fe^(2+)-toxic lowlands for increased productivity.The findings contribute to the present understanding on Fe^(2+)-toxicity response and provide a basis for future genotype selection or rice crop improvement programs against Fe^(2+)-toxicity.

由耦合多孔结构和浸没式多孔板引起的波浪能阻尼

The present study investigates the wave-damping characteristics due to the combination of bottom-standing porous structure,submerged porous plate,and fully-extended porous structure of finite width using the small amplitude wave theory.The hydrodynamic characteristics such as reflection,transmission,and dissipation coefficients are determined to analyse the wave energy dissipation by the composite breakwater using the matched eigenfunction expansion method and orthogonal mode-coupling relation.Darcy’s law is incorporated to the flow through porous media.The composite breakwater system is investigated experimentally to validate and compare the numerical results with the physical model study.The complex porous effect parameter for the submerged plate is incorporated in the numerical analysis,which represents the reactance and resistance of the porous structure.The wave forces on the submerged plate and porous structure for the composite breakwater are investigated by considering the effects of changing parameters such as structural porosity,plate submergence,angle of incidence,width of the submerged porous structure and distance between the structures.The study illustrates that the increasing width of the fully-extended porous structure improves the performance of the breakwater system.The proposed study on the composite breakwater yields an useful information for wave energy attenuation,which can be designed and implemented in coastal and harbour areas to achieve wave tranquillity.

Numerical Investigation of the Multiphase Flow Originating from the Muzzle of Submerged Parallel Guns

A two-dimensional model,employing a dynamic mesh technology,is used to simulate numerically the transient multiphaseflowfield produced by two submerged parallel guns.After a grid refinement study ensuring grid inde-pendence,five different conditions are considered to assess the evolution of cavitation occurring in proximity to the gun muzzle.The simulation results show thatflow interference is enabled when the distance between the par-allel barrels is relatively small;accordingly,the generation and evolution of the vapor cavity becomes more com-plex.By means of the Q criterion for vorticity detection,it is shown that cavitation causes the generation of vorticity and the evolution of the vapor cavity can result in an asymmetric distribution of vorticity for a certain distance of the barrels.In particular,the evolution of the vapor cavity can hinder the expansion of the gas and force it toflow outward,while an asymmetric distribution of vorticity can lead to a gas jetflowing outward and rotating simultaneously.

Research on the Dynamic Response of Submerged Floating Tunnels to Wave Currents and Traffic Load

Submerged floating tunnel(SFTs)are typically subjected to complex external environmental and internal loads such as wave currents and traffic load.In this study,this problem is investigated through a finite element method able to account for fluid-structure interaction.The obtained results show that increasing the number of vehicles per unit length enhances the transverse vibrational displacements of the SFT cross sections.Under ultimate traffic load condition,one-way and two-way syntropic distributions can promote the dynamic responses of SFTs whereas two-way reverse distributions have the opposite effect.

Analysis of Corrosion Behavior of ZrO_(2)-C Slag-line Materials in Continuous Casting

In view of the service failure and low continuous casting production efficiency due to the corrosion of refractories at the slag-line in submerged entry nozzles,a submerged entry nozzle for low-carbon aluminum killed steel continuous casting in one steel plant was sampled and taken as the research object to analyze the causes and the mechanism of refractory corrosion at the slag-line.The results show that the core issue of the corrosion and necking of the slag-line materials is that the slag-line material are eroded,dissolved,and reacted by the mold flux gradually.Therefore,it is important to suppress or avoid the contact and reaction between the mold flux and slag-line materials.

Effect of Mixed Vegetation of Different Heights on Open Channel Flows

Vegetation of different heights commonly grows in natural rivers, canals and wetlands and affects the biodiversity and morphological process. The role of vegetation has drawn great attention in river ecosystems and environmental management. Due to the complexity of the vegetated flow, most previous research focuses on the effect of uniformed one-layered vegetation on the flow structure and morphological process. However, less attention was paid to the impact of the mixing vegetation of different heights, which is more realistic and often occurs in natural riverine environments. This paper aims to investigate the effect of mixing three-layered vegetation on flow characteristics, particularly the velocity distrbution, via a novel experiment. Experiments were performed in a titling water flume fully covered with vegetation of three heights (10, 15 and 20 cm) arranged in a staggered pattern, which is partially submerged. Velocities at different positions along a half cross-section were measured using a mini propeller velocimeter. Observed results showed that the velocity has a distinct profile directly behind vegetation and behind the vegetation gap. The overall profile has two distinct reflections about ? below or near the top of short vegetation (h): the velocity remains almost constant in the bottom layer ( h) the velocities directly behind the middle after short vegetation increase much faster than those directly behind the short after tall vegetation. The finding in this study would help river riparian and ecosystem management. .

Chloride Resistance of Concrete under Complex Stress and Environment

The presence of stress is shown to have a significant impact on chloride ions in concrete. Reinforced concrete is usually durable and cost-effective which has resulted in its widespread use for construction, however, the concrete subjected to environment and load has become increasingly apparently that attacked by aggressive agents such as chloride ion. In this study, the coupling influences are stress effects and environmental problems on the coastline concrete durability have been investigated. A series of cyclic of a wet-dry cycle and submersion tests were performed onto the stressed concrete to obtain an understanding of the physical mechanisms causing the accumulation of chlorides in the interior pores of concrete under different stress types and exposure environments, based on the same duration. Specimens were prepared and subjected to NaCl solution in a wet-dry cycle and submersion, the chloride in the tension zone is gradual with increasing the stress level, as well as the chloride ion in the wet-dry cycle, is increasing the number of cycles. The apparent diffusion coefficient of each specimen was calculated respectively, the profile of concentration at a different section of tension and compression zones were presented in influence factors of the number of cycles, the length of drying phase, and periodic wetting cycles with sodium solution was discussed. After employed Fick’s second law, the results suggested Da in a wet-dry cycle is much higher than the Da in submersion zones.