Where is the rudder of a fish?:the mechanism of swimming and control of self-propelled fish school

Numerical simulation and control of self- propelled swimming of two- and three-dimensional biomimetic fish school in a viscous flow are investigated. With a parallel computational fluid dynamics package for the two- and three-dimensional moving boundary problem, which combines the adaptive multi-grid finite volume method and the methods of immersed boundary and volume of fluid, it is found that due to the interactions of vortices in the wakes, without proper control, a fish school swim with a given flap- ping rule can not keep the fixed shape of a queue. In order to understand the secret of fish swimming, a new feedback con- trol strategy of fish motion is proposed for the first time, i,e., the locomotion speed is adjusted by the flapping frequency of the caudal, and the direction of swimming is controlled by the swinging of the head of a fish. Results show that with this feedback control strategy, a fish school can keep the good order of a queue in cruising, turning or swimming around circles. This new control strategy, which separates the speed control and direction control, is important in the construction of biomimetic robot fish, with which it greatly simplifies the control devices of a biomimetic robot fish.

Comparison of Microbubble and Air Layer Injection with Porous Media for Drag Reduction on a Self-propelled Barge Ship Model

Ship resistance issues are related to fuel economy,speed,and cost efficiency.Air lubrication is a promising technique for lowering hull frictional resistance as it is supposed to modify the energy in the turbulent boundary layer and thereby reduce hull friction.In this paper,the objective is to identify the optimum type of air lubrication using microbubble drag reduction(MBDR)and air layer drag reduction(ALDR)techniques to reduce the resistance of a 56-m Indonesian self-propelled barge(SPB).A model with the following dimensions was constructed:length L=2000 mm,breadth B=521.60 mm,and draft T=52.50 mm.The ship model was towed using standard towing tank experimental parameters.The speed was varied over the Froude number range 0.11–0.31.The air layer flow rate was varied at 80,85,and 90 standard liters per minute(SLPM)and the microbubble injection coefficient over the range 0.20–0.60.The results show that the ship model using the air layer had the highest drag reduction up to a maximum of 90%.Based on the characteristics of the SPB,which operates at low speed,the optimum air lubrication type to reduce resistance in this instance is ALDR.

An Operational Modal Analysis Experimental Technique for Self-propelled Gun

The experimental modal analysis of the selected self-propelled gun was completed to obtain its modal frequency distribution and modes by using an operational modal analysis experimental technique.The result obtained by the method was compared with that obtained by the traditional method.It indicates that the two results are in good agreement.

Crystallization of self-propelled particles on a spherical substrate

In this paper, we investigate the self-propelled particles confined on a spherical substrate and explore the structural and dynamic properties of self-propelled particles by controlling the packing fraction and activity. We find that these self-propelled particles freeze into the crystal with the increase in the packing fraction. We observe the pattern evolution of inevitable topological defects due to the geometric constraints of the spherical substrate. During the process of freezing, there is a transition from twelve isolated grain boundaries to the uniform distribution of defects with the increase in the self-propelled velocity. Finally, we establish a phase diagram of the freezing process. These results may deepen our understanding of active particles in complex and crowded environments.

Dynamics of a self-propelled particle under different driving modes in a channel flow

In this paper, a model that combines the lattice Boltzmann method with the singularity distribution method is proposed to simulate a self-propelled particle swimming（exhibiting translation and rotation） in a channel flow. The results show that the velocity distribution for a self-propelled particle swimming deviates from a Maxwellian distribution and exhibits highvelocity tails. The influence of an eccentric potential doublet on the translation velocity of the particle is significant. The velocity decay process can be described using a double exponential model form. No large differences in the velocity distribution were observed for different translation Reynolds numbers, rotation Reynolds numbers, or regular intervals.

Traction Potential Analysis of Self-Propelled Seafloor Trencher Based on Mechanical Measurements in Bentonite Soil

Shear stress-displacement relationship model of soil is very important to predict the tractive performance of tracked vehicle. Most shear stress-displacement models were proposed for terrestrial field.However,they are not suit for soft seafloor with flow surface and high water content. Based on comprehensive analysis of seafloor soil shear deformation and track segment shear tests,a new empirical model of shear stressdisplacement relationship for saturated soft-plastic soil(SSP model) was proposed. To validate the SSP model and evaluate potential tractive force of self-propelled seafloor trencher,a test platform,where track segment shear test and drawbar pull test can be performed in seafloor soil substitute(bentonite water mixture),was built. Series of shear tests were carried out. Test results show that the SSP model can describe the mechanical behavior of track segment in seafloor soil substitute with good approximation. Through analyzing the main external forces,including environmental loads from seafloor soil and sea current applied to seafloor tracked trencher during the trenching process in a straight line,drawbar pull analysis model was deduced with the SSP model. A scale test model of seafloor tracked trencher was built,and the verification tests for drawbar pull analysis model were designed and carried out. Results of verification tests indicate that the drawbar pull analysis model was feasible and effective. The drawbar pull tests also indicated that the SSP model is valid from another side.

Deployment of Self-Propelled Modular Transporter for Vessel Installation

The traditional way of installing large vessels has always been to employ the use of cranes. The Water Handling Debottlenecking Project team has, instead, made use of a different technology—employing a Self-Propelled Modular Transporter (SPMT) to install nine vessels in situ. These SPMT units have many advantages over crane installations, such as safety and efficiency, not to mention lower costs due to their self-propelled capabilities.

A Study of Estimating the Safe Storage Life, Self-accelerating Decomposition Temperature and Critical Temperature of Thermal Explosion of Double-base Propellant Using Isothermal and Non-isothermal Decomposition Behaviours

A method of estimating the safe storage life （τ）, self-accelerating decomposition temperature （TsADT） and critical temperature of thermal explosion （Tb） of double-base propellant using isothermal and non-isothermal decomposition behaviours is presented. For double-base propellant composed of 56±1wt% of nitrocellulose （NC）, 27±0.5wt% of nitroglycerine （NG）, 8.15±0.15wt% of dinitrotoluene （DNT）, 2.5±0.1wt% of methyl centralite, 5.0±0.15wt% of catalyst and 1.0±0.1wt% of other, the values of r of 49.4 years at 40℃, of TSAOT of 151.35℃ and of Tb of 163.01℃ were obtained.

Development of Self-Configuring Simulation System for Propelling AAA Fire Control

In this paper,the overall structure design of the Ethernet-based and distributed simulation system for propelling(AAA) fire control is proposed with introducing the concept of system self-configuring pattern.The advantage of this system self-configuring pattern is easy and flexible to configure the modules of the simulation system without doing much more reprogramming work,when the simulation system is needed to add or reduced the modules and simulation computers,and the scale of simulation system is needed to changed.Also the system is structured with standardized and modularized design procedures on the Windows OS platform.

差压步进钻头提高破岩速度原理及现场试验

井底岩石承受较大的原地应力作用,且随着井深增加原地应力呈增大趋势。原地应力的存在增加了岩石的压实程度,导致岩石坚硬、可钻性差、研磨性强等问题,成为破岩工具切削效率低、使用寿命短和钻井速度慢的最主要原因之一。针对此背景,提出释放井底部分原地应力弱化地层抗钻特性提高破岩速度的理念,研发一种可释放井底部分原地应力弱化地层抗钻特性且能够集中钻压强化攻击能力的差压步进钻头,该钻头充分利用钻井过程中的井底钻压波动,实现扩眼钻头与领眼钻头钻压动态分配及钻进过程交替进行的目标,通过弱化地层、强化攻击及转化振动三重效果提高破岩速度。为验证差压步进钻头的应力释放效应,建立三维流固耦合的阶梯井底应力场模型,并在江苏油区某区块砾石层井段开展3口井的实钻试验。结果表明:阶梯井底能够使阶梯处岩石更易破碎;小直径领眼钻头应力释放效果较好;随着地层深度的增加,差压步进钻头应力释放效果更加显著,应力释放比约为60.2%;差压步进钻头提速效果显著,砾石层钻速较牙轮钻头提升可达161.89%,最高提速318.11%。

自行走钻具给进系统中支撑机构的仿生增效研究

随着地下浅层资源的逐渐枯竭,人们逐渐向地下更深部位寻求能源。为应对钻井过程中地下岩层的恶劣环境,提出自平衡钻进系统和仿生自行走钻具给进系统,将压力驱动装置移至地下。本文为解决自行走钻具给进系统中支撑机构的增效问题,通过分析蜣螂头部表面非光滑结构对自行走钻具给进系统增阻机构表面进行仿生设计,并对其增阻性能以及对井壁的损伤进行了模拟仿真分析,同时对其摩擦磨损性能进行了实验测试,研究了不同仿生结构的增阻及减小磨损的效果。结果表明:蜣螂头部凸包间距与直径的比值在1.50左右,中间部位凸包的直径与对应蜣螂头部长度的比值在1∶142~1∶133,且在1∶138附近出现的概率较大,两边凸包的直径与对应蜣螂头部长度的比值在1:173~1∶158之间,且在1∶167附近出现的概率较大,中间部位凸包所占比例在45%左右,两侧所占比例基本相同;仿生结构设计的间距与直径比值在1.50附近时,有良好的增阻效果;相同凸包直径条件下,间距越大,对井壁的损伤越大;正三角形排布为仿生单元增阻效果最佳的排布方式,矩形排布会增大对井壁的损伤,同时降低增阻效果;同心圆形排布对井壁的损伤最大,增阻效果最差。

基于自航模的某海洋调查船回转性能数值研究

本文针对某海洋调查船在实船海试过程中出现回转横倾角过大问题,采用基于RANS方程的数值模拟技术结合自航模型对其回转性能进行数值模拟,获得了其回转性能预报结果,为了减小该船回转过程中的横倾角,对船底呆木开展改进设计,获得呆木改进设计方案后该船的回转性横倾。通过对比分析可知,改进方案有效降低了回转过程中的横倾角,避免了回转中横倾过大的问题,为该船的顺利交付提供了技术支撑。

基于数值的鲫鱼游泳能力影响参数分析

鱼类游泳行为机理及游泳能力的影响因素是目前鱼类仿生学研究的热点问题。本文选取鲹科游动模式(carangiform)的典型—鲫鱼(crucian carp)作为研究对象,采用数值模拟的方法,利用动网格技术结合用户自定义函数(UDF),围绕运动参数、鱼体体型及游泳环境(壁面边界),以仿生鲫鱼到达动态稳定的巡游速度这一过程衡量鲫鱼游泳能力,对鲫鱼游泳能力的影响开展研究。结果表明:当摆动频率在0.07~5.50 Hz之间,摆幅系数在0.03~0.06之间,随着鱼体摆动频率和摆动幅度的增大,仿生鲫鱼获得动态稳定巡游速度的时间逐渐缩短,且巡航游速相应增加。将不同厚长比、体长的鲫鱼经过量化处理后进行数值计算,研究结果表明:以相同的摆幅和摆频向前游动,厚长比与游泳速度呈负相关,当厚长比小于0.166,仿生鲫鱼可获得更快的游泳速度;体长方面,将仿生鱼的体长设置为L,仿生稚鱼可更快速地到达巡游阶段,但到达动态稳定的巡航游速较低,约为0.6L s^(–1),仿生幼鱼在加速阶段速度较快,巡游阶段与仿生成鱼的动态稳定巡航游速基本一致,约为1L s^(–1);鱼体在壁面附近游动所产生的壁面效应会导致游泳速度降低,且双侧壁面对仿生鲫鱼游泳速度的影响较单侧壁面更为显著,当鱼体距单侧壁面0.5L,距双侧壁面0.8L时将不受壁面的影响。本文的研究结果可为鱼类仿生学研究提供有益参考。

遥控自走式雪茄植株中下层烟叶植保喷雾机设计与试验

针对雪茄烟叶在旺长期及成熟期因植株高大及叶片生长致使烟田垄间空间小,且雪茄烟叶生产对烟叶色泽及完整度要求高,田间管理要求不能损伤烟叶,导致生产中雪茄烟叶植株中下层烟叶植保困难的问题,结合烟叶植株生长特征,设计了一种遥控自走式雪茄植株中下层烟叶植保喷雾机,该装置主要包括喷雾系统、履带底盘及控制系统,可实现装置在烟田垄间遥控行走、中下层烟叶喷雾及路况可视等功能。为获取烟株生长特征,运用三维激光扫描仪对其进行扫描并建立了植株叶片田间空间分布模型;根据烟叶田间分布特征,确定装置总体结构和工作方式;结合烟叶形态特征和植保农艺要求,对喷雾系统进行了结构设计及分析,确定了参数范围;根据田间作业需求,对履带底盘进行了动力学分析,对控制系统进行了设计。开展了场地试验,利用Box-Behnken优化了喷雾系统参数,当喷雾压力为0.65 MPa、喷嘴夹角为20.4°、喷嘴孔径为0.4 mm时,经垂直雾滴分布测量仪模拟雪茄烟叶叶片层垂直方向的药液附着性能试验表明,雾滴沉积量垂直分布满足雪茄烟叶植保要求。田间试验结果表明,雪茄植株中下层烟叶正面药液覆盖率为52%~83%,背面药液覆盖率为22%~45%,可实现雪茄植株中下层烟叶药液的有效喷施。

电动自走式玉米-花生带状复合种植模式施药机设计与试验

针对玉米-花生带状复合种植模式施药农艺要求,设计了一款基于STM32单片机控制系统的电动自走式玉米-花生带状复合种植模式施药机。对施药机的驱动电机、转向机构、喷杆及防飘装置、施药管路等关键部件进行了选型与设计;采用流量传感器和速度传感器实时采集管路药液流量和底盘行驶速度,通过增量式PID算法实时调节比例控制阀开度,实现了变量施药控制;开发了基于Android手机的APP控制软件,实现了对施药机的远程控制。流量控制精度试验表明,调控后单个喷头目标流量与实际流量的相对误差η≤4.0%;变量施药试验表明,施药系统平均超调量为2.7%,施药量与理论值相差2.1%;雾滴沉积试验表明,雾滴沉积个数极差为4个/cm^(2),单位面积最低沉积量为35个/cm^(2),符合国家标准。

茶园自走式修剪机接触式循垄导航系统设计与试验

针对现有自走式茶园修剪机自动化程度低、驾驶员操控难度大等问题,该研究结合茶垄轮廓边界结构化特点,提出一种接触式自动循垄导航系统及其控制算法。设计了基于激光测距传感器的接触式自动循垄检测机构,通过分析修剪机相对于茶垄的4种位姿状态,推导出修剪机的运动学导航模型,进而获取修剪机的位姿信息。基于运动学导航模型设计LQR(linear quadratic regulator,线性二次型调节器)算法控制器,以检测机构实时获取的修剪机位姿信息为输入,经导航控制器计算后输出转向信号至步进电机实现自动纠偏。茶园田间试验结果表明,修剪机以0.2、0.4与0.6 m/s速度进行自动循垄,最大绝对偏差不超过0.134 m,平均绝对偏差最大值不超过0.107 m,标准差最大值不超过0.105 m,平均绝对偏差与标准差随着行驶速度的增大而增大,但均不超过0.15 m,满足自走式修剪机在实际茶园环境下的循垄精度要求。研究结果可为茶园自走式修剪机的自动导航提供技术参考。

基于CFD的仿生水动力学数值计算方法及其验证

鱼类经过长期的进化与自然选择,有着优异的水中游动能力,鱼类借助尾鳍能够进行快速高效的定向游动和快速启动/机动,借助胸鳍能够进行前进、后退和灵活的转向。本文基于计算流体力学(CFD)方法,给出适用于求解鱼类尾鳍/胸鳍的刚性运动以及身体躯干的柔性运动的网格划分策略,对仿生尾鳍、仿生胸鳍和仿生鱼在均匀来流中的水动力性能以及仿生鱼在静水中的自主游动进行数值计算。结果表明:基于CFD方法,采用结构与非结构混合的网格划分策略,应用动网格方法能够对仿生鱼的各类鳍及身体躯干的刚性或柔性运动进行有效的模拟,通过与实验结果进行对比,验证了对水动力性能求解的有效性。数值计算方法和验证算例对仿生水动力学的研究具有一定的理论参考意义。

海洋自升式平台安装助航装置关键问题研究

针对非自航自升式平台加装助航装置实现油田内的短距离迁移,梳理相关法规和规范,论证了其合法合规性和检验类型、检验要求。通过总结多种助航系统及其持证要求,分析了助航系统安装时的若干关键技术问题,进一步讨论了助航装置安装的经济性和不同平台间共享的可能性,为中国籍非自航移动平台加装助航装置和国内现有移动平台战略转型和多元化改造提供参考。

SPMT在井口平台组块滚装装船方式中的应用

针对自行式模块化运输车(Self-Propelled Modular Transporter,SPMT)滚装装船方式,以蓬莱19-3油田4腿式井口平台组块为例,在称重布置、临时支撑布置、运输抬梁布置和轴线布置等方面对SPMT装船方案进行适配性设计,在组块强度、运输抬梁强度和SPMT车板强度等方面对该方案的运输强度进行校核,并对该方案进行拓展。该方案可为后续井口平台组块装船方案设计提供参考。

跨行自走式除草机器人设计及仿真分析——基于EDEM

杂草去除是农业生产中不可避免的问题,因此设计了一种跨行自走式除草机器人,能够同时实现行间和株间除草,且行间除草的同时能够起到深松土壤的作用。通过曲柄摇杆机构实现除草刀的摆动,来避开农作物。利用EDEM软件对固定除草深度和速度下不同入土角度的除草过程进行仿真分析,结果表明:相同除草深度和速度下,除草刀具受力随着入土角度的增大而先减小后增大;行间除草刀具选取45°入土角为最优工作参数,株间除草刀具选取60°入土角为最优工作参数;通过仿真计算土壤蓬松度和土壤扰动系数,得到的结果是土壤蓬松度在10%~40%之间、土壤扰动系数大于50%,符合松土壤扰动效果的评价指标。