An integrated dynamic model of China's deep ocean mining system is developed and the fast simulation analysis of its longitudinal reciprocating motion operation processes is achieved. The seafloor tracked miner is bu...An integrated dynamic model of China's deep ocean mining system is developed and the fast simulation analysis of its longitudinal reciprocating motion operation processes is achieved. The seafloor tracked miner is built as a three-dimensional single-body model with six-degree-of-freedom. The track-terrain interaction is modeled by partitioning the track-terrain interface into a certain number of mesh elements with three mutually perpendicular forces, including the normal force, the longitudinal shear force and the lateral shear force, acting on the center point of each mesh element. The hydrodynamic force of the miner is considered and applied. By considering the operational safety and collection efficiency, two new mining paths for the miner on the seafloor are proposed, which can be simulated with the established single-body dynamic model of the miner. The pipeline subsystem is built as a three-dimensional multi-body discrete element model, which is divided into rigid elements linked by flexible connectors. The flexible connector without mass is represented by six spring-damper elements. The external hydrodynamic forces of the ocean current from the longitudinal and lateral directions are both considered and modeled based on the Morison formula and applied to the mass center of each corresponding discrete rigid element. The mining ship is simplified and represented by a general kinematic point, whose heave motion induced by the ocean waves and the longitudinal and lateral towing motions are considered and applied. By integrating the single-body dynamic model of the miner and the multi-body discrete element dynamic model of the pipeline, and defining the kinematic equations of the mining ship, the integrated dynamic model of the total deep ocean mining system is formed. The longitudinal reciprocating motion operation modes of the total mining system, which combine the active straight-line and turning motions of the miner and the ship, and the passive towed motions of the pipeline, are proposed and simulated with the developed 3D dynamic model. Some critical simulation results are obtained and analyzed, such as the motion trajectories of key subsystems, the velocities of the buoyancy modules and the interaction forces between subsystems, which in a way can provide important theoretical basis and useful technical reference for the practical deep ocean mining system analysis, operation and control.展开更多
The railway 3D visual design plays an important role in checking the rail projects and improving the quality of railway design, because the key to implement Railway a 3D visual design is to build a 3D model of railway...The railway 3D visual design plays an important role in checking the rail projects and improving the quality of railway design, because the key to implement Railway a 3D visual design is to build a 3D model of railway line landscape. The study on the methods of building a 3D model of railway line landscape is of important academic significance and practical value. We constructed a 3D digital terrain model with aerial survey Data or manual survey data in the regional railway, utilizing plan, profile, cross section data and bridge, tunnel, railway bed data to create the 3D railway line model and merging the two models to form a 3D model of railway line landscape. Based on analyzing the algorithms of Delaunay triangulation creation in Domestic and abroad, in view of the situation of building DTM and the need of realizing railway 3D visual design, a divide and conquer algorithm of building DTM is presented. The algorithm uses square grids to manage disordered points, to form triangular meshes in grids, DTM can be obtained by merging the triangular meshes so that the work of sorting the disordered points before building DTM is reduced greatly; moreover, the algorithm utilizes sub area to control the vertices of convex hull so that the range can be predefined when searching support points, the workload of searching support points reduced and the speed of merging two triangulations raised. A method for inserting constrained boundaries in DTM based on the study of the generation of constrained Delaunay triangulation is presented. First, we searched for the diagonals not intersecting with the constrained boundaries. Then we used them to cut the influenced area. The method has the advantages of a plain principle and a fast speed. The method of utilizing plan, profile, cross section data and digital terrain model to establish the 3D model of the main construction of railway line and the terrain model is presented. It describes the irregular entity surfaces by cutting them into regular entity surfaces, so that it would be simple and raise for the drawing and display of the entities. The method does not only suit single track railway line but also the double track railway line. Merging terrain 3D model and railway line 3D model to build the 3D model of railway line landscape is the core of implementing railway 3D visual design. The key of merging the two models is to hide the ground where the railway line is to be constructed. The problem is studied and a divide and conquer method is presented. First, generating a regular quadrangular mesh by means of DEM data. Then finding the regions that railway bed is located and cutting the regions into grids. If the boundaries of a grid covers another grid, then delete the grid. If the grid contains the boundaries then forming two triangles using the four vertices of the grid. Finding out the points where the boundaries and the triangles intersect. Inserting the points and the vertices of the boundaries into the existing triangular mesh to form a new triangular mesh. At last deleting the triangles which is located in the boundaries and the ground is hided. Moreover, the problem of merging two railway beds which are interrelated and the terrain surface is solved by using the separate and intersect method and in the segment where the railway vary from a double track railway integral bed to two beds of single track railway or vice versa. Based on the mathematical model, the development of the railway 3D visual design system with object oriented programming is completed. The correctness is proved by using the software to make the 3D landscape model and animation of Xi′an Nanjing railway, Xi′an Yan′an railway and SuiLing ChongQing railway; in the meantime, the practicability and adaptability is discussed.展开更多
基金supported by the National Natural Science Foundation of China(Grant No.51105386)the National Deep-Sea Technology Project of Development and Research(Grant No.DYXM-115-04-02-01)the Fundamental Research Funds for the Central Universities(Grant No.2011QNZT058)
文摘An integrated dynamic model of China's deep ocean mining system is developed and the fast simulation analysis of its longitudinal reciprocating motion operation processes is achieved. The seafloor tracked miner is built as a three-dimensional single-body model with six-degree-of-freedom. The track-terrain interaction is modeled by partitioning the track-terrain interface into a certain number of mesh elements with three mutually perpendicular forces, including the normal force, the longitudinal shear force and the lateral shear force, acting on the center point of each mesh element. The hydrodynamic force of the miner is considered and applied. By considering the operational safety and collection efficiency, two new mining paths for the miner on the seafloor are proposed, which can be simulated with the established single-body dynamic model of the miner. The pipeline subsystem is built as a three-dimensional multi-body discrete element model, which is divided into rigid elements linked by flexible connectors. The flexible connector without mass is represented by six spring-damper elements. The external hydrodynamic forces of the ocean current from the longitudinal and lateral directions are both considered and modeled based on the Morison formula and applied to the mass center of each corresponding discrete rigid element. The mining ship is simplified and represented by a general kinematic point, whose heave motion induced by the ocean waves and the longitudinal and lateral towing motions are considered and applied. By integrating the single-body dynamic model of the miner and the multi-body discrete element dynamic model of the pipeline, and defining the kinematic equations of the mining ship, the integrated dynamic model of the total deep ocean mining system is formed. The longitudinal reciprocating motion operation modes of the total mining system, which combine the active straight-line and turning motions of the miner and the ship, and the passive towed motions of the pipeline, are proposed and simulated with the developed 3D dynamic model. Some critical simulation results are obtained and analyzed, such as the motion trajectories of key subsystems, the velocities of the buoyancy modules and the interaction forces between subsystems, which in a way can provide important theoretical basis and useful technical reference for the practical deep ocean mining system analysis, operation and control.
文摘The railway 3D visual design plays an important role in checking the rail projects and improving the quality of railway design, because the key to implement Railway a 3D visual design is to build a 3D model of railway line landscape. The study on the methods of building a 3D model of railway line landscape is of important academic significance and practical value. We constructed a 3D digital terrain model with aerial survey Data or manual survey data in the regional railway, utilizing plan, profile, cross section data and bridge, tunnel, railway bed data to create the 3D railway line model and merging the two models to form a 3D model of railway line landscape. Based on analyzing the algorithms of Delaunay triangulation creation in Domestic and abroad, in view of the situation of building DTM and the need of realizing railway 3D visual design, a divide and conquer algorithm of building DTM is presented. The algorithm uses square grids to manage disordered points, to form triangular meshes in grids, DTM can be obtained by merging the triangular meshes so that the work of sorting the disordered points before building DTM is reduced greatly; moreover, the algorithm utilizes sub area to control the vertices of convex hull so that the range can be predefined when searching support points, the workload of searching support points reduced and the speed of merging two triangulations raised. A method for inserting constrained boundaries in DTM based on the study of the generation of constrained Delaunay triangulation is presented. First, we searched for the diagonals not intersecting with the constrained boundaries. Then we used them to cut the influenced area. The method has the advantages of a plain principle and a fast speed. The method of utilizing plan, profile, cross section data and digital terrain model to establish the 3D model of the main construction of railway line and the terrain model is presented. It describes the irregular entity surfaces by cutting them into regular entity surfaces, so that it would be simple and raise for the drawing and display of the entities. The method does not only suit single track railway line but also the double track railway line. Merging terrain 3D model and railway line 3D model to build the 3D model of railway line landscape is the core of implementing railway 3D visual design. The key of merging the two models is to hide the ground where the railway line is to be constructed. The problem is studied and a divide and conquer method is presented. First, generating a regular quadrangular mesh by means of DEM data. Then finding the regions that railway bed is located and cutting the regions into grids. If the boundaries of a grid covers another grid, then delete the grid. If the grid contains the boundaries then forming two triangles using the four vertices of the grid. Finding out the points where the boundaries and the triangles intersect. Inserting the points and the vertices of the boundaries into the existing triangular mesh to form a new triangular mesh. At last deleting the triangles which is located in the boundaries and the ground is hided. Moreover, the problem of merging two railway beds which are interrelated and the terrain surface is solved by using the separate and intersect method and in the segment where the railway vary from a double track railway integral bed to two beds of single track railway or vice versa. Based on the mathematical model, the development of the railway 3D visual design system with object oriented programming is completed. The correctness is proved by using the software to make the 3D landscape model and animation of Xi′an Nanjing railway, Xi′an Yan′an railway and SuiLing ChongQing railway; in the meantime, the practicability and adaptability is discussed.