This paper describes an underwater 3500 m electric manipulator （named Huahai-4E, stands for four functions deep ocean electric manipulator in China）, which has been developed at underwater manipulation technology la...This paper describes an underwater 3500 m electric manipulator （named Huahai-4E, stands for four functions deep ocean electric manipulator in China）, which has been developed at underwater manipulation technology lab in Huazhong University of Science and Technology （HUST） for a test bed of studying of deep ocean manipulation technologies. The manipulator features modular integration joints, and layered architecture control system. The oil-filled, pressure-compensated joint is compactly designed and integrated of a permanent magnet （PM） brushless motor, a drive circuit, a harmonic gear and an angular feedback potentiometer. The underwater control system is based on a network and consisted of three embedded PC/104 computers which are used for servo control, task plan and target sensor respectively. They communicate through User Datagram Protocol （UDP） multicast communication in Vxworks OS. A supervisor PC with a virtual 3D GUI is fiber linked to underwater control system. Furthermore, the manipulator is equipped with a sensor system including a unique ultra-sonic probe array and an underwater camera. Autonomous grasp strategy based multi-sensor is studied. The results of watertight test in 40 MPa, joint＇s efficiency test and autonomous grasp experiments in tank are also presented.展开更多
在深海匹配场(Matched Field Processing-MFP)声源定位中,拷贝场模型的计算精度和速度对声源的定位效果和定位效率有着直接的影响。针对这一问题,本文数值仿真研究了深海匹配场定位中采用高斯射线束理论作为拷贝场计算模型的可行性。高...在深海匹配场(Matched Field Processing-MFP)声源定位中,拷贝场模型的计算精度和速度对声源的定位效果和定位效率有着直接的影响。针对这一问题,本文数值仿真研究了深海匹配场定位中采用高斯射线束理论作为拷贝场计算模型的可行性。高斯射线束理论具有计算速度快,物理意义清晰,并且适合并行化处理等优点。文中利用不同水文环境、不同频域范围的大量仿真实验来证明该模型的适用性。结果表明,高斯射线束模型在深远海的声源定位中有很好的定位精度,并且在较低频段同样有效,可以作为深远海声源定位的拷贝场计算模型。展开更多
深远海海洋地质的研究具有重要的科研和社会价值,是当今国际发展的一大趋势。运用CiteSpace软件对Web of Science核心数据库中相关文献进行分析,探究当前国际研究现状、研究热点和前沿。结果表明,该领域目前仍处于发展阶段并具有广阔的...深远海海洋地质的研究具有重要的科研和社会价值,是当今国际发展的一大趋势。运用CiteSpace软件对Web of Science核心数据库中相关文献进行分析,探究当前国际研究现状、研究热点和前沿。结果表明,该领域目前仍处于发展阶段并具有广阔的研究和应用前景,90年代前后为其迅速发展阶段;欧美等发达国家在该领域成果突出,而我国近年来呈现上升势头,但仍有较大的发展空间;深远海地质的文献联系不够紧密,各学科方向有待完善。其中,构造地质学和沉积学是该领域的热点研究方向,地球化学物理方法是常用的研究手段,海底峡谷是热点研究区域,全新世是研究的主要时期。展开更多
基金supported by the National High Technology Research and Development Program of China(863 Program,Grant No. 2006AA09Z203)State Commission of Science and Technology for National Defense Industry Project "micro underwater work tool"the National Natural Science Foundation of China(Grant Nos.50909046 and 51079061)
文摘This paper describes an underwater 3500 m electric manipulator （named Huahai-4E, stands for four functions deep ocean electric manipulator in China）, which has been developed at underwater manipulation technology lab in Huazhong University of Science and Technology （HUST） for a test bed of studying of deep ocean manipulation technologies. The manipulator features modular integration joints, and layered architecture control system. The oil-filled, pressure-compensated joint is compactly designed and integrated of a permanent magnet （PM） brushless motor, a drive circuit, a harmonic gear and an angular feedback potentiometer. The underwater control system is based on a network and consisted of three embedded PC/104 computers which are used for servo control, task plan and target sensor respectively. They communicate through User Datagram Protocol （UDP） multicast communication in Vxworks OS. A supervisor PC with a virtual 3D GUI is fiber linked to underwater control system. Furthermore, the manipulator is equipped with a sensor system including a unique ultra-sonic probe array and an underwater camera. Autonomous grasp strategy based multi-sensor is studied. The results of watertight test in 40 MPa, joint＇s efficiency test and autonomous grasp experiments in tank are also presented.
文摘在深海匹配场(Matched Field Processing-MFP)声源定位中,拷贝场模型的计算精度和速度对声源的定位效果和定位效率有着直接的影响。针对这一问题,本文数值仿真研究了深海匹配场定位中采用高斯射线束理论作为拷贝场计算模型的可行性。高斯射线束理论具有计算速度快,物理意义清晰,并且适合并行化处理等优点。文中利用不同水文环境、不同频域范围的大量仿真实验来证明该模型的适用性。结果表明,高斯射线束模型在深远海的声源定位中有很好的定位精度,并且在较低频段同样有效,可以作为深远海声源定位的拷贝场计算模型。
文摘深远海海洋地质的研究具有重要的科研和社会价值,是当今国际发展的一大趋势。运用CiteSpace软件对Web of Science核心数据库中相关文献进行分析,探究当前国际研究现状、研究热点和前沿。结果表明,该领域目前仍处于发展阶段并具有广阔的研究和应用前景,90年代前后为其迅速发展阶段;欧美等发达国家在该领域成果突出,而我国近年来呈现上升势头,但仍有较大的发展空间;深远海地质的文献联系不够紧密,各学科方向有待完善。其中,构造地质学和沉积学是该领域的热点研究方向,地球化学物理方法是常用的研究手段,海底峡谷是热点研究区域,全新世是研究的主要时期。
