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Ammonia Bunkering—Infrastructure,Finance,Insurance and Regulatory Issues:A Review
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作者 Kishore Bedekar Erkan Oterkus Selda Oterkus 《Sustainable Marine Structures》 2025年第4期104-131,共28页
To comply with IMO Net Zero framework ammonia is emerging as a future fuel without carbon and sulphur products emission.Bunkering is a process of loading fuel on ships.Ships are not using ammonia as fuel at present.En... To comply with IMO Net Zero framework ammonia is emerging as a future fuel without carbon and sulphur products emission.Bunkering is a process of loading fuel on ships.Ships are not using ammonia as fuel at present.Engine makers are developing dual fuel engines to operate on ammonia.The prerequisite to use ammonia is a robust and safe infrastructure to supply green ammonia as fuel in ports worldwide.Fuel supply can be done by pipelines in ports,ship to ship transfer at anchorages or in ports,and truck to ship bunkering in ports.Ammonia being a corrosive and toxic chemical,and hazard identification and risk assessment needs to be carried out.Procedure for measurement of ammonia quantity and quality will need to be formulated.IGF Code will be applicable to Ammonia as fuel.All safety aspects will need to be included in a rigorous crew training and certification as per STCW convention.The methodology used for the paper is literature review,study of existing industry practices for bunkering of alternate fuels like LNG,Methanol and LPG and how it can be safely applied for ammonia bunkering.Key findings are that it will be safe to bunker ammonia by designing a robust system with inbuilt safety features similar to what is used for cryogenic fuel like Liquefied Natural Gas with stress on handling of toxic and corrosive properties and considering safety of crew and environmental protection. 展开更多
关键词 bunkering Process Toxicity CORROSIVITY Crew Training REGULATIONS Methodology Key Findings
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Research of the underground coal bunker clearing robot 被引量:2
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作者 SONG Zhi-an ZHAN Feng +2 位作者 LI Cheng-yin WANG Ze-le ZHANG Shan-lin 《Journal of Coal Science & Engineering(China)》 2010年第1期104-107,共4页
With the long-term use of coal bunker, a certain amount of sticking objects will beformed on its wall, and coal mine clearing robot can replace man in clearing the bunker wall.Also, since it equip with an explosion-pr... With the long-term use of coal bunker, a certain amount of sticking objects will beformed on its wall, and coal mine clearing robot can replace man in clearing the bunker wall.Also, since it equip with an explosion-proof camera, the worker can determine the operationby observing the well-head monitor.Moreover, it cannot work unless it is placed in positionand supported stably, and it has three degrees of freedom: rotating, stretching, and shovelcoal.It is driven by the hydraulic and controlled by PLC.The underground coal mine clearingrobot changs the traditional clearing methods, man does not have to enter the bunker toclear it, which ensures the production safety of coal transportation. 展开更多
关键词 underground coal bunker clearing robot coal bunker coal transport
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Development of coal store and transportation technology using horizontal coal bunker
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作者 田建胜 陈青术 《Journal of Coal Science & Engineering(China)》 2005年第2期16-19,共4页
Discussed the necessity of setting up the coal bunker in mining, introduced the development of coal bunker technology, combining the mining characteristic of the high yield and high-efficient working face in China at ... Discussed the necessity of setting up the coal bunker in mining, introduced the development of coal bunker technology, combining the mining characteristic of the high yield and high-efficient working face in China at present, and point out that the type of horizontal coal bunker, is a kind of security, high-efficient coal store and transportation technology of suiting the modern production need of the colliery, is the developing direc-tion of technology of store and transportation of coal bunker. 展开更多
关键词 traditional coal bunker horizontal coal bunker safe and high-efficiency
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LNG bunkering pontoons on inland waters in China
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作者 Fan Hongjun Xu Jianyong +2 位作者 Wu Shunping Shi Guozheng Guan Wenfeng 《Natural Gas Industry B》 2018年第2期148-155,共8页
LNG bunkering pontoons are presented to solve the fueling difficulty of LNG ships on inland waterways with a great variation of water height and channel width by seasonal change.First,the background of this concept wa... LNG bunkering pontoons are presented to solve the fueling difficulty of LNG ships on inland waterways with a great variation of water height and channel width by seasonal change.First,the background of this concept was analyzed as well as the demand of LNG bunkering pontoons,and the involved idea of levels management.Then,from the safety barrier perspective,safety design principles were discussed,the safety principles and implement measures of LNG storage were provided,LNG tanks for the pontoon were analyzed in detail in terms of their types,design pressure,material selection and leakage protection principles.Also,the safety concerns of LNG supply and bunkering process were raised,and an improved handy bunkering arm&hose,lighter and more flexible than ever before,was introduced.Berthing and unberthing are related to the survival of the pontoon so that the key points of such design were highlighted.It is concluded that(1)based on the levels management,the pontoon equipped with IMO Type C tanks,with reasonable berthing/unberthing and safety designs adopted,is proved to be safe and reliable by practices;(2)by 2025,nearly 30 such improved LNG bunkering pontoons with a fueling capacity of 500 m^(3) each will be required on Yangtze and Pearl Rivers;and(3)the pontoon's safety and reliability has been verified by practices and its fourth generation has been developed. 展开更多
关键词 LNG bunkering pontoon Floating fueling station LNG fuel Storage IMO type C tanks bunkering arm&hose Technical security Levels management
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Multi-factor dynamic analysis of the deformation of a coal bunker in a coal preparation plant 被引量:4
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作者 Shuangshuang Xiao Qing Yang +1 位作者 Guowei Dong Hongsheng Wang 《International Journal of Coal Science & Technology》 EI CAS CSCD 2021年第5期1067-1077,共11页
To assess the deformation of a coal bunker and propose effective preventative measures for such,a real-time monitoring system was designed.Moreover,methods were proposed for monitoring the coal-bunker inclination,sett... To assess the deformation of a coal bunker and propose effective preventative measures for such,a real-time monitoring system was designed.Moreover,methods were proposed for monitoring the coal-bunker inclination,settlement,groundwater level,temperature,and material level.By using a vector autoregression model and time-series data for the coal-bunker deformation,a long-term equilibrium relationship was derived between the coal-bunker inclination and settlement and their influencing factors.The dynamic effects of each factor on the coal-bunker inclination and settlement and how the contribution of each factor changes were revealed by using an impulse response function and variance decomposition.The results show that the coal-bunker inclination and settlement vary hysteretically.Groundwater level has constant and small negative effects on the coal-bunker inclination and settlement,and temperature has continuous and significant negative effects;however,material level has constant positive effects on the coal-bunker settlement and slightly influences the eastward inclination while significantly influencing the northward inclination of the coal bunker.Also,unbalanced loading has little influence on the coal-bunker settlement and eastward inclination but significant influence on its northward inclination.Therefore,monitoring of the coal-bunker deformation should be strengthened in summer,and sudden changes in material level and unbalanced loading should be avoided during production.Moreover,the coal-bunker inclination can be adjusted by unbalanced loading in the reverse direction. 展开更多
关键词 Coal bunker SETTLEMENT Influence factor Dynamic analysis
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FUZZY CONTROLLED AUTOMATION SYSTEM FOR THE MAIN COAL BUNKER 被引量:2
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作者 邵良杉 叶景楼 付华 《Journal of Coal Science & Engineering(China)》 1997年第1期26-30,共5页
A fuzzy control scheme is presented according to the coal quantity in the main coal bunker, this method has a good dynamic response characteristic and is suited for complex nonlin-ear systems. The designation of self-... A fuzzy control scheme is presented according to the coal quantity in the main coal bunker, this method has a good dynamic response characteristic and is suited for complex nonlin-ear systems. The designation of self-adopting fuzzy controller, the working principle and functions of this system are also proposed, with the hardware and the main flow diagram of this system in-troduced in this paper. 展开更多
关键词 mine coal bunker fuzzy control mine elevator
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CFD Based Simulation of LNG Release during Bunkering and Cargo Loading/Unloading Simultaneous Operations of a Containership 被引量:1
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作者 FAN Hongjun CHENG Kang WU Shunping 《Journal of Shipping and Ocean Engineering》 2017年第2期51-58,共8页
In order to reduce waiting time in port for large LNG (liquefied natural gas) fueled ships, it is suggested that LNG STS (ship to ship) bunkering and cargo loading/unloading should be carried out simultaneously. T... In order to reduce waiting time in port for large LNG (liquefied natural gas) fueled ships, it is suggested that LNG STS (ship to ship) bunkering and cargo loading/unloading should be carried out simultaneously. This study investigated the safety zone of an LNG bunkering vessel with 10,000 cubic meters capacity transferring LNG fuel to an LNG fueled 18,000 TEU containership. Four LNG leakage scenarios were identified based on failure frequencies analysis of piping systems and severity of consequence, three-dimension CFD software FLACS was adopted to calculate flammable cloud dispersion after LNG leakage. As a result, we obtained a rectangle dangerous zone (41.3 m ~ 126 m), outside of this dangerous zone can be def'med as safety zone. It is concluded that safety zone of LNG STS bunkering and cargo loading/unloading SIMOPS (simultaneous operations) cannot keep the same, there are different results for different designs and operation locations. Due to high frequencies and severe consequences, two typical scenarios, the leakage of LNG hose and the natural gas releases from bunkering tank's safety relief valve during bunkering, cannot be ignored in similar study. 展开更多
关键词 LNG fueled vessel bunkering simultaneous operations gas dispersion dangerous zone.
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OW Bunker破产引发的法律困境评析 被引量:1
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作者 王伟 李垒 《世界海运》 2016年第4期37-44,共8页
丹麦宝运石油(OW Bunker)曾是世界上最大的船用燃油供应商,其破产事件导致诸多通过OW Bunker作为中间商订购燃油的船东和租船人面临着OW Bunker和实际供油商的双重索赔风险。针对此类纠纷,目前英美法系主要国家法院均受理了相关案件,但... 丹麦宝运石油(OW Bunker)曾是世界上最大的船用燃油供应商,其破产事件导致诸多通过OW Bunker作为中间商订购燃油的船东和租船人面临着OW Bunker和实际供油商的双重索赔风险。针对此类纠纷,目前英美法系主要国家法院均受理了相关案件,但各国做法并非完全相同,尚没有完善的处理方案。在中国法视角下,燃油款支付义务依法应根据合同相对性原则予以确定及履行,并且不属于具有海事优先权的海事请求,因此,非燃油供给合同签署方的实际加油商无法根据船舶优先权在中国申请扣船。为避免双重支付的风险,船东和租船人可直接与实际加油商订立合同;而作为实际供油商,也可以通过改变标准合同条款来保护自己的权益。 展开更多
关键词 OW bunker 燃油供应合同 船舶优先权 交互诉讼
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RESEARCH AND IMPROVEMENT OF SPIRAL BUNKER
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作者 董正筑 曹璎珞 +2 位作者 王启广 王玉浚 郭志宏 《Journal of Coal Science & Engineering(China)》 1996年第1期111-116,共6页
A great attention has been paid to slowing the degradation of coal nowadays. The spiral bunker is the main measure to lower the degradation. In this paper the application and research of spiral bunker are introduced. ... A great attention has been paid to slowing the degradation of coal nowadays. The spiral bunker is the main measure to lower the degradation. In this paper the application and research of spiral bunker are introduced. And two non-normal spiral chutes are discussed. One is in the tangential direction of the inner wall of the bunker, another is in the direction of the diameter of the bunker. Mathematical models of the non-normal spiral chutes are set up to optimize the geometrical parameters of the spiral curved surface, which would ensure that coal travels smoothly to the bottom of the bunker. The results would be useful for designing and retrofitting the spiral bunker. 展开更多
关键词 bunker spiral chute mathematical model
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THE STUDY OF ALLOCATION OF SURGE BUNKER IN MINE HAULAGE SYSTEM
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作者 王喜富 张幼蒂 张达贤 《Journal of Coal Science & Engineering(China)》 1997年第1期17-20,共4页
Based on the function analysis of surge bunker in mine haulage system, the authors raise the calculation methods of the total output of a mine haulage system. Taking the maximum of system’s total throughput as a obje... Based on the function analysis of surge bunker in mine haulage system, the authors raise the calculation methods of the total output of a mine haulage system. Taking the maximum of system’s total throughput as a objective, the method of determining the surge bunker’s rational size is put forward. Also, the problems of rational position of surge bunker are analysesed. 展开更多
关键词 mine haulage system surge bunker system output
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Predicting Human Reliability for Shore-based LNG Bunkering Operation Process on Tanker Ships Using SLIM and Improved Z-numbers
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作者 Murat Mert Tekeli Seher Suendam Arici +2 位作者 Sukru Ilke Sezer Emre Akyuz Paolo Gardoni 《哈尔滨工程大学学报(英文版)》 CSCD 2024年第4期914-926,共13页
With the increasing utilization of liquefied natural gas(LNG)as a marine fuel,the safety and reliability of shore-based LNG bunkering operations have become vital concerns.Human factors are crucial to the successful e... With the increasing utilization of liquefied natural gas(LNG)as a marine fuel,the safety and reliability of shore-based LNG bunkering operations have become vital concerns.Human factors are crucial to the successful execution of these operations.However,predicting human reliability in such complex scenarios remains challenging.This paper focuses on the prediction of human reliability analysis(HRA)for shorebased LNG bunkering operations on tanker ships to address the aforementioned gap.Practical approaches to predicting HRA under the success likelihood index method(SLIM)and an improved Z-numbers approach are both adopted in this paper.SLIM provides a powerful tool to calculate human error,while the improved Z-numbers can address uncertainty and improve the reliability of qualitative expert judgments.Results show that the reliability of shore-based LNG bunkering operations is 0.861.In addition to its robust theoretical contribution,this research provides substantial practical contributions to LNG ship owners,ship superintendents,safety inspectors,and shore-based and ship crew for enhancing safety at the operational level and efficiency of shore-based LNG bunkering operations. 展开更多
关键词 LNG bunkering operation Success likelihood index method Improved Z-numbers Human reliability
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议燃油供应商OW BUNKER的破产及其影响
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作者 张雪标 《世界海运》 2015年第9期1-3,共3页
2014年底,全球最大的船用燃料油供应帝国OW Bunker宣告破产,在航运业界引起了巨大反响,给业界带来了许多复杂的实务和法律问题。这些实务法律问题通常涉及多方法律主体和多个船用燃油供油合同,使船东或租家在实务操作中可能面临来自OW B... 2014年底,全球最大的船用燃料油供应帝国OW Bunker宣告破产,在航运业界引起了巨大反响,给业界带来了许多复杂的实务和法律问题。这些实务法律问题通常涉及多方法律主体和多个船用燃油供油合同,使船东或租家在实务操作中可能面临来自OW Bunker和实际燃油供应商的双重索赔风险,进而导致船舶或在船燃油遭受索赔人的扣押或留置。从OW Bunker破产的原因着手行文,着重分析OW Bunker破产后船东或租家面临的风险情形,并按照未供燃油和已供燃油进行分类,并提出相应可能的应对措施。 展开更多
关键词 破产程序 OW bunker 扣押 供油商
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A Numerical Study on Optimization of Side-by-Side Mooring System of Floating LNG Bunkering Terminal with LNG Carrier in Operation Condition
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作者 YunHo Kim HongGun Sung SeokKyu Cho 《Journal of Energy and Power Engineering》 2017年第5期285-294,共10页
In this study, we perform a series of numerical calculations on two vessels in the time domain. One vessel maintains its position using an internal turret and catenary mooring lines, while the other is moored to the f... In this study, we perform a series of numerical calculations on two vessels in the time domain. One vessel maintains its position using an internal turret and catenary mooring lines, while the other is moored to the former vessel via an STS (ship-to-ship) mooring system. We obtain hydrodynamic forces using the HOBEM (higher-order boundary element method). Then, we determine their coefficients using the convolution function method in the time domain. We model the catenary mooring lines using the finite element method, and the STS mooring lines are treated as linear SPs (springs) with constraints. To optimize the STS system, we conduct parametric studies on STS mooring systems. Finally, we compare the motion and structural responses of the initial and modified configurations. 展开更多
关键词 FLBT (floating LNG bunkering terminal) LNGC (LNG carrier) time-domain analysis STS mooring system catenarymooring lines with internal turret.
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Benefits for the bunker industry in adopting blockchain technology for dispute resolution 被引量:1
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作者 Daniel Adam Dante Benjamin Matellini Anna Kaparaki 《Blockchain(Research and Applications)》 EI 2023年第2期101-112,共12页
he bunker industry has faced negative perception to their trust and credibility in recent times.This is further compounded by the need for the industry to answer new challenges to meet the requirement of the Internati... he bunker industry has faced negative perception to their trust and credibility in recent times.This is further compounded by the need for the industry to answer new challenges to meet the requirement of the International Maritime Organization 2020.The aim of this work is to illustrate how blockchain technology may be adopted for aiding in bunker dispute resolution.To demonstrate how blockchain may aid in disputes within the bunker industry,this paper first examines the existing bunker supply process,which involves the formation of contracts under English law,the Bunker Delivery Notes,the different types of disputes that may arise during a bunker transaction and the methods of dispute resolution utilised by the industry.Furthermore,the current literature in relation to blockchain technology and blockchain smart contracts is examined.Finally,interviews and surveys within the industry have been conducted to identify the benefits and challenges in adopting blockchain technology.The research found that blockchains may benefit the bunker supply chain offering the effective resolution of bunker quality disputes.Furthermore,blockchains may also serve as a verification tool for electronic bunker delivery notes,which may aid quality and quantity bunker disputes as well as compliance with the new International Maritime Organisation 2020 requirements.As a result,despite the research having shown blockchain to be situationally dependent and having an element of legal uncertainty,blockchain does offer a solution to aid in bunker disputes and for improving the trust and credibility within the bunker industry. 展开更多
关键词 bunker industry bunker supply contracts Dispute resolution Blockchain smart contracts Electronic bunker delivery notes
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基于极限下限法的水下盾构带压开仓支护力确定方法及应用
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作者 游钰阳 李雨哲 +3 位作者 阳军生 郑响凑 孙锐 耿传政 《岩土工程学报》 北大核心 2026年第1期206-216,共11页
水下盾构带压开仓是盾构施工风险管控的关键难点,维持开挖面稳定对确保开仓安全至关重要。提出一种考虑稳态渗流影响的网格自适应下限有限元分析方法,基于此建立了水下盾构隧道带压开仓开挖面稳定性分析模型,分析考虑渗流作用下的开挖... 水下盾构带压开仓是盾构施工风险管控的关键难点,维持开挖面稳定对确保开仓安全至关重要。提出一种考虑稳态渗流影响的网格自适应下限有限元分析方法,基于此建立了水下盾构隧道带压开仓开挖面稳定性分析模型,分析考虑渗流作用下的开挖面失稳主动和被动破坏模式并确定了相应的极限支护力。结果表明,渗流作用在一定程度上改变了开挖面失稳破坏模式,进而加大了开挖面失稳风险。在此基础上,依托实际海底盾构隧道工程,提出了基于下限有限元法的盾构带压开仓支护气压动态设定方法,相比传统规范设定方法可安全、有效地减少48%以上的安全冗余,优化后的支护气压仅为传统设定值的50.7%。此外,整体开仓作业时间缩短为1~3 d,现场应用效果良好,该方法可为现场停机工点开挖面稳定性评价及带压进仓工作的支护气压优化设定提供指导和依据。 展开更多
关键词 下限有限元 地下水渗流 稳定性分析 极限支护力 带压开仓
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基于煤仓疏通机器人的有效清煤机理研究
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作者 潘泽 姚畅 +2 位作者 祁琦 王磊 王文善 《佳木斯大学学报(自然科学版)》 2026年第1期134-136,146,共4页
为解决煤仓运行过程中频繁出现的堵煤问题,利用煤仓清理机器人开展堵塞区域煤料的精准破碎机理研究。基于煤料受力特性与拱形结构演化规律,构建多点分层离散模型,揭示不同高度区域应力分布特征及易堵塞位置的形成机制。结合液压冲击破... 为解决煤仓运行过程中频繁出现的堵煤问题,利用煤仓清理机器人开展堵塞区域煤料的精准破碎机理研究。基于煤料受力特性与拱形结构演化规律,构建多点分层离散模型,揭示不同高度区域应力分布特征及易堵塞位置的形成机制。结合液压冲击破碎原理,建立能量传递、衰减与耗散模型,基于NSGA-II多目标优化算法,构建以效率最大化与能耗最小化为目标的作业参数优化模型,实现多变量协同调控。通过灵敏度分析与Pareto解集分析,得到各参数对性能的影响权重与推荐取值区间,为煤仓清理机器人作业策略优化、能效控制及复杂工况下的智能决策提供理论支撑与技术依据。 展开更多
关键词 煤仓清理机器人 冲击破碎 多目标优化 有效清煤
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Dynamic quantitative risk assessment of LNG bunkering SIMOPs based on Bayesian network 被引量:1
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作者 Hongjun Fan Hossein Enshaei Shantha Gamini Jayasinghe 《Journal of Ocean Engineering and Science》 SCIE 2023年第5期508-526,共19页
Liquified natural gas(LNG)bunkering simultaneous operations(SIMOPs)refers to the operations(such as cargo operations,port activities and ship maintenance)occurring around LNG bunkering.SIMOPs pose new risks to LNG bun... Liquified natural gas(LNG)bunkering simultaneous operations(SIMOPs)refers to the operations(such as cargo operations,port activities and ship maintenance)occurring around LNG bunkering.SIMOPs pose new risks to LNG bunkering,because the operations are dynamically interlocked in which the occurrence probabilities of potential consequences change at different times due to commencement or completion of specific SIMOP events.However,traditional static risk assessment approaches are not able to take the dynamic nature of these new risks into account.This article proposes a dynamic quantitative risk as-sessment(DQRA)methodology based on the Bayesian network(BN)to develop better understanding of dynamic risks of LNG bunkering SIMOPs.The methodology is demonstrated and evaluated through a truck-to-ship LNG bunkering case study.The results and discussion of the case study validate the utility of the proposed methodology and demonstrate that BNs are efficient in performing the probability calcu-lations and are flexible in conducting causal diagnosis.The main innovation of this work is realizing the quantification of risks at different times,which reflects the most essential time-changing characteristics of risks associated with LNG bunkering SIMOPs. 展开更多
关键词 MARITIME Alternative fuel SAFETY LNG bunkering SIMOPs Dynamic risk
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王蟒沟煤矿主水平煤仓注浆堵水技术实践
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作者 袁斌 《江西煤炭科技》 2026年第1期161-163,共3页
针对王蟒沟煤矿主水平煤仓大面积渗水、淋水现状,采用对煤仓井壁进行壁后注马丽散的方法,充填围岩裂隙,封堵渗水通道,以实现加固、堵水的双重效果。现场实践证明,实施注浆后,井筒涌水量由原来的39.7 m^(3)/h降为3.6 m^(3)/h左右,降低了9... 针对王蟒沟煤矿主水平煤仓大面积渗水、淋水现状,采用对煤仓井壁进行壁后注马丽散的方法,充填围岩裂隙,封堵渗水通道,以实现加固、堵水的双重效果。现场实践证明,实施注浆后,井筒涌水量由原来的39.7 m^(3)/h降为3.6 m^(3)/h左右,降低了90.93%,涌水裂隙基本得到封堵,井壁得到加固,堵水效果显著。 展开更多
关键词 煤仓 注浆堵水 马丽散
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刚柔混联式煤仓清理机器人耦合运动学与工作空间研究
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作者 刘鹏 缪易良 +4 位作者 马宏伟 段学超 曹现刚 夏晶 王川伟 《煤炭学报》 北大核心 2025年第S2期1305-1323,共19页
煤仓堵塞问题严重影响了煤炭的正常运输效率,人工清理煤仓堵塞劳动强度大、事故频发且性质恶劣,为此,提出了一种刚柔混联式煤仓清理机器人构型方案,并开展煤仓清理机器人耦合运动学建模与工作空间研究。首先,提出了一级柔索驱动并联机构... 煤仓堵塞问题严重影响了煤炭的正常运输效率,人工清理煤仓堵塞劳动强度大、事故频发且性质恶劣,为此,提出了一种刚柔混联式煤仓清理机器人构型方案,并开展煤仓清理机器人耦合运动学建模与工作空间研究。首先,提出了一级柔索驱动并联机构+二级清理机械臂的刚柔混联式煤仓清理机器人方案,详述了煤仓清理机器人的功能及协同工作原理。其次,建立了刚柔混联式煤仓清理机器人的耦合运动学模型,针对运动学逆解的多解性和复杂性,引入具备全局搜索能力的遗传算法实现高效求解。然后,建立了刚柔混联式煤仓清理机器人静力学模型,通过考虑煤仓内部结构及机器人清理过程中柔索长度、柔索拉力限制和防碰撞等约束条件,构建并求解了该机器人的力封闭工作空间,并提出了2个工作空间质量评价指标:工作空间覆盖率和构型灵活度。最后,对刚柔混联式煤仓清理机器人耦合运动学模型和工作空间进行了仿真分析。仿真结果表明:针对期望轨迹求解的逆运动学结果,经正运动学仿真验证,所得末端轨迹与期望轨迹高度一致,体现了逆解方法的可靠性;工作空间量化分析揭示该机器人力封闭工作空间覆盖率较高,且未覆盖区域集中于非堵塞高发区的煤仓进煤口;对机器人构型灵活工作空间深入剖析发现,在煤仓中心区域,机器人具备高灵活度,即使随着位置下降,其灵活度有所降低,但依然能够满足基本作业要求。因此,刚柔混联式煤仓清理机器人在结构设计、运动学性能及工作空间上具备潜在适用性,为煤仓清理作业提供了更可靠、高效的解决方案。 展开更多
关键词 煤仓清理机器人 刚柔混联 耦合运动学 遗传算法 工作空间
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新燃料散货船航线的燃料加注和航速协同优化
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作者 黄珍平 赵科 季盛 《中国航海》 北大核心 2025年第3期121-128,共8页
为响应日趋严苛的航运排放法规,采用液化天然气(LNG)和甲醇等新能源的船舶正逐步投入使用。但是能够提供新燃料加注服务的港口数量远少于传统燃油补给点,这使得新燃料船的航线运营规划更加困难。航运公司急需在加注站点稀缺的环境中,合... 为响应日趋严苛的航运排放法规,采用液化天然气(LNG)和甲醇等新能源的船舶正逐步投入使用。但是能够提供新燃料加注服务的港口数量远少于传统燃油补给点,这使得新燃料船的航线运营规划更加困难。航运公司急需在加注站点稀缺的环境中,合理规划航线、助力新燃料散货船营运。为此本研究以总排放量最小化为目标,在考虑航程总时间和船舶速度可调范围等约束条件的基础上,构建了一种混合整数非线性规划数学模型。针对模型非线性特性,提出了一种变邻域框架的启发式求解算法,以高效获取近似最优解。最后,通过单航次及连续航次两种典型航线场景的案例研究,深入解析了燃料补给策略与航速的协同优化决策,验证了所提模型与算法的有效性。 展开更多
关键词 新燃料船 协同优化 燃料加注策略 航速优化
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