In this paper, a scheme is proposed for performing remote operation on quantum state among multiparty. We use three-particle GHZ state as quantum channels to prepare a state operator, which describes quantum correlati...In this paper, a scheme is proposed for performing remote operation on quantum state among multiparty. We use three-particle GHZ state as quantum channels to prepare a state operator, which describes quantum correlation between states and operations. Based on the special characteristic of the state operator, observers can perform unitary operation on a system that is away from observers. Our studies show this process is deterministic. We further consider remote operation among N spatially distributed observers, and the results show the successful realization of remote operation needs collective participation of N parties, that is, there exists strong correlation among multiparty. In addition, we investigate the case in which observers share a three-particle W state as quantum channels to perform remote operation and studies find this process is probabilistic.展开更多
The traditional relay protection debugging technology of generator-transformer group ignores the suppression of voltage distortion of generator-transformer group, which leads to the phase lag problem of generator-tran...The traditional relay protection debugging technology of generator-transformer group ignores the suppression of voltage distortion of generator-transformer group, which leads to the phase lag problem of generator-transformer group in the process of relay protection, and cannot realize the relay protection of generator-transformer group of power plant grid-connected unitsin stable and safe debugging. The protection effect of power relay is reduced with the application of automation and intelligent technology, so we should study new technology. This paper takes the remote operation and maintenance technology of power relay protection as the research object, and analyzes the specific application and development status of this technology in modern society. It is hoped that it can be helpful to the future development of power relay protection and is beneficial to my country's power relay protection with stable development.展开更多
Our concern is to investigate controlled remote implementation of partially unknown operations with multiple layers.We first propose a scheme to realize the remote implementation of singlequbit operations belonging to...Our concern is to investigate controlled remote implementation of partially unknown operations with multiple layers.We first propose a scheme to realize the remote implementation of singlequbit operations belonging to the restricted sets.Then,the proposed scheme is extended to the case of single-qudit operations.As long as the controller and the higher-layer senders consent,the receiver can restore the desired state remotely operated by the sender.It is worth mentioning that the recovery operation is deduced by general formulas which clearly reveal the relationship with the measurement outcomes.For the sake of clarity,two specific examples with two levels are given respectively.In addition,we discuss the influence of amplitude-damping noise and utilize weak measurement and measurement reversal to effectively resist noise.展开更多
The paper formulates new principles that should form the basis for the development and creation of new environmental monitoring based on heavy UAVs and high-altitude so-called pseudo-satellites capable of operating fo...The paper formulates new principles that should form the basis for the development and creation of new environmental monitoring based on heavy UAVs and high-altitude so-called pseudo-satellites capable of operating for a long time at altitudes of 25 - 30 km. In order to develop such principles, this paper analyzes the radioecological situation in the territories of Donetsk and Luhansk regions of Ukraine for rapid and high-quality environmental cleanup and rehabilitation of areas with detected critical levels of environmentally hazardous pollutants. In order to quickly obtain fundamentally new environmental information, it is necessary to conduct multi-parameter, high-precision integrated monitoring of the Earth’s geospheres based on the latest methods and equipment for ground and remote environmental measurements, and new methods and technological means of clean, environmentally safe processing and final disposal. As the most appropriate technology, we propose mobile installations for plasma-chemical pyrolysis of medical waste directly at the place of its generation.展开更多
To meet the intelligent detection needs of underwater defects in large hydropower stations,the hydrodynamic performance of a bionic streamlined remotely operated vehicle containing a thruster protective net structure ...To meet the intelligent detection needs of underwater defects in large hydropower stations,the hydrodynamic performance of a bionic streamlined remotely operated vehicle containing a thruster protective net structure is numerically simulated via computational fluid dynamics and overlapping mesh technology.The results show that the entity model generates greater hydrodynamic force during steady motion,whereas the square net model experiences greater force and moment during unsteady motion.The lateral and vertical force coefficients of the entity model are 4.32 and 3.13 times greater than those of the square net model in the oblique towing test simulation.The square net model also offers better static and dynamic stability,with a 24.5%increase in dynamic stability,achieving the highest lift-to-drag ratio at attack angles of 6°∼8°.This research provides valuable insights for designing and controlling underwater defect detection vehicles for large hydropower stations.展开更多
With the increasing civil aviation passengers and the rapid development of aviation logistics,the study on remotely piloted operation(RPO)mode has received extensive attention.RPO mode constructs the piloting decision...With the increasing civil aviation passengers and the rapid development of aviation logistics,the study on remotely piloted operation(RPO)mode has received extensive attention.RPO mode constructs the piloting decisionmaking mode which involves the tripartite collaboration among airborne automatic/autonomous system,remote ground-based crews and air traffic control.In this paper,we describe the organizing architecture for commercial remotely piloted aircraft(CRPA)system and its components.Compared with the current operation mode,the new air-ground collaborative decision-making mode has been established with six different situations based on the type of the flight and the condition of the remote pilot.Taking airport surface operation as an experimental example,we model the airport surface operation process and compare the advantages and disadvantages between RPO mode and the current dual-pilot mode from the perspectives of time and operation coverage,and draw conclusions that RPO mode can basically cover the flight operations of the dual-pilot,improve the accuracy of pilot operations and greatly reduce response time by 48%in pre-flight inspection.The above research would be the foundation for the RPO development of commercial aircraft in China.展开更多
Sea-ice is an important operational item for real timely monitoring and forecasting marine environment of China. This paper introduces an operational method of satellite remote sensing to monitor sea- ice using quanti...Sea-ice is an important operational item for real timely monitoring and forecasting marine environment of China. This paper introduces an operational method of satellite remote sensing to monitor sea- ice using quantitative data of NOAA, and its contents include computer processing of AVHRR sounding data of NOAA and its program design, imagery processing of sea-ice imagery from satellite and their thematic analysis. The sea-ice satellite colour imageries processed via this software system are able to interpret sea-ice pattern, characterizing it by thickness, maximum position of ice boundary, floe concentration and dynamic process of ice changing. At the same time, analyses of the ice condition of the Bohai Sea for the two-year period (1986-1988) as monitored by satellite have been summarized.展开更多
Deep-Sea Explorer Haiqin Completes Mission in South China Sea China's self-developed Haiqin,a 6,000-meter deep-sea remotely operated vehicle(ROV),successfully completed a deep-sea voyage in the South China Sea.
This paper presents the features of newly designed hydrodynamics test for the scaled model of 4500 m deepsea open-framed remotely operated vehicle （ROV）, which is being researched and developed by Shanghai Jiao Tong...This paper presents the features of newly designed hydrodynamics test for the scaled model of 4500 m deepsea open-framed remotely operated vehicle （ROV）, which is being researched and developed by Shanghai Jiao Tong University. Accurate hydrodynamics coefficients measurement and spatial modeling of ROV are significant for the maneuverability and control algorithm. The scaled model of ROV was constructed by 1：1.6. Hydrodynamics coefficients were measured through VPMM and LAHPMM towing test. And dynamics model was derived as a set of equations, describing nonlinear and coupled 5-DOF spatial motions. Rotation control motion was simulated to verify spatial model proposed. Research and application of hydrodynamics coefficients are expected to enable ROV to overcome uncertainty and disturbances of deepsea environment, and accomplish some more challengeable and practical missions.展开更多
Development of man-packable,versatile marine surface vehicle with ability to rescue a drowning victim and also capable of carrying mission specific sensor is explored.Design thinking methodology is implemented by usin...Development of man-packable,versatile marine surface vehicle with ability to rescue a drowning victim and also capable of carrying mission specific sensor is explored.Design thinking methodology is implemented by using existing equipment/platform with the addition of external attachment to make it a functional product.Iterative prototyping process with extensive testing to achieve user-centric solution.Individual prototypes and their possible sub-configurations with their integration and characteristics are studied and compared with numerical model,inferences obtained are utilised to improve for the next iteration.A novel hinge-clamp assembly enables this marine surface vehicle to operate in the event of an overturn,this phenomenon is further studied with the aid of a mathematical model(Pendulum in a fluid).This research project aims to demonstrate a multi-role unmanned surface vehicle.展开更多
Plenty of dams in China are in danger while there are few effective methods for underwater dam inspections of hidden problems such as conduits,cracks and inanitions.The dam safety inspection remotely operated vehicle(...Plenty of dams in China are in danger while there are few effective methods for underwater dam inspections of hidden problems such as conduits,cracks and inanitions.The dam safety inspection remotely operated vehicle(DSIROV) is designed to solve these problems which can be equipped with many advanced sensors such as acoustical,optical and electrical sensors for underwater dam inspection.A least-square parameter estimation method is utilized to estimate the hydrodynamic coefficients of DSIROV,and a four degree-of-freedom(DOF) simulation system is constructed.The architecture of DSIROV's motion control system is introduced,which includes hardware and software structures.The hardware based on PC104 BUS,uses AMD ELAN520 as the controller's embedded CPU and all control modules work in VxWorks real-time operating system.Information flow of the motion system of DSIROV,automatic control of dam scanning and dead-reckoning algorithm for navigation are also discussed.The reliability of DSIROV's control system can be verified and the control system can fulfill the motion control mission because embankment checking can be demonstrated by the lake trials.展开更多
In this paper, graphical-user-interface （GUI） software for simulation and fuzzy-logic control of a remotely operated vehicle （ROV） using MATLABTM GUI Designing Environment is proposed. The proposed ROV＇s GUI plat...In this paper, graphical-user-interface （GUI） software for simulation and fuzzy-logic control of a remotely operated vehicle （ROV） using MATLABTM GUI Designing Environment is proposed. The proposed ROV＇s GUI platform allows the controller such as fuzzy-logic control systems design to be compared with other controllers such as proportional-integral-derivative （PID） and sliding-mode controller （SMC） systematically and interactively. External disturbance such as sea current can he added to improve the modelling in actual underwater environment. The simulated results showed the position responses of the fuzzy-logic control exhibit reasonable performance under the sea current disturbance.展开更多
The control architectures of ＂SY-2＂ Remote Operated Vehicle （ROV） are introduced. Both hardware architecture and software architecture are discussed. PC/104 embedded computer is used to control equipment for colle...The control architectures of ＂SY-2＂ Remote Operated Vehicle （ROV） are introduced. Both hardware architecture and software architecture are discussed. PC/104 embedded computer is used to control equipment for collecting sensor data and sending control commands. PC/104 embedded computer is integrated with A/D, D/A, 8 serial ports card and power supply unit. The surface computer is a X86PC. They transfer data through a fiber line. For software, real-time OS VxWorks is embedded in PC/104. A/D, D/A and serial ports operation are based on VxWorks OS, which increase the real-time quality of control system. Surface computer is the center of motion control and data processing. It is communicated with underwater PC/104 by socket. The whole system has been tested both on land and in tank.展开更多
In this paper, we present a method of ROV based image processing to restore underwater blurry images from the theory of light and image transmission in the sea. Computer is used to simulate the maximum detection range...In this paper, we present a method of ROV based image processing to restore underwater blurry images from the theory of light and image transmission in the sea. Computer is used to simulate the maximum detection range of the ROV under different water body conditions. The receiving irradiance of the video camera at different detection ranges is also calculated. The ROV’s detection performance under different water body conditions is given by simulation. We restore the underwater blurry images using the Wiener filter based on the simulation. The Wiener filter is shown to be a simple useful method for underwater image restoration in the ROV underwater experiments. We also present examples of restored images of an underwater standard target taken by the video camera in these experiments.展开更多
The advantages of using unmanned underwater vehicles in coastal ocean studies are emphasized. Two types of representative vehicles, remotely operated vehicle (ROV) and autonomous underwater vehicle (AUV) from Universi...The advantages of using unmanned underwater vehicles in coastal ocean studies are emphasized. Two types of representative vehicles, remotely operated vehicle (ROV) and autonomous underwater vehicle (AUV) from University of South Florida, are discussed. Two individual modular sensor packages designed and tested for these platforms and field measurement results are also presented. The bottom classification and albedo package, BCAP, provides fast and accurate estimates of bottom albedos, along with other parameters such as in-water remote sensing reflectance. The real-time ocean bottom optical topographer, ROBOT, reveals high-resolution 3-dimentional bottom topography for target identification. Field data and results from recent Coastal Benthic Optical Properties field campaign, 1999 and 2000, are presented. Advantages and limitations of these vehicles and applications of modular sensor packages are compared and discussed.展开更多
The armored cable used in a deep-sea remotely operated vehicle(ROV) may undergo large displacement motion when subjected to dynamic actions of ship heave motion and ocean current. A novel geometrically exact finite el...The armored cable used in a deep-sea remotely operated vehicle(ROV) may undergo large displacement motion when subjected to dynamic actions of ship heave motion and ocean current. A novel geometrically exact finite element model for two-dimensional dynamic analysis of armored cable is presented. This model accounts for the geometric nonlinearities of large displacement of the armored cable, and effects of axial load and bending stiffness. The governing equations are derived by consistent linearization and finite element discretization of the total weak form of the armored cable system, and solved by the Newmark time integration method. To make the solution procedure avoid falling into the local extreme points, a simple adaptive stepping strategy is proposed. The presented model is validated via actual measured data. Results for dynamic configurations, motion and tension of both ends of the armored cable, and resonance-zone are presented for two numerical cases, including the dynamic analysis under the case of only ship heave motion and the case of joint action of ship heave motion and ocean current. The dynamics analysis can provide important reference for the design or product selection of the armored cable in a deep-sea ROV system so as to improve the safety of its marine operation under the sea state of 4 or above.展开更多
The extreme operational environmental conditions and aging conditions of subsea structures pose a risk to their structural integrity and is critical to their safety.Nondestructive testing is essential to identify defe...The extreme operational environmental conditions and aging conditions of subsea structures pose a risk to their structural integrity and is critical to their safety.Nondestructive testing is essential to identify defects developing within the structure,allowing repair in a timely manner to mitigate against failures that cause damage to the environment and pose a hazard to human operators.However,to be cost effective,inspections must be carried out without taking the risers out of service.This poses significant safety risks if undertaken manually.This paper presents the development of an automated inspection system for flexible risers that are used to connect wellheads on the seafloor to the offshore production and storage facility.Due to the complex structure of risers,radiography is considered as the best technique to inspect multiple layers of the risers.However,radiography inspection,in turn,requires a robotic system for in-situ inspection with higher payload capacity,precise movement of source and detector which is able to withstand an extreme operational environment.The deployment of a radiography inspection system hasbeen achieved bydeveloping acustomized subsearobotic system called RiserSure that can provide precise scanning motion of a gamma ray source and digital detector moving in alignment.The prototype has been tested on a flexible riser during shallow water sea trials with the system placed around a riser by a remotely operated vehicle.The results from the trials show that the internal inner and outer tensile armor layer and defects in the riser can be successfully imaged in real operational conditions.展开更多
This paper presents a quantitative approach to operational risk modeling and estimation of safety integrity levels,required for the deep water electric work class remotely operated vehicle with reference to ROSUB6000 ...This paper presents a quantitative approach to operational risk modeling and estimation of safety integrity levels,required for the deep water electric work class remotely operated vehicle with reference to ROSUB6000 developed by the National Institute of Ocean Technology,India.ROSUB6000 is used for carrying out bathymetric surveys,gas hydrate surveys,poly-metallic nodule exploration,salvage operations,and meeting emergency response situations.The system is expected to be in operation for a period of 300 h per year,and has to be extremely safe and reliable.Methods and models for the quantitative assessment of operational safety and estimation of safety integrity levels for ROV are seldom available in the deep water intervention industry.The safety instrumented functions implemented in the ROV should be able to meet the SIL requirements of specific mission.This study indicates that the required safety factors are implemented into the design of the state-of-the-art ROV ROSUB 6000,considering IEC 61508/61511 recommendations on Health,Safety and Environment and it is found that the system is able to meet the required SIL for seven identified functions.This paper gives the design and safety engineers in the ROV industry,an overview of the numerical operational risk assessment methods and safety-centered ROV engineering.展开更多
基金The project supported by the Natural Science Foundation of Jiangxi Province of China under Grant No. 0612006, the Scientific Research Foundation of the Education Department of Jiangxi Province of China under Grant No. [2007]191 and the Science Foundation of East China Jiaotong University under Grant No. 06ZKJC01
文摘In this paper, a scheme is proposed for performing remote operation on quantum state among multiparty. We use three-particle GHZ state as quantum channels to prepare a state operator, which describes quantum correlation between states and operations. Based on the special characteristic of the state operator, observers can perform unitary operation on a system that is away from observers. Our studies show this process is deterministic. We further consider remote operation among N spatially distributed observers, and the results show the successful realization of remote operation needs collective participation of N parties, that is, there exists strong correlation among multiparty. In addition, we investigate the case in which observers share a three-particle W state as quantum channels to perform remote operation and studies find this process is probabilistic.
文摘The traditional relay protection debugging technology of generator-transformer group ignores the suppression of voltage distortion of generator-transformer group, which leads to the phase lag problem of generator-transformer group in the process of relay protection, and cannot realize the relay protection of generator-transformer group of power plant grid-connected unitsin stable and safe debugging. The protection effect of power relay is reduced with the application of automation and intelligent technology, so we should study new technology. This paper takes the remote operation and maintenance technology of power relay protection as the research object, and analyzes the specific application and development status of this technology in modern society. It is hoped that it can be helpful to the future development of power relay protection and is beneficial to my country's power relay protection with stable development.
基金supported by the National Natural Science Foundation of China(Grant Nos.62172341,12071132)the Natural Science Foundation of Henan Province of China(Grant No.242300420276)the Joint Fund of Henan Province Science and Technology R&D Program(Grant No.225200810032)。
文摘Our concern is to investigate controlled remote implementation of partially unknown operations with multiple layers.We first propose a scheme to realize the remote implementation of singlequbit operations belonging to the restricted sets.Then,the proposed scheme is extended to the case of single-qudit operations.As long as the controller and the higher-layer senders consent,the receiver can restore the desired state remotely operated by the sender.It is worth mentioning that the recovery operation is deduced by general formulas which clearly reveal the relationship with the measurement outcomes.For the sake of clarity,two specific examples with two levels are given respectively.In addition,we discuss the influence of amplitude-damping noise and utilize weak measurement and measurement reversal to effectively resist noise.
文摘The paper formulates new principles that should form the basis for the development and creation of new environmental monitoring based on heavy UAVs and high-altitude so-called pseudo-satellites capable of operating for a long time at altitudes of 25 - 30 km. In order to develop such principles, this paper analyzes the radioecological situation in the territories of Donetsk and Luhansk regions of Ukraine for rapid and high-quality environmental cleanup and rehabilitation of areas with detected critical levels of environmentally hazardous pollutants. In order to quickly obtain fundamentally new environmental information, it is necessary to conduct multi-parameter, high-precision integrated monitoring of the Earth’s geospheres based on the latest methods and equipment for ground and remote environmental measurements, and new methods and technological means of clean, environmentally safe processing and final disposal. As the most appropriate technology, we propose mobile installations for plasma-chemical pyrolysis of medical waste directly at the place of its generation.
基金supported by the National Key R&D Program of China(Grant No.2022YFB4703401).
文摘To meet the intelligent detection needs of underwater defects in large hydropower stations,the hydrodynamic performance of a bionic streamlined remotely operated vehicle containing a thruster protective net structure is numerically simulated via computational fluid dynamics and overlapping mesh technology.The results show that the entity model generates greater hydrodynamic force during steady motion,whereas the square net model experiences greater force and moment during unsteady motion.The lateral and vertical force coefficients of the entity model are 4.32 and 3.13 times greater than those of the square net model in the oblique towing test simulation.The square net model also offers better static and dynamic stability,with a 24.5%increase in dynamic stability,achieving the highest lift-to-drag ratio at attack angles of 6°∼8°.This research provides valuable insights for designing and controlling underwater defect detection vehicles for large hydropower stations.
基金supported by the National Program on Key Basic Research Project (No. 2014CB744903)the National Natural Science Foundation of China(Nos. 61973212,61673270)+3 种基金the Shanghai Industrial Strengthening Project (No. GYQJ-2017-5-08)the Shanghai Science and Technology Committee Research Project (No. 17DZ1204304)the Civil Aviation Pre-Research ProjectsShanghai Engineering Research Center of Civil Aircraft Flight Testing.
文摘With the increasing civil aviation passengers and the rapid development of aviation logistics,the study on remotely piloted operation(RPO)mode has received extensive attention.RPO mode constructs the piloting decisionmaking mode which involves the tripartite collaboration among airborne automatic/autonomous system,remote ground-based crews and air traffic control.In this paper,we describe the organizing architecture for commercial remotely piloted aircraft(CRPA)system and its components.Compared with the current operation mode,the new air-ground collaborative decision-making mode has been established with six different situations based on the type of the flight and the condition of the remote pilot.Taking airport surface operation as an experimental example,we model the airport surface operation process and compare the advantages and disadvantages between RPO mode and the current dual-pilot mode from the perspectives of time and operation coverage,and draw conclusions that RPO mode can basically cover the flight operations of the dual-pilot,improve the accuracy of pilot operations and greatly reduce response time by 48%in pre-flight inspection.The above research would be the foundation for the RPO development of commercial aircraft in China.
文摘Sea-ice is an important operational item for real timely monitoring and forecasting marine environment of China. This paper introduces an operational method of satellite remote sensing to monitor sea- ice using quantitative data of NOAA, and its contents include computer processing of AVHRR sounding data of NOAA and its program design, imagery processing of sea-ice imagery from satellite and their thematic analysis. The sea-ice satellite colour imageries processed via this software system are able to interpret sea-ice pattern, characterizing it by thickness, maximum position of ice boundary, floe concentration and dynamic process of ice changing. At the same time, analyses of the ice condition of the Bohai Sea for the two-year period (1986-1988) as monitored by satellite have been summarized.
文摘Deep-Sea Explorer Haiqin Completes Mission in South China Sea China's self-developed Haiqin,a 6,000-meter deep-sea remotely operated vehicle(ROV),successfully completed a deep-sea voyage in the South China Sea.
基金financially supported by the National High Technology Research and Development Program of China(863 Program,Grant No.2008AA092301)
文摘This paper presents the features of newly designed hydrodynamics test for the scaled model of 4500 m deepsea open-framed remotely operated vehicle （ROV）, which is being researched and developed by Shanghai Jiao Tong University. Accurate hydrodynamics coefficients measurement and spatial modeling of ROV are significant for the maneuverability and control algorithm. The scaled model of ROV was constructed by 1：1.6. Hydrodynamics coefficients were measured through VPMM and LAHPMM towing test. And dynamics model was derived as a set of equations, describing nonlinear and coupled 5-DOF spatial motions. Rotation control motion was simulated to verify spatial model proposed. Research and application of hydrodynamics coefficients are expected to enable ROV to overcome uncertainty and disturbances of deepsea environment, and accomplish some more challengeable and practical missions.
文摘Development of man-packable,versatile marine surface vehicle with ability to rescue a drowning victim and also capable of carrying mission specific sensor is explored.Design thinking methodology is implemented by using existing equipment/platform with the addition of external attachment to make it a functional product.Iterative prototyping process with extensive testing to achieve user-centric solution.Individual prototypes and their possible sub-configurations with their integration and characteristics are studied and compared with numerical model,inferences obtained are utilised to improve for the next iteration.A novel hinge-clamp assembly enables this marine surface vehicle to operate in the event of an overturn,this phenomenon is further studied with the aid of a mathematical model(Pendulum in a fluid).This research project aims to demonstrate a multi-role unmanned surface vehicle.
基金Project(20100480964) supported by China Postdoctoral Science FoundationProjects(2002AA420090,2008AA092301) supported by the National High Technology Research and Development Program of China
文摘Plenty of dams in China are in danger while there are few effective methods for underwater dam inspections of hidden problems such as conduits,cracks and inanitions.The dam safety inspection remotely operated vehicle(DSIROV) is designed to solve these problems which can be equipped with many advanced sensors such as acoustical,optical and electrical sensors for underwater dam inspection.A least-square parameter estimation method is utilized to estimate the hydrodynamic coefficients of DSIROV,and a four degree-of-freedom(DOF) simulation system is constructed.The architecture of DSIROV's motion control system is introduced,which includes hardware and software structures.The hardware based on PC104 BUS,uses AMD ELAN520 as the controller's embedded CPU and all control modules work in VxWorks real-time operating system.Information flow of the motion system of DSIROV,automatic control of dam scanning and dead-reckoning algorithm for navigation are also discussed.The reliability of DSIROV's control system can be verified and the control system can fulfill the motion control mission because embankment checking can be demonstrated by the lake trials.
基金Supported by the Newcastle University’s Project Account:C0570D2330
文摘In this paper, graphical-user-interface （GUI） software for simulation and fuzzy-logic control of a remotely operated vehicle （ROV） using MATLABTM GUI Designing Environment is proposed. The proposed ROV＇s GUI platform allows the controller such as fuzzy-logic control systems design to be compared with other controllers such as proportional-integral-derivative （PID） and sliding-mode controller （SMC） systematically and interactively. External disturbance such as sea current can he added to improve the modelling in actual underwater environment. The simulated results showed the position responses of the fuzzy-logic control exhibit reasonable performance under the sea current disturbance.
基金supported by the National Natural Science Foundation of China(Grant No.50909025/E091002)the Fundamental Research Foundation of Harbin Engineering University(Grant No.HEUFT08001)+1 种基金the China Postdoctoral Science Foundation(Grant No.20080440838)the Heilongjiang Province Postdoctoral Foun-dation
文摘The control architectures of ＂SY-2＂ Remote Operated Vehicle （ROV） are introduced. Both hardware architecture and software architecture are discussed. PC/104 embedded computer is used to control equipment for collecting sensor data and sending control commands. PC/104 embedded computer is integrated with A/D, D/A, 8 serial ports card and power supply unit. The surface computer is a X86PC. They transfer data through a fiber line. For software, real-time OS VxWorks is embedded in PC/104. A/D, D/A and serial ports operation are based on VxWorks OS, which increase the real-time quality of control system. Surface computer is the center of motion control and data processing. It is communicated with underwater PC/104 by socket. The whole system has been tested both on land and in tank.
基金supported by the National Natural Science Foundation of China(No.60178017)
文摘In this paper, we present a method of ROV based image processing to restore underwater blurry images from the theory of light and image transmission in the sea. Computer is used to simulate the maximum detection range of the ROV under different water body conditions. The receiving irradiance of the video camera at different detection ranges is also calculated. The ROV’s detection performance under different water body conditions is given by simulation. We restore the underwater blurry images using the Wiener filter based on the simulation. The Wiener filter is shown to be a simple useful method for underwater image restoration in the ROV underwater experiments. We also present examples of restored images of an underwater standard target taken by the video camera in these experiments.
基金support to the University of South Florida(Grants No.0014-96-1-5013 and No.0014-97-1-0006)cooperation between Ocean University of China and University of South Florida.
文摘The advantages of using unmanned underwater vehicles in coastal ocean studies are emphasized. Two types of representative vehicles, remotely operated vehicle (ROV) and autonomous underwater vehicle (AUV) from University of South Florida, are discussed. Two individual modular sensor packages designed and tested for these platforms and field measurement results are also presented. The bottom classification and albedo package, BCAP, provides fast and accurate estimates of bottom albedos, along with other parameters such as in-water remote sensing reflectance. The real-time ocean bottom optical topographer, ROBOT, reveals high-resolution 3-dimentional bottom topography for target identification. Field data and results from recent Coastal Benthic Optical Properties field campaign, 1999 and 2000, are presented. Advantages and limitations of these vehicles and applications of modular sensor packages are compared and discussed.
基金Project(2008AA09Z201)supported by the National High Technology Research and Development Program of China
文摘The armored cable used in a deep-sea remotely operated vehicle(ROV) may undergo large displacement motion when subjected to dynamic actions of ship heave motion and ocean current. A novel geometrically exact finite element model for two-dimensional dynamic analysis of armored cable is presented. This model accounts for the geometric nonlinearities of large displacement of the armored cable, and effects of axial load and bending stiffness. The governing equations are derived by consistent linearization and finite element discretization of the total weak form of the armored cable system, and solved by the Newmark time integration method. To make the solution procedure avoid falling into the local extreme points, a simple adaptive stepping strategy is proposed. The presented model is validated via actual measured data. Results for dynamic configurations, motion and tension of both ends of the armored cable, and resonance-zone are presented for two numerical cases, including the dynamic analysis under the case of only ship heave motion and the case of joint action of ship heave motion and ocean current. The dynamics analysis can provide important reference for the design or product selection of the armored cable in a deep-sea ROV system so as to improve the safety of its marine operation under the sea state of 4 or above.
基金The authors acknowledge the support and funding provided by the European Union’s Horizon 2020 FTIPilot-2016-1 Fast Track to Innovation program under grant agreement No 730753 for the RiserSure project(Website:www.risersure.eu).
文摘The extreme operational environmental conditions and aging conditions of subsea structures pose a risk to their structural integrity and is critical to their safety.Nondestructive testing is essential to identify defects developing within the structure,allowing repair in a timely manner to mitigate against failures that cause damage to the environment and pose a hazard to human operators.However,to be cost effective,inspections must be carried out without taking the risers out of service.This poses significant safety risks if undertaken manually.This paper presents the development of an automated inspection system for flexible risers that are used to connect wellheads on the seafloor to the offshore production and storage facility.Due to the complex structure of risers,radiography is considered as the best technique to inspect multiple layers of the risers.However,radiography inspection,in turn,requires a robotic system for in-situ inspection with higher payload capacity,precise movement of source and detector which is able to withstand an extreme operational environment.The deployment of a radiography inspection system hasbeen achieved bydeveloping acustomized subsearobotic system called RiserSure that can provide precise scanning motion of a gamma ray source and digital detector moving in alignment.The prototype has been tested on a flexible riser during shallow water sea trials with the system placed around a riser by a remotely operated vehicle.The results from the trials show that the internal inner and outer tensile armor layer and defects in the riser can be successfully imaged in real operational conditions.
文摘This paper presents a quantitative approach to operational risk modeling and estimation of safety integrity levels,required for the deep water electric work class remotely operated vehicle with reference to ROSUB6000 developed by the National Institute of Ocean Technology,India.ROSUB6000 is used for carrying out bathymetric surveys,gas hydrate surveys,poly-metallic nodule exploration,salvage operations,and meeting emergency response situations.The system is expected to be in operation for a period of 300 h per year,and has to be extremely safe and reliable.Methods and models for the quantitative assessment of operational safety and estimation of safety integrity levels for ROV are seldom available in the deep water intervention industry.The safety instrumented functions implemented in the ROV should be able to meet the SIL requirements of specific mission.This study indicates that the required safety factors are implemented into the design of the state-of-the-art ROV ROSUB 6000,considering IEC 61508/61511 recommendations on Health,Safety and Environment and it is found that the system is able to meet the required SIL for seven identified functions.This paper gives the design and safety engineers in the ROV industry,an overview of the numerical operational risk assessment methods and safety-centered ROV engineering.
