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 order to solve the heat damages in deep mines, a cool-wall cooling technology and its working model are proposed based on the principles of heat absorption and insulation in this paper. During this process, the dif...In order to solve the heat damages in deep mines, a cool-wall cooling technology and its working model are proposed based on the principles of heat absorption and insulation in this paper. During this process, the differential equation of thermal equilibrium for roadway control unit is built, and the heat adsorption control equation of cool-wall cooling system is derived by an integral method, so as to obtain the quantitative relationship among the heat absorption capacity of cooling system, the heat dissipating capacity of surrounding rock and air temperature change. Then, the heat absorption capacity required by air temperature less than the standard value for safety is figured out by section iterative method with the simultaneous solution of heat absorption control equation and the heat dissipation density equation of surrounding rock. Finally, the results show that as the air temperature at the inlet of roadway is 25 ℃, the roadway wall is covered by heat-absorbing plate up to 39% of the area, as well as the cold water is injected into the heat-absorbing plate with a temperature of 20 ℃ and a mass flow of 113.6 kg/s, the air flow temperature rise per kilometer in the roadway can be less than 3 ℃.展开更多
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Project(2018CXNL08) supported by the Fundamental Research Funds for the Central Universities,China。
文摘In order to solve the heat damages in deep mines, a cool-wall cooling technology and its working model are proposed based on the principles of heat absorption and insulation in this paper. During this process, the differential equation of thermal equilibrium for roadway control unit is built, and the heat adsorption control equation of cool-wall cooling system is derived by an integral method, so as to obtain the quantitative relationship among the heat absorption capacity of cooling system, the heat dissipating capacity of surrounding rock and air temperature change. Then, the heat absorption capacity required by air temperature less than the standard value for safety is figured out by section iterative method with the simultaneous solution of heat absorption control equation and the heat dissipation density equation of surrounding rock. Finally, the results show that as the air temperature at the inlet of roadway is 25 ℃, the roadway wall is covered by heat-absorbing plate up to 39% of the area, as well as the cold water is injected into the heat-absorbing plate with a temperature of 20 ℃ and a mass flow of 113.6 kg/s, the air flow temperature rise per kilometer in the roadway can be less than 3 ℃.
