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IEEE International Conference on Cyber technology in Automation, Control, and Intelligent Systems

作者： Xing Jin Kaizhou Liu Yingbin Feng Yan Huang Yang Zhao Shengguo Cui Guang Yuan State Key Laboratory of Exploitation and Utilization of Deep-sea Mineral Resources Changsha Research Institute of Mining and Metallurgy Co. Ltd Changsha China State Key Laboratory of Robotics Chinese Academy Sciences Shenyang China School of Information Science & Engineering Northeastern University Shenyang China

ISBN: (纸本)9781509027347

Underwater vehicles have been developed over the last six decades for potential uses in scientific, commercial, environmental, and military purposes, and always utilized to perform difficult tasks in cluttered environments such as deep-sea mining, underwater sampling and oceanic investigations. Since underwater vehicles have nonlinear and highly coupled dynamics, motion control can be difficult when completing complex tasks. This paper describes the implementation of a model predictive controller novel in a class of thruster-driven underwater vehicle. In this paper, a constrained discrete-time model predictive control method is employed for the motion control of thruster-driven underwater vehicles. A nonlinear model in six degree of freedom is established based on the dynamics of human occupied vehicle Jiao-long, and converted into a state space model after practical simplification. To ensure the performance of model predictive controller, a full feedback state observer is established to observe the state. In addition, Hildreth's quadratic programming algorithm is incorporated for solving the optimal control sequence, which greatly reduced the computation of the model predictive control algorithm. In order to show the effectiveness of the motion control method, simulations based on dynamics of human occupied vehicle Jiao-long are conducted. Performance on depth control, heading control and hovering control are evaluated. All the results demonstrate the effectiveness of the method.

关键词： Underwater vehicles Vehicles Motion control Optimal control Mathematical model Vehicle dynamics Heuristic algorithms

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Genomic and metabolic analysis of fluoranthene degradation pathway in Celeribacter indicus P73T

Genomic and metabolic analysis of fluoranthene degradation p...

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福建省海洋学会2016年学术年会

作者： Junwei Cao Qiliang Lai Jun Yuan Zongze Shao State Key Laboratory Breeding Base of Marine Genetic Resources Key Laboratory of Marine Genetic Resources The Third Institute of State Oceanic Administration Key Laboratory of Marine Genetic Resources of Fujian Province Collaborative Innovation Center of Deep Sea Biology Collaborative Innovation Center for Exploitation and Utilization of Marine Biological Resources School of Municipal and Environmental Engineering Harbin Institute of Technology

Celeribacter indicus P73,isolated from deep-sea sediment from the Indian Ocean,is capable of degrading a wide range of polycyclic aromatic hydrocarbons（PAHs） and is the first fluoranthene-degrading bacterium within the family ***,the complete genome sequence of strain P73 is presented and *** a 4.5-Mb circular chromosome,strain P73 carries five plasmids,and encodes 4827 predicted protein-coding *** hundred and thirty-eight genes,including 14 dioxygenase genes,were predicted to be involved in the degradation of aromatic compounds,and most of these genes are clustered in four regions.P730346 is the first fluoranthene 7,8-dioxygenase to be discovered and the first fluoranthene dioxygenase within the toluene/biphenyl *** degradative genes in regions B and D in P73 are absent in Celeribacter baekdonensis B30,which cannot degrade *** intermediate metabolites[acenaphthylene-l（2H）-one,acenaphthenequinone,1,2-dihydroxyacenaphthylene,and 1,8-naphthalic anhydride]of fluoranthene degradation by strain P73 were detected as the main intermediates,indicating that the degradation of fluoranthene in P73 was initiated by dioxygenation at the C-7,8 *** on the genomic and metabolitic results,we propose a C-7,8 dioxygenation pathway in which fluoranthene is mineralized to TCA cycle intermediates.

关键词： Genomic and metabolic analysis of fluoranthene degradation pathway in Celeribacter indicus P73T

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Research on variably accelerated settling of coarse mineral particles in still water 25

Research on variably accelerated settling of coarse mineral ...

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25th International Ocean and Polar Engineering Conference, ISOPE 2015

作者： Tang, Dasheng Xia, Jianxin Xu, Dehuai Xiao, Hong State Key Laboratory of the Exploration and Utilization of Deep-Sea Mineral Resources Changsha Research Institute of Mining and Metallurgy Co. Ltd. Changsha Hunan China College of Life and Environmental Sciences Minzu University of China Haidian Beijing China

ISBN: (纸本)9781880653890

Research on free settling of coarse mineral particles is very important and fundamental to design of the hydraulic lifting pipe system. Based on mechanical property of coarse particles in fluid, a formula for calculating the settling rate of the coarse mineral particles dropped in still water was obtained, which can be used to reveals general laws of the settling motion of the particles in still water. By considering real working conditions of the lifting pipe system which transport coarse mineral particles in deep sea, settling procedure of coarse mineral particles such as polymetallic nodules, cobalt-rich crusts and hydrothermal sulfide were captured by high speed photography, and diameters of these particles are 10, 20, 30, 40, and 50 mm, separately. By observing the procedure, we found the motion of the particles was transformed to near-uniform motion after a long time. The experimental results confirmed the maximum settling rate and settling distance at the maximum settling rate is related to the diameter of the particles, and got the correlation curves. According to the observational experimental, the relationship between the settling rate and settling time was derived and the relation curves between the settling time and settling distance at the acceleration stage of the settling procedure was also acquired. A comparison between theoretically analyzed results and the experimental data indicated that they were in agreement. Copyright © 2015 by the International Society of Offshore and Polar Engineers (ISOPE).

关键词： Sulfur compounds

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Damage constitutive model and experimental verification of seafloor massive sulfide

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Electronic Journal of Geotechnical Engineering 2015年第24期20卷 11969-11983页

作者： Jianhua, Hu Shaojun, Liu Qiong, Hu Yu, Dai College of Mechanical and Electrical Engineering Central South University Changsha China State Key Laboratory of Deep Sea Mineral Resources Development and Utilization Technology Changsha China Shenzhen Research Institute of Central South University Shenzhen China

Damage constitutive model of seafloor massive sulfide(SMS) was selected as the research object. Strength of every unit of SMS was assumed of basing on Weibull distribution, and the breaking strength was supposed to meet the Drucker-Prager or Mohr-Coulomb criterion, a new damage constitutive equations in uniaxial compression condition was deduced. The uniaxial constitutive equation of seafloor massive sulfide based on D-P and M-C strength criterion can be calculated, and through theoretical and experimental curve's comparison, which is found that both are in good agreement, and there are a little difference when uniaxial damage constitutive curves based on the two strength criterions are compared. Mohr Coulomb constitutive and the experimental data curves are closer than the D-P constitutive curves. © 2015 ejge.

关键词： Weibull distribution

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Suspension principle of deep-ocean nodule collector

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Journal of Central South University 2014年第3期21卷 920-925页

作者：郑皓刘少军胡琼 School of Mechanical and Electrical Engineering Central South University State Key Laboratory of Deep Sea Mineral Resources Development and Utilization Technology(Changsha Research Institute of Mining and Metallurgy)

To make sure that the nodule collector can walk on the soft sediments of seafloor effectively, suspension principle of deep-ocean nodule collector is proposed. The supporting and driving mechanisms are separated to avoid collector sinking. The supporting mechanism is a streamlined body with large and smooth supporting area. The grounding pressure is reduced to 0.5- 1 N/cm2 to make sure that the sinkage is limited. The impellers serve as the driving mechanism to supply enough driving power. The position between the supporting mechanism and the driving mechanism can be adjusted according to the operating condition to decrease the walking resistance and to increase driving efficiency. The test results indicate that the collector can walk on the surface of the soft sediments with the limited sinkage. The traction forces were up to 800 kg and the sinkage of the impeller was under the limitation.

关键词： deep-ocean mining suspension principle nodule collector sinking

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Experimental investigation of clam water impact on flatted-bottom seafloor mining tool

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Journal of Central South University 2014年第2期21卷 533-539页

作者：胡小舟刘少军 School of Mechanical and Electrical Engineering Central South University State Key Laboratory of Deep Sea Mineral Resources Development and Utilization Technology (Changsha Research Institute of Mining and Metallurgy)

A test rig for constant velocity water entry experiments was developed that drives a flatted-bottom section attached on six degree of freedom(6-DOF) platform to enter the water vertically at near constant *** experiment system,which consists of drive and actuation system,water pool,model test sections,load cell,and control system,was *** entry forces of different velocities were measured during impact process,and for each test case,three runs were performed with the same motion program to check the repeatability of the force *** experiment results are compared with two-dimensional(2D) CFD simulation methods for flatted-bottom rigid bodies with constant entry *** results indicate that the impact forces mainly depend on water entry *** is concluded that the feasibility and accuracy of simulation methods has been validated.

关键词： water entry water impact constant velocity deployment

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High-speed photogrammetry application for percussive rotary cutting tests of deep-ocean cobalt-rich crusts

High-speed photogrammetry application for percussive rotary ...

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作者： Zheng, Hao Liu, Shao-Jun Gan, Hai-Ren Yang, Ning School of Mechanical and Electrical Engineering Central South University Changsha 410083 China State Key Laboratory of Deep Sea Mineral Resources Development and Utilization Technology Changsha Research Institute of Mining and Metallurgy Changsha 410012 China

ISBN: (纸本)9783038351382

The cutting processes of drill rod under different surge pressures, rotate pressures and propulsion forces were recorded by the high-speed camera in the hydraulic percussive rotary cutting tests of deep-ocean cobalt-rich crusts. Meanwhile, the curves of impact vibration, torsional vibration and frame vibration during the cutting processes were plotted by digital picture processing technique. The impact frequency, torsional vibration frequency, torsional vibration amplitude, vibration amplitude of drill rod and the frame were calculated. The photogrammetry results are generally in agreement with the traditional test results. High-speed photogrammetry is a non-contact, wide range application, and high precision measurement, and the cutting process can be described visually and adequately. © (2014) Trans Tech Publications, Switzerland.

关键词： High speed cameras

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Nonlinear finite-element analysis of flexible marine pipes for deep-sea mining

Nonlinear finite-element analysis of flexible marine pipes f...

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24th International Ocean and Polar Engineering Conference, ISOPE 2014 Busan

作者： Chen, Yuxiang Yang, Ning Jin, Xing State Key Laboratory of Exploitation and Utilization of Deep Sea Mineral Resources Changsha Research Institute of Mining and Metallurgy Changsha Hunan China College of Mechanical and Electrical Engineering Central South University Changsha Hunan China

ISBN: (纸本)9781880653913

Based on nonlinear finite element method, a quasi-static analysis method that succeeded in finding equilibrium configurations of flexible marine pipes dragged by mining vehicles was adopted and modified in this paper. A verification experiment was introduced and a simulation task for verifying validity and accuracy of this modified method was conducted. Favorable agreements were obtained and simulation results also indicate that the modified method is more accurate than the original one. After verification, a second simulation was conducted, which the mining vehicle moves counter-clock-wise in a circle. Variations of configuration and constraining forces were shown and discussed. Copyright © 2014 by the International Society of Offshore and Polar Engineers (ISOPE).

关键词： Finite element method

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Erratum to: Microsatellite records for volume 7, issue 4

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Conservation Genetics resources 2016年第1期8卷 85-87页

作者： Rose Komugisha Basiita J. Henrich Bruggemann Nianhui Cai Conchi Cáliz-Campal Chen Chen Jiawei Chen L. Cizek Pedro J. Cordero Deborah A. Dawson Yandong Ding L. Drag Anan Duan Bruno Fogliani Tian-xiang Gao Pauline Gélin Martin J. Genner Zhi-Min Gu Mireille M. M. Guillaume Jian-Lin Guo Chengzhong He Peter M. Hollingsworth Gavin J. Horsburgh Miho Inoue-Murayama Hideyuki Ito Dean Robert Jerry Yong-Yi Jia Wen-Ping Jiang Catherine S. Jones David Byron Jones Lingfeng Kong Qi Li Chun-hou Li Xi-Lian Li Jiang Li Xiugen Li Qing-Ping Lian Lilian Lieber Lu Liu Shi-Li Liu Mengwen Liu Shuping Luo Taku Maeda Hélène Magalon Renee M. Martin Vincent Mehn K. Meyza Leslie R. Noble Víctor Noguerales Rob Ogden A. Oleksa Manabu Onuma Joaquín Ortego Ying Pan Morgan L. Robinson Clément Rougeux Markus Ruhsam Yu Sato Na Song Xiangju Su Harold Sungani Panfeng Tao Bin Tian Jia Tian Ruoran Wang Xiaolu Wang Xiaojun Wang Dawei Wang Wade D. Wilson Mingcan Wu Xueping Wu Adrien S. Wulff Yulan Xu Yang Xu Takashi Yanagimoto Shaowu Yin Hong Yu Bin Zeng Kyall Richard Zenger Guosong Zhang Jin-Liang Zhao Yuna Zhou Centre for Sustainable Tropical Fisheries and Aquaculture College of Marine and Environmental Sciences James Cook University Townsville Australia National Agricultural Research Organization National Fisheries Resources Research Institute Aquaculture Research and Development Center Kajjansi Kampala Uganda UMR ENTROPIE Université de La Réunion/CNRS/IRD 9220 St Denis Cedex 09 France Laboratory of Excellence CORAIL Perpignan France Southwest Forestry University Key Laboratory for Forest Genetic and Tree Improvement & Propagation in Universities of Yunnan Province Kunming China Grupo de Investigación de la Biodiversidad Genética y Cultural Instituto de Investigación en Recursos Cinegéticos - IREC (CSIC UCLM JCCM) Ciudad Real Spain Key Laboratory of Mariculture Ministry of Education Ocean University of China Qingdao China College of Life Sciences Key Laboratory of Biodiversity and Biotechnology of Jiangsu Province Nanjing Normal University Nanjing China Co-Innovation Center for Marine Bio-Industry Technology of Jiangsu Province Lian Yungang China Faculty of Sciences University of South Bohemia Ceske Budejovice Czech Republic Institute of Entomology Biology Centre CAS Ceske Budejovice Czech Republic NERC Biomolecular Analysis Facility Department of Animal and Plant Sciences University of Sheffield Sheffield UK Agronomic Institute of New Caledonia Païta New Caledonia Fishery College Zhejiang Ocean University Zhoushan China School of Biological Sciences Bristol UK Agriculture Ministry Key Laboratory of Healthy Freshwater Aquaculture & Key Laboratory of Freshwater Aquatic Animal Genetic and Breeding of Zhejiang Province Zhejiang Institute of Freshwater Fisheries Huzhou China Département MPA UMR BOrEA CNRS-MNHN-UPMC-IRD-UCBN-UAG Museum National d’Histoire Naturelle Paris France Key Laboratory of Biodiversity Conservation in Southwest China State Forestry Administration Southwest Forestry University Kunming China Royal Botanic Garden Edinburgh Edinburgh UK Wildlife

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Analysis on Shock Wave Speed of Water Hammer of Lifting Pipes for deep-sea Mining

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China Ocean Engineering 2013年第2期27卷 205-214页

作者：周知进阳宁王钊 College of Electromechanical Engineering Hunan University of Science and Technology National Key Laboratory of Deep-Sea Mineral Resources Development and Utilization Changsha Research Institute of Mining and Metallurgy

Water hammer occurs whenever the fluid velocity in vertical lifting pipe systems for deep-sea mining suddenly changes. In this work, the shock wave was proven to play an important role in changing pressures and periods, and mathematical and numerical modeling technology was presented for simulated transient pressure in the abnormal pump operation. As volume concentrations were taken into account of shock wave speed, the experiment results about the pressure-time history, discharge-time history and period for the lifting pipe system showed that： as its concentrations rose up, the maximum transient pressure went down, so did its discharges; when its volume concentrations increased gradually, the period numbers of pressure decay were getting less and less, and the corresponding shock wave speed decreased. These results have highly coincided with simulation results. The conclusions are important to design lifting transporting system to prevent water hammer in order to avoid potentially devastating consequences, such as damage to components and equipment and risks to personnel.

关键词： lifting pipe for transporting coarse particles abnormal pump operation fluid transients water hammer shock wave speed

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