在国内外典型深海载人潜水器载体框架结构设计应用研究的基础上,结合大坝深水检测作业的工程应用需求,从设计原则、选材分析、设计载荷、安全系数和设计方案等方面,通过对比分析浅深度与深海载人潜水器载体框架的异同点,结合设计难点总结了大坝深水检测作业载人潜水器载体框架的设计思路与方法,并对两种载体框架设计方案的强度校核结果进行了比较分析,对载体框架进行设计优化.结论可为同类型、浅深度的水下检测作业装备载体框架设计提供参考.

为满足我国大坝深水检测与修补加固技术的发展需求,提出了适用于水库大坝特殊环境和边界条件的深水检测载人潜水器的新思路与解决方案,设计和制造了国内首台大坝深水检测载人潜水器.针对高坝大库深水复杂环境的特点,攻克了潜水器宽视野观测、水下作业和安全等技术难点,形成了具有自主知识产权的大坝深水检测成套技术装备,通过水池试验、水库试验以及应用试验充分验证了该潜水器优异的总体性能.总结了大坝深水检测载人潜水器各系统的主要设计理念,对研制过程及意义进行了简要的描述,可为后续类似潜水器装备的研制提供借鉴.

固体浮力材料是现代深潜技术的重要组成部分之一,是深潜器设计装备的六大关键技术之一,也是海洋勘察及深海工程中最普遍应用的一种材料.这种材料主要是为深海装置提供浮力,以实现深海装置的悬浮定位,无动力上浮下潜,增大有效载荷,减少外型尺寸.固体浮力材料在应用到深水装备之前,需要对其关键性能指标进行检验,包括密度、高压吸水率和体积弹性模量等,以保证深水装备的安全使用.其中,体积弹性模量的检验则是一个技术难点.鉴于此,本文综述国内外固体浮力材料体积弹性模量的测试方法,包括仿真计算法、超声测量法和高压原位测试法,为水下装备设计开发人员提供参考.

在充分调研VR技术在航空、军事、工程设计、营销展示、文化娱乐、教育等方面应用现状的基础上,追踪载人潜水器的设计制造、全寿命过程及其衍生物,深入发掘与VR结合的应用模式及VR的不同展现方式.从辅助设计制造、航行运动仿真、操作教学与培训、维护保障等方面提出对VR的需求,为VR在载人潜水器领域的应用提供支持.

海水密度、耐压结构体积、浮力材料体积以及液压油体积等随下潜深度的增加均会发生不同程度的变化,导致潜水器潜浮压载不匹配.潜浮压载直接影响载人潜水器在上浮、下潜过程中的速度控制以及在深海中的悬停、着陆和作业,因而对潜浮压载匹配方法的研究具有非常重要的工程实际意义.本文首先建立载人潜水器无动力潜浮运动数学模型,分析潜水器耐压结构、浮力材料和液压油的浮力损失,建立载人潜水器无动力潜浮运动压载匹配方法.通过与蛟龙号载人潜水器和深海勇士号载人潜水器的海试数据对比分析,有效验证了该方法的可行性和有效性.

针对海洋科学研究、海洋资源开发、海洋权益维护等重大需求,我国启动了系列化深海潜水器关键技术与装备研究,经过二十余年的跨越式发展,已经构建了装备类型、作用深度、应用领域三个维度的深海潜水器装备谱系化框架雏形.本文从发展历程、在役情况、现状分析三个角度对国内外深海潜水器进行梳理,形成时间轴、里程碑、量化图表总览,为我国深海潜水器领域的技术发展和决策提供支撑.

传统的潜水员只能适应60m以浅的大坝维护工作,传统ROV无法充分发挥专业人员的辨查能力,载人潜水器能够弥补潜水员与ROV的不足,必将在高坝水库领域发挥重要作用.然而,高坝大库使用环境有其特殊性,不能把海洋中应用的载人潜水器简单的照搬到该领域,必须解决如下关键问题:①潜水器作业固定,潜水器在水下重量较小,当进行作业时,受到的反作用会影响作业效果,因此必须针对大坝检测的特殊需求,解决潜水器作业固定;②潜水器水下定位,潜水器水下作业必须靠近大坝,由于大坝面声波的强烈反射,声学定位设备在大坝检测中难以精准定位,因此需要研究新的定位方式;③潜水器作业工具搭载,潜水器搭载不同的工具可进行不同的作业,需要研究工具搭载的适配性;④潜水器宽视野观察窗,潜水器在大坝面进行作业时,需要操作员进行近距离观察,以查找微小裂缝,因此需要对观察窗进行深入研究,以提供操作员宽范围的视野空间.载人潜水器检测技术运用于高坝深库行业,具备良好的应用前景.

The dynamic equations of the cable in different ocean currents are developed in the natural co-ordinate, the effects of normal and tangential components of the fluid drag are both considered. The parame-ter expressions for the cable geometry and tension of the neutral cable under the action of uniform, linear and combined current flow are established. The physical laws of the cable geometry and tension distribu-tion in different currents are obtained. Also, the mathematical approach to the fast convergence of the nu-merical integration is pointed out. Some typical examples are calculated by the self-compiled program. The quantitative results further verify the physical laws, and show that ignoring tangential resistance is not ap-propriate for long cable.

Based on the elastic-plastic deformation theory, the paper gets the analysis of thick spherical shell's elastic-plastic deformation. The research result provides a calculation method and numerical evidence which can be used on self-reinforced external pressure sphere. By using Abaqus, a calculation of a spherical shell on 7000 m manned submersible with one hole is carried out. The result shows that the structure stress on the area of spherical shell and penetrating piece disc have a significantly decrease after self-reinforced. Also the structure stress becomes more even and unified. It may contribute for improving the fatigue life of the spherical shell.

This paper introduces a novel submersible vehcle called Autonomous&Remotely Vehicle (ARV) which synthesizes the advantage of Autonomous Underwater Vehicle (AUV) and Remotely Operated Vehicle (ROV). The ARV can operate as an AUV for self-cruise depending on the preinstall order, and can also work as a ROV for fine operation via the controlling on water surface. The most remarkable characteristic of the ARV is using fiber optic micro cable instead of traditional umbilical cable, which makes the ARV have more traits, such as remote control,real time operation,automotive agility and so on. The backdrop, the key techniques of the ARV and its practicality are introduced. In the end, the important significance of the ARV is discussed.

In this paper, the working conditions and technical requirements for buoyancy modules in deep-sea HOV are firstly introduced. Then, according to the constituent and process performance of buoyancy modules, the bonding, machining, surface coating and installing technology are proposed for buoyancy modules. Because the main frame of HOV is welded with titanium alloys and the buoyancy modules bonded with syntactic foam buoyancy materials are machined by NC machining center, thus the different manufacturing method results in different precision between the main frame and buoyancy modules, which causes assembly difficulty. By analysis and calculation of assembly dimension chains for the main frame and buoyancy modules, the extreme-interchangeability method can be used to deal with the assembly problem successfully. Finally, the experience and process parameters are obtained which can be used in fabrication and assembly of buoyancy modules. It is believed by authors that this research work can be used as a technical basis to develop Chinese Rules for classification and construction of deep-sea submersible and for the design of similar manned/unmanned submersibles such as HOV, ROV, and AUV.

Ocean resources are the most competitive field of the modern military and economy and they are the material sources for sustainable development.In order to keep our own rights in the competition of international resources,the project to develop a deep human occupied vehicle(HOV) was started.Selection of the buoyancy materials and design of buoyancy modules are the key technologies in the development of the HOV.In this paper,working conditions for buoyancy modules and technical requirements for buoyancy materials are first specified for the deep-sea HOV.Then,some important techniques,including the principles of reasonable arrangement for buoyancy modules,strength criteria and new calculation method of mass and center of mass for buoyancy modules,are described in detail.By the tests of density and pressure,physical properties of buoyancy modules are obtained,which can be used in buoyancy modules design.It is believed by authors that this research work can be used as a technical basis for the development of Chinese Rules for classification and construction of deep-sea submersible and for the design of similar manned/unmanned submersibles such as HOV,ROV,and AUV.

In this paper,the profile and layout of stabilizer fin are described firstly.A new calculation method of outer load for stabilizer fin is proposed after the selection of material and structure types are given.Then dynamic load and safety coefficient are chose.Finally,stress calculating method and standard of strengthen are established completely,which can be used in the design of stabilizer fin and alse be used as a better reference to Chinese Rules for classification and construction of deep sea submersible and similar products(HOV,ROV,AUV).

It is well known that there are a lot of ocean resources in the deep sea.Therefore,it is necessary to develop the deep-sea human occupied vehicle(HOV) in order to explore and utilize the ocean resources.Light exostructure,which is usually laminated with advanced composite material,is one of the basic components in the deep-sea HOV.In this paper,working conditions and technical requirements of light exostructure in the deep-sea HOV are first explained.And then,the key technologies in the development of HOV,such as the basic principles of material selection and structure types for light exostructure are introduced.Moreover,some important techniques,including the principles of reasonable arrangement for light exostructure,manufacturing technology and methods,as well as anti-marine corrosion are in detail described.At last,by means of the tests of light exostructure laminated with advanced composite material,the physical and mechanical properties of light exostructure are obtained,which can be used in light exostructure design.It is believed by authors that the research results presented in this paper can be used as a technical basis to develop Chinese rules for classification and construction of deep-sea submersible and for the design of similar manned or unmanned submersibles.