Barium slag, classified as HW47 hazardous waste, is produced in large quantities and has a high accumulation with heavy metal Ba ions that are significantly above the standard levels, posing serious threat to ecological environment growth of flora fauna. Before barium slag can be stored, it must undergo harmless treatment, which costly, current volume accumulated storage facilities strained. There an urgent need for new technologies extract elements from while achieving reduction volume....

The reverse osmosis method has developed extremely rapidly in recent years and become the most competitive seawater desalination technology world, it been widely used all aspects. Large-scale plants cannot provide fresh water resources areas with insufficient limited space. Therefore, this paper proposes a research plan for small device based on osmosis, which is mainly suitable handling emergencies, disaster relief, desert outdoor activities other needs timely freshwater resources. It...

Submarine pipelines, as arteries for offshore oil and gas transportation, play a particularly important role in the exploitation of resources. Since world’s first submarine pipelines were laid Gulf Mexico, numerous failures have been caused by pipeline free-spanning. This paper provides review causes treatment measures free span pipeline. Various factors cause including wave flow scouring, fluctuations seabed topography, residual stress or thermal human activities. The scour current is main...

Abstract Based on the characteristics of high-frequency swing during fast swimming fish, this paper designs a bionic fish-driven joint based electromagnetic drive to achieve swing. Aiming at characteristic parameters control, Fourier transform is used separate and then compared driving accuracy joints in open-loop closed-loop. The comparison results show that closed-loop control performed after transform. Under same conditions, method can improve accuracy. Then fish robot composed three...

China actively broadens its channels for environmental protection and limits pollutant emissions through industrial structure adjustment technical progress. Based on panel data of 30 provinces in from 2003 to 2017, this study investigated the effects progress pollution using spatial Dubin models. The findings show following. (1) As economy develops, situation various regions deteriorates; moreover, spatio-temporal dependence is an aspect pollution. (2) Industrial are beneficial improvement....

Vehicle ride comfort is significantly influenced by powertrain torsional vibration. A multi-condition and multi-index evaluation method of the vibration proposed in this paper, which selects different indices according to characteristics working conditions. First, excitation source analyzed. The selected are speed amplitude value obtained with root mean square value, dose peak-to-peak isolation rate ([Formula: see text]), fluctuation attenuation text]). Second, ignition, idle, startup,...

In order to clean underwater silt in artificially constructed rivers, lakes, and fish ponds, for which no suitable tool exists, a has been developed that imitates the structure movement of tortoise’s legs, designs four-legged dredging robot can adapt complex environment. The article uses transformation matrix analyze kinematics robot, determines sequence outriggers according principle stability, analyzes characteristics three gait modes. Then, we combined control function foot trajectory...

The contact process of stator and slider described by the Coulomb friction model is basically in a pure sliding state, mechanical based on Dahl theory was proposed to describe between V-shape linear ultrasonic motor. With consideration for tangential compliance slider, dynamic processes were addressed stages. simulation results show that ratio positive work decreases with increase preload, vibration amplitude increases proportion force. Improving stiffness conducive improving output...

AUV docking devices have the ability to achieve homing of AUV, supply with energy, and exchange data it, thus improving endurance ensuring continuous long-term large-scale operation AUV. To improve successful rate a funnel-shaped underwater device multi-degree freedom based on deep-sea platform was designed in this paper. The heading angle, pitch roller angle could be adjusted timely manner according current flow direction position In order realize adjustment roll device, set hydraulic...

Longer distance water delivery culverts pose obstacles such as deposited silt, stones, and dead trees. In this paper, a crawling robot is designed to mimic the joint structure of turtle using bionic design principles. The mechanism gait are analyzed. kinematics model established D-H method analytical approach, while dynamics Lagrange’s method. Based on analysis theory, compound cycloid cubic polynomial motion trajectories for foot planned along with resembling that turtle’s abdomen....

Frozen wall design theory is a key technique of the freezing method. However, previous theories for deep artificial frozen have neglected influence shaft flank displacement, that is, displacement inner boundary wall. Thus, associated designs tend to be unsafe and earthwork excavations underestimated. This study builds new thickness which considers large strain obtains solution formulas excavation radius before deformation occurs. The analytical results are compared with numerical calculation...

Relying on the research and development project of an auxiliary device for a submarine cable to cross steel pipeline, with regard long-distance crossing combined pipe-climbing robot laying cable, this paper developed detection that walks along outer wall inside casing. The non-enclosed four-bar linkage mechanism is adopted, stepper motor used drive roller walk diameter change recorded in real-time, damage detected when it moved walking experiment carried out. measurement verification showed...

This paper takes the high-frequency vibration characteristics of a bionic robot fish as research object. Through on fish, we quantified role voltage and beat frequency in high-speed stable swimming. We proposed new type electromagnetic drive. The tail is made 0° silica gel to simulate elastic muscles. completed series experimental studies biomimetic robotic fish. single-joint fishtail underwater experiment, influence parameters during swimming was discussed. In terms control, central mode...

Finite element model of a typical ultra-high voltage direct current transmission line section, in which buckling collapse the tension plate took place during operation, is established. In finite model, and connected hardware fittings are discretized with 3D solid elements sub-conductors, spacers, clamps insulator strings spatial beam elements. Dynamic responses after ice shedding numerically simulated maximum loads on cases different thicknesses ice-shedding obtained. Buckling behaviors...

Abstract When an offshore oil field completed and put into production, new subsea pipelines the cable need to be established. Cable protection pipe clamp is used fix on jacket. In order avoid problem of traditional steel structure splice, counterpoint, fastening difficulty when installed under water, reduce risk workload This paper develop a type portable connecting riser -“backpack clamp” which solve difficult underwater installation problem. The main backpack three valves structure. load...

Test as well calibration precision of a coordinator is determined by the test turntable, and improvement turntable most effective way to improve accuracy coordinator. Therefore, it great practical significance value study which suitable for certain type indexer. Based on working principle ultrasonic motor, mathematical model friction coupling interface established; steady-state output force motor maximum angular velocity rotor are calculated; effect material type, magnitude pre-tightening...

A deep-sea pipeline position and attitude-measuring device based on outer circle positioning can measure the spatial relative positions of end faces two oil pipelines in deep sea. This provide necessary data to make a transition connecting sections together. However, after analyzing measured by this device, it is found that measurement has large error because transmission coefficient value too large. In order reduce transfer coefficient, new measuring for posture tensioning rope was...