Dynamic Analysis and Path Tracking Control of Deep-Sea Tracked Miner

2013 ◽  
Vol 753-755 ◽  
pp. 1161-1168
Author(s):  
Qing Jue Han ◽  
Shao Jun Liu

For the deep-sea mining system, tracked vehicle is widely used as a miner. From the data of characteristic of the seabed sediment, on which the miner is walking, the relationship of the traction force of the miner and the slip rate of the track is established. The soil-track interaction, an essential issue in tracked vehicle modeling, has been analyzed in detail. Then the kinematic model of the deep-sea tracked miner is established and a PID control strategy is presented to make the miner walk along the desired path. After a series of computer simulations in MATLAB, the validity of the control strategy is confirmed.

2020 ◽  
Vol 34 (1) ◽  
pp. 101 ◽  
Author(s):  
Ryutaro Goto ◽  
James Monnington ◽  
Marija Sciberras ◽  
Isao Hirabayashi ◽  
Greg W. Rouse

Echiura (commonly called spoon worms) are derived annelids that have an unsegmented sausage-shaped body with a highly extensible anterior end (i.e. a proboscis). Echiura currently contains two superfamilies: Echiurioidea (with Echiuridae, Urechidae and Thalassematidae) and Bonellioidea (with Bonelliidae, and Ikedidae). Ikedidae contains only Ikeda, which is distinctive in having a huge trunk, a highly elongate proboscis with stripes or dots, and numerous gonoducts. A recent molecular phylogeny of Echiura recovered Ikedidae as the sister group to Bonelliidae. However, due to relatively low support values for the monophyly of Bonelliidae, this relationship remains problematic. In this study, we reinvestigated the relationship of Bonelliidae and Ikedidae using an expanded dataset with more taxa and genes. In contrast to the previous results, our analyses strongly support that Ikeda is nested within Bonelliidae due to the placement of Maxmuelleria. On the basis of this result, we synonymise Ikedidae with Bonelliidae and transfer Ikeda to the latter, the diagnosis of which is amended. In addition, we synonymise Urechidae with its sister group Echiuridae because they share the synapomorphy of having anal chaetae rings. Furthermore, considering that recent phylogenetic studies have consistently recovered Echiura as the sister group to Capitelliidae within Annelida, we drop the rank of the echiuran clade to family-level and propose a revised classification: Thalassematidae with two subfamilies, Thalassematinae (with two tribes Echiurini and Thalassematini) and Bonelliinae. In addition, we identified a sample collected from the deep sea (~1820 m) of Monterey Bay, California, based on its molecular data. This terminal unexpectedly formed the sister group to the eight genera of Thalassematini, most members of which are inhabitants of littoral zones.


2020 ◽  
Vol 50 (6) ◽  
Author(s):  
Elin A. Thomas ◽  
Ruoyu Liu ◽  
Diva Amon ◽  
Jon T. Copley ◽  
Adrian G. Glover ◽  
...  

AbstractChemosynthetic ecosystems have long been acknowledged as key areas of enrichment for deep-sea life, supporting hundreds of endemic species. Echinoderms are among the most common taxa inhabiting the periphery of chemosynthetic environments, and of these, chiridotid holothurians are often the most frequently observed. Yet, published records of chiridotids in these habitats are often noted only as supplemental information to larger ecological studies and several remain taxonomically unverified. This study therefore aimed to collate and review all known records attributed to Chiridota Eschscholtz, 1829, and to conduct the first phylogenetic analysis into the relationship of these chiridotid holothurians across global chemosynthetic habitats. We show that Chiridota heheva Pawson & Vance, 2004 is a globally widespread, cosmopolitan holothurian that occupies all three types of deep-sea chemosynthetic ecosystem—hydrothermal vents, cold seeps and organic falls—as an organic-enrichment opportunist. Furthermore, we hypothesise that C. heheva may be synonymous with another vent-endemic chiridotid, Chiridota hydrothermica Smirnov et al., 2000, owing to the strong morphological, ecological and biogeographical parallels between the two species, and predict that any chiridotid holothurians subsequently discovered at global reducing environments will belong to this novel species complex. This study highlights the importance of understudied, peripheral taxa, such as holothurians, to provide insights to biogeography, connectivity and speciation at insular deep-sea habitats.


2015 ◽  
Vol 764-765 ◽  
pp. 1020-1025 ◽  
Author(s):  
Meng Qi Ma ◽  
Fang Ping Lei ◽  
Yu Qiao Ren ◽  
Bai Song Mu

A method of establishing a kinematic model for simulated railroad freight car impact based on the Runge-Kutta method is introduced in this paper. The model is solved based on numerical analysis to obtain the relationship of variables, furthermore providing a basis for determining the loading support and loading securement method.


2013 ◽  
Vol 347-350 ◽  
pp. 753-757
Author(s):  
Li Zhou ◽  
Lu Xiong ◽  
Zhuo Ping Yu

This paper proposes a wheel slip control strategy for 4WD Electrical Vehicle with In-wheel Motors. In the first part of this paper, a brief introduction of sliding mode control for acceleration slip regulation is given. Consider that its control effect varies with road conditions, another algorithm which can automatically adapt to different roads is designed. This method takes advantage of the peculiarity of the longitudinal static tire force curve and regulates wheel slip ratio to the detected optimal value, aiming to maximize the traction force while preserving sufficient lateral tire force. Simulation results show that the slip rate can be regulated to a value around the optimal slip ratio, and the driving torque is very close to the maximum transmissible torque. The control strategy achieves stronger stability, shorter driving distance and hence better control performance.


Zootaxa ◽  
2021 ◽  
Vol 4985 (1) ◽  
pp. 125-130
Author(s):  
REKHA DEVI CHAKRABORTY ◽  
A.P. GAYATHRI ◽  
S. SREELAKSHMY ◽  
M. AGHANA ◽  
G. KUBERAN

The present work reports detailed taxonomic information on deep-sea shrimp Sicyonia parajaponica from southwest Indian waters. The samples were caught in bottom trawls conducted between the depths of 200 and 230 m from Sakthikulangara fishing harbour off Kollam, Kerala along the Arabian Sea during November 2019. DNA barcoding and a phylogenetic analysis was used to explore the relationship of the genus Sicyonia based on mitochondrial cytochrome c oxidase subunit 1 (COI: MN816389, MN816390) with the present specimen and sequences retrieved from NCBI GenBank. There is no difference in the intraspecies genetic distance (0%) while interspecies genetic distance (19.0–28.1%) revealed divergence between the species (COI) of the genus Sicyonia. 


2019 ◽  
Vol 287 ◽  
pp. 01019
Author(s):  
Oleksandr Ustynenko ◽  
Oleksiy Bondarenko ◽  
Illia Klochkov ◽  
Volodymyr Serykov

The article is devoted to the problem of computer modeling of rational design of tracked vehicle transmissions with multiple criteria. The problems of finding optimal geometric parameters that satisfy several quality criteria. All the complexity of the layout and the relationship of the parameters make difficult their choice, which is simplified when using approaches of mathematical optimization. Using the famous pseudo-random method LPτ-search with the author's modification made it possible to avoid problems associated with the discreteness and the number of parameters. The main optimization criteria for transmission are minimum center distance, minimum length, minimum mass, and maximum uptime probability. To solve this problem, the problem was formulated and design parameters with constraints were specified, criteria were recorded and a transformation from multicriteria to a single criterion was proposed. The approach is based on analysis of test points that obtained using LPτ-search, and further processing of the information received. The approach of transformation from many criteria to one is proposed by introducing the scale of importance by the designer and assigning the importance of each of the criteria, finding the desired solution for each trial point of relative offset, which is proposed to be used as a unifying criterion. Basic schemes and flowcharts of the algorithm elements are provided. The implementation of the computer model was carried out in the Delphi 7 environment.


2012 ◽  
Vol 591-593 ◽  
pp. 1360-1366
Author(s):  
Yang Zhou ◽  
Xiao Ma

The modulation strategy of injecting non-sinusoidal into reference voltage is presented in this paper. Z-source inductor current ripple and the relationship of voltage gain versus modulation index are analyzed in detail. Compared to simple boost control, the non-sinusoidal injection modulation strategy can obviously decreased the switching times, thus switching loss is cut down, and the voltage stress and Z-source inductor current ripple are obviously reduced. Theoretical analysis, simulation and experimental results are presented to demonstrate the features of the control.


Robotica ◽  
1986 ◽  
Vol 4 (3) ◽  
pp. 155-162 ◽  
Author(s):  
C. Y. Ho ◽  
Sriwattanathamma Jen

SummaryThis paper describes a new approach to obtaining a differential relationship of a robot manipulator via the Theoretical Kinematics method which may expedite computational efforts. The method involves a successive transformation of velocities from the end-effector to the base of the manipulator, link by link, using the relationship of moving coordinate systems. The equations obtained are written in the form suitable for programming on a digital computer. Furthermore, this paper also discusses the speed control model for general robot manipulators and together presents the Inverse Jacobian of cases of underdetermined and overdetermined of joint-controlled variables.


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