1482 results about "Deep sea" patented technology

The invention discloses a deep sea underwater electro-hydraulic actuator (EHA) and a control system thereof. The system provides power through the power source module, balance of system oil pressure and pressure of external seawater is controlled through the pressure compensation module, oil circulation and oil pressure control are conducted through the integrated valve set module, a control instruction of the control module is executed through the execution mechanism module, and the control module conducts cooperative control over the whole system. According to the control system, the unbalanced pressure between the system and the deep sea high-water-pressure environment is compensated through the pressure compensator so as to reduce the influence of the deep sea high-water-pressure environment, meanwhile, the pressure compensator serves as an oil tank to supply oil, miniaturization of the system is achieved, and the reliability of the system during underwater work is improved; according to the deep-sea underwater electro-hydraulic actuator, the mounting positions and internal flow channels of all elements of the integrated valve bank are optimized, the pressure loss of fluid in the flow channels is reduced, and the energy utilization efficiency of the deep-sea underwater electro-hydraulic actuator is improved; the asymmetric hydraulic cylinder can operate in four working conditions of deep sea, and underwater high-precision movement can be completed.

The invention relates to a deep sea manned submersible unsupervised anomaly detection method and system based on multi-modal feature fusion, and the method comprises the steps: carrying out the initial feature extraction of preprocessed multi-modal signal data, and obtaining a local time sequence feature; performing multi-scale frequency domain enhancement on the local time sequence characteristics through a frequency domain enhancement module to obtain frequency domain enhancement characteristics; performing long-term dependency relationship modeling on the frequency domain enhancement features to obtain long-distance dependency features; performing context enhancement on the frequency domain enhancement feature by using a fusion type attention coding module to obtain a coding feature; performing multi-modal feature fusion on the frequency domain enhancement feature, the long-distance dependence feature and the coding feature to obtain a fusion feature; performing state modeling on the fusion features to obtain global hidden state features, and performing reconstruction restoration on the global hidden state features to obtain reconstruction output; and carrying out parameter optimization by adopting a joint loss function, and carrying out continuous iterative training to obtain a trained anomaly detection model.

The invention belongs to the field of deep sea corrosion experiment equipment, and particularly relates to a multivariable coupling control deep sea corrosion environment simulation and monitoring device, which comprises an environment control unit, a deep sea corrosion environment simulation unit, a deep sea corrosion environment simulation unit, a deep sea corrosion environment simulation unit and a deep sea corrosion environment monitoring unit, and is characterized in that the environment control unit comprises a seawater environment cabin, a test sample is vertically arranged in the seawater environment cabin, and two ends of the test sample penetrate through and extend to the outer side of the seawater environment cabin; the pressure control system and the temperature control system are connected with the seawater environment cabin through sealing flanges and are respectively used for simulating deep sea hydrostatic pressure and a low-temperature environment; the mechanical loading system is used for bearing the seawater environment cabin and clamping the two ends of the test sample through the sample clamping system so as to apply a multi-axis dynamic mechanical load; the gas regulation and control unit is used for controlling the concentration of dissolved oxygen in the seawater environment cabin; and the multi-source monitoring module is used for collecting detection data and analyzing the detection data to obtain the corrosion rate of the test sample. The single-variable control limitation of a traditional device is broken through, and a high-fidelity experiment platform is provided for deep sea material corrosion mechanism research and equipment life evaluation.

The invention discloses a marine geological sediment sampling device and method, and belongs to the technical field of sampling equipment. The marine geological sediment sampling device comprises a bottom frame, wherein one side of the bottom frame is a containing box, and the other side of the bottom frame is an inserting rod; the power box is arranged in the containing box through a sliding sealing structure, and a power element is installed in the power box. A sampling pipe in transmission connection with the power element, a floating assembly installed on the power box and an air pipe in the power box are installed among the multiple insertion rods, when the pressure in the cavity reaches a set value of a pressure valve, the valve is opened, compressed air is sprayed to stress blades through the air pipe to drive a first sliding ring to rotate, a floating plate rotates synchronously, and auxiliary propulsive force is generated; the propelling direction is consistent with the sinking direction of the device, the function of accelerating sinking is achieved, seawater resistance is effectively resisted, meanwhile, in a shallow sea area or a deep sea area, the overall buoyancy of the device is changed by dynamically adjusting the inflation volume in the floating plate, and the device can be prevented from violently shaking or inclining due to too fast sinking.

The invention discloses a seabed target sonar detection method based on an adversarial network, and the method comprises the steps: S1, collecting deep sea sonar original data, and carrying out the preprocessing of the data, and obtaining a standardized sonar tensor; s2, taking the standardized sonar tensor as training input, and training an improved StyleGAN-3 model in combination with an environmental parameter vector; s3, calling the improved StyleGAN-3 model, and outputting a weak target feature tensor; s4, constructing a sonar detection network; s5, outputting an optimal detection parameter set; and S6, loading the optimal detection parameter set to the sonar detection network, performing target judgment on the weak target feature tensor, and outputting a target confidence value, a three-dimensional space positioning result and a target motion track. Compared with a traditional method, the method has the advantages that in a deep sea scene, the positioning error and the target trajectory loss rate are greatly reduced, the method has excellent online tracking and dynamic situation awareness capabilities, and a solid technical support is provided for ocean monitoring, security and emergency command application.

The invention provides a deep sea energy system life prediction method, and relates to the technical field of life prediction, and the method specifically comprises the steps: collecting the electrical characteristics of a battery and deep sea environment stress, and carrying out the standardization processing; constructing a deep sea environment degradation model, and constraining the physical characteristics based on the deep sea environment model; inputting the data into a physical branch network to extract consistency constraint features and physical initial priori; the standardized data, the physical enhancement features and the consistency constraint features are input into a lightweight data branch network, and deep residual information formed after the lightweight data branch network is pre-trained is transmitted to a physical branch network; and the RUL priori estimation output by the physical branch network and the data correction item output by the data branch form a final prediction, the final prediction is input into a Bayesian framework to derive posteriori distribution, and uncertainty quantization is carried out. According to the technical scheme, the problems of low service life prediction accuracy and relatively high computing resources of the deep sea energy system in the prior art are solved.

The invention provides a service life prediction method for a deep sea watertight connector, and relates to the field of service life prediction, and the method specifically comprises the steps: constructing a tensor data set; inputting the decomposed feature tensor into a multi-scale sparse neural network, and extracting cross-scale degradation features through a cavity convolution module and an attention gating mechanism; the features are fused by using a dual-channel Transform-CBAM (Content Border Administration and Maintenance) network; learning invariant fault representation under deep sea environment disturbance by using a causal graph auto-encoder, and realizing cross-depth working condition distribution alignment through a domain adversarial network driven by a gradient inversion layer; and modeling random fluctuation influence through a nonlinear Wiener process of environmental parameter modulation, performing confidence interval quantization in combination with Monte Carlo path simulation and Bayesian inference, and outputting a dynamic residual life prediction result of the watertight connector. According to the technical scheme, the problem that the service life of the deep sea watertight connector cannot be accurately predicted in the prior art is solved.

The invention discloses a multi-field sensing fusion deep sea geological environment dynamic monitoring system and an application method. The system comprises a buoy measuring platform, a multi-beam sounding system, a high-precision marine gravimeter, an external camera, a GPS, a data acquisition and transmission control unit and a power supply system. By designing a modularized and integrated multi-sensor buoy platform, various sensors are fused and integrated. A plurality of sensors are connected to the data acquisition control terminal, the steps of sensor calibration, data synchronization and clock calibration, correction and compensation, data acquisition, real-time processing, fine post-processing, data transmission and the like are completed, and multi-sensor collaborative operation is realized, so that submarine topography and ocean gravity data of a deep sea ditch area are synchronously acquired in real time; and thus, diving erosion information experienced by the area can be accurately monitored. The method can provide important support for submarine topography and landform detection and application and marine geographic information system construction, and has application value in the aspects of geological disaster early warning, resource development and the like.

The invention belongs to the technical field of deep-sea mining environment assessment, and particularly relates to an autonomous multi-mode mining plume and redeposition thickness monitoring system and method, and the system comprises an autonomous underwater unmanned submersible and detection load equipment connected with the autonomous underwater unmanned submersible. The autonomous underwater unmanned submersible is used for carrying detection load equipment, providing electric energy for the detection load equipment, sending a control instruction to the detection load equipment, preprocessing received data returned by the detection load equipment, and sending an equipment state to the mother ship in real time, so that the mother ship can monitor the autonomous underwater unmanned submersible in real time; the detection load equipment is used for synchronously carrying out deep sea near-bottom mining plume and redeposition thickness monitoring in three detection modes of acoustics, optics and hydrology, carrying out multi-category data comparison and fusion in the same time coordinate system, and sending the collected data to the autonomous underwater unmanned submersible; and data support is provided for later deep-sea mining plume and redeposition simulation modeling.

The invention relates to the technical field of data processing, and discloses an anti-corrosion protection method and system for a propeller in a deep sea environment. The method comprises the steps that seawater corrosion data are collected through a sensor array, risk grading is conducted through a genetic algorithm, current distribution is optimized through a Lagrange algorithm, a self-adaptive protection potential field is constructed to respond to chloride ion concentration changes, the corrosion trend is analyzed based on a prediction model, and anti-corrosion control is executed. The intelligent level and the protection effect of anti-corrosion protection of the propeller in the deep sea environment are improved.

The invention discloses a multifunctional experimental device capable of realizing a wind wave coupling effect, which comprises a deep water experimental area, a transition experimental area and a shallow water experimental area, and is characterized in that a lifting floating bottom mounted at the bottom of a water tank can simulate the elevation change from a deep sea to a shallow sea seabed; a wind generating system is assembled above the water tank and is matched with the flow guide arrays on the two sides to provide a high-quality wind field for the experimental water tank; the L-shaped wave maker can make multi-directional irregular waves, the wave flow experiment water tank and the wind making system are used for constructing a target joint field required by an experiment, and the whole process that the waves are gradually propagated from deep sea to shallow sea under the wind wave coupling effect can be achieved. The device has multiple functions of wind generation, wave generation, current generation and the like, has the function of simulating various load factors which mainly influence ocean engineering structures, and compared with an existing experimental device, the device can achieve the real wind and wave coupling effect, more truly and completely simulate the whole process of ocean wave propagation, and the experimental device has the advantages of being simple in structure and convenient to use. And a more accurate marine simulation environment is provided for experiments.

The invention discloses a floating wind power platform self-energized carbon capture and deep sea sealing integrated system, which comprises a floating platform foundation, which comprises a plurality of buoy parts, and the buoy parts are integrated through connecting parts; the double-path carbon capture subsystem comprises an air carbon capture module and a seawater carbon capture module; the air carbon capture module introduces air into the adsorption module through negative pressure, and selectively adsorbs CO2 in the air; the seawater carbon capturing module is used for separating out CO2 from seawater in an electrochemical separation mode; the carbon sequestration subsystem is used for compressing, liquefying and sequestration the CO2 conveyed by the double-path carbon capture subsystem; and the wind power function subsystem comprises a wind power generation tower and power distribution equipment for supplying power to each subsystem. The platform is reasonable in configuration and high in function integration degree, has the advantages of wind energy driving, autonomous operation, continuous carbon capture, on-site storage and the like, is particularly suitable for deep and far sea areas without seabed pipe networks and far away from shore-based power grids, and can be used for application scenes such as wind power plant carbon compensation and ocean carbon removal.

The invention discloses a method for completing an autonomous deep-sea exploration task by a deep-sea cross-domain unmanned aerial vehicle. The method comprises the following steps: determining a target area; taking off to a specified height from the sea level, receiving a task execution command and then flying to a target area; when the relative distance between the current position and the coordinates of the target area reaches a preset value, descending; when it is detected that the device is contacted with seawater, the device dives through gravity; when it is detected that the set depth is reached, the propeller is restarted, and the detection task is executed; after the detection task is completed, the standby battery is rejected and ascends; after leaving the water surface, rising to a specified height and switching to a homeward flight mode; and when the deep-sea cross-domain unmanned aerial vehicle is within the sight distance range, a manual landing task is executed. The invention further discloses the deep-sea cross-domain unmanned aerial vehicle. According to the unmanned aerial vehicle and the method, autonomous switching operation between an air medium and an underwater medium can be realized, and the unmanned aerial vehicle has the capability of autonomously completing detection and water body sampling in an extreme deep sea environment.

The invention provides a deep sea self-melting type reconfigurable robot system, and belongs to the field of robots. The system comprises a main control module, a vertical pushing module, a side pushing module and an assembling module. The assembling module can recognize the marine environment to be operated, and then the main control module, the vertical pushing module and the side pushing module are subjected to modular reconstruction based on the marine environment to form the robot so as to execute marine work. The vertical pushing module, the side pushing module and the main control module are connected in a magnetic attraction connection mode, the main control module is used for providing electric energy for the vertical pushing module and the side pushing module, the vertical pushing module is provided with a vertical pushing propeller and a first control unit, and the rotating speed and the rotating direction of the vertical pushing propeller are adjusted by the first control unit; the side thrust module is provided with a side thrust thruster and a second control unit, and the rotating speed and the rotating direction of the side thrust thruster are adjusted by the second control unit. The robot can be assembled into robots of different configurations through the assembly module when facing different scenes and work tasks so as to adapt to different environments.

The invention provides a submarine sedimentary environment dynamic change characteristic inversion method based on three-phase potential. The method comprises the steps of in-situ data processing, electrical signal calibration, mathematical model establishment and dynamic change analysis. A seabed electrode array is arranged, signals of natural potential, resistivity, oxidation-reduction potential and the like are collected in real time, and seabed sedimentary environment characteristics such as seabed interface position, suspended particle concentration, sediment density, porosity, water content and the like are deduced by adopting an inversion algorithm. The method is combined with multi-frequency signal analysis, and can monitor seabed sedimentary environment changes in real time, identify sediment movement and the like. Compared with the prior art such as CN118153411B and CN110411923B, more abundant inversion contents are covered, the monitoring precision and efficiency are improved through the complementarity of potential signals, and higher adaptability and reliability are achieved. The method has low equipment and maintenance cost, is suitable for large-range and long-term monitoring, and can provide an innovative solution in the fields of deep sea monitoring, environment evaluation, resource exploration and the like.

The invention relates to the technical field of deep-sea microorganism nucleic acid detection, in particular to a long-term experimental platform for deep-sea microorganism in-situ nucleic acid detection and a detection method. According to the invention, a water sample is subjected to tangential flow filtration and concentration through the filtration and sampling module, so that a concentrated microorganism sample is obtained. The method comprises the following steps of: transferring a sample into an amplification detection module under reduced pressure, transferring into a lysis purification module for cell lysis, injecting the cracked sample into a chromatographic column, filtering impurities and intercepting DNA by the chromatographic column, then washing by using an eluent to obtain a high-purity DNA sample, loading a suction head through a transfer washing liquid gun, mixing the high-purity DNA sample with an enzyme solution, adding into the amplification detection module for reaction, and detecting the DNA in the amplification detection module. And carrying out fluorescence labeling on the amplified gene, obtaining an amplification curve by using a fluorescence detector, and detecting the in-situ nucleic acid of the deep-sea microorganisms according to the change of the amplification curve. An automatic cleaning assembly is designed in the filtering and sampling module, and the cracking and purifying module is used for sampling and cleaning a cracking chamber and switching pipelines, so that cross contamination caused by deep sea in-situ multiple detection is prevented.

The invention discloses a deep sea underwater integrated electro-hydraulic actuator system adopting pump and valve combination. The deep sea underwater integrated electro-hydraulic actuator system comprises a hydraulic cylinder, a pump control assembly and a valve control assembly. The pump control assembly comprises a metering pump, a first switch valve and a second switch valve; the valve control assembly comprises a large-flow proportional valve, a small-flow proportional valve, a deep sea compensation energy accumulator and a third switch valve. The metering pump, the first switch valve and a rod cavity of the hydraulic cylinder are sequentially connected through a pipeline, the metering pump, the second switch valve and a rodless cavity of the hydraulic cylinder are sequentially connected through a pipeline, the metering pump, the third switch valve and the deep sea compensation energy accumulator are sequentially connected through a pipeline, and the rodless cavity of the hydraulic cylinder is connected with the large-flow proportional valve and the small-flow proportional valve through pipelines. Two control modes of the actuator can be completed, large-flow control is achieved through the pump control assembly, high efficiency and energy conservation are achieved, flow needed by maintenance is supplied to a rodless cavity of the actuator through the valve control assembly via the large-flow proportional valve and the small-flow proportional valve, and posture keeping and emergency action are achieved.

The invention belongs to the technical field of ocean geotechnical engineering, and discloses full-strain range soil body strength characteristic testing equipment and a testing method for simulating a deep sea temperature and pressure environment. The system comprises an integrated probe, a stepping motor, a linear module, a hollow probe rod, a torsion module, a loading platform, a sample box, a water depth simulation system and a temperature control system. The hydraulic source and the temperature controller are used for simulating the deep sea low-temperature and high-pressure environment, the simulation effect is good, soil sample visualization is achieved, static sounding and vane shear tests are combined by designing the integrated probe, the soil permeability coefficient, the consolidation coefficient, the undrained shear strength and the sensitivity are measured, the precision and the efficiency of soil parameter analysis are improved, and the method is suitable for popularization and application. And data complementation, efficiency optimization and precision improvement are realized.

The invention relates to the technical field of microorganism culture, and discloses a microorganism culture tank device which comprises a culture tank, a concave observation area is arranged in the center of the top of the culture tank, a central culture area surrounding the observation area is arranged in the culture tank, an oil path temperature control area wraps the culture tank, and a double-helix heat conduction oil path is integrated in the oil path temperature control area. Through the cooperation of the uniform distributor and the distributed simulated liquid conveying unit, the gas-liquid proportion and fluid distribution can be accurately regulated and controlled, the physical and chemical conditions in the deep sea or extreme environment are simulated, the constant-temperature precision of + / -0.005 DEG C is realized through the double-helix heat conduction oil way, the low-temperature environment is stably maintained, and the real thermodynamic conditions of deep-sea sediments are simulated; the device meets the sensitive requirements of different microorganisms on temperature, and has the characteristics of high practicability and capability of simulating a dynamic fluid environment of deep sea.

The invention provides a Yangtze river export deep and far sea environment data association analysis method based on multi-modal fusion, belongs to the technical field of far sea environment analysis, and achieves accurate data registration by establishing a multi-source data space-time standardization model and adopting an adaptive space-time Kriging interpolation algorithm. A sparse coding ocean signal separation algorithm is utilized to construct an over-complete dictionary separation mixed signal to extract pure features, a feature extraction network is constructed based on an attention mechanism to automatically learn deep feature representation of physicochemical biological parameters, and a matrix rank loss detection algorithm is adopted to automatically supplement feature compensation vectors to ensure feature integrity. A cross-scale attention mechanism is constructed based on wavelet transform to fuse multi-scale features, a Shapley value interpretability evaluation system is established to quantify correlation feature importance, and the technical problem that correlation feature extraction is inaccurate in the multi-source heterogeneous marine environment data fusion process is solved.

The invention belongs to the technical field of image processing and deep-sea mining, and discloses a deep-sea polymetallic nodule single-view three-dimensional reconstruction method and system. Aiming at the problem that the real three-dimensional data of the underwater polymetallic nodule is difficult to acquire, a multi-view generation model is adopted as 2D prior, 3D Gaussian is optimized through fractional distillation sampling loss, any three-dimensional data training is not used, the problem of three-dimensional data acquisition is solved, and three-dimensional reconstruction of the polymetallic nodule is realized. In addition, the invention provides a method only through image fine tuning, function decoupling of a noise prediction module (Unet) and a condition control network (multi-view model) is realized based on DreamBooth, and multi-view generation stability can still be maintained through pre-training view angle parameters under empty condition input; and the problem of parameter acquisition of the underwater camera is avoided through a conditional blanking mechanism, so that the model can be finely adjusted only by depending on a single-view image, and the data acquisition cost is reduced.

Disclosed is a sediment classification method and system based on bottom echo information of a deep-sea multibeam water column, falling within the technical field of seabed sediment classification. Multidimensional features of seabed multibeam time series are extracted by using multibeam water column data, and multidimensional features of seabed spots are constructed by fusing an angle response curve; double-waveform spectrum comparison of original sample point waveform with seabed measured point waveform is performed, and two groups of corresponding waveforms are matched by using Cosine Similarity to expand original sample points; and the reliability of classification results is improved. In the present disclosure, the transformation from hard to soft classification is realized, and the seabed habitat inversion of complex mixed sediment in a deep sea is further realized.

The invention discloses a method and a system for estimating the content of key metal elements of a crusting based on a hyperspectrum, and belongs to the technical field of deep sea mineral detection. The method comprises the following steps: selecting a crusting sample, obtaining hyperspectral data and chemical data of the crusting sample, establishing a point selection data set at a corresponding position, deleting abnormal sample points, and calculating the content of the key metal elements of the crusting sample; the method comprises the following steps: selecting a characteristic wave band of a crusting sample through preprocessing and CARS to obtain a characteristic wave band data set; and based on an MLP neural network model, performing model training through the data set, and constructing an estimation model for estimating the grade of the crusting sample. Compared with the prior art, the method has high accuracy and high predictive capacity, by inverting chemical data of the whole crusting section and applying the scheme for estimating the content of the key metal elements of the crusting, nondestructive grade and abundance analysis of the crusting sample can be achieved, and a reliable scientific basis is provided for seabed detection and multi-metal mineral exploitation.

The invention relates to the technical field of deep-sea mining, and discloses an extrusion rotary type deep-sea multi-metal nodule low-disturbance collecting device which comprises a set of skid mechanisms formed by all-terrain skid plates arranged side by side, all-terrain skid plates are connected with direction skid through steering pull rods, each skid mechanism is provided with a grating storage cabin, and the grating storage cabins are connected with the all-terrain skid plates through steering pull rods. The inlet end of each grid storage bin is connected with a grid pressing shovel installed on the skid mechanism through a rotary collecting head. According to the invention, the all-terrain skid plates are used as walking mechanisms, so that low-disturbance advancing can be realized on one hand when the multi-metal nodules are collected by walking, and on the other hand, the advancing direction and operation attitude can be adjusted in real time by the cooperation of the multiple groups of all-terrain skid plates, so as to meet different collection requirements of the multi-metal nodules; meanwhile, a combined structure of the grating pressing shovel, the rotary collection head and the grating storage cabin is taken as a core, so that the multi-metal nodule in a buried or semi-buried state can be shoveled up in a low-disturbance manner, and environment-friendly collection is realized.

The invention relates to the technical field of wireless charging, in particular to an underwater magnetic coupling resonant wireless power transmission voltage stabilization control system and method, and the system comprises a transmitting end which comprises a power supply, an inverter circuit, a transmitting end compensation network and an array type orthogonal magnetic coupling device, and the array type orthogonal magnetic coupling device comprises four DD type coils, the DD type coils are alternately wound to generate a horizontal magnetic field and a vertical magnetic field; the receiving end comprises a biorthogonal coil, a receiving end compensation network, a rectification filtering module and a converter; the biorthogonal coil receives energy of the horizontal magnetic field and the vertical magnetic field; the linear active disturbance rejection control module comprises an extended state observer and a linear feedback control rate, the extended state observer is used for estimating the total disturbance of the system in real time and performing feed-forward compensation, and the linear feedback control rate realizes voltage stabilization by adjusting the duty ratio of the converter. The system adapts to a deep sea complex environment, and the cruising ability of the AUV is improved.

The invention discloses a multi-mode underwater acoustic communication system and communication method based on a heterogeneous dual-core architecture, and belongs to the technical field of underwater acoustic communication. The multi-mode underwater acoustic communication system comprises a main control module, an acquisition module and a transmitting module; the main control module adopts a dual-core heterogeneous processor OMAPL138 formed by an ARM core processor and a DSP core processor; inter-core communication is carried out between the ARM core processor and the DSP core processor through a shared memory and interruption; the ARM core processor is responsible for protocol analysis, task scheduling and man-machine interaction, and the DSP core processor focuses on signal processing and real-time control and integrates four communication systems, a channel evaluation module and the like. The problems that application of a single communication mode is limited and underwater acoustic communication links in different complex sea areas are unstable are effectively solved, and the deep sea area underwater vehicle information collaboration and return and deep sea area observation and monitoring network system capacity are effectively improved and guaranteed.

The invention relates to the field of ocean energy development, and discloses a floating fan anchor chain optimization method and device based on a genetic algorithm and a medium, and the method comprises the steps: obtaining the installation data of a floating fan system; based on the installation data of the floating fan system, a full-coupling numerical model of the mooring system is established by adopting CFD software; a genetic algorithm is adopted to optimize the full-coupling numerical model, and mooring optimization parameters are obtained; the mooring optimization parameters are applied to actual installation of the floating type draught fan system; according to the method, the high-precision full-coupling numerical model is established through the advanced CFD technology, the performance of the floating fan system in the complex marine environment is comprehensively and accurately predicted and evaluated, meanwhile, the mooring system is optimized through the genetic algorithm, the optimal parameter combination is found, the stability and reliability of the system are greatly improved, and the method is suitable for popularization and application. Powerful support is provided for application and development of the floating fan technology under deep sea and severe sea conditions, and remarkable beneficial effects are achieved.

The invention discloses a wave-current combined simulation system and method in a low-pressure environment, and relates to the technical field of underwater vehicle hydrodynamic model tests. The defects that in the prior art, sealing and strength are difficult to guarantee in a low-air-pressure environment, and accurate flow velocity and shear gradient control of a multi-layer flow channel cannot be achieved are overcome. According to the technical scheme, the device comprises a low-pressure pool, a plurality of layers of layered water inlet galleries, a plurality of layers of layered water outlet galleries, a rectifying wall, a rectifying baffle, a flow guide grid, a wave absorbing bank, an in-cabin rocking plate type wave maker, a plurality of bottom flow making pump flow making systems, an electric butterfly valve, a high-voltage frequency conversion cabinet, a three-phase asynchronous motor, a gear box, an impeller shaft system and the like. All the devices work cooperatively, and accurate coupling simulation of a multi-layer flow field and high sea condition waves under low air pressure is achieved. The device is suitable for wave-current combined hydrodynamic characteristic simulation and test research of deep-sea navigation bodies and ocean engineering equipment in a low-pressure environment.

The invention provides a driving and sensing integrated soft claw, gripper and method, and belongs to the field of deep sea soft grippers. The problems that a traditional soft gripper sensor is prone to forming stress concentration and cannot achieve multi-point sensing are solved. The driving and sensing integrated soft claw comprises a sensing layer, an acoustic wave guide main flow channel extending in the length direction is arranged on the sensing layer, and an ultrasonic transducer is arranged on the side, close to the fixed end of the sensing layer, of the acoustic wave guide main flow channel. The end face of one side of the sensing layer is a grabbing face, and a plurality of evenly-arranged protrusions are arranged in the acoustic wave guide main flow channel corresponding to the end face. And the driving layer is arranged on the side, away from the grabbing face, of the sensing layer, a plurality of deformation cavities communicating with the acoustic wave guide main flow channel are formed in the driving layer, the driving layer is in a stretching state in a normal state, and when the deformation cavities are filled with liquid and pressurization continues, the deformation cavities are used for deforming to drive the sensing layer to bend. The manipulator is mainly used for grabbing actions.

The invention discloses a deep sea rare earth collecting device, a deep sea rare earth collecting system and a collecting method.The deep sea rare earth collecting device comprises a crawler-type walking frame and further comprises an isolation cover installed on the periphery of the crawler-type walking frame in a covering mode, and an ore collecting cavity is formed between the isolation cover and the crawler-type walking frame; a plurality of high-pressure jet flow collecting assemblies used for spraying out high-pressure jet flow to flush up deep sea rare earth are arranged below the isolation hood body. When the deep sea rare earth collecting device is located on the seabed, the isolation cover body makes contact with the seabed, and the ore collecting cavity is of a closed structure. The deep sea rare earth collecting device with the isolation hood body, the deep sea rare earth collecting system and the collecting method have the advantages of being good in collecting walking stability, high in collecting efficiency, small in generation of seabed plume, small in influence on the seabed environment and the like, and large-scale efficient mining of deep sea rare earth can be achieved easily.