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Dynamic Analysis of the Seafloor Pilot Miner Based on Single-body Vehicle model and Discretized Track-Terrain Interaction model

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China Ocean Engineering 2010年第1期24卷 145-160页

作者：戴瑜刘少军李力 College of Mechanical and Electrical Engineering Central South University The State Key Laboratory of Deep Sea Mineral Resources Development and Utilization Technology Changsha Research Institute of Mining and Metallurgy

In order to achieve the complex dynamic analysis of the self-propelled seafloor pilot miner moving on the seafloor of extremely cohesive soft soil and further to make it possible to integrate the miner system with some subsystems to form the complete integrated deep ocean mining pilot system and perform dynamic analysis, a new method for the dynamic modeling and analysis of the miner is proposed and developed in this paper, resulting in a simplified 3D single-body vehicle model with three translational and three rotational degrees of freedom, while the track-terrain interaction model is built by partitioning the track-terrain interface into discrete elements with parameterized force dements built on the theory of terramechanics acting on each discrete dement. To evaluate and verify the correctness and effectiveness of this new modeling and analysis method, typical comparative studies with regard to computational efficiency and solution accuracy are carried out between the traditional modeling method of building the tracked vehicle as a multi-body model and the new modeling method. In full consideration of the particMar structure design of the pilot miner, the special characteristics of the seafioor soil and the hydrodynamic force of near-seafloor currnt, the dynamic simulation analysis of the miner is performed and discussed, which can provide useful guidance and reference for the practical miner system in design and operation. This new method can not only realize the rapid dynamic simulation analysis of the miner but also make possible the integration and rapid dynamic analysis of the complete integrated deep ocean mining pilot system in further researches.

关键词： deep-ocean mining system self-propelled seafloor pilot miner single-body model multi-body model discretized track-terrain interaction model dynamic analysis

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VIRTUAL REALITY BASED THREE-DIMENSIONAL GUIDE WIRE PROPAGATION SIMULATION FOR ENDOVASCULAR INTERVENTION

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Transactions of Nanjing University of Aeronautics and Astronautics 2010年第1期27卷 62-69页

作者：周正东 Pascal Haigron Vincent Guilloux Antoine Lucas 南京航空航天大学材料科学与技术学院法国国家健康与医学研究院雷恩第一大学信号与图像处理实验室中法生物医学信息研究中心法国国家健康与医学研究院临床高新技术研究中心雷恩第一大学附属医院

The virtual reality based motion simulation of the guide wire and the catheter inside specific vascular structures can benefit a lot for the endovascular intervention. A fast and well-performed collision cancellation algorithm is proposed based on the geometric analysis and the angular propagation （AP）, and a 3-D real-time interactive system is developed for the motion simulation of the guide wire and the catheter inside the specific patient vascular. The guide wire or the catheter is modeled as the ＂multi-body＂ representation and properties are defined by its intrinsic characteristics. The motion of the guide wire or the catheter inside the vascular is guided by the collision detection and the collision cancellation algorithm. Finally, a relaxation procedure is used to achieve more realistic status. Experimental results show that the behavior of the guide wire or the catheter depends on the defined parameters. The real-time simulation can be achieved. The result shows that the simulation system is effective and promising.

关键词： catheters virtual reality guide wire multi-body model endovascular intervention

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