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Satoshi Okada Ryosuke Kobayashi Kenichi Otani Kazunori Ohno 《Journal of Nuclear Science and Technology》2017,54(4):414-423
The swim-type remotely operated vehicle (ROV) for inspection of narrow spaces in nuclear power plants has been developed. Many structures are crowded in a confined space at regular intervals in the bottom area of a reactor. So, the thickness of the ROV shape is an important design point to ensure that the ROV can move in the space. The developed ROV has a three-dimensional swimming mechanism using six thrusters, three cameras for observing the position while moving and for making inspections easily, and a localization system. The localization system combines two elements: a gyroscope to detect the progression direction; and a slit laser that detects the progression distance using the optical cutting method. The localization method is called the modified inertial navigation (MIN) method and it was evaluated in a mock-up examination. The ROV was able to move smoothly using the MIN method and its position could be detected without making a mistake in the route followed. 相似文献
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肖钢 《中国石油和化工标准与质量》2019,(10):105-106
随着海洋石油工程向深水发展,水下采油树成为深海开发中必不可少的组成部分。水下采油树随着设备使用年限的增长,许多关键部件需要进行检查和维修。本文通过国内某油田水下采油树水下控制模块SCM(Subsea Control Module)的更换作业,探讨了水下机器人ROV(Remotely Operated Vehicle)在水下采油树检修过程中发挥了至关重要的作用,为国内相关作业提供借鉴。 相似文献
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State 《水动力学研究与进展(B辑)》2012,24(2):280-286
This article presents the newly designed oblique towing test in the horizontal plane for the scaled model of 4 500 m deep sea open-framed Remotely Operated Vehicle (ROV),which is being researched and developed by Shanghai Jiao Tong University.Accurate hydrodynamics coefficients measurement is significant for the maneuverability and control system design.The scaled model of ROV was constructed by 1:1.6.Hydrodynamics tests of large drift angle were conducted through Large Amplitude Horizontal Planar Motion Mechanism (LAHPMM) under low speed.Multiple regression method is adopted to process the test data and obtain the related hydrodynamic coefficients.Simulations were designed for the horizontal plane motion of large drift angle to verify the coefficients calculated.And the results show that the data can satisfy with the design requirements of the ROV developed. 相似文献
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Vehicle Teleoperation Interfaces 总被引:1,自引:1,他引:0
Despite advances in autonomy, there will always be a need for human involvement in vehicle teleoperation. In particular, tasks such as exploration, reconnaissance and surveillance will continue to require human supervision, if not guidance and direct control. Thus, it is critical that the operator interface be as efficient and as capable as possible. In this paper, we provide an overview of vehicle teleoperation and present a summary of interfaces currently in use. 相似文献
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ROV扭矩工具(TT)是深水水下油气田开发过程中使用的水下机器人(ROV)作业装备。ROV扭矩工具系统是以ROV为核心,包括扭矩工具本体和控制系统,其结构尺寸和工作能力与工作效率是影响水下作业的便利性与作业成本的关键因素。依托南海某气田水下生产系统,参考ISO13628-8等规范,设计出具有多尺寸自适应接口、牙嵌离合换挡结构和锁紧机构的扭矩工具及其控制系统。采用有限元分析软件对扭矩工具关键部件进行仿真分析。完成了扭矩工具的样机研制并进行测试。测试结果表明:水下ROV扭矩工具的锁紧、解锁功能,换挡功能,马达闭环控制功能均可实现,技术参数满足设计要求。研究成果对ROV扭矩工具及其控制系统的技术发展和产品开发均有借鉴意义。 相似文献
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本文阐述了我国自行研制的600m水深作业型缆控水下机器人(ROV)Bitbus(位总线)分布式控制系统的硬件结构和软件体系。 相似文献
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