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In this paper, mechatronic design of a novel robotic shark for coral reef detection is presented. To obtain good maneuverability, a barycenter regulating device is designed to assist the posture adjustment of the robotic shark at low speed. Based on STAR-CCM+ software, the lift coefficients and drag coefficients of pectoral fin are calculated using overlapping grid technique. Based on Newton-Euler approach, a dynamic model with particular consideration of pectoral fins for three-dimensional motion is established. A CPG controller is used to generate rhythmic motion of each joint. Furthermore, based on the dynamic model, three-dimensional trajectory of spiral motion and swimming speed in different oscillation parameters are simulated. The results show that swimming speed of the robotic shark can be improved by increasing the amplitude and frequency or decreasing the phase difference. Also, oscillation frequency plays a more significant role. Furthermore, under the action of single pectoral fin, the robotic shark can achieve spiral motion and the turning radius is about 35.8m under the parameters set in this article.

Large underwater equipment used in deep-sea engineering, which needs mooring line in order to hang down while using pendulous installation method in 1500m deep-water installation. During the procession, the mooring line will suffer the vessel’s pull, large equipment’s traction, fluid force leading to elongation, bending and other deformation, so need to analyze its motion. Aiming at the numerical simulation problem of underwater equipment installed by pendulous installation method in deep-water environment, this paper combines lumped mass method, three-dimensional potential theory and Morison equation to establish the analysis model of the whole installation system. Under the different horizontal dropping offsets of the equipment, this paper computes not only tension of mooring line, but motion performance of underwater equipment and working vessel during the pendulous lowering phase. The Pendulous Installation Method (PIM) puts a working vessel, a mooring line and a underwater equipment installed in succession, and there is a coupling interaction among them, so it is essential to do time-domain coupling analysis. So the Orcaflex Software is used to simulate the entire deep-water installation system. Using different horizontal dropping position as a variable, we can get the contrast about the different movement states of the mooring line and underwater equipment, and finally we will get the conclusion.

A multichannel methanoic acid (HCOOH, λ = 432.5 μm) laser interferometer/polarimeter is being developed from the previous eight-channel hydrogen cyanide (HCN, λ = 337 μm) laser interferometer in the HL-2A tokamak. A conventional Michelson-type interometer is used for the electron density measurement, and a Dodel-Kunz-type polarimeter is used for the Faraday rotation effect measurement, respectively. Each HCOOH laser can produce a linearly polarized radiation at a power lever of ~30 mW, and a power stability

A new multi-channel far infrared (FIR) laser interferometer was built up and applied to HL-2A. The unique feature of real-time heterodyne interferometer is the combination of high power radiation source (300 mW), lower noise room temperature detector (noise temperature below 6000 K) with good spatial resolution of 7 cm. Various parameters are optimized for maximum laser output power. Zero crossings of the signals are counted with field programmable gate array (FPGA) digital circuitry yielding the resolution of 1/1000 fringe. The newly measured results including density fluctuation are also presented.

Density fluctuations were first measured in the core region of HL-2A tokamak plasma using a newly developed multi-channel FIR interferometer system. In divertor ohmic discharges, we measured the radial density fluctuation levels of 5%, which increase to 10–20% during the appearance of MHD activity. Most of the power density in the density fluctuation spectrum is directly associated with m = 2 tearing modes. The fluctuation levels reduce to 1/3 and plasma confinement is improved during off-axis electron-cyclotron-resonance heating (ECRH).

During pellet injection and supersonic molecular beam injection, we have observed the increase of electron density and the enhancement of hard x-ray radiation, but the runaway electrons normally decrease without additional fuelling when the density of plasma increases. This phenomenon may come from the synergetic effects of Dreicer and avalanche runaway electrons. The experimental results are consistent with the calculation based on the theory of avalanche runaway in the HL-1M tokamak.

A preliminary experiment for triggering a plasma current quench by means of injection of high_Z impurities has been performed on the HL_1M before the major disruption.Using injection of impurity with higher charge of the nuclei allows u s to increase the radiation cooling on a 3?ms time scale and the electronic tem perature loss contract is 80% before current terminates.It can be a simple and p otential approach to decrease significantly the plasma thermal energy and the ma gnetic field energy before a disruption and to a safe plasma termination.