CN110844034B - Variant type high-speed transport ship capable of generating electricity by wave energy - Google Patents
Variant type high-speed transport ship capable of generating electricity by wave energy Download PDFInfo
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- CN110844034B CN110844034B CN201910995784.9A CN201910995784A CN110844034B CN 110844034 B CN110844034 B CN 110844034B CN 201910995784 A CN201910995784 A CN 201910995784A CN 110844034 B CN110844034 B CN 110844034B
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- 230000005611 electricity Effects 0.000 title description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 24
- 238000010248 power generation Methods 0.000 claims abstract description 14
- 239000000463 material Substances 0.000 claims abstract description 13
- 230000000087 stabilizing effect Effects 0.000 claims abstract description 12
- 238000007654 immersion Methods 0.000 claims abstract description 3
- 239000007789 gas Substances 0.000 claims description 15
- 238000006243 chemical reaction Methods 0.000 claims description 7
- 238000013016 damping Methods 0.000 claims description 6
- 239000004744 fabric Substances 0.000 claims description 6
- 239000001307 helium Substances 0.000 claims description 6
- 229910052734 helium Inorganic materials 0.000 claims description 6
- SWQJXJOGLNCZEY-UHFFFAOYSA-N helium atom Chemical compound [He] SWQJXJOGLNCZEY-UHFFFAOYSA-N 0.000 claims description 5
- 239000000725 suspension Substances 0.000 claims description 5
- 238000000034 method Methods 0.000 claims description 4
- 230000035939 shock Effects 0.000 claims description 4
- 239000004677 Nylon Substances 0.000 claims description 3
- 239000004952 Polyamide Substances 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 239000011261 inert gas Substances 0.000 claims description 3
- 230000001788 irregular Effects 0.000 claims description 3
- 229920001778 nylon Polymers 0.000 claims description 3
- 229920002647 polyamide Polymers 0.000 claims description 3
- 230000000630 rising effect Effects 0.000 claims description 3
- 238000010521 absorption reaction Methods 0.000 claims description 2
- 230000033228 biological regulation Effects 0.000 claims description 2
- 230000000116 mitigating effect Effects 0.000 claims description 2
- 238000011161 development Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 238000013461 design Methods 0.000 description 3
- 239000006096 absorbing agent Substances 0.000 description 2
- 108010066057 cabin-1 Proteins 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 241001391944 Commicarpus scandens Species 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 229920003229 poly(methyl methacrylate) Polymers 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H19/00—Marine propulsion not otherwise provided for
- B63H19/02—Marine propulsion not otherwise provided for by using energy derived from movement of ambient water, e.g. from rolling or pitching of vessels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03B—MACHINES OR ENGINES FOR LIQUIDS
- F03B13/00—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates
- F03B13/12—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy
- F03B13/14—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy using wave energy
- F03B13/24—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy using wave energy to produce a flow of air, e.g. to drive an air turbine
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/30—Energy from the sea, e.g. using wave energy or salinity gradient
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T70/00—Maritime or waterways transport
- Y02T70/50—Measures to reduce greenhouse gas emissions related to the propulsion system
- Y02T70/5218—Less carbon-intensive fuels, e.g. natural gas, biofuels
- Y02T70/5236—Renewable or hybrid-electric solutions
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
Abstract
The invention discloses a variant type high-speed transport ship for wave energy power generation. The wave self-adaptive buoyancy cabin comprises a transport ship body, a variant connecting device and wave self-adaptive buoyancy cabins, wherein the transport ship body is connected with the wave self-adaptive buoyancy cabins on two sides through the variant connecting device. The wave self-adaptive buoyancy cabin comprises a buoyancy cabin head part at the front end, a flow line flexible shell in the middle and a propelling cabin at the tail part, wherein the flow line flexible shell consists of an inner layer and an outer layer, the inner layer and the outer layer are made of flexible waterproof materials, and the flow line flexible shell can deform along with waves to reduce impact. The interior of the streamline flexible shell comprises a ballast water tank, a gas storage chamber and a wave energy power generation device, wherein the ballast water tank is drained in and out of water to control the immersion volume of the buoyancy tank; the wave energy power generation device comprises a turbine generator, a voltage stabilizing module, an air inlet and an air outlet. The invention can be applied to search and rescue and rapid transportation of important materials and personnel, ensures the safety of the personnel and meets the military requirements.
Description
Technical Field
The invention relates to the field of water transportation, in particular to a variant type high-speed transport ship which can be applied to search and rescue and fast transport of important materials and personnel, guarantees the safety of the personnel and meets military requirements.
Background
The high-speed ship has the characteristics of good rapidity, flexibility, wide application and the like, can quickly transport important materials and personnel, has attracted extensive attention in the military and civil fields in almost two-thirty years, and makes great progress in the research and development of ship types. China has a long and tortuous coastline, numerous islands and developed inland rivers. Therefore, a large number of high-speed ships are needed in protecting the country, in Hai Jiang, in maritime search and rescue, in the development of marine resources and the like.
In military use, the battlefield situation changes constantly, and the high maneuverability determines the victory or defeat in many times. The high-speed transport ship can rapidly transport important materials and personnel, and is one of necessary equipment for navy of all countries. For example, the JHSV2 'alert' number of a high-speed transport ship in the United states can reach 40 sections per hour. On the other hand, concealment is also the main trend in the development of current naval equipment.
In the civil aspect, a high-speed ship plays an important role in maritime search and rescue and ocean resource development, overwater rescue is the logistics guarantee that people feel relieved to go out and work at sea, and overwater rescue capacity is closely related to life and property safety of people. Most of existing maritime search and rescue ships can only search and rescue on the water surface, and in the actual process, if the ships overturn, such as a ship sinking event of the east star, trapped people can be located underwater, and the traditional ships cannot observe the conditions under the water surface. Therefore, a search and rescue ship capable of navigating at high speed and observing underwater conditions is needed.
Based on the above background and requirements, it is necessary to develop a variant type high-speed transport ship, which can conceal the hull under water and can sail on the water surface at high speed.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a novel variable high-speed transport ship capable of generating power by wave energy, which can rapidly transport important materials and personnel, can generate power by using the wave energy so as to better search and rescue personnel falling into water and can be used for military transportation.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the wave self-adaptive buoyancy cabin comprises a transport ship body, a variant connecting device and wave self-adaptive buoyancy cabins, wherein the transport ship body is connected with the wave self-adaptive buoyancy cabins on two sides through the variant connecting device.
The wave self-adaptive buoyancy cabin comprises a buoyancy cabin head part at the front end, a flow line flexible shell in the middle and a propelling cabin at the tail part, wherein the flow line flexible shell consists of an inner layer and an outer layer, the inner layer and the outer layer are made of flexible waterproof materials, and the flow line flexible shell can deform along with waves to reduce impact. The interior of the streamline flexible shell comprises a ballast water tank, a gas storage chamber and a wave energy power generation device, wherein the ballast water tank is drained in and out of water to control the immersion volume of the buoyancy tank; the wave energy power generation device comprises a turbine generator, a voltage stabilizing module, an air inlet and an air outlet, wherein the air inlet and the air outlet are arranged on the air storage chamber; the deformation of the air storage chamber introduces airflow to flow, so that a turbine generator arranged between the air inlet and the air outlet is driven to work; converting the kinetic energy of the gas flow into electric energy; the voltage stabilizing module is used for performing voltage stabilizing regulation on the electric energy output by the turbine generator and then inputting the electric energy into the storage battery.
The variant connecting device comprises a damping support, a supporting plate and a rotating body motor. The shock absorption support is connected with the wave self-adaptive buoyancy cabin and used for mitigating displacement in the vertical direction during running, so that the stability is improved; the supporting plate is connected with the damping bracket and the rotating body motor and plays a supporting role; the swivel motor can drive the supporting plate to rotate, so that floating and submerging of the transport ship body are completed.
The transport ship body comprises a passenger carrying cabin at the front end and a transport cabin at the rear end, wherein a control end is arranged in the passenger carrying cabin, the control end comprises a motor driving module and a mode conversion module, the motor driving module controls motors in the propulsion cabins at two sides to rotate so as to control the ship body to advance, retreat and turn, and the mode conversion module controls the transport ship body to float upwards and submerge downwards through a swivel motor; the transport cabin comprises a box body, a suspension buckle and a fixing device. The box body is sealed, and materials to be transported are placed in the box body; the hanging buckle is arranged on the box body and can be connected with a shore gantry crane, so that the hanging buckle can be conveniently and quickly transferred and placed; the fixing device is connected with the ship body, so that the box body is prevented from moving in the running process.
Furthermore, the inner layer and the outer layer of the streamline flexible shell are made of closed high-strength nylon rubber cloth, and the filling gas is inert gas helium with low density, so that more buoyancy can be provided under the condition of ensuring safety.
Furthermore, the storage battery is connected with a water pump of the ballast water tank, a rotator motor and a control end in the variant connecting device, and is connected with the turbine generator through a voltage stabilizing module.
Furthermore, the voltage stabilizing module adopts a reliable and stable integrated adjustable voltage rising/dropping chip, and can automatically stabilize the input irregular voltage to the input voltage required by the storage battery.
Furthermore, the air storage chamber adopts polyamide fabric which is low in initial modulus, good in elasticity, not easy to break and resistant to impact.
The invention has the beneficial effects that:
1. from for military use, this variant formula high speed transport ship can the rapid transport important goods and materials and personnel to can hide the investigation in the aquatic, have powerful adaptability, can satisfy the demand of the quick hidden transportation.
2. From the perspective of search and rescue, the variant type high-speed transport ship can quickly reach an accident area and can submerge into the water to observe the underwater partial condition of the accident ship so as to meet various search and rescue requirements.
3. From the perspective of tourism development, the variant type high-speed transport ship is low in cost, simple in structure and convenient to maintain, can be used for high-speed sailing on the water surface and underwater sightseeing, can promote the development of coastal tourism industry, and brings great economic benefits for coastal cities.
Drawings
Fig. 1a, 1b and 1c are three views of the present invention.
Fig. 2 is a modular design of the present invention.
Fig. 3 is a cross-sectional view of the wave adaptive buoyancy module of the present invention.
Fig. 4 is a block diagram of a turbine generator according to the present invention.
Fig. 5a and 5b are the floating and submerging effect diagrams of the invention.
Fig. 6 is a circuit diagram of a motor drive module of the present invention.
Fig. 7 is a circuit diagram of a mode conversion module of the present invention.
Fig. 8 is a schematic diagram of a regulator chip circuit employed in the present invention.
In the figure, 1-wave self-adaptive buoyancy chamber, 2-variant connecting device, 3-passenger cabin, 4-front view glass, 5-rotator motor, 6-supporting plate, 7-transport chamber, 8-box body, 9-suspension buckle, 10-fixing device, 11-damping bracket, 12-propeller, 13-buoyancy chamber head, 14-streamline flexible shell, 15-propulsion chamber, 16-motor, 17-storage battery, 18-turbine generator, 19-air inlet/outlet, 20-air storage chamber, 21-helium, 22-ballast water chamber, 23-air inlet/outlet and 24-turbine generator.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1a, 1b, 1c and 2, the novel liftable semi-submersible type yacht comprises a wave self-adaptive buoyancy cabin 1, a variant connecting device 2, a passenger cabin 3 and a transport cabin 7. The floating body can deform along with the waves, so that the wave impact is reduced, and the deformation can be converted into electric energy through the wave energy power generation device. It is also characterized in that: the floating and submerging two forms can be realized through the variant connecting device, and the modular design is adopted, so that the transfer and the maintenance are convenient.
As shown in fig. 3 and 4, the wave self-adaptive buoyancy chamber 1 comprises a streamline housing 14, a ballast water chamber 22, a propeller 6, a motor 16, a propeller 12 and a storage battery 17, wherein a streamline flexible housing 13 comprises an inner layer and an outer layer, the inner layer and the outer layer are both made of flexible waterproof materials, helium 21 is filled in the middle of the streamline flexible housing, the streamline flexible housing 13 can deform along with waves to reduce impact, further, the inner layer and the outer layer of the streamline flexible housing adopt closed high-strength nylon rubber cloth, and filling gas adopts inert gas helium with low density, so that more buoyancy can be provided under the condition of ensuring safety.
The ballast tanks 22 are drained and drained to control the volume of the buoyancy tank flooded to accommodate for trim and trim due to uneven weight distribution in the yacht and to ensure that the propeller 12 remains below the water surface. The propellers 12 and the motor 16 are used for propelling the yacht to move forwards, move backwards and steer, when the yacht moves forwards, the two propellers are pushed forwards at the same rotating speed, when the yacht moves backwards, the two propellers are pushed backwards at the same rotating speed, when the yacht steers, the left propeller and the right propeller are not at the same speed, and the yacht steers by using differential speed, so that the yacht is faster and more flexible than a single propeller ship.
The variant connection device 2 is used for adjusting the positions (floating out, diving in) of the passenger cabin 3 and the transport cabin 7, and the storage battery 17 is used for supplying power to the rotator motor 5, the motor 16, a control end in the passenger cabin and the like.
The transport cabin 7 comprises a box body 8, a suspension clasp 9 and a fixing device 10, wherein the box body 8 is watertight, materials to be transported are placed inside the box body, the suspension clasp 9 can be connected with a shore gantry crane, the transfer and the placement are convenient and quick, and the fixing device 10 is connected with a ship body to ensure that the box body does not move in the driving engineering.
The wave energy power generation mechanism is as follows: when the streamline flexible housing 13 is deformed, the helium gas 21 enters and exits the gas storage chamber 20 through the gas inlet/outlet port 23, so that the turbine generator 24 is driven to generate electricity by the gas flow. The turbo generator 24 stabilizes the voltage at the charging voltage of the battery 17 by the voltage stabilization module of fig. 8 to charge the battery 17. The device is essentially used for converting the deformation into gas kinetic energy, and further converting the gas kinetic energy into electric energy. The voltage stabilizing module adopts a reliable and stable special integrated adjustable voltage rising/dropping chip and can automatically stabilize the input irregular voltage to the input voltage required by the storage battery. The gas storage chamber is made of polyamide fabric which is low in initial modulus, good in elasticity, not prone to fracture and resistant to impact.
The variant connecting device 2 comprises a shock-absorbing bracket 11, a support plate 6 and a swivel motor 5. Shock absorber support 11 links to each other with wave self-adaptation buoyancy cabin 1, and in the process of traveling, shock absorber support 11 can effectively alleviate the ascending displacement of vertical direction, improves stability. The supporting plate 6 is connected with the damping bracket 11 and the rotating body motor 5 and plays a supporting role. The swivel motor 5 can drive the support plate 6 to rotate, thereby completing the floating and submerging of the swivel boat, as shown in fig. 5a and 5 b.
The control end is arranged in the passenger cabin 3, the main function of the control end is to control the operations of advancing, retreating, steering, changing and the like of the ship, the control end mainly comprises a motor driving module and a mode conversion module, and the front glass 4 in the front of the passenger cabin 3 is made of polymethyl methacrylate. The motor driving module controls the motors in the two wave self-adaptive buoyancy chambers 1 to rotate, so that the ship is controlled to advance, retreat and turn. The mode switching module controls the swivel motor 5 in the variant connection device 2, thereby controlling the floating and submerging of the hull.
The motor driving module is shown in a circuit diagram in fig. 6, and the mode conversion module is shown in fig. 7. The two module circuits are controlled by the main control module, the main control module adopts STM32F4 series products based on Cortex-M4 kernel, the abundant in-chip peripherals and interfaces can meet the design requirements of ship navigation and variant, the development efficiency is high, and the program downloading and debugging are more convenient.
Claims (5)
1. The utility model provides a wave energy power generation's variant formula high-speed transport ship, it includes transport ship body, variant connecting device and wave self-adaptation buoyancy cabin, and the transport ship body passes through the variant connecting device to be connected its characterized in that with the wave self-adaptation buoyancy cabin of both sides:
the wave self-adaptive buoyancy cabin comprises a buoyancy cabin head part at the front end, a streamline flexible shell in the middle and a propulsion cabin at the tail part, wherein the streamline flexible shell consists of an inner layer and an outer layer, the inner layer and the outer layer are both made of flexible waterproof materials, and the streamline flexible shell can deform along with waves to reduce impact; the interior of the streamline flexible shell comprises a ballast water tank, a gas storage chamber and a wave energy power generation device, wherein the ballast water tank is drained in and out of water to control the immersion volume of the buoyancy tank; the wave energy power generation device comprises a turbine generator, a voltage stabilizing module, an air inlet and an air outlet, wherein the air inlet and the air outlet are arranged on the air storage chamber; the deformation of the air storage chamber introduces airflow to flow, so that a turbine generator arranged between the air inlet and the air outlet is driven to work; converting the kinetic energy of the gas flow into electric energy; the voltage stabilizing module is used for performing voltage stabilizing regulation on the electric energy output by the turbine generator and then inputting the electric energy into the storage battery;
the variant connecting device comprises a damping bracket, a supporting plate and a rotating body motor; the shock absorption support is connected with the wave self-adaptive buoyancy cabin and used for mitigating displacement in the vertical direction during running, so that the stability is improved; the supporting plate is connected with the damping bracket and the rotating body motor and plays a supporting role; the swivel motor can drive the supporting plate to rotate, so that the transportation ship body can float up and submerge;
the transport ship body comprises a passenger carrying cabin at the front end and a transport cabin at the rear end, wherein a control end is arranged in the passenger carrying cabin, the control end comprises a motor driving module and a mode conversion module, the motor driving module controls motors in the propulsion cabins at two sides to rotate so as to control the ship body to advance, retreat and turn, and the mode conversion module controls the transport ship body to float upwards and submerge downwards through a swivel motor; the transport cabin comprises a box body, a suspension buckle and a fixing device; the box body is sealed, and materials to be transported are placed in the box body; the hanging buckle is arranged on the box body and can be connected with a shore gantry crane, so that the hanging buckle can be conveniently and quickly transferred and placed; the fixing device is connected with the ship body, so that the box body is prevented from moving in the running process.
2. The variable high-speed transport ship for wave power generation according to claim 1, wherein: two-layer outside in the flexible shell of streamline adopts confined high strength nylon rubber cloth, and the inert gas helium that the gas filled adopts density to hang down can provide more buoyancy under the circumstances of guaranteeing safety.
3. The variable high-speed transport ship for wave power generation according to claim 1, wherein: the storage battery is connected with a water pump of the ballast water tank, a rotating body motor and a control end in the variant connecting device, and is connected with the turbine generator through a voltage stabilizing module.
4. The variable high-speed transport ship for wave power generation according to claim 1, wherein: the voltage stabilizing module adopts a reliable and stable integrated adjustable voltage rising/dropping chip and can automatically stabilize the input irregular voltage to the input voltage required by the storage battery.
5. The variable high-speed transport ship for wave power generation according to claim 1, wherein: the gas storage chamber is made of polyamide fabric which is low in initial modulus, good in elasticity, not prone to fracture and resistant to impact.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910995784.9A CN110844034B (en) | 2019-10-18 | 2019-10-18 | Variant type high-speed transport ship capable of generating electricity by wave energy |
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| CN201910995784.9A CN110844034B (en) | 2019-10-18 | 2019-10-18 | Variant type high-speed transport ship capable of generating electricity by wave energy |
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| CN112093009A (en) * | 2020-10-20 | 2020-12-18 | 天津天大滨海船舶与海洋工程研究院有限公司 | Multifunctional offshore module workboat and use method thereof |
| CN112814806B (en) * | 2020-12-28 | 2022-11-11 | 航天推进技术研究院 | Control method of waste heat combined power generation system of main diesel engine of ship |
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2019
- 2019-10-18 CN CN201910995784.9A patent/CN110844034B/en active Active
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|---|---|---|---|---|
| US6273015B1 (en) * | 1998-02-26 | 2001-08-14 | Maruta Electric Boatworks Llc | Stabilized electric watercraft for high speed cruising, diving and sailing |
| CN102162432A (en) * | 2011-03-14 | 2011-08-24 | 潘国平 | Marine floating-type power station capable of utilizing wind energy, ocean current energy and wave energy |
| CN104369835A (en) * | 2013-08-16 | 2015-02-25 | 中集海洋工程研究院有限公司 | Double-draft three-body scientific research ship |
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