A kind of four degree-of-freedom （DOF） electrohydraulic lift system is studied in this pa- per, after analyzing the motion characteristics and the mathematic model of the hydraulic cylinders, a cross-coupled synchro...A kind of four degree-of-freedom （DOF） electrohydraulic lift system is studied in this pa- per, after analyzing the motion characteristics and the mathematic model of the hydraulic cylinders, a cross-coupled synchronization method with load force and synchronization error feedback had been proposed to solve the synchronization problem encountered when realizing the needed roll and pitch attitude of the lift system. In this paper, mathematic model of asymmetric hydraulic cylinder was es- tablished and the lift system had been simplified to a dual-cylinder system. By incorporating the load force and the displacement of each cylinder, a cross-coupled synchronized control method was pro- posed to fit each cylinder＇ s tracking performance and multi-cylinder＇ s trajectory synchronization property. The proposed method not only solved the synchronization problem when multi-cylinder had a same trajectory, but also could fit the coordinated synchronization need when different trajectories of multi-cylinder were desired. Simulations and experiments on a four DOF electrohydraulic lift sys- tem with load of 100 tons verified the effectiveness of the proposed method.展开更多
In the mid-to-late stages of gas reservoir development,liquid loading in gas wells becomes a common challenge.Plunger lift,as an intermittent production technique,is widely used for deliquification in gas wells.With t...In the mid-to-late stages of gas reservoir development,liquid loading in gas wells becomes a common challenge.Plunger lift,as an intermittent production technique,is widely used for deliquification in gas wells.With the advancement of big data and artificial intelligence,the future of oil and gas field development is trending towards intelligent,unmanned,and automated operations.Currently,the optimization of plunger lift working systems is primarily based on expert experience and manual control,focusing mainly on the success of the plunger lift without adequately considering the impact of different working systems on gas production.Additionally,liquid loading in gas wells is a dynamic process,and the intermittent nature of plunger lift requires accurate modeling;using constant inflow dynamics to describe reservoir flow introduces significant errors.To address these challenges,this study establishes a coupled wellbore-reservoir model for plunger lift wells and validates the computational wellhead pressure results against field measurements.Building on this model,a novel optimization control algorithm based on the deep deterministic policy gradient(DDPG)framework is proposed.The algorithm aims to optimize plunger lift working systems to balance overall reservoir pressure,stabilize gas-water ratios,and maximize gas production.Through simulation experiments in three different production optimization scenarios,the effectiveness of reinforcement learning algorithms(including RL,PPO,DQN,and the proposed DDPG)and traditional optimization algorithms(including GA,PSO,and Bayesian optimization)in enhancing production efficiency is compared.The results demonstrate that the coupled model provides highly accurate calculations and can precisely describe the transient production of wellbore and gas reservoir systems.The proposed DDPG algorithm achieves the highest reward value during training with minimal error,leading to a potential increase in cumulative gas production by up to 5%and cumulative liquid production by 252%.The DDPG algorithm exhibits robustness across different optimization scenarios,showcasing excellent adaptability and generalization capabilities.展开更多
An S-lay crane barge,named CNOOC 201,has been built for pipe laying in deepwater oil/gas fields in the South China Sea.It is due to be commissioned by the end of the year 2010.A special lifting system is developed to ...An S-lay crane barge,named CNOOC 201,has been built for pipe laying in deepwater oil/gas fields in the South China Sea.It is due to be commissioned by the end of the year 2010.A special lifting system is developed to meet the challenge that installing deepwater risers from an S-lay barge is difficult and has not been achieved.The purpose of this paper was to investigate the model test on such an innovative system,which has to be done before field application.By applying the similarity theory,the movement of the S-lay barge is simulated through a six degrees-of-freedom motion platform,and a truncated model riser is utilized for the model testing.The displacement and force boundary conditions at the truncated position of the riser are obtained from the catenary governing equation and become realized by a slideway cart and a loading system designed to control the configuration of the model riser,which presents a similar configuration to a real riser in deepwater.The test results are in very good agreement with theoretical calculations,showing that the active truncated test is applicable for controlling the configuration of the deepwater riser in model testing investigation.展开更多
The purpose of this systematic review was to identify the effects of weight-lifting or resistance exercise on breast cancer-related lymphedema.Published articles written in English were retrieved from electronic datab...The purpose of this systematic review was to identify the effects of weight-lifting or resistance exercise on breast cancer-related lymphedema.Published articles written in English were retrieved from electronic databases,including ScienceDirect,PubMed,Scopus,and CINAHL databases.Hand-searches for unpublished papers were also completed.Content analysis was used to examine articles that met the inclusion criteria.Among 525 searched papers,15 papers met the inclusion criteria:13 trials evaluated weight-lifting or resistance exercise alone and two trials evaluated weight-lifting or resistance exercise plus aerobic exercise.The results of the review showed that no arm volume change was observed for either exercise modality.In addition,six included studies showed that weight-lifting or resistance exercise did not cause lymphedema or adverse events in patients at risk of breast cancer-related lymphedema.For patients with breast cancer-related lymphedema,six studies reported that change of swelling outcome measures were not significantly different between the weight-lifting or resistance exercise group and the control group.However,three included studies reported that volume of arm was significantly more reduced in the weight-lifting or resistance exercise group than those in the control group.The findings suggest that supervised resistance exercise may be safe,feasible,and beneficial in patients with breast cancer-related lymphedema or at risk for breast cancer-related lymphedema.However,the limitation of small sample size implies that further research is needed to confirm these findings.展开更多
The initial motivation of the lifting technique is to solve the H∞control problems.However,the conventional weighted H∞design does not meet the conditions required by lifting,so the result often leads to a misjudgem...The initial motivation of the lifting technique is to solve the H∞control problems.However,the conventional weighted H∞design does not meet the conditions required by lifting,so the result often leads to a misjudgement of the design.Two conditions required by using the lifting technique are presented based on the basic formulae of the lifting.It is pointed out that only the H∞disturbance attenuation problem with no weighting functions can meet these conditions,hence,the application of the lifting technique is quite limited.展开更多
A flexible connector of lifting pipes in a deep sea mining system is designed. The buttress thread （ based on API standard） is used and foreign experience in connector design is referred to. With this kind of connec...A flexible connector of lifting pipes in a deep sea mining system is designed. The buttress thread （ based on API standard） is used and foreign experience in connector design is referred to. With this kind of connector, the lifting pipe wiU only bear the axial force, free of moment. The strength of the connector is analyzed in detail, including the connecting strength of the buttress thread, the dynamic load of the pipe system, pressures inside and outside of the pipe, the lateral stress of the pipe wall and so on. Especially, a geometric model is built for 3-D contact stress analysis. The distribution graph of contact stress is presented. It is indicated that the strength of the spherical connector meets the demand.展开更多
This paper addresses an iterative learning control(ILC) design problem for discrete-time linear systems with randomly varying trial lengths. Due to the variation of the trial lengths, a stochastic matrix and an iterat...This paper addresses an iterative learning control(ILC) design problem for discrete-time linear systems with randomly varying trial lengths. Due to the variation of the trial lengths, a stochastic matrix and an iteration-average operator are introduced to present a unified expression of ILC scheme. By using the framework of lifted system, the learning convergence condition of ILC in mathematical expectation is derived without using λ-norm. It is shown that the requirement on classic ILC that all trial lengths must be identical is mitigated and the identical initialization condition can be also removed. In the end, two illustrative examples are presented to demonstrate the performance and the effectiveness of the proposed ILC scheme for both time-invariant and time-varying linear systems.展开更多
Sail is the core part of autonomous sailboat and wing sail is a new type of sail. Wing sail generates not only propulsion but also lateral force and heeling moment. The latter two will affect the navigation status and...Sail is the core part of autonomous sailboat and wing sail is a new type of sail. Wing sail generates not only propulsion but also lateral force and heeling moment. The latter two will affect the navigation status and bring resistance. Double sail can effectively reduce the center of wind pressure and heeling moment. In order to study the effect of distance between two sails, airfoil and attack angle on the total lift coefficient of double sail propulsion system, pressure coefficient distribution and lift coefficient calculation model have been established based on vortex panel method. By using the basic finite solution, the fluid dynamic forces on the two-dimensional sails are computed.The results show that, the distance in the range of 0 to 1 time chord length, when using the same airfoil in the fore and aft sail, the total lift coefficient of the double sail increases with the increase of distance, finally reaches a stable value in the range of one to three times chord length. Lift coefficients of thicker airfoils are more sensitive to the change of distance. The thicker the airfoil, the longer distance is required of the total lift coefficient toward stable.When different airfoils are adopted in fore and aft sail, the total lift coefficient increases with the increase of the thickness of aft sail. The smaller the thickness difference is, the more sensitive to the distance change the lift coefficient is. The thinner the fore sail is, the lower the influence will be on the lift coefficient of aft sail.展开更多
Currently,in the oil industry,artificial lift optimization(ALO)systems are dealing with different applications including well monitor and control,reservoir management,production optimization,predictive maintenance,art...Currently,in the oil industry,artificial lift optimization(ALO)systems are dealing with different applications including well monitor and control,reservoir management,production optimization,predictive maintenance,artificial lift,and flow assurance,multiphase pumping systems,etc.The scope of this article is to provide a detailed analysis of ALO and predictive pump maintenance applications using machine learning(ML)and artificial intelligence(AI).The oil and gas industry has experienced a lot of improvements that have impacted the businesses and economies associated with the market in recent times.Issues such as unplanned shutdown time and failure of equipment cause a huge impact on many corporations especially with the current fluctuations in hydrocarbon prices.Similarly,advanced modern technologies such as real-time analysis and predictive maintenance are designed to drive ALO systems.This paper covers several applications and techniques in which ML and AI have been applied to optimize hydrocarbon withdrawal from potentially depleted reservoirs that require some external supports to uplift the reservoir fluid from sub surface to surface using artificial lift system.In a nutshell,the applications of AI and ML for the artificial lift selection,their predictive maintenance,equipment malfunctioning detection,etc.using a self-trained system are the main topics of this paper.While reviewing each of these techniques,the workflow is also explained along with the effectiveness of utilizing each application to the current operations.展开更多
The experiment system of 1000 m deep sea mining system is built up with the similarity theory. Sine mechanism is used to simulate mining ship to generate lateral shock excitation by ocean wave. Simulation and experime...The experiment system of 1000 m deep sea mining system is built up with the similarity theory. Sine mechanism is used to simulate mining ship to generate lateral shock excitation by ocean wave. Simulation and experiment of spherical joint connecting deep sea mining system has been done in band six marine conditions. The results indicate that the moment of spherical joint connecting deep sea mining is smaller than that of the thread connected ones, the lifting pipe of sphelical joint is ＂flexible pipe＂. The flexural torque of the articulated lifting pipe system in pump and buffer is generally periodic variation with some irregularity, the value is stable on 60 N·S, and it is obviously smaller than that of the fixed lifting pipe system; The total displacement exhibits cyclic variation pattern, and the periodicity of them is longer than that of sea current. The results of experiment and simulation are basically consistent. And the analysis in the paper offers theoretical foundation of 1000 m deep sea mining system in China.展开更多
The underwater installation of marine equipment in deep-water development requires safe lifting and accurate positioning. The heave compensation system is an important technology to ensure normal operation and improve...The underwater installation of marine equipment in deep-water development requires safe lifting and accurate positioning. The heave compensation system is an important technology to ensure normal operation and improve work accuracy. To provide a theoretical basis for the heave compensation system, in this paper, the continuous modeling method is employed to build up a coupled model of deep-water lifting systems in vertical direction. The response characteristics of dynamic movement are investigated. The simulation results show that the resonance problem appears in the process of the whole releasing load, the lifting system generates resonance and the displacement response of the lifting load is maximal when the sinking depth is about 2000 m. This paper also analyzes the main influencing factors on the dynamic response of load including cable stiffness, damping coefficient of the lifting system, mass and added mass of lifting load, among which cable stiffness and damping coefficient of the lifting system have the greatest influence on dynamic response of lifting load when installation load is determined. So the vertical dynamic movement response of the load is reduced by installing a damper on the lifting cable and selecting the appropriate cable stiffness.展开更多
In order to achieve a wheelchair lift function, this paper designs a tri-scissors mechanism. Through the so-called H-type transmission and L-type swing rod, the three scissors mechanisms lift in the same rate with onl...In order to achieve a wheelchair lift function, this paper designs a tri-scissors mechanism. Through the so-called H-type transmission and L-type swing rod, the three scissors mechanisms lift in the same rate with only one liner motor while ensuring the stability of the lift. Finite element analysis in ANSYS is performed to verify the material strength. The control system with Sunplus SCM achieves the voice control of wheelchair walking and lifting.展开更多
With the increase of bridge reconstruction schemes, synchronous lifting of a bridge is more and more widely used. In order to solve the problems associated with the synchronoas lifting of a bridge, a multi-cylinder sy...With the increase of bridge reconstruction schemes, synchronous lifting of a bridge is more and more widely used. In order to solve the problems associated with the synchronoas lifting of a bridge, a multi-cylinder synchronous lifting power and monitoring system has been developed. This is a distributed control system, which is com- posed of an industrial computer workstation, a programmable logical controller and a hydraulic control system. The system can achieve distributed control and centralized operation of actuators, and centralized management of infor- mation. It not only can implement multi-cylinder synchronous lifting with an unbalanced load, but also can moni- tor the pressure, displacement and stress at each lifting point. The performance of the multi-cylinder synchronous system is verified through its application to several bridge lifting engineering projects. The details of such a project are given.展开更多
In lifting sub-system of deep-sea mining system, spherical joint is used to connect lifting pipes to replace fixed joint. Based on Dynamics of Flexible Multi-body systems, the mechanics model of articulated lifting sy...In lifting sub-system of deep-sea mining system, spherical joint is used to connect lifting pipes to replace fixed joint. Based on Dynamics of Flexible Multi-body systems, the mechanics model of articulated lifting system is established. Under the four-grade and six-grade oceanic condition, dynamic responses of lifting system are simulated and experiment verified. The simulation results are consistent with experimental ones. The maximum moment of flexion is 322 kN-m on the first pipe under six-grade sea condition. It is seen that the articulated connection can reduce the moment of flexion. The bending deformation of pipe center is researched, and the maximum is 0. 000479 m on the first pipe. Deformation has a little effect on the motion of system. It is feasible to analyze articulated lifting system by applying the theory of flexible multi-body dynamics. The articulated lifting system is obviously better than the fixed one.展开更多
The kinetic model of the four-post-frame lifting mechanical system was established. The stiffness and damping matrices of differential equations of motion were obtained by using Lagrange’s equations. And the dynamic ...The kinetic model of the four-post-frame lifting mechanical system was established. The stiffness and damping matrices of differential equations of motion were obtained by using Lagrange’s equations. And the dynamic characteristics of system were analyzed by modal analysis method. Based upon this, the modifications of structural parameters which can improve dynamic performance were discussed. The low-level high-speed palletizer MDJ1200L was taken as a real case in the paper.展开更多
In this paper an expert system for remote fault diagnosis in the ship lift was developed by analysis of the fault tree and combination with VPN. The fault tree was constructed based on the operation condition of the s...In this paper an expert system for remote fault diagnosis in the ship lift was developed by analysis of the fault tree and combination with VPN. The fault tree was constructed based on the operation condition of the ship lift. The diagnosis model was constructed by hierarchical classification of the fault tree structure, and the inference mechanism was given. Logical structure of the fault diagnosis in the ship lift was proposed. The implementation of the expert system for remote fault diagnosis in the ship lift was discussed, and the expert system developed was realized on the VPN virtual network. The system was applied to the Gaobaozhou ship lift project, and it ran successfully.展开更多
Deficiencies of the performance-based iterative learning control （ILC） for the non-regular systems are investigated in detail, then a faster control input updating and lifting technique is introduced in the design o...Deficiencies of the performance-based iterative learning control （ILC） for the non-regular systems are investigated in detail, then a faster control input updating and lifting technique is introduced in the design of performance index based ILCs for the partial non-regular systems. Two ldnds of optimal ILCs based on different performance indices are considered. Finally, simulation examples are given to illustrate the feasibility of the proposed learning controls.展开更多
Well productivity in the Asmari carbonate formation of southwest Iran has decreased in recent years as a result of production issues.The production rate must be maintained below 1500 STB/day to prevent water coning.In...Well productivity in the Asmari carbonate formation of southwest Iran has decreased in recent years as a result of production issues.The production rate must be maintained below 1500 STB/day to prevent water coning.In this study,a gas lift well is modeled using data from one of the producing wells of this field.Nodal analysis is performed using lift-gas injection rates and wellhead pressures at different reservoir pressures and water cut conditions to optimize production.Economic aspects are considered to optimize the artificial gas injection rates at different tubing head pressures and water cut conditions.Increasing the lift-gas injection rate from 0.4 MMscf/day to 1 MMscf/day enhances the oil production rate by 37.71%and 43.89%for 10%and 30%water cut conditions,respectively.Gas injection rates of 5.2 MMscf/day and 5.4 MMscf/day are determined to be economically optimal for 30%water cut with tubing head pressures of 260 psig and 270 psig,respectively.展开更多
A key challenge is using bionic mechanisms to enhance aerodynamic performance of hover-capable flapping wing micro air vehicle(FWMAV).This paper presented a new lift system with high lift and aerodynamic efficiency,wh...A key challenge is using bionic mechanisms to enhance aerodynamic performance of hover-capable flapping wing micro air vehicle(FWMAV).This paper presented a new lift system with high lift and aerodynamic efficiency,which use a hummingbird as a bionic object.This new lift system is able to effectively utilize the high lift mechanism of hummingbirds,and this study innovatively utilizes elastic energy storage elements and installs them at the wing root to help improve aerodynamic performance.A flapping angle of 154°is achieved through the optimization of the flapping mechanism parameters.An optimized wing shape and parameters are obtained through experimental studies on the wings.Consequently,the max net lift generated is 17.6%of the flapping wing vehicle’s weight.Moreover,energy is stored and released periodically during the flapping cycle,by imitating the musculoskeletal system at the wing roots of hummingbirds,thereby improving the energy utilization rate of the FWMAV and reducing power consumption by 4.5%under the same lift.Moreover,strength verification and modal analyses are conducted on the flapping mechanism,and the weight of the flapping mechanism is reduced through the analysis and testing of different materials.The results show that the lift system can generate a stable lift of 31.98 g with a wingspan of 175 mm,while the lift system weighs only 10.5 g,providing aerodynamic conditions suitable for high maneuverability flight of FWMAVs.展开更多
This paper uses the commutant lifting theorem for representations of the nest algebra to deal with the optimal control of infinite dimensional linear time- varying systems. We solve the model matching problem and a ce...This paper uses the commutant lifting theorem for representations of the nest algebra to deal with the optimal control of infinite dimensional linear time- varying systems. We solve the model matching problem and a certain optimal feedback control problem, each of which corresponds with one type of four-block problem. We also obtain a new formula for the optimal performance and prove the existence of an optimal controller.展开更多
文摘A kind of four degree-of-freedom （DOF） electrohydraulic lift system is studied in this pa- per, after analyzing the motion characteristics and the mathematic model of the hydraulic cylinders, a cross-coupled synchronization method with load force and synchronization error feedback had been proposed to solve the synchronization problem encountered when realizing the needed roll and pitch attitude of the lift system. In this paper, mathematic model of asymmetric hydraulic cylinder was es- tablished and the lift system had been simplified to a dual-cylinder system. By incorporating the load force and the displacement of each cylinder, a cross-coupled synchronized control method was pro- posed to fit each cylinder＇ s tracking performance and multi-cylinder＇ s trajectory synchronization property. The proposed method not only solved the synchronization problem when multi-cylinder had a same trajectory, but also could fit the coordinated synchronization need when different trajectories of multi-cylinder were desired. Simulations and experiments on a four DOF electrohydraulic lift sys- tem with load of 100 tons verified the effectiveness of the proposed method.
基金support from Science Foundation of China University of Petroleum,Beijing(No.2462023YJRC019)National Natural Science Foundation of China(No.52204059)Key Core Technology Research Project Foundation of PetroChina Group(No.2023ZG18).
文摘In the mid-to-late stages of gas reservoir development,liquid loading in gas wells becomes a common challenge.Plunger lift,as an intermittent production technique,is widely used for deliquification in gas wells.With the advancement of big data and artificial intelligence,the future of oil and gas field development is trending towards intelligent,unmanned,and automated operations.Currently,the optimization of plunger lift working systems is primarily based on expert experience and manual control,focusing mainly on the success of the plunger lift without adequately considering the impact of different working systems on gas production.Additionally,liquid loading in gas wells is a dynamic process,and the intermittent nature of plunger lift requires accurate modeling;using constant inflow dynamics to describe reservoir flow introduces significant errors.To address these challenges,this study establishes a coupled wellbore-reservoir model for plunger lift wells and validates the computational wellhead pressure results against field measurements.Building on this model,a novel optimization control algorithm based on the deep deterministic policy gradient(DDPG)framework is proposed.The algorithm aims to optimize plunger lift working systems to balance overall reservoir pressure,stabilize gas-water ratios,and maximize gas production.Through simulation experiments in three different production optimization scenarios,the effectiveness of reinforcement learning algorithms(including RL,PPO,DQN,and the proposed DDPG)and traditional optimization algorithms(including GA,PSO,and Bayesian optimization)in enhancing production efficiency is compared.The results demonstrate that the coupled model provides highly accurate calculations and can precisely describe the transient production of wellbore and gas reservoir systems.The proposed DDPG algorithm achieves the highest reward value during training with minimal error,leading to a potential increase in cumulative gas production by up to 5%and cumulative liquid production by 252%.The DDPG algorithm exhibits robustness across different optimization scenarios,showcasing excellent adaptability and generalization capabilities.
基金support from the National Natural Science Foundation of China (granted number 50979113)the National 863 Program of China (granted number 2006AA09A105)
文摘An S-lay crane barge,named CNOOC 201,has been built for pipe laying in deepwater oil/gas fields in the South China Sea.It is due to be commissioned by the end of the year 2010.A special lifting system is developed to meet the challenge that installing deepwater risers from an S-lay barge is difficult and has not been achieved.The purpose of this paper was to investigate the model test on such an innovative system,which has to be done before field application.By applying the similarity theory,the movement of the S-lay barge is simulated through a six degrees-of-freedom motion platform,and a truncated model riser is utilized for the model testing.The displacement and force boundary conditions at the truncated position of the riser are obtained from the catenary governing equation and become realized by a slideway cart and a loading system designed to control the configuration of the model riser,which presents a similar configuration to a real riser in deepwater.The test results are in very good agreement with theoretical calculations,showing that the active truncated test is applicable for controlling the configuration of the deepwater riser in model testing investigation.
文摘The purpose of this systematic review was to identify the effects of weight-lifting or resistance exercise on breast cancer-related lymphedema.Published articles written in English were retrieved from electronic databases,including ScienceDirect,PubMed,Scopus,and CINAHL databases.Hand-searches for unpublished papers were also completed.Content analysis was used to examine articles that met the inclusion criteria.Among 525 searched papers,15 papers met the inclusion criteria:13 trials evaluated weight-lifting or resistance exercise alone and two trials evaluated weight-lifting or resistance exercise plus aerobic exercise.The results of the review showed that no arm volume change was observed for either exercise modality.In addition,six included studies showed that weight-lifting or resistance exercise did not cause lymphedema or adverse events in patients at risk of breast cancer-related lymphedema.For patients with breast cancer-related lymphedema,six studies reported that change of swelling outcome measures were not significantly different between the weight-lifting or resistance exercise group and the control group.However,three included studies reported that volume of arm was significantly more reduced in the weight-lifting or resistance exercise group than those in the control group.The findings suggest that supervised resistance exercise may be safe,feasible,and beneficial in patients with breast cancer-related lymphedema or at risk for breast cancer-related lymphedema.However,the limitation of small sample size implies that further research is needed to confirm these findings.
基金Supported by the Harbin Engineering University Fund for Basic Projects(heuft06041)
文摘The initial motivation of the lifting technique is to solve the H∞control problems.However,the conventional weighted H∞design does not meet the conditions required by lifting,so the result often leads to a misjudgement of the design.Two conditions required by using the lifting technique are presented based on the basic formulae of the lifting.It is pointed out that only the H∞disturbance attenuation problem with no weighting functions can meet these conditions,hence,the application of the lifting technique is quite limited.
基金This research was financially supported by China Ocean Mineral Resources R &D Association (Grant No. DY105-03-02-17) .
文摘A flexible connector of lifting pipes in a deep sea mining system is designed. The buttress thread （ based on API standard） is used and foreign experience in connector design is referred to. With this kind of connector, the lifting pipe wiU only bear the axial force, free of moment. The strength of the connector is analyzed in detail, including the connecting strength of the buttress thread, the dynamic load of the pipe system, pressures inside and outside of the pipe, the lateral stress of the pipe wall and so on. Especially, a geometric model is built for 3-D contact stress analysis. The distribution graph of contact stress is presented. It is indicated that the strength of the spherical connector meets the demand.
文摘This paper addresses an iterative learning control(ILC) design problem for discrete-time linear systems with randomly varying trial lengths. Due to the variation of the trial lengths, a stochastic matrix and an iteration-average operator are introduced to present a unified expression of ILC scheme. By using the framework of lifted system, the learning convergence condition of ILC in mathematical expectation is derived without using λ-norm. It is shown that the requirement on classic ILC that all trial lengths must be identical is mitigated and the identical initialization condition can be also removed. In the end, two illustrative examples are presented to demonstrate the performance and the effectiveness of the proposed ILC scheme for both time-invariant and time-varying linear systems.
基金financially supported by the JIANG Xinsong Innovation Fund(Grant No.Y8F7010701)
文摘Sail is the core part of autonomous sailboat and wing sail is a new type of sail. Wing sail generates not only propulsion but also lateral force and heeling moment. The latter two will affect the navigation status and bring resistance. Double sail can effectively reduce the center of wind pressure and heeling moment. In order to study the effect of distance between two sails, airfoil and attack angle on the total lift coefficient of double sail propulsion system, pressure coefficient distribution and lift coefficient calculation model have been established based on vortex panel method. By using the basic finite solution, the fluid dynamic forces on the two-dimensional sails are computed.The results show that, the distance in the range of 0 to 1 time chord length, when using the same airfoil in the fore and aft sail, the total lift coefficient of the double sail increases with the increase of distance, finally reaches a stable value in the range of one to three times chord length. Lift coefficients of thicker airfoils are more sensitive to the change of distance. The thicker the airfoil, the longer distance is required of the total lift coefficient toward stable.When different airfoils are adopted in fore and aft sail, the total lift coefficient increases with the increase of the thickness of aft sail. The smaller the thickness difference is, the more sensitive to the distance change the lift coefficient is. The thinner the fore sail is, the lower the influence will be on the lift coefficient of aft sail.
文摘Currently,in the oil industry,artificial lift optimization(ALO)systems are dealing with different applications including well monitor and control,reservoir management,production optimization,predictive maintenance,artificial lift,and flow assurance,multiphase pumping systems,etc.The scope of this article is to provide a detailed analysis of ALO and predictive pump maintenance applications using machine learning(ML)and artificial intelligence(AI).The oil and gas industry has experienced a lot of improvements that have impacted the businesses and economies associated with the market in recent times.Issues such as unplanned shutdown time and failure of equipment cause a huge impact on many corporations especially with the current fluctuations in hydrocarbon prices.Similarly,advanced modern technologies such as real-time analysis and predictive maintenance are designed to drive ALO systems.This paper covers several applications and techniques in which ML and AI have been applied to optimize hydrocarbon withdrawal from potentially depleted reservoirs that require some external supports to uplift the reservoir fluid from sub surface to surface using artificial lift system.In a nutshell,the applications of AI and ML for the artificial lift selection,their predictive maintenance,equipment malfunctioning detection,etc.using a self-trained system are the main topics of this paper.While reviewing each of these techniques,the workflow is also explained along with the effectiveness of utilizing each application to the current operations.
基金This research was financially supported by China Ocean Mineral Resources Reasearch and Design Association (GrantNo DY105-03-02-17)Ph.D Programs Foundation of Ministry of Education of China (Grant No20060008025)
文摘The experiment system of 1000 m deep sea mining system is built up with the similarity theory. Sine mechanism is used to simulate mining ship to generate lateral shock excitation by ocean wave. Simulation and experiment of spherical joint connecting deep sea mining system has been done in band six marine conditions. The results indicate that the moment of spherical joint connecting deep sea mining is smaller than that of the thread connected ones, the lifting pipe of sphelical joint is ＂flexible pipe＂. The flexural torque of the articulated lifting pipe system in pump and buffer is generally periodic variation with some irregularity, the value is stable on 60 N·S, and it is obviously smaller than that of the fixed lifting pipe system; The total displacement exhibits cyclic variation pattern, and the periodicity of them is longer than that of sea current. The results of experiment and simulation are basically consistent. And the analysis in the paper offers theoretical foundation of 1000 m deep sea mining system in China.
基金sponsored by the Major Projects of National Science and Technology (2011ZX05056-003)
文摘The underwater installation of marine equipment in deep-water development requires safe lifting and accurate positioning. The heave compensation system is an important technology to ensure normal operation and improve work accuracy. To provide a theoretical basis for the heave compensation system, in this paper, the continuous modeling method is employed to build up a coupled model of deep-water lifting systems in vertical direction. The response characteristics of dynamic movement are investigated. The simulation results show that the resonance problem appears in the process of the whole releasing load, the lifting system generates resonance and the displacement response of the lifting load is maximal when the sinking depth is about 2000 m. This paper also analyzes the main influencing factors on the dynamic response of load including cable stiffness, damping coefficient of the lifting system, mass and added mass of lifting load, among which cable stiffness and damping coefficient of the lifting system have the greatest influence on dynamic response of lifting load when installation load is determined. So the vertical dynamic movement response of the load is reduced by installing a damper on the lifting cable and selecting the appropriate cable stiffness.
基金Supported by Special Topic of the Ministry of Education about Humanities and Social Sciences(12JDGC007)ZheJiang Henglin Chair Industry Co.,Ltd.-Hefei University of Technology Green Seat and Intelligent House Innovate Team
文摘In order to achieve a wheelchair lift function, this paper designs a tri-scissors mechanism. Through the so-called H-type transmission and L-type swing rod, the three scissors mechanisms lift in the same rate with only one liner motor while ensuring the stability of the lift. Finite element analysis in ANSYS is performed to verify the material strength. The control system with Sunplus SCM achieves the voice control of wheelchair walking and lifting.
基金supported by the Ph.D. Programs Foundation of Ministry of Education of China under Grant No. 20070056010Tianjin Municipal Natural Science Foundation under Grant No.07JCZBJC09900Tianjin key technology research for majorproject under Contract No.05ZHGCGX00500
文摘With the increase of bridge reconstruction schemes, synchronous lifting of a bridge is more and more widely used. In order to solve the problems associated with the synchronoas lifting of a bridge, a multi-cylinder synchronous lifting power and monitoring system has been developed. This is a distributed control system, which is com- posed of an industrial computer workstation, a programmable logical controller and a hydraulic control system. The system can achieve distributed control and centralized operation of actuators, and centralized management of infor- mation. It not only can implement multi-cylinder synchronous lifting with an unbalanced load, but also can moni- tor the pressure, displacement and stress at each lifting point. The performance of the multi-cylinder synchronous system is verified through its application to several bridge lifting engineering projects. The details of such a project are given.
基金This research project was financially supported by China Ocean Mineral Resources R&D Association(Grant No.DY105-03-02-17)Ph.D.Programs Foundation of Ministry of Education of China(Grant No.20060008025)
文摘In lifting sub-system of deep-sea mining system, spherical joint is used to connect lifting pipes to replace fixed joint. Based on Dynamics of Flexible Multi-body systems, the mechanics model of articulated lifting system is established. Under the four-grade and six-grade oceanic condition, dynamic responses of lifting system are simulated and experiment verified. The simulation results are consistent with experimental ones. The maximum moment of flexion is 322 kN-m on the first pipe under six-grade sea condition. It is seen that the articulated connection can reduce the moment of flexion. The bending deformation of pipe center is researched, and the maximum is 0. 000479 m on the first pipe. Deformation has a little effect on the motion of system. It is feasible to analyze articulated lifting system by applying the theory of flexible multi-body dynamics. The articulated lifting system is obviously better than the fixed one.
文摘The kinetic model of the four-post-frame lifting mechanical system was established. The stiffness and damping matrices of differential equations of motion were obtained by using Lagrange’s equations. And the dynamic characteristics of system were analyzed by modal analysis method. Based upon this, the modifications of structural parameters which can improve dynamic performance were discussed. The low-level high-speed palletizer MDJ1200L was taken as a real case in the paper.
文摘In this paper an expert system for remote fault diagnosis in the ship lift was developed by analysis of the fault tree and combination with VPN. The fault tree was constructed based on the operation condition of the ship lift. The diagnosis model was constructed by hierarchical classification of the fault tree structure, and the inference mechanism was given. Logical structure of the fault diagnosis in the ship lift was proposed. The implementation of the expert system for remote fault diagnosis in the ship lift was discussed, and the expert system developed was realized on the VPN virtual network. The system was applied to the Gaobaozhou ship lift project, and it ran successfully.
基金supported by the National Natural Science Foundation of China (No.60774023)Hunan Provincial Natural Science Foundation (No.06JJ50141)
文摘Deficiencies of the performance-based iterative learning control （ILC） for the non-regular systems are investigated in detail, then a faster control input updating and lifting technique is introduced in the design of performance index based ILCs for the partial non-regular systems. Two ldnds of optimal ILCs based on different performance indices are considered. Finally, simulation examples are given to illustrate the feasibility of the proposed learning controls.
文摘Well productivity in the Asmari carbonate formation of southwest Iran has decreased in recent years as a result of production issues.The production rate must be maintained below 1500 STB/day to prevent water coning.In this study,a gas lift well is modeled using data from one of the producing wells of this field.Nodal analysis is performed using lift-gas injection rates and wellhead pressures at different reservoir pressures and water cut conditions to optimize production.Economic aspects are considered to optimize the artificial gas injection rates at different tubing head pressures and water cut conditions.Increasing the lift-gas injection rate from 0.4 MMscf/day to 1 MMscf/day enhances the oil production rate by 37.71%and 43.89%for 10%and 30%water cut conditions,respectively.Gas injection rates of 5.2 MMscf/day and 5.4 MMscf/day are determined to be economically optimal for 30%water cut with tubing head pressures of 260 psig and 270 psig,respectively.
基金supported by the National Natural Science Foundation of China(Grant Nos.51975023 and 52322501).
文摘A key challenge is using bionic mechanisms to enhance aerodynamic performance of hover-capable flapping wing micro air vehicle(FWMAV).This paper presented a new lift system with high lift and aerodynamic efficiency,which use a hummingbird as a bionic object.This new lift system is able to effectively utilize the high lift mechanism of hummingbirds,and this study innovatively utilizes elastic energy storage elements and installs them at the wing root to help improve aerodynamic performance.A flapping angle of 154°is achieved through the optimization of the flapping mechanism parameters.An optimized wing shape and parameters are obtained through experimental studies on the wings.Consequently,the max net lift generated is 17.6%of the flapping wing vehicle’s weight.Moreover,energy is stored and released periodically during the flapping cycle,by imitating the musculoskeletal system at the wing roots of hummingbirds,thereby improving the energy utilization rate of the FWMAV and reducing power consumption by 4.5%under the same lift.Moreover,strength verification and modal analyses are conducted on the flapping mechanism,and the weight of the flapping mechanism is reduced through the analysis and testing of different materials.The results show that the lift system can generate a stable lift of 31.98 g with a wingspan of 175 mm,while the lift system weighs only 10.5 g,providing aerodynamic conditions suitable for high maneuverability flight of FWMAVs.
文摘This paper uses the commutant lifting theorem for representations of the nest algebra to deal with the optimal control of infinite dimensional linear time- varying systems. We solve the model matching problem and a certain optimal feedback control problem, each of which corresponds with one type of four-block problem. We also obtain a new formula for the optimal performance and prove the existence of an optimal controller.
