Multi-robot coordinated towing system is an under-constrained system.The dynamic response of the towing system can not be fully controlled since the rope can only provide a unidirectional constraint force to the suspe...Multi-robot coordinated towing system is an under-constrained system.The dynamic response of the towing system can not be fully controlled since the rope can only provide a unidirectional constraint force to the suspended object.Based on the kinematics of the multi-robot coordinated towing system with fixed-base,the Newton-Euler equations and Udwadia-Kalaba equations were used to establish the dynamics of the towing system.To obtain the motion trajectories with high stability and strong control,the motion trajectories of the towing system were optimized.During the towing,the transition from the relaxation state to the tension state of the rope was treated as a collision between the suspended object and the robot end.The trajectories of the towing system in terms of a single-variable and multiple-variable were solved,respectively.The simulation shows that the optimized trajectories are closer to reality and truly reflect the constraints of the ropes on the suspended object.The research results provide a basis for trajectory planning and control of the towing system.展开更多
Cranes used at sea have some shortcomings in terms of flexibility,efficiency,and safety.Therefore,a floating multi-robot coordinated towing system is planned to fulfill the offshore towing requirements.It is difficult...Cranes used at sea have some shortcomings in terms of flexibility,efficiency,and safety.Therefore,a floating multi-robot coordinated towing system is planned to fulfill the offshore towing requirements.It is difficult to study the stability of a floating multi-robot coordinated towing system by ancient strategies.First,the minimum tension of the rope and the minimum singular value of the stiffness matrix were separately used to analyze the load stability.The advantages and disadvantages of the two methods were discussed.Then,the two stability analysis methods were normalized and weighted to obtain the method based on minimum tension and minimum singular to comprehensively analyze the stability of the load.Finally,the effect of different weighting coefficients on the load stability was analyzed,which led to a reasonable weighting coefficient to evaluate the load stability by comparing with a single analysis method.The research results provide a basis for the motion planning and coordinated control of the towing system.展开更多
For the development of an integrated rounded rectangular wellhead platform with a bucket foundation,a model test was conducted to study the towing motion response of such a structure under still water and wave conditi...For the development of an integrated rounded rectangular wellhead platform with a bucket foundation,a model test was conducted to study the towing motion response of such a structure under still water and wave conditions.The influence of various factors on the floating stability of the structure was investigated through alterations of the towing conditions(draft,towing point position,and wave conditions),and the related influencing mechanism was analyzed.Comparison and analysis were performed to determine the changes in the structure motion pattern and various effects of towing conditions on the structure during towing in still water and regular waves.Moreover,the influence of each factor on the structure’s motion response during towing was analyzed using the Apriori algorithm.In addition,for the simulation of the towing process under actual sea conditions,a towing test was performed under irregular waves,and the stability of towing in irregular waves was compared with that in regular waves.展开更多
This study investigates the wet towing characteristics of an integrated wellhead platform supported by a bucket foundation.These characteristics are crucial for optimizing offshore construction efficiency and enabling...This study investigates the wet towing characteristics of an integrated wellhead platform supported by a bucket foundation.These characteristics are crucial for optimizing offshore construction efficiency and enabling the development of small marginal oil fields.The wet towing behavior of the integrated wellhead platform was explored through a combination of physical experiments and numerical simulations.Physical experiments were conducted to validate the accuracy of the numerical simulations.Subsequently,numerical simulations were employed to determine the impacts of towing speed and wave direction on the towing process of the integrated wellhead platform.Finally,the impact of compartment failure due to bulkhead damage on towage stability was analyzed.Findings indicate that the wave and towing directions influence the motion of the platform at various degrees of freedom.The platform demonstrates optimal stability when towing against waves,particularly when the towing direction aligns at a specific angle relative to the wave direction.In addition,a controlled increase in towing speed within a specific range effectively mitigates roll and pitch motions,which enhances the overall tow stability of the platform.Notably,compartment failure has an adverse effect on the towing stability,particularly in aft compartments.Therefore,it requires careful consideration and attention in practical engineering scenarios.展开更多
Currently,the cranes used at sea do not have enough flexibility,efficiency,and safety.Thus,this study proposed a floating multirobot coordinated towing system to meet the demands for offshore towing.Because of the fle...Currently,the cranes used at sea do not have enough flexibility,efficiency,and safety.Thus,this study proposed a floating multirobot coordinated towing system to meet the demands for offshore towing.Because of the flexibility of rope-driven robots,the one-way pulling characteristics of the rope,and the floating characteristics of the base,towing robots are easily overturned.First,the spatial configuration of the towing system was established according to the towing task,and the kinematic model of the towing system was established using the coordinate transformation.Then,the dynamic model of the towing system was established according to the rigid-body dynamics and hydrodynamic theory.Finally,the stability of the towing system was analyzed using the stability cone method.The simulation experiments provide a reference for the practical application of the floating multirobot coordinated towing system,which can improve the stability of towing systems by changing the configuration of the towing robot.展开更多
This study introduces the lattice spring model(LSM)to investigate the incline angle of a non-uniform three-segment towed array under steady-state conditions.A numerical model was established,and parametric analysis wa...This study introduces the lattice spring model(LSM)to investigate the incline angle of a non-uniform three-segment towed array under steady-state conditions.A numerical model was established,and parametric analysis was conducted to examine the effects of towing speed and cable density on the incline angle.The numerical simulations demonstrate that for a conventional three-segment towed array with heavy vibration-isolation cable and density exceeding that of seawater,the towing speed must exceed 4 kn to maintain the acoustic cable's average incline angle below 10°.To validate the proposed LSM,a 100-meter-long towed array with variable densities was fabricated and tested through lake trials.The experimental results align closely with simulations,confirming LSM as a reliable model for predicting towed array position and posture.The study concludes by analyzing the parallel computing capabilities of LSM and its application in Fluid-Structure Interaction(FSI)problems.The model's precision and parallel computing capabilities make LSM an efficient,reliable tool for analyzing the steady-state behavior of towed systems.展开更多
The intact stability and damage stability of a model of an anemometer tower with buoyancy tank foundation are computed by the finite element software MOSES in this paper. The natural period of the anemometer tower is ...The intact stability and damage stability of a model of an anemometer tower with buoyancy tank foundation are computed by the finite element software MOSES in this paper. The natural period of the anemometer tower is discussed through frequency domain analysis. The influence of a single factor, such as towing point position, wave height, wave direction and wave period, on towing stability is discussed through time domain analysis. At the same time, the towing stability under the condition of various combinations of many factors is analyzed based on the measured data of the target area. Computer simulation results show that the intact stability is preferable and the damage stability is sufficient under the condition of plenty of subdivisions. Within the scope of the buoyancy tank foundation,the higher the towing point position is, the better the stability is. Wave height has a great impact on the motion amplitude of buoyancy tank foundation, but the effect on the acceleration is not obvious; wave period has a great impact on the acceleration, while the effect on the motion amplitude is not obvious; following-waves towing is more conducive to safety than atry.展开更多
Currently, the deghosting of towed streamer seismic data assumes a flat sea level and a sea-surface reflection coefficient of-1; this decreases the precision of deghosting. A new method that considers the rough sea su...Currently, the deghosting of towed streamer seismic data assumes a flat sea level and a sea-surface reflection coefficient of-1; this decreases the precision of deghosting. A new method that considers the rough sea surface is proposed to suppress ghost reflections. The proposed deghosting method obtains the rough sea surface reflection coefficient using Gaussian statistics, and calculates the optimized deghosting operator in the r/p domain. The proposed method is closer to the actual sea conditions, offers an improved deghosting operator, removes the ghost reflections from marine towed seismic data, widens the bandwidth and restores the low-frequency information, and finally improves the signal-to- noise ratio and resolution of the seismic data.展开更多
In order to study the towing dynamic properties of the large-scale composite bucket foundation the hydrodynamic software MOSES is used to simulate the dynamic motion of the foundation towed to the construction site.Th...In order to study the towing dynamic properties of the large-scale composite bucket foundation the hydrodynamic software MOSES is used to simulate the dynamic motion of the foundation towed to the construction site.The MOSES model with the prototype size is established as the water draft of 5 and 6 m under the environmental conditions on site.The related factors such as towing force displacement towing accelerations in six degrees of freedom of the bucket foundation and air pressures inside the bucket are analyzed in detail.In addition the towing point and wave conditions are set as the critical factors to simulate the limit conditions of the stable dynamic characteristics.The results show that the large-scale composite bucket foundation with reasonable subdivisions inside the bucket has the satisfying floating stability.During the towing process the air pressures inside the bucket obviously change little and it is found that the towing point at the waterline is the most optimal choice.The characteristics of the foundation with the self-floating towing technique are competitive for saving lots of cost with few of the expensive types of equipment required during the towing transportation.展开更多
Air-floating towing beha viors of multi-bucket foundation plat form （MBFP） are investigated with the 1/20-scale model tests and hydrodynamic so ftware MOSES. MOSES numerical model was val idated by test results, and...Air-floating towing beha viors of multi-bucket foundation plat form （MBFP） are investigated with the 1/20-scale model tests and hydrodynamic so ftware MOSES. MOSES numerical model was val idated by test results, and M OSES prototype model of MBFP can eliminate scale effect of model. The influences of towing factors of to wing speed, water depth, freeboard, and w ave direction on air-floating tow ing stability of MBFP were analyzed by model tests and validated MOSES prototype mod el. It is sho wn that the re duction of towing sp eed can effectively d ecrease the to wing force and surge acceleration to improve towing stability. Water depth is another f actor in towing s tability. Obvious shallow water effect will appear in shallow water with sma ll water depth-draft ratio and it w ill disappear gradually and air-floating towing becomes more stable with the increase of water depth. Accelerations of surge, s way and heave are small and they have modest changes when freeboard increases from 0.5 to 2 m. For MBFP, the freeboard is not suggested to be larger than 2 m in following wave. Wave direction has large influence on the towing stability, the surge acceleration and towing force are sensitive to the va riation of wave direction, the surge acceleration and towing force in following wave （0°） and counter wave （180°） are much larger than that in transverse sea （90°and 270°）.展开更多
Dynamic model of aerial towed decoy system is established and simulations are performed to research the dynamic characteristics of the system. Firstly, Kinetic equations based on spinor are built, where the cable is d...Dynamic model of aerial towed decoy system is established and simulations are performed to research the dynamic characteristics of the system. Firstly, Kinetic equations based on spinor are built, where the cable is discretized into a number of rigid segments while the decoy is modeled as a rigid body hinged on the cable. Then tension recurrence algorithm is developed to improve computational efficiency, which makes it possible to predict the dynamic response of aerial towed decoy system rapidly and accurately. Subsequently, the efficiency and validity of this algorithm are verified by comparison with Kane’s function and further validated by wind tunnel tests.Simulation results indicate that the distance between the towing point and the decoy’s center of gravity is suggested to be 5%–20% of the length of decoy body to ensure the stability of system.In up-risen maneuver process, the value of angular velocity is recommended to be less than0.10 rad/s to protect the cable from the aircraft exhaust jet. During the turning movement of aircraft, the cable’s extent of stretching outwards is proportional to the aircraft’s angular velocity.Meanwhile, the decoy, aircraft and missile form a triangle, which promotes the decoy’s performance.展开更多
基金the National Natural Science Foundation of China(No.51965032)the Natural Science Foundation of Gansu Province of China(No.22JR5RA319)+1 种基金the Science and Technology Foundation of Gansu Province of China(No.21YF5WA060)the Excellent Doctoral Student Foundation of Gansu Province of China(No.23JRRA842)。
文摘Multi-robot coordinated towing system is an under-constrained system.The dynamic response of the towing system can not be fully controlled since the rope can only provide a unidirectional constraint force to the suspended object.Based on the kinematics of the multi-robot coordinated towing system with fixed-base,the Newton-Euler equations and Udwadia-Kalaba equations were used to establish the dynamics of the towing system.To obtain the motion trajectories with high stability and strong control,the motion trajectories of the towing system were optimized.During the towing,the transition from the relaxation state to the tension state of the rope was treated as a collision between the suspended object and the robot end.The trajectories of the towing system in terms of a single-variable and multiple-variable were solved,respectively.The simulation shows that the optimized trajectories are closer to reality and truly reflect the constraints of the ropes on the suspended object.The research results provide a basis for trajectory planning and control of the towing system.
基金the National Natural Science Foundation of China(No.51965032)the Natural Science Foundation of Gansu Province(No.22JR5RA319)+1 种基金the Science and Technology Foundation of Gansu Province(No.21YF5WA060)the Excellent Doctoral Student Foundation of Gansu Province(No.23JRRA842)。
文摘Cranes used at sea have some shortcomings in terms of flexibility,efficiency,and safety.Therefore,a floating multi-robot coordinated towing system is planned to fulfill the offshore towing requirements.It is difficult to study the stability of a floating multi-robot coordinated towing system by ancient strategies.First,the minimum tension of the rope and the minimum singular value of the stiffness matrix were separately used to analyze the load stability.The advantages and disadvantages of the two methods were discussed.Then,the two stability analysis methods were normalized and weighted to obtain the method based on minimum tension and minimum singular to comprehensively analyze the stability of the load.Finally,the effect of different weighting coefficients on the load stability was analyzed,which led to a reasonable weighting coefficient to evaluate the load stability by comparing with a single analysis method.The research results provide a basis for the motion planning and coordinated control of the towing system.
基金support from the National Natural Science Foundation of China(No.52171274)。
文摘For the development of an integrated rounded rectangular wellhead platform with a bucket foundation,a model test was conducted to study the towing motion response of such a structure under still water and wave conditions.The influence of various factors on the floating stability of the structure was investigated through alterations of the towing conditions(draft,towing point position,and wave conditions),and the related influencing mechanism was analyzed.Comparison and analysis were performed to determine the changes in the structure motion pattern and various effects of towing conditions on the structure during towing in still water and regular waves.Moreover,the influence of each factor on the structure’s motion response during towing was analyzed using the Apriori algorithm.In addition,for the simulation of the towing process under actual sea conditions,a towing test was performed under irregular waves,and the stability of towing in irregular waves was compared with that in regular waves.
基金the National Natural Science Foundation of China(No.52271287).
文摘This study investigates the wet towing characteristics of an integrated wellhead platform supported by a bucket foundation.These characteristics are crucial for optimizing offshore construction efficiency and enabling the development of small marginal oil fields.The wet towing behavior of the integrated wellhead platform was explored through a combination of physical experiments and numerical simulations.Physical experiments were conducted to validate the accuracy of the numerical simulations.Subsequently,numerical simulations were employed to determine the impacts of towing speed and wave direction on the towing process of the integrated wellhead platform.Finally,the impact of compartment failure due to bulkhead damage on towage stability was analyzed.Findings indicate that the wave and towing directions influence the motion of the platform at various degrees of freedom.The platform demonstrates optimal stability when towing against waves,particularly when the towing direction aligns at a specific angle relative to the wave direction.In addition,a controlled increase in towing speed within a specific range effectively mitigates roll and pitch motions,which enhances the overall tow stability of the platform.Notably,compartment failure has an adverse effect on the towing stability,particularly in aft compartments.Therefore,it requires careful consideration and attention in practical engineering scenarios.
基金Supported by the National Natural Science Foundation of China under Grant No.51965032the Natural Science Foundation of Gansu Province of China under Grant No.22JR5RA319+2 种基金the Excellent Doctoral Student Foundation of Gansu Province of China under Grant No.23JRRA842the Sichuan Province Engineering Technology Research Center of General Aircraft Maintenance under Grant No.GAMRC2023YB05the Key Research and Development Project of Lanzhou Jiaotong University under Grant No.LZJTUZDYF2302.
文摘Currently,the cranes used at sea do not have enough flexibility,efficiency,and safety.Thus,this study proposed a floating multirobot coordinated towing system to meet the demands for offshore towing.Because of the flexibility of rope-driven robots,the one-way pulling characteristics of the rope,and the floating characteristics of the base,towing robots are easily overturned.First,the spatial configuration of the towing system was established according to the towing task,and the kinematic model of the towing system was established using the coordinate transformation.Then,the dynamic model of the towing system was established according to the rigid-body dynamics and hydrodynamic theory.Finally,the stability of the towing system was analyzed using the stability cone method.The simulation experiments provide a reference for the practical application of the floating multirobot coordinated towing system,which can improve the stability of towing systems by changing the configuration of the towing robot.
基金supported by the Key Research Project of Zhejiang Lab(Grant No.K2022MEOAC01)。
文摘This study introduces the lattice spring model(LSM)to investigate the incline angle of a non-uniform three-segment towed array under steady-state conditions.A numerical model was established,and parametric analysis was conducted to examine the effects of towing speed and cable density on the incline angle.The numerical simulations demonstrate that for a conventional three-segment towed array with heavy vibration-isolation cable and density exceeding that of seawater,the towing speed must exceed 4 kn to maintain the acoustic cable's average incline angle below 10°.To validate the proposed LSM,a 100-meter-long towed array with variable densities was fabricated and tested through lake trials.The experimental results align closely with simulations,confirming LSM as a reliable model for predicting towed array position and posture.The study concludes by analyzing the parallel computing capabilities of LSM and its application in Fluid-Structure Interaction(FSI)problems.The model's precision and parallel computing capabilities make LSM an efficient,reliable tool for analyzing the steady-state behavior of towed systems.
基金Supported by the National High Technology Research and Development Program of China("863"Program,No.2012AA051705)International Science and Technology Cooperation Program of China(No.2012DFA70490)+1 种基金National Natural Science Foundation of China(No.51109160)Tianjin Natural Science Foundation(No.13JCYBJC19100)
文摘The intact stability and damage stability of a model of an anemometer tower with buoyancy tank foundation are computed by the finite element software MOSES in this paper. The natural period of the anemometer tower is discussed through frequency domain analysis. The influence of a single factor, such as towing point position, wave height, wave direction and wave period, on towing stability is discussed through time domain analysis. At the same time, the towing stability under the condition of various combinations of many factors is analyzed based on the measured data of the target area. Computer simulation results show that the intact stability is preferable and the damage stability is sufficient under the condition of plenty of subdivisions. Within the scope of the buoyancy tank foundation,the higher the towing point position is, the better the stability is. Wave height has a great impact on the motion amplitude of buoyancy tank foundation, but the effect on the acceleration is not obvious; wave period has a great impact on the acceleration, while the effect on the motion amplitude is not obvious; following-waves towing is more conducive to safety than atry.
基金supported by the 12th Five Year Plan National Science and Technology Major Projects(No.20011ZX05023-003-002)Research projects of CNOOC(No.C/KJF JDCJF 006-2009)
文摘Currently, the deghosting of towed streamer seismic data assumes a flat sea level and a sea-surface reflection coefficient of-1; this decreases the precision of deghosting. A new method that considers the rough sea surface is proposed to suppress ghost reflections. The proposed deghosting method obtains the rough sea surface reflection coefficient using Gaussian statistics, and calculates the optimized deghosting operator in the r/p domain. The proposed method is closer to the actual sea conditions, offers an improved deghosting operator, removes the ghost reflections from marine towed seismic data, widens the bandwidth and restores the low-frequency information, and finally improves the signal-to- noise ratio and resolution of the seismic data.
基金The National Natural Science Foundation of China(No.51109160)the National High Technology Research and Development Program of China(863 Program)(No.2012AA051705)+1 种基金the International S&T Cooperation Program of China(No.2012DFA70490)the Natural Science Foundation of Tianjin(No.13JCQNJC06900,13JCYBJC19100)
文摘In order to study the towing dynamic properties of the large-scale composite bucket foundation the hydrodynamic software MOSES is used to simulate the dynamic motion of the foundation towed to the construction site.The MOSES model with the prototype size is established as the water draft of 5 and 6 m under the environmental conditions on site.The related factors such as towing force displacement towing accelerations in six degrees of freedom of the bucket foundation and air pressures inside the bucket are analyzed in detail.In addition the towing point and wave conditions are set as the critical factors to simulate the limit conditions of the stable dynamic characteristics.The results show that the large-scale composite bucket foundation with reasonable subdivisions inside the bucket has the satisfying floating stability.During the towing process the air pressures inside the bucket obviously change little and it is found that the towing point at the waterline is the most optimal choice.The characteristics of the foundation with the self-floating towing technique are competitive for saving lots of cost with few of the expensive types of equipment required during the towing transportation.
基金financially supported by the National Natural Science Foundation of China(Grant No.51309179)the National High Technology Research and Development Program of China(863 Program,Grant No.2012AA051705)+2 种基金the International S&T Cooperation Program of China(Grant No.2012DFA70490)the State Key Laboratory of Hydraulic Engineering Simulation and Safety(Tianjin University)the Tianjin Municipal Natural Science Foundation(Grant No.13JCYBJC19100)
文摘Air-floating towing beha viors of multi-bucket foundation plat form （MBFP） are investigated with the 1/20-scale model tests and hydrodynamic so ftware MOSES. MOSES numerical model was val idated by test results, and M OSES prototype model of MBFP can eliminate scale effect of model. The influences of towing factors of to wing speed, water depth, freeboard, and w ave direction on air-floating tow ing stability of MBFP were analyzed by model tests and validated MOSES prototype mod el. It is sho wn that the re duction of towing sp eed can effectively d ecrease the to wing force and surge acceleration to improve towing stability. Water depth is another f actor in towing s tability. Obvious shallow water effect will appear in shallow water with sma ll water depth-draft ratio and it w ill disappear gradually and air-floating towing becomes more stable with the increase of water depth. Accelerations of surge, s way and heave are small and they have modest changes when freeboard increases from 0.5 to 2 m. For MBFP, the freeboard is not suggested to be larger than 2 m in following wave. Wave direction has large influence on the towing stability, the surge acceleration and towing force are sensitive to the va riation of wave direction, the surge acceleration and towing force in following wave （0°） and counter wave （180°） are much larger than that in transverse sea （90°and 270°）.
文摘Dynamic model of aerial towed decoy system is established and simulations are performed to research the dynamic characteristics of the system. Firstly, Kinetic equations based on spinor are built, where the cable is discretized into a number of rigid segments while the decoy is modeled as a rigid body hinged on the cable. Then tension recurrence algorithm is developed to improve computational efficiency, which makes it possible to predict the dynamic response of aerial towed decoy system rapidly and accurately. Subsequently, the efficiency and validity of this algorithm are verified by comparison with Kane’s function and further validated by wind tunnel tests.Simulation results indicate that the distance between the towing point and the decoy’s center of gravity is suggested to be 5%–20% of the length of decoy body to ensure the stability of system.In up-risen maneuver process, the value of angular velocity is recommended to be less than0.10 rad/s to protect the cable from the aircraft exhaust jet. During the turning movement of aircraft, the cable’s extent of stretching outwards is proportional to the aircraft’s angular velocity.Meanwhile, the decoy, aircraft and missile form a triangle, which promotes the decoy’s performance.
