Experimental Study on Towing Characteristics of Composite Bucket Wellhead Platform

With the rapid development of large-scale development of marginal oilfields in China,simple wellhead platforms that are simple in structure and easy to install have become an inevitable choice in the process of oilfield development.However,traditional simple wellhead platforms are often discarded after a single use.In pursuit of a more costeffective approach to developing marginal oilfields,this paper proposes a new offshore oil field development facility—an integrated bucket foundation for wellhead platform.To verify the safety of its towing behavior and obtain the dynamic response characteristics of the structure,this paper takes a bucket integrated bucket foundation for wellhead platform with a diameter of 40 m as the research object.By combining physical model tests and numerical simulations,it analyzes the static stability and dynamic response characteristics of the structure during towing,complete with the effects of the draft,wave height,wave period,and towing point height,which produce the dynamic responses of the structure under different influence factors,such as roll angle,pitch angle,heave acceleration and towing force as well as the sensibility to transport variables.The results show that the integrated bucket foundation for wellhead platform is capable of self-floating towing,and its movement is affected by the local environment,which will provide a reference for actual projects.

Trajectory planning for multi-robot coordinated towing system based on stability

Given the unconstrained characteristics of the multi-robot coordinated towing system,the rope can only provide a unidirectional constraint force to the suspended object,which leads to the weak ability of the system to resist external disturbances and makes it difficult to control the trajectory of the suspended object.Based on the kinematics and statics of the multi-robot coordinated towing system with fixed base,the dynamic model of the system is established by using the Newton-Euler equations and the Udwadia-Kalaba equations.To plan the trajectories with high stability and strong control,trajectory planning is performed by combining the dynamics and stability of the towing system.Based on the dynamic stability of the motion trajectory of the suspended object,the stability of the suspended object is effectively improved through online real-time planning and offline manual adjustment.The effectiveness of the proposed method is verified by comparing the motion stability of the suspended object before and after planning.The results provide a foundation for the motion planning and coordinated control of the towing system.

Towing characteristics of large-scale composite bucket foundation for offshore wind turbines

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.

Air-Floating Towing Behaviors of Multi-Bucket Foundation Platform

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°）.

Influence of towing speed on effectiveness of rolling dynamic compaction

The influence of towing speed on the effectiveness of the 4-sided impact roller using earth pressure cells(EPCs)is investigated.Two field trials were undertaken;the first trial used three EPCs placed at varying depths between 0.5 m and 1.5 m with towing speeds of 9-12 km/h.The second used three EPCs placed at a uniform depth of 0.8 m,with towing speeds of 5-15 km/h.The findings from the two trials confirmed that towing speed influences the pressure imparted to the ground and hence compactive effort.This paper proposes that the energy imparted to the ground is best described in terms of work done,which is the sum of the change in both potential and kinetic energies.Current practice of using either kinetic energy or gravitational potential energy should be avoided as neither can accurately quantify rolling dynamic compaction(RDC)when towing speed is varied.

Integrated Towing Transportation Technique for Offshore Wind Turbine with Composite Bucket Foundation

Composite bucket foundation and one-step installation technology for offshore wind turbine are the integration of foundation construction,transportation and whole installation at sea.The cost of offshore wind turbine construction and installation has been largely reduced.Foundation stability is the key technology in the process of towing transportation.Field observation data can reflect the real state of the foundation.In this paper,the influence of water depth and towing speed on liquid level,the compartment pressure,and the pitch angles during towing of composite bucket foundation are studied.These data are analyzed based on the field measurements data from a 3.3 MW offshore wind power project in China.The results show that with varied water depths and towing speeds,the compartment pressure changes are small during the bucket foundation towing process.The offshore wind turbine composite bucket foundation is stable while being towed in the ocean.

Cooperative Multi-Agent Control for Autonomous Ship Towing Under Environmental Disturbances

Among the promising application of autonomous surface vessels(ASVs)is the utilization of multiple autonomous tugs for manipulating a floating object such as an oil platform,a broken ship,or a ship in port areas.Considering the real conditions and operations of maritime practice,this paper proposes a multi-agent control algorithm to manipulate a ship to a desired position with a desired heading and velocity under the environmental disturbances.The control architecture consists of a supervisory controller in the higher layer and tug controllers in the lower layer.The supervisory controller allocates the towing forces and angles between the tugs and the ship by minimizing the error in the position and velocity of the ship.The weight coefficients in the cost function are designed to be adaptive to guarantee that the towing system functions well under environmental disturbances,and to enhance the efficiency of the towing system.The tug controller provides the forces to tow the ship and tracks the reference trajectory that is computed online based on the towing angles calculated by the supervisory controller.Simulation results show that the proposed algorithm can make the two autonomous tugs cooperatively tow a ship to a desired position with a desired heading and velocity under the(even harsh)environmental disturbances.

Test Research on Influence of Draft on Towing Behaviors of 3-Bucket Foundation Platform

To investigate the natural frequencies and towing behaviors of a 3-bucket foundation platform at different drafts, the decay and towing experiments were carried out in a towing tank on a scale of 1:20. The air pressure inside the bucket foundations, the water pressure at the bottom of the bucket foundations, the acceleration of the platform and the towing force were determined in the test process. The time-history curves of the measured parameters were obtained, and the frequency responses of the parameters at different drafts were analyzed by means of fast Fourier transform(FFT). The results showed that the platform natural frequency of heave decreased slightly with the rise of draft. The natural frequencies of roll and pitch are much lower than that of heave, and they increased slightly with the increase of draft. When towing in the following sea, the maximum acceleration of surge, sway and heave has downward trends with the increase of draft, but the change range decreased gradually with the increase of draft. When the draft is 5.0 m(the ratio of draft to bucket height is 0.56), the towing dynamic responses achieve the maximum, which is not conducive to the towing of the platform. When the draft is 6.0 m(the ratio of draft to bucket height is 0.67), the towing dynamic responses are the most stable.

Research on the Motion Track of Ocean Towing System

In this paper, a method for predicting the position of towline is presented. The location of the finite node is determined by installing fixed spaced attitude sensors in towline arrays, then the appropriate objective functions are selected for water depth profile and course profile respectively, and the interpolation fitting method is combined with the determined predicted positions. Through the hydrodynamic analysis of the existing towing cable’s underwater motion, the position of the towing cable under the steady state motion is obtained as the reference basis, and two methods are put forward, which are improved spline interpolation method, polynomial fitting method and multivariate nonlinear regression analysis. In the case of steady state motion, the two methods are compared and compared with the hydrodynamic simulation results. Finally, a more suitable method is selected as the basis of cable location inversion and applied to deep-sea towing operations.

Mechanical Analysis of Submarine Pipeline During off-Bottom Towing Operation

The off-bottom tow is an important method to lay pipeline for offshore oil and gas transportation in shallow water area. During the off-bottom towing operation, the actions such as sea current resistance, friction force of seabed, pontoon buoyancy, and tow force of tugboat can cause large deformation and fatigue damage to the pipeline. In order to keep the pipeline in safety, the lateral and vertical defomlations of pipeline must be controlled within an appropriate range. Theoretical study is carried out in the paper on the environmental forees acting on pipeline, pontoons and chaias, and the confimation of tow parameters including tow forces of tugboat, number of pontoons and length of chains. Then the pipeline in the off-bettom towing process may be simplified into a continuous beam with elastic supports under the concentrated and distributed forces. A finite element method is applied to achieve numerical solutions describing the distributions of deformation and stress along the pipeline. The results show that the lateral shape of the pipeline is like an arc with the maximal deformation appearing at the middle of the pipeline. The distributions of stress are similar between two arbitrary pontoons. Moreover, both deformation and stress have the inverse relation with the tow forces of tugboat.

Regulated emission characteristics of in-use LNG and diesel semi-trailer towing vehicles under real driving conditions using PEMS

On-road driving emissions of six liquefied natural gas(LNG) and diesel semi-trailer towing vehicles(STTVs) which met China Emission Standard IV and V were tested using Portable Emission Measurement System(PEMS) in northern China.Emission characteristics of these vehicles under real driving conditions were analyzed and proved that on-road emissions of heavy-duty vehicles(HDVs) were underestimated in the past.There were large differences among LNG and diesel vehicles, which also existed between China V vehicles and China IV vehicles.Emission factors showed the highest level under real driving conditions, which probably be caused by frequent acceleration, deceleration, and start-stop.NOx emission factors ranged from 2.855 to 20.939 g/km based on distance-traveled and 6.719–90.557 g/kg based on fuel consumption during whole tests, which were much higher than previous researches on chassis dynamometer.It was inferred from tests that the fuel consumption rate of the test vehicles had a strong correlation with NOx emission, and the exhaust temperature also affected the efficiency of Selected Catalytic Reduction(SCR) aftertreatment system, thus changing the NOx emission greatly.THC emission factors of LNG vehicles were 2.012–10.636 g/km, which were much higher than that of diesel vehicles(0.029–0.185 g/km).Unburned CH4 may be an important reason for this phenomenon.Further on-road emission tests, especially CH4 emission test should be carried out in subsequent research.In addition, the Particulate Number(PN) emission factors of diesel vehicles were at a very high level during whole tests, and Diesel Particulate Filter(DPF)should be installed to reduce PN emission.

Dynamic Behavior of Two Part Towing Cable System During Turning

An improved numerical method is used to simulate the dynamic behavior of a two part towing cable systems during turnings. In U turns and full turns, periodical heave motions are found both for the towed vehicle and for the depressor. Periodic motions of the subsea units and of the cable surface tension are closely related to the turning parameters, such as turning velocity and turning radius. System parameters, such as length of the second cable and the vehicle bydrodynamics, also damp turning instability.

The Numerical Simulation of a Towing Cylinder Based on Immersed Body Boundary Method

An immersed body boundary method is adopted to track the motions of a towing cylinder, and a homogenous multiphase Eulerian-Eulerian fluid approach is used to capture the free surface. The Reynolds average Navier-Stockes(RANS) solver is applied to all gird nodes to deal with different velocities of the nodes that are in the body boundary, near the boundary and out of the boundary and their effect on the fluid. The towing cylinder resistance at different submerged depths in the tank is presented. The simulation results are compared with the experimental data, and the method is verified and validated. Finally, the hydrodynamic characters of the cylinder are discussed further. The numerical and experimental results show that at high speeds, the deeper the cylinder submerges, the lower resistance it suffers. The resistance coefficient trough is obtained at Froude number in the range of 0.3 < F r < 0.4. These phenomena can provide some suggestions on the small waterplane area twin hull(SWATH) design.

Study of the Lift Force Induced by An Interceptor on A High-Speed Mono-Hull:The Affecting Factors and Estimation Formula

To find a better way to estimate the lift force induced by an interceptor on a high-speed mono-hull ship,a series of high-speed mono-hull ship models are designed and investigated under different conditions.Different lift forces are obtained by numerical calculations and validated by a model test in a towing tank.The factors that influence the force are the interceptor height,velocity,draft,and deadrise angle.The relationship between each factor and the induced lift force is investigated and obtained.We found that the induced lift mainly depends on the interceptor height and advancing velocity,and is proportional to the square of the interceptor height and velocity.The results also showed that the effects of the draft and deadrise angle are relatively less important,and the relationship between the induced lift and these two factors is generally linear.Based on the results,a formula including the combined effect of all factors used to estimate the lift force induced by the interceptor is developed based on systematic analysis.The proposed formula could be used to estimate the lift force induced by interceptors,especially under high-speed condition.

Analysis and Verification on Buckling Mechanism of Spatial Tow Steering in Automated Fiber Placement

Automated fiber placement(AFP)enables the efficient and precise fabrication of complex-shaped aerospace composite structures with lightweight and high-performance properties.However,due to the excessive compression on the inner edge of the tow placed along the curved trajectory,the resulting defects represented by buckling and wrinkles in spatial tow steering can induce poor manufacturing accuracy and quality degradation of products.In this paper,a theoretical model of tow buckling based on the first-order shear deformation laminate theory,linear elastic adhesion interface and Hertz compaction contact theory is proposed to analyze the formation mechanism of the wrinkles and predict the formation of defects by solving the critical radius of the trajectory,and finite element analysis involving the cohesive zone modeling(CZM)is innovated to simulate the local buckling state of the steered tow in AFP.Additionally,numerical parametric studies and experimental results indicate that mechanical properties and geometric parameters of the prepreg,the curvature of the placement trajectory and critical process parameters have a significant impact on buckling formation,and optimization of process parameters can achieve effective suppression of placement defects.This research proposes a theoretical modeling method for tow buckling,and conducts in-depth research on defect formation and suppression methods based on finite element simulation and placement experiments.

基于TOWS分析的农村集体经营性建设用地入市研究

采用TOWS理论,结合在河北、江苏等地的实地调研成果,分析我国农村集体经营性建设用地入市的挑战、机遇、劣势和优势。分析认为,当前农村集体经营性建设用地入市存在地区差异大、收益难分配、村民乡土情结深厚、政策宣传不到位等问题,但得益于乡村振兴政策和城乡一体化进程,入市改革又存在着很强的发展潜力。入市改革不宜“指标化”的无序推进,而应以农民根本利益为核心,从有序扩大入市规模、放活入市标准、完善收益分配、强化政校联动等方面入手,推动集体经营性建设用地入市工作的进一步展开。

Numerical Simulation on Floating Behavior of Buoyancy Tank Foundation of Anemometer Tower

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.

基于TOWS理论审视我国体育旅游发展战略——以河南省体育旅游开发为例

将战略规划的系统方法——TWOS分析引入河南省体育旅游发展战略规划实践。研究认为,区域体育旅游的发展战略关系到体育旅游发展的全局性、根本性问题,是区域体育旅游取得持续发展的决定性因素。据此认为,河南省体育旅游的开发应围绕特色文化、区域合作、体制创新、产品整合、相对优势、品牌和形象主导制定战略规划。

Deghosting towed streamer data in τ/p domain based on rough sea surface reflectivity

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.

基于TOWS分析的区域旅游发展战略规划——以辽宁鞍山为例

发展战略在区域旅游开发和规划中至关重要,它关系到旅游发展的全局性和战略性问题,是区域旅游业取得长期绩效的决定性因素。目前,区域旅游发展战略规划,基本上依赖于专家的经验和直觉,随意性和主观性较强,给区域旅游发展系统带来莫大的风险。为此,本文以辽宁鞍山为实例,将TOWS分析方法引入旅游发展战略的制定过程,以增强区域旅游发展战略规划的客观性、系统性和可靠性,降低旅游系统所面临的风险,旨在促进区域旅游持续发展。