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.

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.

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.

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.

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.

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。

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°）.

Comparison of marine controlled-source electromagnetic data acquisition systems by a reservoir sensitivity index:analyzing the effect of water depths

During the past ten years, a marine controlled source electromagnetic（CSEM） method has been developed rapidly as a technology for hydrocarbon exploration. For shallow water environments, two CSEM data acquisition systems： Seabed Logging（SBL） and towed streamer electromagnetics（TSEM） have been developed in recent years. The purpose is to compare the performance of the SBL and TSEM systems at different water depths. Three different methods for the comparison are presented. The first method is a quick one dimensional sensitivity modelling. As a result, the sensitivity of marine CSEM data increases with water depth for the SBL system. Further, the sensitivity decreases with the increasing water depth for the TSEM system. The two other methods use two dimensional synthetic data from a simple 2-D isotropic model. The second method is a reservoir sensitivity index（RSI） method which has been developed to provide a quick comparison of the two systems. The RSI is calculated as the amplitude of the scattered field dividing by data uncertainty. From the calculations, it is found that with the increasing water depth RSI increases for the SBL system, while it decreases for the TSEM system. The third method uses Occam＇s inversion, and applies an anomaly transverse resistance（ATR） ratio for evaluating the resulting resistivity image. In shallow water environments, the resolution of the CSEM inversion results is good for both the SBL and TSEM systems. In deep water environments, the resolution of the CSEM inversion is better for the SBL system than for the TSEM system. The ATR ratios of the resistivity images show the similar conclusion. The SBL data acquisition system has an advantage in deep water environments. The TSEM system, on the other hand, is preferable for the shallow water environments.

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.

Dynamic Analysis of Towed and Variable Length Cable Systems

Towed cable systems are frequently used in marine measurements where the length of the towed cable varies during launch and recovery. In this paper a novel method for modeling variable length cable systems is introduced based on the finite segment formulation. The variable length of the towed cable is described by changing the length of the segment near the towing point and by increasing or decreasing the number of the discrete segments of the cable. In this way, the elastic effects of the cable can be easily handled since geometry and material properties of each segment are kept constant. Experimental results show that the dynamic behavior of the towed cable is consistent between the model and the physical cable. Results show that the model provides numerical efficiency and simulation accuracy for the variable length towed system.

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.

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.

Numerical Simulation of Dynamic Response of Towed Systems

In this paper, the dynamic response of undersea -+towed systems is numerically simulated. A two body towed system is especially considered in detail. The factors influencing the heave of towed-bodies, such as the weight of the towed-body (in sea water), the length and the weight (in sea water) per unit length of the cable between towed-bodies and towing ship, are investigated in detail. Calculations show that the two-body towed system can greatly increases the stability of the towed system.

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.

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.

Analysis of the Dynamic System of Wave Glider with a Towed Body

Mobile observation platforms are widely used in oceanographic and marine resource exploration and other applications. Wave Glider is a mobile platform that can transform wave energy into locomotion power and overcome the bottleneck of low energy supply. Wave Glider has recently been applied to tow underwater sensors fulfilling observation tasks. In this paper, the dynamic system of Wave Glider with a towed body is studied by applying multibody mechanics, and the relevant motion conditions of the system are investigated. Dynamic models of Wave Glider with a towed body and tether are first developed individually and then integrated into a whole model. The numerical method is used to obtain the dynamic responses and assess performance of the towed body pulled by the submerged glider of Wave Glider. The effects of sea state, mass of the towed body, and length of the towed cable are investigated on the basis of simulation results. This work can be used for the design and analysis of Wave Glider-towed body systems.

Torsional Vibration Analysis of an FR Driveline System

Towing tractor drivelines are lightly damped non-linear systems. Interactions between components can cause dynamic behavors such as gear gap impact in gear transmissions, shuffle and clonk phenomena in driveline. The torsional vibration of driveline has an important effect on grand engineering vehicle vibration and noise. Through analyzing torsional vibration equations of driveline, torsional vibration model of driveline is developed by using Matlab/Simulink software, Shuffle and clonk phenomena are observed in torsional vibration. The modeling method of analysizing driveline torsional vibration can be used to research and improve similar engineering vehicle driveline behavors.

武夷山朱子文化旅游发展与路径

随着观光发展与旅游型态的进化,乡贤文化旅游已成为国人选择旅游方式之一,亦是全国旅游发展的重点领域。透过乡贤文化传播,不仅可起到乡贤文化资源保护与传承,还可运用其乡贤话题发展旅游观光,提升城市知名度,达到文化传承、资源共享,更能带动地方经济的发展。本研究之目的在找出武夷山朱熹文化旅游发展与创新的策略,透过对文献、案例的探讨与SWOT分析,再以TOWS矩阵匹配战略掌握竞争优势,形成最适合武夷山朱子文化旅游的建设路径。研究结果提出以下四个方面:朱子文化推进文旅合作发展;跨区域性的策略联盟;产业发展定位,形塑特色的区域产业;推动朱子文创园区,打造武夷优质城市。

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.