核电水池水下焊接ROV线缆稳态力学特性

设计搭载有焊接装置的有缆水下机器人(ROV);建立部分处于空气中、部分处于水下的线缆稳态力学模型;将常微分方程组形式的模型求解问题转化为初始值求解问题,并以ROV和线缆之间连接点的状态值为初始值,通过四阶龙格-库塔算法求解得到ROV运动速度、水深、线缆入水角和线缆长度等因素与线缆的张力、法向剪切力和副法向力矩等稳态力学特性之间的变化规律。研究结果表明:本文所提出的方法可用于评估多种因素对ROV稳态运动的影响,并能够为改进ROV的设计和控制策略提供参考。

Probabilistic Analysis and Fatigue Damage Assessment of Offshore Mooring System due to Non-Gaussian Bimodal Tension Processes

Both wave-frequency(WF) and low-frequency(LF) components of mooring tension are in principle non-Gaussian due to nonlinearities in the dynamic system.This paper conducts a comprehensive investigation of applicable probability density functions(PDFs) of mooring tension amplitudes used to assess mooring-line fatigue damage via the spectral method.Short-term statistical characteristics of mooring-line tension responses are firstly investigated,in which the discrepancy arising from Gaussian approximation is revealed by comparing kurtosis and skewness coefficients.Several distribution functions based on present analytical spectral methods are selected to express the statistical distribution of the mooring-line tension amplitudes.Results indicate that the Gamma-type distribution and a linear combination of Dirlik and Tovo-Benasciutti formulas are suitable for separate WF and LF mooring tension components.A novel parametric method based on nonlinear transformations and stochastic optimization is then proposed to increase the effectiveness of mooring-line fatigue assessment due to non-Gaussian bimodal tension responses.Using time domain simulation as a benchmark,its accuracy is further validated using a numerical case study of a moored semi-submersible platform.

Analytical Modeling and Experimental Validation of Electromagnetic Field Radiated by In-house PLC Lines

Broadband PLC （power line communication） technology is a main factor of the development of digital convergence in the indoor network. It uses the already existing power cable infrastructure for communication purposes. The EM （electromagnetic） field radiating from the cable could, however, disturb other communication systems, and thus should be evaluated. The MoM （method of moment） and the FEM （finite element method） have been studied to estimate the EVI field emitted from the power cable. However, the M oM is difficult to treat the dielectric material of the cable and the FEM is time consuming. This paperpresents a new approach to estimate the radiated EM fields caused by PLC sy stems from the CM current along the cable, based on the transmission line theory. The proposed model has the advantage of using the measured primary parameters of the cable. An experimental analysis of the EM radiation distribution is also presented. A comparison showed that the model results agree quite well with the measurements performed in this study.

Prototype Line Crawler for Power Line Inspection

In South Africa, electricity is supplied through thousands-of-kilometers of overhead power cables, which is owned by Eskom the national energy supplier. Currently monitoring of these overhead power cables are done by means of helicopter inspection flights and foot patrols, which are infrequent and expensive. In this paper, the authors present the design of a prototype power line crawler （inspection robot） for the monitoring of these overhead power lines in South Africa. The designed prototype power line crawler is capable of driving on the wire, balancing on the wire and is capable of maneuvering past certain obstacles found on the overhead power cables. The prototype power line crawler is designed to host a monitoring system that monitors the power line as the inspection robot drives on it. Various experimental tests were performed and are presented in this paper, showing the capability of performing these tasks. This prototype inspection robot ensures a platform for future development in this area.

Simulation of construction shape-forming process of cable domes

A cable dome has no stiffness or load carrying capacity unless it has been prestressed.Analyses of cable domes are based on successful prestressing designs,making force finding analysis very important.A new force finding method named the imbal-ance force iterative method is proposed,which can overcome some limitations of the integrity feasible prestressing method.For instance,even if groups are assigned by mistake,the pretension distribution that satisfies the known geometry form can also be found.This method possess good stability and calculation efficiency,and a case study indicates that it is applicable to the force finding of large and complicated cable domes.On the other hand,form finding analysis of cable domes is also a key engineering problem.However,rigid displacement occurs in this process,which makes the analysis more complex.In this pa-per,the dynamic relaxation method was selected,and the problem of rigid displacement was therefore effectively solved.The method includes two steps:first,the stretching cables are released,and secondly,an axial force is imposed on the two ends of each released cable.This method is convenient in its calculation and clear in its conception.A case study indicates that the method is suitable for the simulation of the construction process of various cable domes and cable-strut tension structures.Moreover,a form finding experiment was conducted on a model of a cable dome with a diameter of 4.8 m by tensing diagonal cables.The behavior of the model in the form finding process was investigated.The experimental results indicate that the ini-tial lengths of members and prestress loss are key issues in cable domes design.The results also prove that the methods of form finding and force finding proposed in this paper are reliable and effective.