This paper investigates the wireless communication with a novel architecture of antenna arrays,termed modular extremely large-scale array(XLarray),where array elements of an extremely large number/size are regularly m...This paper investigates the wireless communication with a novel architecture of antenna arrays,termed modular extremely large-scale array(XLarray),where array elements of an extremely large number/size are regularly mounted on a shared platform with both horizontally and vertically interlaced modules.Each module consists of a moderate/flexible number of array elements with the inter-element distance typically in the order of the signal wavelength,while different modules are separated by the relatively large inter-module distance for convenience of practical deployment.By accurately modelling the signal amplitudes and phases,as well as projected apertures across all modular elements,we analyse the near-field signal-to-noise ratio(SNR)performance for modular XL-array communications.Based on the non-uniform spherical wave(NUSW)modelling,the closed-form SNR expression is derived in terms of key system parameters,such as the overall modular array size,distances of adjacent modules along all dimensions,and the user's three-dimensional(3D)location.In addition,with the number of modules in different dimensions increasing infinitely,the asymptotic SNR scaling laws are revealed.Furthermore,we show that our proposed near-field modelling and performance analysis include the results for existing array architectures/modelling as special cases,e.g.,the collocated XL-array architecture,the uniform plane wave(UPW)based far-field modelling,and the modular extremely large-scale uniform linear array(XL-ULA)of onedimension.Extensive simulation results are presented to validate our findings.展开更多
An intelligent welding robot for spherical tank's all-position multi-layerwelds is developed. Based on the dynamics analyzing and simulation testing, a flexible magneticwheel mechanism is created as the robot'...An intelligent welding robot for spherical tank's all-position multi-layerwelds is developed. Based on the dynamics analyzing and simulation testing, a flexible magneticwheel mechanism is created as the robot's walking carriage. It makes the robot directly attracted tothe surface of the spherical tank so as to realize the all-position walking and welding withoutrail. At the same time, a CCD real-time tracing system is developed for the robot to repeatedlytrace the all-position and multi-layer seams. The welding tests show that the welding robot can makethe all-position and multi-layer welds with high tracing accuracy, excellent quality and reliablebehavior, and it can be applied for practical production.展开更多
A full automatic welding machine for spherical tanks' all position multi layer welds has been developed. This machine is mainly composed of a two dimension seam tracking system based on microcomputer's memor...A full automatic welding machine for spherical tanks' all position multi layer welds has been developed. This machine is mainly composed of a two dimension seam tracking system based on microcomputer's memory and a welding tractor as well as rail. The main features of the machine are: while welding the first layer of a seam, its microcomputer system can analyze and store the tracing information from a two dimension sensor, and control the welding head device to realize two dimension real time tracing; while welding the second layer up to the top layer of the seam, it can realize two dimension tracing based on the memorial data, automatically determine the layer number and continually sway the welding head. The welding test shows that the machine has good tracing and welding behavior, and is suitable for spherical tank's all position multi layer welds.展开更多
Large pressure equipment needs to be tested regularly to ensure safe operation;wall-climbing robots can carry the necessary tools to inspect spherical tanks,such as cameras and non-destructive testing equipment.Howeve...Large pressure equipment needs to be tested regularly to ensure safe operation;wall-climbing robots can carry the necessary tools to inspect spherical tanks,such as cameras and non-destructive testing equipment.However,a wall-climbing robot inside a spherical tank cannot be accurately positioned owing to the particularity of the spherical tank structure.This paper proposes a passive support and positioning mechanism fixed in a spherical tank to improve the adsorption capacity and positioning accuracy of the inspection robot.The main body of the mechanism was designed as a truss composed of carbon fiber telescopic rods and can work in spherical tanks with diameters of 4.6-15.7 m.The structural strength,stiffness,and stability of the mechanism are analyzed via force and deformation simulations.By constructing a mathematical model of the support and positioning mechanism,the influence of structural deformation on the supporting capacity is analyzed and calculated.The robot positioning method based on the support and positioning mechanism can effectively locate the robot inside a spherical tank.Experiments verified the support performance and robot positioning accuracy of the mechanism.This research proposes an auxiliary support and positioning mechanism for a detection robot inside a spherical tank,which can effectively improve the positioning accuracy of the robot and meet the robotic inspection requirements.展开更多
This paper mainly introduces the scientific cutting and hoisting construction technology before the large spherical tank(hereinafter referred to as spherical tank)moving and loading,so as to better ensure the construc...This paper mainly introduces the scientific cutting and hoisting construction technology before the large spherical tank(hereinafter referred to as spherical tank)moving and loading,so as to better ensure the construction quality of field assembly and welding in the process of spherical tank moving and loading.展开更多
This paper investigates the sloshing phenomena in a spherical liquid tank using the moving particle semi-implicit(MPS)method,a crucial study in fluid dynamics.Distinct from previous research focused on rectangular or ...This paper investigates the sloshing phenomena in a spherical liquid tank using the moving particle semi-implicit(MPS)method,a crucial study in fluid dynamics.Distinct from previous research focused on rectangular or LNG tanks,this work explores the unique motion patterns inherent to spherical geometries.The accuracy of our in-house MPS solver MLParticle-SJTU is validated against experimental data and finite volume method(FVM).And the MPS method reveals a closer alignment with experimental outcomes,which suggests that MPS method is particularly effective for modeling complex,non-linear fluid behaviors.Then the fluid’s response to excitation at its natural frequency is simulated,showcasing vigorous sloshing and rotational motion.Detailed analyses of the fluid motion are conducted by drawing streamline diagrams,velocity vector diagrams,and vorticity maps.The fluid’s motion response is explored using both time-domain and frequency-domain curves of the fluid centroid,as well as the sloshing force.展开更多
Using spherical coordinates, the coupling nonlinear dynamic system of a liquid-filled spherical tank, which can be excited discretionarily, is deduced by the H-O varia- tional principle, and the viscous damping is int...Using spherical coordinates, the coupling nonlinear dynamic system of a liquid-filled spherical tank, which can be excited discretionarily, is deduced by the H-O varia- tional principle, and the viscous damping is introduced via the liquid dissipation function. The kinetic equations of the coupling system are deduced by the relationship between the velocity of liquid particles and the disturbed liquid surface equation. Normal differential equations are obtained through the Galerkin method. An equivalent mechanical model is developed for liquid sloshing in a spherical tank subject to arbitrary excitation. The fixed and slosh masses, as well as the spring and damping constants, are determined in such a way as to satisfy the principle of equivalence. Numerical simulations illustrate the theoretical results in this paper as well.展开更多
This research work investigated the modeling of Von Mises stress in LNG Spherical Carbon Steel Storage tank using assumed displacement Finite Element analysis based on shallow shell triangular elements. Using equation...This research work investigated the modeling of Von Mises stress in LNG Spherical Carbon Steel Storage tank using assumed displacement Finite Element analysis based on shallow shell triangular elements. Using equations of elasticity, constant thickness carbon steel spherical storage tanks were subjected to different loading conditions. This paper stresses the need for proper definition of shallow element using sector angles to obtain the shallowness. The shallow spherical triangular element has five degrees of freedom at each of its corner node, which are the essential external degrees of freedom. The assumed displacement fields of these shallow triangular elements satisfied the exact requirement of rigid body modes of motion. The FORTRAN 90 programming language was used for the programme coding to solve finite element equations resulting from the model while Von Mises stresses distribution within the spherical storage tank shell subjected to different internal pressures were determined. The results showed that the use of non-shallow elements due to improper sector angles resulted in unreliable results while real shallow elements produced results that tallied with ASME Section VIII Div 1, Part UG values.展开更多
Spherical pressure vessels in large sizes are generally supported on legs or columns evenly spaced around the circumference. The legs are attached at or near the equator of the sphere. This research work focussed on f...Spherical pressure vessels in large sizes are generally supported on legs or columns evenly spaced around the circumference. The legs are attached at or near the equator of the sphere. This research work focussed on flexural-torsional buckling of beam-column supports of field fabricated spherical pressure vessels using finite element analysis. Flexuraltorsional buckling is an important limit state that must be considered in structural steel design and it occurs when a structural member experiences significant out-of-plane bending and twisting. This research has therefore considered the total potential energy equation for the flexural-torsional buckling of a beam-column element. The energy equation was formulated by summing the strain energy and the potential energy of the external loads. The finite element method was applied in conjunction with the energy method to analyze the flexural-torsional buckling of beam-column supports. To apply the finite element method, the displacement functions are assumed to be cubic polynomials, and the shape functions used to derive the element stiffness and element geometric stiffness matrices. The element stiffness and geometric stiffness matrices were assembled to obtain the global stiffness matrices of the structure. The final finite element equation obtained was in the form of an eigenvalue problem. The flexural-torsional buckling loads of the structure were determined by solving for the eigenvalue of the equation. The resulting eigenvalue equation from the finite element analysis was coded using FORTRAN 90 programming language to aid in the analysis process. To validate FORTRAN 90 coding developed for the finite element analysis and the methodology, the results given by the software were compared to existing solutions and showed no significant difference P > 0.05.展开更多
基金supported by the National Key R&D Program of China with Grant number 2019YFB1803400the National Natural Science Foundation of China under Grant number 62071114the Fundamental Research Funds for the Central Universities of China under grant numbers 3204002004A2 and 2242022k30005。
文摘This paper investigates the wireless communication with a novel architecture of antenna arrays,termed modular extremely large-scale array(XLarray),where array elements of an extremely large number/size are regularly mounted on a shared platform with both horizontally and vertically interlaced modules.Each module consists of a moderate/flexible number of array elements with the inter-element distance typically in the order of the signal wavelength,while different modules are separated by the relatively large inter-module distance for convenience of practical deployment.By accurately modelling the signal amplitudes and phases,as well as projected apertures across all modular elements,we analyse the near-field signal-to-noise ratio(SNR)performance for modular XL-array communications.Based on the non-uniform spherical wave(NUSW)modelling,the closed-form SNR expression is derived in terms of key system parameters,such as the overall modular array size,distances of adjacent modules along all dimensions,and the user's three-dimensional(3D)location.In addition,with the number of modules in different dimensions increasing infinitely,the asymptotic SNR scaling laws are revealed.Furthermore,we show that our proposed near-field modelling and performance analysis include the results for existing array architectures/modelling as special cases,e.g.,the collocated XL-array architecture,the uniform plane wave(UPW)based far-field modelling,and the modular extremely large-scale uniform linear array(XL-ULA)of onedimension.Extensive simulation results are presented to validate our findings.
基金This project is supported by National 863 High Technology R&D Program (No.863-512-9913-02).
文摘An intelligent welding robot for spherical tank's all-position multi-layerwelds is developed. Based on the dynamics analyzing and simulation testing, a flexible magneticwheel mechanism is created as the robot's walking carriage. It makes the robot directly attracted tothe surface of the spherical tank so as to realize the all-position walking and welding withoutrail. At the same time, a CCD real-time tracing system is developed for the robot to repeatedlytrace the all-position and multi-layer seams. The welding tests show that the welding robot can makethe all-position and multi-layer welds with high tracing accuracy, excellent quality and reliablebehavior, and it can be applied for practical production.
文摘A full automatic welding machine for spherical tanks' all position multi layer welds has been developed. This machine is mainly composed of a two dimension seam tracking system based on microcomputer's memory and a welding tractor as well as rail. The main features of the machine are: while welding the first layer of a seam, its microcomputer system can analyze and store the tracing information from a two dimension sensor, and control the welding head device to realize two dimension real time tracing; while welding the second layer up to the top layer of the seam, it can realize two dimension tracing based on the memorial data, automatically determine the layer number and continually sway the welding head. The welding test shows that the machine has good tracing and welding behavior, and is suitable for spherical tank's all position multi layer welds.
基金Supported by Jiangsu Major Research and Development(Social Development)Project of China(Grant No.BE2016802).
文摘Large pressure equipment needs to be tested regularly to ensure safe operation;wall-climbing robots can carry the necessary tools to inspect spherical tanks,such as cameras and non-destructive testing equipment.However,a wall-climbing robot inside a spherical tank cannot be accurately positioned owing to the particularity of the spherical tank structure.This paper proposes a passive support and positioning mechanism fixed in a spherical tank to improve the adsorption capacity and positioning accuracy of the inspection robot.The main body of the mechanism was designed as a truss composed of carbon fiber telescopic rods and can work in spherical tanks with diameters of 4.6-15.7 m.The structural strength,stiffness,and stability of the mechanism are analyzed via force and deformation simulations.By constructing a mathematical model of the support and positioning mechanism,the influence of structural deformation on the supporting capacity is analyzed and calculated.The robot positioning method based on the support and positioning mechanism can effectively locate the robot inside a spherical tank.Experiments verified the support performance and robot positioning accuracy of the mechanism.This research proposes an auxiliary support and positioning mechanism for a detection robot inside a spherical tank,which can effectively improve the positioning accuracy of the robot and meet the robotic inspection requirements.
文摘This paper mainly introduces the scientific cutting and hoisting construction technology before the large spherical tank(hereinafter referred to as spherical tank)moving and loading,so as to better ensure the construction quality of field assembly and welding in the process of spherical tank moving and loading.
基金Project supported by the National Natural Science Foundation of China (Grant No.52131102)the National Key Research and Development Program of China (Grant No.2022YFC2806705).
文摘This paper investigates the sloshing phenomena in a spherical liquid tank using the moving particle semi-implicit(MPS)method,a crucial study in fluid dynamics.Distinct from previous research focused on rectangular or LNG tanks,this work explores the unique motion patterns inherent to spherical geometries.The accuracy of our in-house MPS solver MLParticle-SJTU is validated against experimental data and finite volume method(FVM).And the MPS method reveals a closer alignment with experimental outcomes,which suggests that MPS method is particularly effective for modeling complex,non-linear fluid behaviors.Then the fluid’s response to excitation at its natural frequency is simulated,showcasing vigorous sloshing and rotational motion.Detailed analyses of the fluid motion are conducted by drawing streamline diagrams,velocity vector diagrams,and vorticity maps.The fluid’s motion response is explored using both time-domain and frequency-domain curves of the fluid centroid,as well as the sloshing force.
基金supported by the National Natural Science Foundation of China(11102006,11172145)the Research Fund for the Doctoral Program of Higher Education(20101102120013)
文摘Using spherical coordinates, the coupling nonlinear dynamic system of a liquid-filled spherical tank, which can be excited discretionarily, is deduced by the H-O varia- tional principle, and the viscous damping is introduced via the liquid dissipation function. The kinetic equations of the coupling system are deduced by the relationship between the velocity of liquid particles and the disturbed liquid surface equation. Normal differential equations are obtained through the Galerkin method. An equivalent mechanical model is developed for liquid sloshing in a spherical tank subject to arbitrary excitation. The fixed and slosh masses, as well as the spring and damping constants, are determined in such a way as to satisfy the principle of equivalence. Numerical simulations illustrate the theoretical results in this paper as well.
文摘This research work investigated the modeling of Von Mises stress in LNG Spherical Carbon Steel Storage tank using assumed displacement Finite Element analysis based on shallow shell triangular elements. Using equations of elasticity, constant thickness carbon steel spherical storage tanks were subjected to different loading conditions. This paper stresses the need for proper definition of shallow element using sector angles to obtain the shallowness. The shallow spherical triangular element has five degrees of freedom at each of its corner node, which are the essential external degrees of freedom. The assumed displacement fields of these shallow triangular elements satisfied the exact requirement of rigid body modes of motion. The FORTRAN 90 programming language was used for the programme coding to solve finite element equations resulting from the model while Von Mises stresses distribution within the spherical storage tank shell subjected to different internal pressures were determined. The results showed that the use of non-shallow elements due to improper sector angles resulted in unreliable results while real shallow elements produced results that tallied with ASME Section VIII Div 1, Part UG values.
文摘Spherical pressure vessels in large sizes are generally supported on legs or columns evenly spaced around the circumference. The legs are attached at or near the equator of the sphere. This research work focussed on flexural-torsional buckling of beam-column supports of field fabricated spherical pressure vessels using finite element analysis. Flexuraltorsional buckling is an important limit state that must be considered in structural steel design and it occurs when a structural member experiences significant out-of-plane bending and twisting. This research has therefore considered the total potential energy equation for the flexural-torsional buckling of a beam-column element. The energy equation was formulated by summing the strain energy and the potential energy of the external loads. The finite element method was applied in conjunction with the energy method to analyze the flexural-torsional buckling of beam-column supports. To apply the finite element method, the displacement functions are assumed to be cubic polynomials, and the shape functions used to derive the element stiffness and element geometric stiffness matrices. The element stiffness and geometric stiffness matrices were assembled to obtain the global stiffness matrices of the structure. The final finite element equation obtained was in the form of an eigenvalue problem. The flexural-torsional buckling loads of the structure were determined by solving for the eigenvalue of the equation. The resulting eigenvalue equation from the finite element analysis was coded using FORTRAN 90 programming language to aid in the analysis process. To validate FORTRAN 90 coding developed for the finite element analysis and the methodology, the results given by the software were compared to existing solutions and showed no significant difference P > 0.05.
