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Статті в журналах з теми "Vertical displacement robots"
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Alexandrescu, Nicolae, Constantin Udrea, Despina Duminică, and Tudor Cătălin Apostolescu. "Research on the Vacuum Attachment System of a Cleaning Robot with Vertical Displacement." Advanced Materials Research 463-464 (February 2012): 1673–77. http://dx.doi.org/10.4028/www.scientific.net/amr.463-464.1673.
Повний текст джерелаАнотація:
Autonomous mobile robots for vertical surface cleaning have to support their own weight, fixing elements most frequently used being vacuum cups. An original construction of a cleaning robot with displacements in a vertical plane and vacuum attachment system was developed by the authors. The paper presents the most important results of the research performed in order to establish the behavior of vacuum cups used for coupling to the supporting surface in the presence of external loads.
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Meng, Qingguo, Xuefeng Yang, Wei Li, En Lu, and Lianchao Sheng. "Research and Analysis of Quasi-Zero-Stiffness Isolator with Geometric Nonlinear Damping." Shock and Vibration 2017 (2017): 1–9. http://dx.doi.org/10.1155/2017/6719054.
Повний текст джерелаАнотація:
This paper presents a novel quasi-zero-stiffness (QZS) isolator designed by combining a tension spring with a vertical linear spring. In order to improve the performance of low-frequency vibration isolation, geometric nonlinear damping is proposed and applied to a quasi-zero-stiffness (QZS) vibration isolator. Through the study of static characteristics first, the relationship between force displacement and stiffness displacement of the vibration isolation mechanism is established; it is concluded that the parameters of the mechanism have the characteristics of quasi-zero stiffness at the equilibrium position. The solutions of the QZS system are obtained based on the harmonic balance method (HBM). Then, the force transmissibility of the QZS vibration isolator is analyzed. And the results indicate that increasing the nonlinear damping can effectively suppress the transmissibility compared with the nonlinear damping system. Finally, this system is innovative for low-frequency vibration isolation of rehabilitation robots and other applications.
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Pritykin, Fedor Nikolaevich, and Valeriy Ivanovich Nebritov. "Graphic optimization model of the process of welding products by a robot based on Radishchev blueprint." Программные системы и вычислительные методы, no. 2 (February 2021): 63–73. http://dx.doi.org/10.7256/2454-0714.2021.2.35507.
Повний текст джерелаАнотація:
This article reviews the example of using a geometric model of a hypersurface in multidimensional space on the Radishchev blueprint, which reflects interconnection between the four variables in solution of one of the tasks associated with structuring the technological process fulfilled by a welding robot. In structuring technological processes related to welding, it is necessary to solve the optimization task of determining the position of the foundation of welding robot relative to the welded brackets and the axis of the container of cylindrical shape. The welding process requires finding the most optimal welding robot, the geometric model of the kinematic chain of which would move the output link and welding head across all sections of welding seams. As an example, the author reviews the case when the robot is outside the cylindrical container, and welding objects inside and outside. For carrying out the optimization task, the author examines the correlation between the parameters that determine the position of the robot relative to the container, and the minimum possible vertical displacement of the center of the output link based on the graphic optimization model. The multicomponent system comprised of the four parameters is studied based on the Radishchev blueprint. The author drew the combinations of curves that set the framework of curve lines of the dual level of the hypersurface in the four-dimensional space. For determination of the curves, the author found the combinations of projections of the dots on the Radishchev blueprint. The use of dual level lines on the Radishchev blueprint allowed determining most optimal position of the manipulator mechanism with regards to the cylindrical surface in welding the items for various industrial robots described in this article.
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Ho, Thanhtam, and Li Li Xin. "Design of a Piezoelectrically Actuated Jumping Robot." Advanced Materials Research 311-313 (August 2011): 2211–14. http://dx.doi.org/10.4028/www.scientific.net/amr.311-313.2211.
Повний текст джерелаАнотація:
This paper presents the design and simulation of a mesoscale robot that can jump vertically. The robot uses the vibration of a piezocomposite actuator named LIPCA. A ratchet mechanism is designed to convert the vertical vibration to angular displacement. Then the displacement is transferred to a pair of links such that a spring is compressed. The elastic energy of spring is used to make the robot jump vertically. Simulation results verify that the robot can jump as high as about three times its body height.
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Fu, Yu, Tien-Ruey Hsiang, and Sheng-Luen Chung. "Multi-waypoint visual homing in piecewise linear trajectory." Robotica 31, no. 3 (August 16, 2012): 479–91. http://dx.doi.org/10.1017/s0263574712000434.
Повний текст джерелаАнотація:
SUMMARYThis paper proposes an image sequence-based navigation method under the teaching-replay framework for robots in piecewise linear routes. Waypoints used by the robot contain either the positions with large heading changes or selected midway positions between junctions. The robot applies local visual homing to move between consecutive waypoints. The arrival at a waypoint is determined by minimizing the average vertical displacements of feature correspondences. The performance of the proposed approach is supported by extensive experiments in hallway and office environments. While the homing speed of robots using other approaches is constrained by the speed in the teaching phase, our robot is not bounded by such limit and can travel much faster without compromising the homing accuracy.
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Rachkov, M. Y. "The transport robot with reconfigurable structure." Izvestiya MGTU MAMI 10, no. 2 (June 15, 2016): 39–45. http://dx.doi.org/10.17816/2074-0530-66921.
Повний текст джерелаАнотація:
The paper discusses research results of transport robot new design for automation of different kinds of work in emergency situations. The purpose of research is to expand the robot's functional properties due to the possibility of overcoming the various obstacles, as well as high-speed movement on flat surfaces by reconfiguring its structure to the type of surface displacement. The robot has two caterpillar tracks located on each side of the platform for process equipment and two wheeled driving machines mounted on the front and rear of platform between caterpillar track groups. A feature of the design is that the wheel axis of wheeled driving machines is connected with the platform through levers, which drive is located on platform with the possibility of wheeled driving machines movement vertically relative to platform. Lever length could vary that allows to transform robot for different obstacles. A kinematic model of the robot in SolidWorks was developed to study different traffic modes. An experimental sample remote-controlled robot on the basis of standard components nodes was made. Its laboratory tests confirmed the ability to overcome different types of obstacles. The simulation of control system for levers extension in Matlab Simulink was made. It showed the stability of the system at the given parameters. The results can be used to create full-scale robots.
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Cruz Ulloa, Christyan, Silvia Terrile, and Antonio Barrientos. "Soft Underwater Robot Actuated by Shape-Memory Alloys “JellyRobcib” for Path Tracking through Fuzzy Visual Control." Applied Sciences 10, no. 20 (October 14, 2020): 7160. http://dx.doi.org/10.3390/app10207160.
Повний текст джерелаАнотація:
Recent developments in bioinspired technologies combined with the advance of intelligent and soft materials have allowed soft robots to replicate the behavior of different animal species. These devices can perform complicated tasks such as reaching or adapting in constrained and unstructured environments. This article proposes a methodology to develop a soft robot called “JellyRobcib” inspired in morphology and behavior by jellyfish, using shape-memory alloy springs as actuators (as bio-muscles). Such actuators can move the jellyfish both vertically and laterally by applying closed-loop fuzzy and visual controls. Additionally, Computer-Assisted Designs and Computational Fluid Dynamics simulations have been carried out to validate the soft robot model. The results show that the robot movements are very close to the morphological behavior of a real jellyfish regarding the curves of displacements, speeds and accelerations, after performing several experiments for autonomous movement: vertical ascent, lateral movements and trajectory tracking, obtaining an accuracy of ±1479 cm and repeatability of 0.944 for lateral movements for fuzzy visual control. Furthermore, thermal measurements were taken throughout a given path, allowing the generation of temperature gradients within the underwater environment for monitoring purposes.
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Tătar, Mihai Olimpiu, Florin Haiduc, and Dan Mândru. "Design of a Synchro-Drive Omnidirectional Mini-Robot." Solid State Phenomena 220-221 (January 2015): 161–67. http://dx.doi.org/10.4028/www.scientific.net/ssp.220-221.161.
Повний текст джерелаАнотація:
Using the synchro-drive principle, the paper presents a new omnidirectional mini-robot with conventional wheels. The synchro-drive principle is achieved applying geared mechanisms: three for steering and another three for displacement. The mini-robot uses two DC motors and three pairs of conventional wheels. The first DC motor controls the rotation of three pairs of the wheels around the horizontal axis thus generating the driving force (traction) to the mini-robot. The second motor controls the rotation of three pairs of the wheels around the vertical axis hence generating their orientation.
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Yeom, Seong Won, and Il Kwon Oh. "Fabrication and Evaluation of Biomimetic Jellyfish Robot Using IPMC." Advances in Science and Technology 58 (September 2008): 171–76. http://dx.doi.org/10.4028/www.scientific.net/ast.58.171.
Повний текст джерелаАнотація:
In this study, fabrication and evaluation of a biomimetic jellyfish robot by using IPMC actuators were performed. Application fields of the existing IPMC actuators are limited due to the flat shape which is a serious weakness for such actuation material. A new curved IPMC actuator with an intended initial deformation was newly developed to overcome the weakness of the flat IPMC actuator and to mimic the jellyfish. The thermal treatment was applied to obtain the intended initial deformation. The bio-inspired input signal was generated with mimicking real motion of the jellyfish. The vertical floating displacement and force of the biomimetic jellyfish robot under various driving signals were measured and compared vertical floating forces and motion of jellyfish robot. Unlike sinusoidal excitation, the bio-inspired input signals make position. Although there are still certain problems to be resolved in the power system and buoyancy, the curved IPMC actuators may possibly be a promising candidate that can materialize the biomimetic fish robot.
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Efremova, K. D., and V. N. Pil'gunov. "Linear positioner based on pneumatic muscle." Izvestiya MGTU MAMI 12, no. 2 (June 15, 2018): 16–29. http://dx.doi.org/10.17816/2074-0530-66825.
Повний текст джерелаАнотація:
The main goal of the work is to investigate the technical possibilities of creating a linear positioner on the basis of pneumatic muscle with acceptable characteristics for positioning. The experimental study of the power characteristics of the pneumatic muscle of the MAS 10-300 series of “FESTO” company is carried out. The physical essence of the cylindrical membrane operation is considered, on the basis of which the pneumatic muscle is constructed and a method for calculating the parameters of the positioning spring has been developed. It is shown that if the positional component is present in the load of pneumatic muscle then its rigidity (the dependence of the force on displacement) allows solving the task of positioning by controlling the pressure in the internal cavity of pneumatic muscle. If there is no positional component in the load or it is too small, then a positioning spring is needed to solve the positioning problem. Methods for determining the parameters of the positioning spring for positioners created on the basis of MAS pneumatic muscles of “FESTO” company are given. It has been established that the pneumatic muscle, which is used as a linear pneumatic motor, generates a pulling force which, with zero reduction of the pneumatic muscle, is 12 ... 14 times greater than the force developed on the return stroke by a pneumatic cylinder of equal working area of the piston and the specific force (force referred to the mass of the pneumatic motor) of pneumatic muscle is 100 times larger. This makes it possible to use pneumatic muscle as a loading device for brake, clamping and tensioning devices of transport systems and mobile units. To use the positioner in the tracking position control system, it must be provided with an analog feedback sensor. The static characteristic of the created physical layout of the positioner, obtained experimentally, has a quasilinear section in the range of the control pressure change of 2.5 ... 5 bar and agrees well with the calculation results. The nature of the transient process with respect to the input effect makes it possible to treat the positioner as an aperiodic link of the first order with a time constant T = 2 ... 5 s. As an example, the possibility of using a positioner in solving problems related to the need to stabilize a cargo platform in a horizontal position, in the case of a shift of the center of gravity of the cargo relative to the vertical axis of the platform, was investigated. The results of the work can be used and implemented in solving problems of linear and angular positioning of the load in flexible production systems, in executive devices of industrial robots, etc.
Дисертації з теми "Vertical displacement robots"
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Yevsieiev, V., and S. Shmatko. "Study of Vertical Displacement, Principles of Coupling and Displacement Mechanism." Thesis, International Science Group, 2022. https://openarchive.nure.ua/handle/document/20281.
Повний текст джерелаКниги з теми "Vertical displacement robots"
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Alexandrescu, Nicolae. Construction of a Vertical Displacement Service Robot with Vacuum Cups. INTECH Open Access Publisher, 2011.
Знайти повний текст джерелаЧастини книг з теми "Vertical displacement robots"
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Alexandrescu, Nicolae, Tudor Catalin, Despina Duminica, Constantin Udrea, Georgeta Ionascu, and Lucian Bogatu. "Construction of a Vertical Displacement Service Robot with Vacuum Cups." In Mobile Robots - Current Trends. InTech, 2011. http://dx.doi.org/10.5772/27426.
Повний текст джерелаТези доповідей конференцій з теми "Vertical displacement robots"
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Hopkins, James K., and Satyandra K. Gupta. "Analysis of a Low Effort Rectilinear Gait for a Snake-Inspired Robot." In ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/detc2013-13294.
Повний текст джерелаАнотація:
In recent years, snake-inspired locomotion has garnered increasing interest in the bio-inspired robotics community. This positive trend is largely due to the unique and highly effective gaits utilized by snakes to traverse various terrains and obstacles. These gaits make use of a snake’s hyper-redundant body structure to adapt to the terrain and maneuver through tight spaces. Snake-inspired robots utilizing rectilinear motion, one of the primary gaits observed in natural snakes, have demonstrated favorable results on various terrains. However, previous variations of the rectilinear gait were inefficient in cyclic displacement. These gaits generated vertical waves traveling along the length of the robot. Generating these waves required significant joint energy for relatively small horizontal displacements. This paper presents analytical and experimental results for a rectilinear gait, which demonstrates significant linear displacement for relatively low joint effort. The low effort gait functions by propagating a wave through the length of the robot via expansions and contractions of the body segments, propelling the robot platform forward. The low effort rectilinear gait is demonstrated on a robot platform that incorporates high speed linear motion and variable traction through friction. We also report the results of a case study showcasing the practical benefits of the low effort gait.
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Alexandrescu, N., T. C. Apostolescu, C. Udrea, D. Duminica, and L. A. Cartal. "Autonomous mobile robot with displacements in a vertical plane and applications in cleaning services." In 2010 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR 2010). IEEE, 2010. http://dx.doi.org/10.1109/aqtr.2010.5520876.
Повний текст джерела
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Kim, Sung-Soo, Hong-seon Yun, Chang-Ho Lee, Hyung-Woo Kim, and Sup Hong. "Efficient Analysis of a Deep-Seabed Integrated Mining System Using a Subsystem Synthesis Method." In ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/detc2015-46700.
Повний текст джерелаАнотація:
A deep-seabed integrated mining system for collecting manganese nodules consists of a mining vessel, a vertical lifting pipe, a lifting pump, an intermediate buffer station, a flexible pipe, and a self-propelled mining robot. Manganese nodules collected by the mining robot are transferred to the buffer and then lifted up to the vessel. Dynamic analysis of such a system is a challenging task, since large displacements due to deformation must be considered in the very long lifting pipe and the flexible pipe system. Because non-linear effects must be considered in the modeling of the lifting pipe and the flexible pipe model, nodal coordinates must be used in the flexible multibody model. This requires a large amount of computational time for the dynamic analysis. Moreover, the concept of multiple mining robots was introduced recently, increasing the complexity. An efficient method for the dynamic analysis of the integrated mining system is necessary. In this study, to improve the efficiency of analysis, a subsystem synthesis method was developed for the deep-seabed integrated mining system which can also be extended to efficiently analyze multiple mining robots. Subsystem equations of motion were separately generated for the vessel-lifting pipe subsystem and the flexible pipe-mining robot subsystem. The efficiency of the subsystem synthesis method was verified theoretically by comparing arithmetic operational counts of the developed subsystem synthesis method with those of the conventional method.
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Apostolescu, Tudor Catalin, Laurentiu Adrian Cartal, Ioana Udrea, Georgeta Ionascu, and Lucian Bogatu. "Aspects Regarding the Control of a Robot with Vertical Displacement and Attachment System by Suction Cups." In 2021 13th International Conference on Electronics, Computers and Artificial Intelligence (ECAI). IEEE, 2021. http://dx.doi.org/10.1109/ecai52376.2021.9515150.
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Zarrouk, David, and Moshe Shoham. "Locomotion of One Degree of Freedom Worm Robots." In ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2011. http://dx.doi.org/10.1115/detc2011-47239.
Повний текст джерелаАнотація:
Worm-like robots have been widely designed for applications including maintenance of small pipes and medical procedures in biological vessels such as the lungs, intestines, urethra and blood vessels. The robots must be small, reliable, energy efficient and capable of carrying cargos such as cameras, biosensors, and drugs. Earthworm and inchworm robots have been traditionally designed with three or more cells and clamps and a corresponding number of actuators. The use of multiple actuators complicates the design, makes the system more cumbersome, reduces power efficiency and requires more control for coordination. In the present study, we analyze the worm locomotion, in terms of the distance between the cells and clamping modes, and model it as a cyclic function of the time. That is, the worm locomotion can be represented by a single degree of freedom. Consequently, multi-cells worm-like robots actuated by a single motor were designed. The robots employ a rotating screw-like shaft that mechanically coordinates the sequencing of the cell displacement as well as the clamping modes with no external control for each separate cell. This design allows for significant miniaturization and reduces complexity and cost of the system. Two prototypes of earthworm and inchworm robots for locomotion within 20mm and 70mm wide tubes were manufactured. The robots demonstrated high reliability and strong grip. They can crawl vertically while carrying a payload at a rate of few cm/s for the larger robots and roughly 1cm/s for the smaller ones. Furthermore, the low power consumption enables the robots to crawl wirelessly for hundreds of meters using standard off the shelf batteries.
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Wu, Xuan, Gaowei Liu, Xiaojie Wang, Yanwei Liu, and Tao Mei. "Study of a Bioinspired Wall-Climbing Robot: Contact Mechanism and Performance." In ASME 2017 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/smasis2017-3729.
Повний текст джерелаАнотація:
This paper presents a study of bioinspired wall-climbing robot (WCR) using spiny toes. The first part of the paper describes a design of a flexible spiny toe inspired by the features of a typical wall-climbing insect Serica orientalis Motschulsky’s tarsal system. A simple contact model of the spiny toe is proposed by considering the contact asperities as spheres. With the help of the finite element method (FEM), the stiffness matrices as well as the directional adhesive properties of the spiny toe are obtained. A single spiny toe and its array are fabricated via fast prototyping. The adhesive forces and pull-off positions of the single toe are measured with a homebuilt apparatus using displacement-control method under different compressive deformations. As for the spiny array, the effect of the dragging path on the adhesive forces is evaluated. The results show that, both the single toe and array exhibit directional adhesive features. The value of compressive deformation of the single toe influences the contacting angle, as a consequence the directional adhesive behavior is achieved. When forming an array with numerous spiny toes, the adhesive ability is strengthened, which is also affected by the random distribution of the surface asperity height. In the second part of the paper, a prototype of bioinspired WCR is designed and fabricated based on a fully understanding of the spiny contact mechanism. The robot has two feet, each of which has spring-actuated gripper. An inchworm gait is generated according to the trajectory planning of the feet. Using the proposed spiny arrays, the robot archives scaling on vertical and inverted rough surfaces, and can also transition between vertical and ceiling walls. The performance of the prototype of bioinspired WCR shows promising in developing an intelligent and maneuverable WCR system in practical applications.
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Azimi, Hamed, Hodjat Shiri, and Masoud Mahdianpari. "Simulation of Subgouge Sand Deformations Using Robust Machine Learning Algorithms." In Offshore Technology Conference. OTC, 2022. http://dx.doi.org/10.4043/31937-ms.
Повний текст джерелаАнотація:
Abstract Ice gouging is one of the major menaces to the subsea pipelines crossing the Arctic (e.g., Beaufort Sea) or the non-Arctic (e.g., Caspian Sea) shallow waters. Burial of the sea-bottom-founded infrastructures is regarded as a feasible method for protection of the subsea assets against the ice gouging threat. These pipelines are commonly embedded underneath the deepest ice-scoured records in the area, whereas the pipeline system is still threatened by the ice-induced soil displacement developed into the ice tip owing to the shear resistance of the seabed soil. Determination of the sub-gouge soil displacements is a governing design factor for the subsea structures in the Arctic offshore that commonly need costly laboratory studies and long-running finite element (FE) analyses to guarantee the operational integrity of the subsea pipeline against the ice-gouging event. Thus, the industry is still seeking more cost-effective, reliable, and faster alternative approaches for simulation of the iceberg-seabed-pipeline interaction process to minimize the collision risk of ice keels with the subsea structures. Recently, the application of machine learning (ML) in different fields has witnessed impressive growth since the ML technology is sufficiently precise, quick, reliable, and cost-effective to model various linear and non-linear problems. In this study, three robust ML algorithms comprising the Decision Tree Regression (DTR), Random Forest Regression (RFR), and Extra Tree Regression (ETR) models were used for the first time to simulate the iceberg-seabed interaction process in the sandy seabed. Using the parameters governing the ice-seabed interaction mechanism, a set of the DTR, RFR, and ETR models were developed. To verify the ML models, a comprehensive dataset was constructed and the data was divided into two sub-samples including the training (70% of data) and testing (the remaining 30% of the data) datasets. Subsequently, for the DTR, RFR, and ETR models, several analyses such as sensitivity analysis, error analysis, and uncertainty analysis were performed. The conducted analyses demonstrated that the ETR algorithm had a reasonable performance to simulate both horizontal and vertical sub-gouge soil deformations in the sand. The soil depth ratio (y/W) and the horizontal load factor (Lh/γs.W3) had substantial significance to model the horizontal and vertical deformations in the present study. The presented results provided a good notion of modeling the ice-gouging problem through the ETR algorithm. The outcomes may facilitate proposing new solutions to estimate the sub-gouge soil deformations in the sandy seabed. The present work can also be used for the planning of expensive field, laboratory, and FE simulations and to reduce the expenditures on future studies.
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Azimi, Hamed, Hodjat Shiri, and Masoud Mahdianpari. "Simulation of Subgouge Sand Deformations Using Robust Machine Learning Algorithms." In Offshore Technology Conference. OTC, 2022. http://dx.doi.org/10.4043/31937-ms.
Повний текст джерелаАнотація:
Abstract Ice gouging is one of the major menaces to the subsea pipelines crossing the Arctic (e.g., Beaufort Sea) or the non-Arctic (e.g., Caspian Sea) shallow waters. Burial of the sea-bottom-founded infrastructures is regarded as a feasible method for protection of the subsea assets against the ice gouging threat. These pipelines are commonly embedded underneath the deepest ice-scoured records in the area, whereas the pipeline system is still threatened by the ice-induced soil displacement developed into the ice tip owing to the shear resistance of the seabed soil. Determination of the sub-gouge soil displacements is a governing design factor for the subsea structures in the Arctic offshore that commonly need costly laboratory studies and long-running finite element (FE) analyses to guarantee the operational integrity of the subsea pipeline against the ice-gouging event. Thus, the industry is still seeking more cost-effective, reliable, and faster alternative approaches for simulation of the iceberg-seabed-pipeline interaction process to minimize the collision risk of ice keels with the subsea structures. Recently, the application of machine learning (ML) in different fields has witnessed impressive growth since the ML technology is sufficiently precise, quick, reliable, and cost-effective to model various linear and non-linear problems. In this study, three robust ML algorithms comprising the Decision Tree Regression (DTR), Random Forest Regression (RFR), and Extra Tree Regression (ETR) models were used for the first time to simulate the iceberg-seabed interaction process in the sandy seabed. Using the parameters governing the ice-seabed interaction mechanism, a set of the DTR, RFR, and ETR models were developed. To verify the ML models, a comprehensive dataset was constructed and the data was divided into two sub-samples including the training (70% of data) and testing (the remaining 30% of the data) datasets. Subsequently, for the DTR, RFR, and ETR models, several analyses such as sensitivity analysis, error analysis, and uncertainty analysis were performed. The conducted analyses demonstrated that the ETR algorithm had a reasonable performance to simulate both horizontal and vertical sub-gouge soil deformations in the sand. The soil depth ratio (y/W) and the horizontal load factor (Lh/γs.W3) had substantial significance to model the horizontal and vertical deformations in the present study. The presented results provided a good notion of modeling the ice-gouging problem through the ETR algorithm. The outcomes may facilitate proposing new solutions to estimate the sub-gouge soil deformations in the sandy seabed. The present work can also be used for the planning of expensive field, laboratory, and FE simulations and to reduce the expenditures on future studies.
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Gao, Y., D. Wu, C. Nan, X. Ma, and K. Chen. "Optimization Design for Normal Direction Measurement in Robotic Drilling." In ASME 2014 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/imece2014-36496.
Повний текст джерелаАнотація:
In large assemblies, the perpendicularity of a bolting hole has remarkable effects on the fatigue life and fluid dynamic configuration. While the Computer Aided Design (CAD) model of complexly curved workpieces is hardly satisfied because of manufacturing errors, it is very necessary to measure the normal direction in robotic drilling. One advisable approach is to arrange four laser displacement sensors at the vertices of a rhombus whose center aims at the drilling position. The influencing factors of the measurement precision are firstly discussed in this study, and a novel method to optimize the arrangement size of the displacement sensors for higher precision is introduced. The measurement error for the normal direction consists of the principle error and instrumental error, caused by inconstant curvature of the surfaces and distance measuring errors of instruments, respectively. When the displacement sensors are arranged closer to each other, the principle error will be decreased, whereas the instrumental error will be increased. After the curvature feature of the surface is obtained with the introduced method, the graph of the measurement precision and the arrangement size is plotted. Then, the graph can contribute to developing an optimized design of arrangement size for higher precision. Finally, an example of the curvature obtainment and the arrangement optimization is given. The experimental results show that the optimized design has achieved a higher precision of ± 0.17° for αY and ± 0.26° for αX, whereas the precision of another design is about ± 0.21° for αY and ± 0.29° for αX. The proposed optimization method will bring greater benefit for complexly curved surfaces in practical products and it offers a chance to optimize the arrangement during design phase with little costs.
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Momot, Fabien, Marie-Jocelyn Comte, Chloé Lacaze, Anas Sikal, Efficience Balou, Denis Reynaud, Manfred Bledou, and Sergey Shabanov. "Description of a High-Profit Combination of Low-Cost Real-Time Survey Management Practices Used to Optimize Reservoir Landing in Unfamiliar Deep Offshore Geological Environment." In SPE/IADC International Drilling Conference and Exhibition. SPE, 2021. http://dx.doi.org/10.2118/204100-ms.
Повний текст джерелаАнотація:
Abstract After a first part of the drilling campaign, including about 10 wells and branches achieved within two years, the operator started questioning the geological reservoir model and reserves implications for the field Offshore Congo. Considering the potential economic impact of this development, the decision was made to reduce wellbore positioning uncertainty relying on optimization and survey QAQC processes that could be applied without adding cost of extra equipment, operational time or personnel. With more than 10 wells drilled using recent while drilling measurement and directional tools in the same environment, a wide range of wellbore positioning information was available for analysis, post-correction, and geological/reservoir model deeper understanding. Also, investigation was done to recover existing geomagnetic data acquired during the geophysical campaign. Thanks to this extensive data set, enhanced wellbores positioning was implemented using meticulous combination of processes. The "process" overall impact is often underestimated while most of the data is already available. For lateral positioning correction, it included the processing of geomagnetic IFR data over the Moho field associated to Multi Station Correction. For vertical repositioning, BHA sag correction was applied with scrutinous assessment of residual sag uncertainty and detailed analysis of continuous survey data. This robust, cost-effective, and valuable solution was chosen to be applied by the operator in the Moho field. The process was first applied post-drilling to evaluate the level of improvement that could be brought to another well also exposed to challenging trajectory context (ERD 2 with reduced target 25 × 50 m at almost 8000m MD/RT). It confirmed that the achievable uncertainty reduction would meet well objectives without adding any risk or operational time nor jeopardizing wellbore positioning and collision avoidance. Thus, it brought up to 50 to 60% of uncertainty reduction and about 30m lateral and 3m vertical displacement. The reduction of the uncertainty and trajectory adjustment allowed to enhance geologic context understanding. The vertical position of the well was offset following this revision. This had a 5% consequence in term of oil layer thickness for this well. Then, the team designed and rolled out to the operator and contractors an execution strategy and operational workflow including remote monitoring with near real-time survey QAQC that would ensure the best correction process customized for the specific drilling challenges. This monitoring enabled reducing the ellipsoid to ~20 by 50m radius at TD = 7618m. This allowed entering in the reservoir at the exact top of the structure, behind the fault that was the optimum in term of reserves and secured 90% of potential reserves of this well. The operator's choice of valuing the available information to enhance their asset is a very interesting way to optimize the past efforts put in wellbore positioning to face the current economically constrained environment.