The Motion Characteristics of Crawler Driven ROV Moving Over Bumps

2011 ◽  
Author(s):  
Tokihiro Katsui ◽  
Masanari Akashi ◽  
Satoshi Kajikawa ◽  
Tomoya Inoue
Keyword(s):  
Point Of View ◽  
Design Parameters ◽  
Light Weight ◽  
Sea Floor ◽  
Model Experiments ◽  
Sea Bottom ◽  
Practical Design ◽  
Motion Characteristics ◽  
Turn Over ◽  
Water Bottom

Seafloor exploration and seabed resources development are important missions for solving international energy issues. The crawler driven ROV which is capable to do heavy works is considered as one of the probable systems for those missions and some have been developed already [1][2][3][4][5][6][7]. It is well known that the movability of actual ROVs on the sea floor is worse compared with the terrestrial crawlers [8][9][10][11][12]. Therefore it is important to make clear what conditions have to be satisfied for the stable running of a ROV on the sea bottom. The experimental investigation on the crawler based ROV’s movability suggests that light weight ROVs are easy to run in bow up condition and sometimes turn over. The authors have shown the condition for the normal running of the ROV which moves on the horizontal and inclined flat water bottom by means of a simple dynamic model [13][14][15]. This normal running condition is represented by the relation between the locations of gravity and buoyancy centers to be satisfied, in case of the weight, displacement, geometry and speed of the ROV are fixed. The model experiments have shown the validity of this normal running condition. However, the sea bottom is not flat and it is very important to know the moving performance of ROV over the bumps for the practical design point of view. In this paper, a method to estimate the ROVs’ ability to climb up the bumps is shown and it is validated by model experiments. The ROV model has two sets of crawlers; the rear crawlers are set horizontally and fore ones are inclined to climb up the bumps. The requirements to climb up the bumps for the design parameters of ROV such as crawler length, weight and displacement of ROV, location of gravity and buoyancy center, derived from present method agreed with the experimental results qualitatively.

Numerical Investigation of Flow Around a ROV With Crawler Based Driving System

2012 ◽  
Author(s):  
Tokihiro Katsui ◽  
Satoshi Kajikawa ◽  
Tomoya Inoue
Keyword(s):  
Hydrodynamic Forces ◽  
Point Of View ◽  
Design Parameters ◽  
Experimental Investigations ◽  
Accurate Estimation ◽  
Remotely Operated Vehicle ◽  
Driving System ◽  
Sea Bottom ◽  
Computational Fluid Dynamics Analysis ◽  
Turn Over

The Remotely Operated Vehicle, so called “ROV” which has crawler based moving system is considered as one of the appropriate underwater vehicles for seafloor exploration or seabed resources development [1][2][3][4][5][6][7]. The advantages of crawler driven ROV are to be able to stay on a fixed sea bottom location and to be capable to do heavy works such as digging the seafloor. However, the ROV moving on the sea bottom with crawler based driving system easily turn over due to the buoyancy and hydrodynamic forces [8][9][10][11][12]. Therefore, it is important to know the moving capability of the ROV on the sea bottom for the design point of view. The authors have shown the condition for the normal running of the ROV which moves on horizontal and inclined flat sea bottom by means of a simple dynamic model [11]. Normal running means that the ROV runs without bow-up or stern-up situations and the crawlers touch the ground normally. The normal running condition of ROV indicates the constrained condition of the relation between gravity and buoyancy center locations for any given design parameters such as geometry, weight, displacement and running speed of the ROV. Though this method estimates the ROVs’ moving capability with acceptable accuracy, the hydrodynamic forces on the ROV and its application point are required for accurate estimation. In the previous research, those quantities are roughly estimated from the past experimental investigations. The present study investigated the flow around the crawler driven ROV which runs on seafloor with CFD (Computational Fluid Dynamics) analysis to evaluate the characteristics of hydrodynamic forces acting on the ROV. The open source CFD code, OpenFOAM [13] was applied for flow calculation and the results were validated with model experiments. By using the calculated hydrodynamic forces on ROV, the moving capability of ROV was evaluated with a method the authors had shown. The estimates of the running capability of the ROV by using the CFD calculations are quite different from past estimations in some running conditions.

Evaluation of Moving Capability of Crawler Driven ROV Considering Cable Tension

2013 ◽  
Author(s):  
Tokihiro Katsui ◽  
Tomoya Inoue ◽  
Masanari Akashi
Keyword(s):  
Previous Method ◽  
Design Parameters ◽  
Hydrodynamic Drag ◽  
Operation Planning ◽  
Remotely Operated Vehicle ◽  
Cable Tension ◽  
Sea Floor ◽  
Sea Bottom ◽  
Turn Over ◽  
The Given

A ROV (Remotely Operated Vehicle) which has a crawler based driving system is considered to be one of the appropriate underwater vehicles for seafloor exploration or seabed resources development [1][2][3][4][5][6][7]. The crawler driven ROV is able to move on sea floor, stay on a fixed sea bottom location and is capable to do heavy works such as digging the seafloor. In order to utilize those capabilities, it is important to know the fundamental moving capability of crawler driven ROV. According to the previous investigations [8][9], the crawler driven ROVs are easy to run in bow-up attitude in some running conditions due to the buoyancy and the hydrodynamic forces acting on the ROV. This irregular running sometimes causes a turning over. Therefore, we have to know the restrictions on the design parameters of the ROV not to run in bow-up attitude to design the ROV. The authors have been investigating the moving capability of crawler driven ROV and showed a method to estimate the restrictions of design parameters to avoid the bow-up running, which is called normal running condition [10][11][12][13]. This method is based on a simple dynamic model which considers the forces acting on ROV as concentrated loads; those are gravity, buoyancy, reaction from the ground, thrust and hydrodynamic drag. The loading position of ground reaction in steady running is obtained from the balance condition of forces. We consider that the loading point of ground reaction should be inside between the fore and rear wheels for the normal running. This constrained condition indicates the relation between gravity and buoyancy center locations for the normal run of ROV under the given body geometry, weight, displacement and running speed. This method estimates the ROV’s running capability in acceptable accuracy compared with the model experiments. However, this method does not consider the tension of the cable which is connected to the ROV. As you can easily imagine, the cable tension has a big influence on the movable area of the ROV. If the ROV keeps going forward, it will turn over due to the tension of the cable at a certain point. We must know the movable area of the crawler driven ROV for the operation planning. The present study shows a method to estimate the movable area of the crawler driven ROV under the restriction of the cable by extending the previous method to estimate the normal running condition.

Moving Performance of Crawler Driven ROV on the Inclined Sea Bottom

2010 ◽  
Author(s):  
Tokihiro Katsui ◽  
Hisataka Murakami ◽  
Satoshi Kajikawa ◽  
Tomoya Inoue
Keyword(s):  
Vertical Direction ◽  
Normal Operation ◽  
Hydrodynamic Resistance ◽  
Light Weight ◽  
Gravity Center ◽  
Balance Condition ◽  
Sea Bottom ◽  
Force Reaction ◽  
Conditional Equation ◽  
Turn Over

The crawler driven ROV is considered as one of the probable systems for seafloor exploration or seabed resources development [1][2][3][4]. However the movability of crawler driven ROV on the sea bottom is not explained clearly compared with the ones on the land [5][6][7][8][9]. The experimental investigation on the crawler based ROV’s movability suggests that light weight ROV are easy to run in bow up condition and sometimes are possible to turn over. Therefore it is important to make it clear what kind of condition is to be satisfied for the normal run when the ROV moves on the sea bottom with crawlers. In this study, a simple dynamic model for the ROV which runs steadily on the inclined smooth sea bottom has been developed and the condition which should be satisfied for normal running has been derived. We consider that the forces acting on ROV are gravity, buoyancy, reaction from sea bottom, thrust and hydrodynamic resistance and treat them as concentrated loads. From the balance condition of forces for longitudinal and vertical direction and pitching moment, three kinds of relation are obtained. We consider that force reaction point from sea bottom should be inside between the fore and rear wheels for the normal operation. With this condition, the relation to be satisfied between the location of gravity center and center of buoyancy is obtained. To validate this conditional equation, the model experiments are carried out. The ROV model contains several weights and floating materials so that the longitudinal center of gravity and buoyancy can be changed by moving the weights and floats. Changing the longitudinal location of buoyancy center of the model from backward to forward, the limiting normal running condition for each longitudinal location of gravity center are measured. The obtained experimental results agree well with the theoretical ones. The presented conditional equation to be satisfied for normal running is considered to support the basic planning of a crawler driven ROV.

Theoretical And Practical Design Considerations for Ultra-High Resolution Electron Lenses

1980 ◽  
Vol 38 ◽  
pp. 266-269
Author(s):  
Y. Harada ◽  
K. Tsuno ◽  
Y. Arai
Keyword(s):  
Optical Properties ◽  
High Resolution ◽  
Chromatic Aberration ◽  
Point Of View ◽  
Pole Piece ◽  
Axial Field ◽  
Design Considerations ◽  
Resolution Electron ◽  
Practical Design ◽  
Peak Flux

Magnetic objective lenses, from the point of view of pole piece geometry, can he roughly classified into two types, viz., symmetrical and asymmetrical. In the case of the former, the optical properties have been calculated by several authors1-3) and the results would appear to suggest that, in order to reduce the spherical and chromatic aberration coefficients, Cs and Cc, it is necessary to decrease the half-width value of the axial field distribution and to increase the peak flux density. The expressions for either minimum Cs or minimum Cc were presented in the form of ‘universal’ curves by Mulvey and Wallington4).

Momentum exchange impact damper design methodology for object-wall-collision problems

2017 ◽  
Vol 24 (14) ◽  
pp. 3206-3218
Author(s):  
Yohei Kushida ◽  
Hiroaki Umehara ◽  
Susumu Hara ◽  
Keisuke Yamada
Keyword(s):  
Optimal Design ◽  
Design Methodology ◽  
Design Parameters ◽  
Momentum Exchange ◽  
Impact Damper ◽  
One Dimensional ◽  
Practical Design ◽  
Wall Collision ◽  
Damper Design ◽  
And Control

Momentum exchange impact dampers (MEIDs) were proposed to control the shock responses of mechanical structures. They were applied to reduce floor shock vibrations and control lunar/planetary exploration spacecraft landings. MEIDs are required to control an object’s velocity and displacement, especially for applications involving spacecraft landing. Previous studies verified numerous MEID performances through various types of simulations and experiments. However, previous studies discussing the optimal design methodology for MEIDs are limited. This study explicitly derived the optimal design parameters of MEIDs, which control the controlled object’s displacement and velocity to zero in one-dimensional motion. In addition, the study derived sub-optimal design parameters to control the controlled object’s velocity within a reasonable approximation to derive a practical design methodology for MEIDs. The derived sub-optimal design methodology could also be applied to MEIDs in two-dimensional motion. Furthermore, simulations conducted in the study verified the performances of MEIDs with optimal/sub-optimal design parameters.

INFLUENCE OF TECHNOLOGICAL FACTORS ON THE EFFICIENCY OF REMOVAL OF SCALE FROM FLATS FOR HOLLOW BALLS

2021 ◽  
pp. 143-147
Author(s):  
А.В. Панфилова ◽  
А.В. Королев ◽  
О.П. Решетникова ◽  
Б.М. Изнаиров ◽  
А.Н. Васин
Keyword(s):  
Rotation Speed ◽  
Experimental Studies ◽  
Surface Cleaning ◽  
Point Of View ◽  
Design Parameters ◽  
Technological Factors ◽  
Proportional Relationship ◽  
Sheet Products ◽  
Process Factors ◽  
Rolled Surface

Рассматриваются результаты проведения экспериментальных исследований способа удаления окалины с поверхности стального листового проката. Предложен новый способ и устройство для очистки поверхности листового проката от окалины режущими пластинами, вращающимися вокруг оси, перемещающейся поступательно вдоль обрабатываемой поверхности. Пластины наклонены в направлении вектора вращения на угол до 10 градусов и упруго поджимаются к обрабатываемой поверхности. Это обеспечивает возможность в процессе очистки поверхности воспроизводить макронеровности листового проката. Приведены результаты экспериментальных исследований, построены математические и графические зависимости, описывающие влияние факторов процесса на эффективность очистки поверхности проката. Показано, что наиболее значимое влияние на параметр оптимизации оказывает сила воздействия инструмента на поверхность заготовки. Причем это влияние реализуется в прямо пропорциональной зависимости. Другие исследованные факторы, а именно: угол наклона пластины, скорость ее вращения и подача, оказывают значительно меньшее влияние на степень очистки проката. Эти исследования были необходимы с точки зрения определения конструктивных параметров силовых элементов как технологической оснастки, реализующей указанный способ, так и технологической установки в целом. План эксперимента был принят, исходя из реальных производственных возможностей индустриального партнера, и соответствовал классическим представлениям теории резания. Описанные результаты дают возможность планировать дальнейшие эксперименты по изучению направлений использования данного способа Here we consider the results of experimental studies of the method of removing scale from the surface of steel sheet products. We propose a new method and device for cleaning the surface of rolled sheets from scale by cutting plates rotating around an axis moving translationally along the treated surface. The plates are tilted in the direction of the rotation vector at an angle of up to 10 degrees and are elastically pressed to the treated surface. This makes it possible to reproduce the macro-dimensions of sheet metal during the surface cleaning process. We present the results of experimental studies. We constructed mathematical and graphical dependences describing the influence of process factors on the efficiency of cleaning the rolled surface. We show that the most significant influence on the optimization parameter is exerted by the force of the tool's impact on the surface of the workpiece. Moreover, this influence is realized in a directly proportional relationship. Other factors studied, namely the angle of inclination of the plate, its rotation speed and feed, have a much smaller impact on the degree of cleaning of rolled products. These studies were necessary from the point of view of determining the design parameters of the power elements of both the technological equipment implementing this method and the technological installation as a whole. We adopted the experimental plan based on the real production capabilities of the industrial partner and corresponded to the classical concepts of the cutting theory. The described results make it possible to plan further experiments to study the directions of using the method

scholarly journals SUBSTANTIATION OF THE FORM AND DETERMINATION OF THE CONSTRUCTIVE PARAMETERS OF THE ROTATION ROLLER OF SOIL

2018 ◽  
Vol 13 (3) ◽  
pp. 72-76
Author(s):  
Гумар Булгариев ◽  
Gumar Bulgariev ◽  
Геннадий Пикмуллин ◽  
Gennadiy Pikmullin ◽  
Ильгиз Галиев ◽  
...  
Keyword(s):  
Analytical Study ◽  
Point Of View ◽  
Design Parameters ◽  
Industrial Complex ◽  
Stage Of Development ◽  
Pass Through ◽  
Spiral Plate ◽  
Working Device ◽  
Important Design

At the present stage of development of the country’s agro-industrial complex, the technological process of surface tillage by combined soil-cultivating machines, simultaneously combining a number of operations in one pass through the field, causes the presence in their designs of the necessary set of various promising working organs. In view of the foregoing, a rotary soil ripper with a spiral-plate working member equipped with radially directed teeth and connected by means of rods with end flanges has been developed. Also, the researched ripper has the limits of penetration of the working element in the form of flat discs equipped with flanges and the radial stop have the ability to rotate around their axes independently of the ripper shaft. An analytical study of the working units of this ripper was carried out from the point of view of the influence of their size and teeth on the process of interaction with the soil, on the basis of which some of their parameters were determined. In conclusion, it was concluded that the analytical equations obtained allow us to justify the choice of the most important design parameters of the proposed new design and design a toothed rotary working device that reduces to constructive implementation after calculating their basic dimensions.

A Performance-Based Representation for Engineering Design

1999 ◽  
Author(s):  
Liang Zhu ◽  
David Kazmer
Keyword(s):  
Engineering Design ◽  
Design Solution ◽  
Design Parameters ◽  
Feasible Region ◽  
Pareto Optimal Solutions ◽  
Optimal Solutions ◽  
Performance Orientation ◽  
Practical Design ◽  
Current Engineering ◽  
A Performance

Abstract A performance-based representation is presented, which uses the Performance Orientation Chart (POC) to aid the designer throughout an interactive design process. Assuming that all performance attributes can be expressed as functions of the design parameters, three types of graphical matrix are shown in the POC: 1) The design form depicts the performance attributes varying with the correspondent design parameters; 2) The performance dependency addresses the trade-off information among the multiple specifications based on Pareto optimal solutions; 3) The parameter constraint space defines the feasible region of the design, parameters within the, active specification limits. Guided by these graphical matrices, the designer can interactively develop the design solution to satisfy multiple specifications. The methodology was applied to a practical design problem to explicate how the POC can help the designer acquire a satisfying design solution with extensive confidence. Finally, the discussion, indicates that the performance-based representation is significantly compatible with other current engineering design methodologies.

scholarly journals The Formation and Composition of the Gas Content of Sea Ice

1979 ◽  
Vol 22 (86) ◽  
pp. 67-81 ◽  
Author(s):  
V. L. Tsurikov
Keyword(s):  
Sea Ice ◽  
Sea Water ◽  
Major Effect ◽  
Relative Volume ◽  
Gas Content ◽  
Dominant Factor ◽  
Sea Floor ◽  
Sea Bottom ◽  
Initial Freezing ◽  
Air Pockets

Abstract The different factors contributing to the formation of the gas porosity of sea ice are: (Ia) gases captured during the formation of the initial ice cover, (Ib) gases released from solution during the initial freezing of sea-water, (Ic) the inclusion of gases rising from the sea bottom, (2a) the substitution of gas for brine drained from the ice during times of melting, (2b) the release of gas from the brine within the ice during the course of partial freezing, and (2c) the formation of voids filled with water vapour during the course of internal melting. An analysis is made of each of these processes and it is concluded that processes Ib, 2a, and 2C are important. Process Ic may also be a major effect but it is difficult to evaluate until the rate of gas release from the sea floor is better known. The migration of air pockets into the ice from the overlying snow is shown to be a possible but not a significant effect. Available data on the composition of gas in sea ice are reviewed and it is shown to be significantly different from air. Possible causes for these differences are discussed. The porosity of sea ice, i.e. the total relative volume of its gas plus its brine inclusions, is one of the factors strongly affecting its strength, as has been shown by Tsurikov (1947) and by Weeks and Assur (1968). In seas with high salinities the effect of the presence of brine within the ice will usually be the dominant factor. However on water bodies with low salinities the effect of the gas included within the ice may be greater than the effect of the brine. Despite its significance there have not been any attempts at a quantitative analysis of the entrapment of gas in sea ice. This paper is an attempt at such a study.

Impact—Response Behavior of Offshore Pipelines

1982 ◽  
Vol 104 (4) ◽  
pp. 325-329 ◽  
Author(s):  
P. G. Bergan ◽  
E. Mollestad
Keyword(s):  
Plastic Material ◽  
Material Behavior ◽  
Hydrodynamic Drag ◽  
Offshore Pipelines ◽  
Sea Floor ◽  
Drag Forces ◽  
Sea Bottom ◽  
Nonlinear Dynamic Equations ◽  
Numerical Formulation ◽  
Inertia Forces

A method for analyzing the dynamic behavior of marine pipelines subjected to impact loads or sudden forced movements is outlined. Inertia forces (also from hydrodynamic mass), hydrodynamic drag forces as well as friction and lift effects for a pipe at the sea bottom are accounted for. An extensive nonlinear formulation is used for the pipe itself; it includes large displacements and elasto-plastic material behavior. Aspects of the numerical formulation of the problem and the solution of the nonlinear dynamic equations are discussed. The examples show computed dynamic response for pipelines lying on the sea floor and for a pipe section freely submerged in water when subjected to various force and displacement histories.

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