Yield Surface of Deeply Buried Square Anchors Under Out-of-Plane Loading

Author(s):  
Tianyuan Zheng ◽  
Mark J. Cassidy ◽  
Yinghui Tian ◽  
Christophe Gaudin

Anchors are widely used offshore as foundation systems to moor floating platforms and renewable energy devices to provide uplift resistance in vertical or resistance in inclined direction. Most of the available research work has concentrated on in-plane loading. However, any failure of a single mooring line in a storm can cause out-of-plane loading on the remaining anchoring system. This research targets how this out-of-plane loading can affect the trajectory and ultimate holding capacity of the anchors. This paper presents results of a numerical investigation of the undrained bearing capacity of deeply buried square plate anchor in clay under six degrees-of-freedom loading. Finite element analyses are conducted to define the combined loading yield surface (or yield surface for the anchor in its current position) and an analytical expression of the yield surface is proposed and written directly in the six degrees-of-freedom loads. This analytical expression allows implementation of the yield surface in a plasticity approach, where the load-displacement relationship of the anchor can be described. The method to achieve this and also an illustration of how this framework on a simple plate anchor can be extended to predict the performance of more complex anchor geometries is described at the end of the paper in a description of future research.

Author(s):  
Qiyi Zhang ◽  
Qinghua Wang ◽  
Ying Zhang ◽  
Qi Wang

Some foundations of Ocean engineering structures are always in addition to withstand the vertical gravity loads, but also to horizontal loads induced by sea wave and current, which makes the foundation subjected to concentrated force, overturning loads and torque loads, the above loading state including vertical, horizontal and overturning moment loads are termed combined loading. So it is very necessary for the safety of ocean engineering structures to study the deformation law of submarine seabed due to combined loading. On the basis of the three-dimensional elastic mechanics solution of circular foundations, the deformation law of submarine clay under circular foundation with six degrees of freedom is analyzed in detail using numerical calculation methods. Based on the above numerical results, this paper gives the elastic deformation law of clay in three dimensional spaces, gives a modification to the traditional elasticity theoretical solutions, and gives clay coupled deformation mechanism under three-dimensional circular foundation with six degrees of freedom.


2016 ◽  
Vol 32 (1) ◽  
pp. 567-589 ◽  
Author(s):  
Mohamed A. Moustafa ◽  
Khalid M. Mosalam

The paper demonstrates the substructuring concept in seismic qualification testing of 550 kV electrical substation disconnect switches. In this study, the full and substructured (i.e., without support structure) switches are tested on a six degrees of freedom (DOFs) shaking table. Different combinations of translational and rotational excitations are obtained from full switch tests and used in the substructured ones. The behavior of the post insulators of the switches are compared to demonstrate validity and identify limitations of the substructuring concept applied to electrical substation equipment. From this comparison, critical DOFs for the response of post insulators in switches supported on flexible structures are identified. It is concluded that the in-plane and out-of-plane behavior of the investigated post insulators are uncoupled. The substructured tests driven by combined translational and rotational signals showed the best match with the full switch tests because the out-of-plane rotations contribute significantly to the response of the post insulators.


1994 ◽  
Vol 38 (04) ◽  
pp. 259-271
Author(s):  
Fotis A. Papoulias ◽  
Ibrahim Aydin

The problem of motion stability of submersible vehicles in free positive buoyancy ascent is analyzed. Motion is allowed to occur in combined vertical and horizontal planes. Continuation and catastrophe theory techniques are employed to trace all possible steady-state solutions in six degrees of freedom, while local linearization reveals their stability properties. Vehicle geometric properties and control surface deflections are used as the primary bifurcation parameters. It is shown that multiple solutions may exist in the form of pitchfork bifurcation, solution separation, hysteresis, and teardrop branches. Regions in parameter spaces are identified where extreme sensitivity of solutions to geometric properties and hydrodynamic modeling is present.


1964 ◽  
Vol 1 (9) ◽  
pp. 46
Author(s):  
Jan L. Leendertse

A vessel moored at sea will experience complicated series of translational and rotational oscillations due to sea waves. These motions can be considered as the summation of six components, three translational and three rotational. In the presently available analyses of motions of unmoored ships, differential equations can be written for each mode of movement. Unfortunately, motions in one of these modes are coupled to motions of other modes, and the analysis becomes rather complicated. Generally, the problem is simplified by neglecting some of the coupling effects and by specifying the position of the vessel in the wave system. This study develops and analyzes a model for a moored ship restrained by mooring lines, using the presently available mathematical models for the free ship and the force-displacement relationship of the cable-holding points on the ship. The coupled movement (three degrees of freedom) in a vertical plane through the longitudinal axis of the vessel and the generated mooring-line forces are considered in detail. The general case of six degrees of freedom in arbitrary heading is discussed briefly in general terms.


Author(s):  
Carlos Mondragon ◽  
Reza Fotouhi

This paper introduces a strategy to accomplish pick-and-place operations for a six-degrees-of-freedom (6-DOF) robotic arm attached to a wheeled mobile robot. This research work is part of a bigger project in developing a robotic-assisted nursing to be used in medical settings. The significance of this project relies on the increasing demand for elderly and disabled skilled care assistance which nowadays has become insufficient. Several methods were implemented to make a 6-DOF manipulator capable of performing pick-and-place operations. This paper presents an approach for solving the inverse kinematics problem and planning collision-free paths. An Iterative Inverse Kinematics method (IIK) was introduced to find multiple configurations for the manipulator along a given path. The IIK method takes advantage of a specific geometric characteristic of the manipulator, in which several joints share a common plane. Ten different scenarios with different number and pattern of obstacles were used to verify the efficiency of a path planning algorithm introduced here. Other methods, also implemented in the current project, which describe the manipulator and its capabilities, are presented elsewhere [1]. Overall results confirmed the efficiency of the implemented methods for performing pick-and-place operations for a 6-DOF manipulator.


Author(s):  
Hyunkyoung Shin ◽  
Youngjae Yu ◽  
Thanh Dam Pham ◽  
Junbae Kim ◽  
Rupesh Kumar

Abstract Since the Paris Conference of the parties in 2015, interest in renewable energy around the world is higher than ever. Korea also has plans to increase the proportion of renewable energy to 20% by 2030 through the renewable energy 3020 policy. Of these, 16.5GW is filled with wind power, the installation area is expanding from land to sea. Among them, some of big plans are using floating offshore wind turbines based on the marine environments in Korea. In this study, numerical simulations of the NREL 5MW wind turbine were performed using NREL FAST V.8. A comparison was made between two types of floaters, spar and semi-submersible, installed 58km off the Ulsan Coast with 150m water depth in the East Sea, Korea. The environmental data were obtained from the Meteorological Administration’s measured data and NASA’s reanalysis data, MERRA-2. Design Load Cases were selected by referring to IEC 61400-3. Maximum moments at both blade root and tower base, six-degrees of freedom motions and three mooring line tensions were compared.


Various global studies have shown that ocean waves energy have large potential in renewable energy sector. Their role within renewable energy gets high priority in the future by the government of United Kingdom. The principle concept of wave energy is when wave energy is converted into potential energy by the wave energy devices to generate electricity. An understanding of the dynamic response of the devices and mooring lines is important for this paper. This paper deals with the analysis of the various effects that influence the different design of wave energy converter devices. The mooring design idea is also analyzed to show which mooring layout is suitable to fulfill the requirement. The design of mooring configuration also influence how wave power is extracted and how such system are operated and maintained. The effects investigated in this paper are regular and irregular waves, motion @ six degrees of freedom, maximum and minimum mooring tension, different waves direction, wave current, energy and power take off.


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