In this paper, the dynamic response of undersea -+towed systems is numerically simulated. A two body towed system is especially considered in detail. The factors influencing the heave of towed-bodies, such as the weig...In this paper, the dynamic response of undersea -+towed systems is numerically simulated. A two body towed system is especially considered in detail. The factors influencing the heave of towed-bodies, such as the weight of the towed-body (in sea water), the length and the weight (in sea water) per unit length of the cable between towed-bodies and towing ship, are investigated in detail. Calculations show that the two-body towed system can greatly increases the stability of the towed system.展开更多
Given the unconstrained characteristics of the multi-robot coordinated towing system,the rope can only provide a unidirectional constraint force to the suspended object,which leads to the weak ability of the system to...Given the unconstrained characteristics of the multi-robot coordinated towing system,the rope can only provide a unidirectional constraint force to the suspended object,which leads to the weak ability of the system to resist external disturbances and makes it difficult to control the trajectory of the suspended object.Based on the kinematics and statics of the multi-robot coordinated towing system with fixed base,the dynamic model of the system is established by using the Newton-Euler equations and the Udwadia-Kalaba equations.To plan the trajectories with high stability and strong control,trajectory planning is performed by combining the dynamics and stability of the towing system.Based on the dynamic stability of the motion trajectory of the suspended object,the stability of the suspended object is effectively improved through online real-time planning and offline manual adjustment.The effectiveness of the proposed method is verified by comparing the motion stability of the suspended object before and after planning.The results provide a foundation for the motion planning and coordinated control of the towing system.展开更多
Towed cable systems are frequently used in marine measurements where the length of the towed cable varies during launch and recovery. In this paper a novel method for modeling variable length cable systems is introduc...Towed cable systems are frequently used in marine measurements where the length of the towed cable varies during launch and recovery. In this paper a novel method for modeling variable length cable systems is introduced based on the finite segment formulation. The variable length of the towed cable is described by changing the length of the segment near the towing point and by increasing or decreasing the number of the discrete segments of the cable. In this way, the elastic effects of the cable can be easily handled since geometry and material properties of each segment are kept constant. Experimental results show that the dynamic behavior of the towed cable is consistent between the model and the physical cable. Results show that the model provides numerical efficiency and simulation accuracy for the variable length towed system.展开更多
Mobile observation platforms are widely used in oceanographic and marine resource exploration and other applications. Wave Glider is a mobile platform that can transform wave energy into locomotion power and overcome ...Mobile observation platforms are widely used in oceanographic and marine resource exploration and other applications. Wave Glider is a mobile platform that can transform wave energy into locomotion power and overcome the bottleneck of low energy supply. Wave Glider has recently been applied to tow underwater sensors fulfilling observation tasks. In this paper, the dynamic system of Wave Glider with a towed body is studied by applying multibody mechanics, and the relevant motion conditions of the system are investigated. Dynamic models of Wave Glider with a towed body and tether are first developed individually and then integrated into a whole model. The numerical method is used to obtain the dynamic responses and assess performance of the towed body pulled by the submerged glider of Wave Glider. The effects of sea state, mass of the towed body, and length of the towed cable are investigated on the basis of simulation results. This work can be used for the design and analysis of Wave Glider-towed body systems.展开更多
This paper aims to research the cable-lead-in rod effect on a towed system through mathematical modeling and numerical simulations.The rod dynamics,as a key part of this study,is modeled using the combination of cable...This paper aims to research the cable-lead-in rod effect on a towed system through mathematical modeling and numerical simulations.The rod dynamics,as a key part of this study,is modeled using the combination of cable node governing equations and kinematic constraint conditions.As the first attempt to analyze such a problem,the rod is simply treated as an elastic cable segment so as to be incorporated into the dynamics of the cable,and a set of algorithm is then proposed based on the kinematic constraint conditions to fully describe its motions.Meanwhile,the cable and the underwater vehicle are modeled by the traditional lumped mass method and the 6 degree-of-freedom maneuverability equations for submarines respectively;the coupling boundary conditions besides the rod dynamics are also given to form the whole system's model.Several numerical cases are performed to investigate the rod effect on the system in different maneuver situations.Some meaningful conclusions are drawn through comparative analysis.展开更多
Currently, the deghosting of towed streamer seismic data assumes a flat sea level and a sea-surface reflection coefficient of-1; this decreases the precision of deghosting. A new method that considers the rough sea su...Currently, the deghosting of towed streamer seismic data assumes a flat sea level and a sea-surface reflection coefficient of-1; this decreases the precision of deghosting. A new method that considers the rough sea surface is proposed to suppress ghost reflections. The proposed deghosting method obtains the rough sea surface reflection coefficient using Gaussian statistics, and calculates the optimized deghosting operator in the r/p domain. The proposed method is closer to the actual sea conditions, offers an improved deghosting operator, removes the ghost reflections from marine towed seismic data, widens the bandwidth and restores the low-frequency information, and finally improves the signal-to- noise ratio and resolution of the seismic data.展开更多
This article discusses the dynamic state analysis of underwater towed-cable when tow-ship changes its speed in a direction making parabolic profile path. A three-dimensional model of underwater towed system is studied...This article discusses the dynamic state analysis of underwater towed-cable when tow-ship changes its speed in a direction making parabolic profile path. A three-dimensional model of underwater towed system is studied. The established governing equations for the system have been solved using the central implicit finite-difference method. The obtained difference non-linear coupled equations are solved by Newton＇s method and satisfactory results were achieved. The solution of this problem has practical importance in the estimation of dynamic loading and motion, and hence it is directly applicable to the enhancement of safety and the effectiveness of the offshore activities.展开更多
To find a better way to estimate the lift force induced by an interceptor on a high-speed mono-hull ship,a series of high-speed mono-hull ship models are designed and investigated under different conditions.Different ...To find a better way to estimate the lift force induced by an interceptor on a high-speed mono-hull ship,a series of high-speed mono-hull ship models are designed and investigated under different conditions.Different lift forces are obtained by numerical calculations and validated by a model test in a towing tank.The factors that influence the force are the interceptor height,velocity,draft,and deadrise angle.The relationship between each factor and the induced lift force is investigated and obtained.We found that the induced lift mainly depends on the interceptor height and advancing velocity,and is proportional to the square of the interceptor height and velocity.The results also showed that the effects of the draft and deadrise angle are relatively less important,and the relationship between the induced lift and these two factors is generally linear.Based on the results,a formula including the combined effect of all factors used to estimate the lift force induced by the interceptor is developed based on systematic analysis.The proposed formula could be used to estimate the lift force induced by interceptors,especially under high-speed condition.展开更多
With the rapid development of large-scale development of marginal oilfields in China,simple wellhead platforms that are simple in structure and easy to install have become an inevitable choice in the process of oilfie...With the rapid development of large-scale development of marginal oilfields in China,simple wellhead platforms that are simple in structure and easy to install have become an inevitable choice in the process of oilfield development.However,traditional simple wellhead platforms are often discarded after a single use.In pursuit of a more costeffective approach to developing marginal oilfields,this paper proposes a new offshore oil field development facility—an integrated bucket foundation for wellhead platform.To verify the safety of its towing behavior and obtain the dynamic response characteristics of the structure,this paper takes a bucket integrated bucket foundation for wellhead platform with a diameter of 40 m as the research object.By combining physical model tests and numerical simulations,it analyzes the static stability and dynamic response characteristics of the structure during towing,complete with the effects of the draft,wave height,wave period,and towing point height,which produce the dynamic responses of the structure under different influence factors,such as roll angle,pitch angle,heave acceleration and towing force as well as the sensibility to transport variables.The results show that the integrated bucket foundation for wellhead platform is capable of self-floating towing,and its movement is affected by the local environment,which will provide a reference for actual projects.展开更多
During the past ten years, a marine controlled source electromagnetic（CSEM） method has been developed rapidly as a technology for hydrocarbon exploration. For shallow water environments, two CSEM data acquisition sy...During the past ten years, a marine controlled source electromagnetic（CSEM） method has been developed rapidly as a technology for hydrocarbon exploration. For shallow water environments, two CSEM data acquisition systems： Seabed Logging（SBL） and towed streamer electromagnetics（TSEM） have been developed in recent years. The purpose is to compare the performance of the SBL and TSEM systems at different water depths. Three different methods for the comparison are presented. The first method is a quick one dimensional sensitivity modelling. As a result, the sensitivity of marine CSEM data increases with water depth for the SBL system. Further, the sensitivity decreases with the increasing water depth for the TSEM system. The two other methods use two dimensional synthetic data from a simple 2-D isotropic model. The second method is a reservoir sensitivity index（RSI） method which has been developed to provide a quick comparison of the two systems. The RSI is calculated as the amplitude of the scattered field dividing by data uncertainty. From the calculations, it is found that with the increasing water depth RSI increases for the SBL system, while it decreases for the TSEM system. The third method uses Occam＇s inversion, and applies an anomaly transverse resistance（ATR） ratio for evaluating the resulting resistivity image. In shallow water environments, the resolution of the CSEM inversion results is good for both the SBL and TSEM systems. In deep water environments, the resolution of the CSEM inversion is better for the SBL system than for the TSEM system. The ATR ratios of the resistivity images show the similar conclusion. The SBL data acquisition system has an advantage in deep water environments. The TSEM system, on the other hand, is preferable for the shallow water environments.展开更多
Efficient numerical schemes were presented for the steady state solutions of towed marine cables. For most of towed systems,the steady state problem can be resolved into two-point boundary-value problem,or initial val...Efficient numerical schemes were presented for the steady state solutions of towed marine cables. For most of towed systems,the steady state problem can be resolved into two-point boundary-value problem,or initial value problem in some special cases where the initial values are available directly.A new technique was proposed and attempted to solve the two-point boundary-value problem rather than the conventional shooting method due to its algorithm complexity and low efficiency.First,the boundary conditions are transformed into a set of nonlinear governing equations about the initial values,then bisection method is employed to solve these nonlinear equations with the aid of 4th order Runge-Kutta method.In common sense,non-uniform (sheared) current is assumed,which varies in magnitude and direction with depth.The schemes are validated through the DE Zoysa's example,then several numerical examples are also presented to illustrate the numerical schemes.展开更多
A numerical approach was developed to analyze the transient behavior of towed cable during ac- tively controlled deployment/retrieval (DR).The cable motion is described by the lumped parameter method, its correspondin...A numerical approach was developed to analyze the transient behavior of towed cable during ac- tively controlled deployment/retrieval (DR).The cable motion is described by the lumped parameter method, its corresponding boundary conditions are presented.In view of its varying length during DR,two auxiliary arguments are introduced to describe its continuous varying length and discrete number of nodes(equations), the length is determined by the pay out(or reel-in) rate,which is then used to determine the node number by a logic relation.For the discrete mathematical model of towed cable,an algorithm was developed to deal with the discrete governing equations.The simulation results indicate that the cable experiences more com- plex motions due to its varying length,and tension fluctuates seriously in the startup and ending stage of deployment/retrieval.The effect of towing ship's motion in waves on cable during deployment/retrieval is also considered via numerical simulation.展开更多
In the towed line array sonar system,the tow ship noise is the main factor that affects the sonar performance.Conventional noise cancelling methods assume that the noise is towards the endfire direction of the array.A...In the towed line array sonar system,the tow ship noise is the main factor that affects the sonar performance.Conventional noise cancelling methods assume that the noise is towards the endfire direction of the array.An acoustic experiment employing a towed line array is conducted in the western Pacific Ocean,and a strange bearing-splitting phenomenon of the tow ship noise is observed in the array.The tow ship noise is split into multiple noise signals whose bearings are distributed between 10°and 90°deviating from the endfire direction.The multiple interferences increase the difficulty in recognizing the target for the sonar operator and noise cancellation.Therefore,making the mechanism clear and putting forward the tow ship noise splitting bearing estimation method are imperative.In this paper,the acoustic multi-path structure of the tow ship in deep water is analyzed.Then it is pointed out that the bearing-splitting phenomenon is caused by the main lobe of direct rays and bottom-reflected rays,as well as several side lobes of direct rays.Meanwhile,the indistinguishability between the elevation angle and the bearing angle due to the axial symmetry of a strict horizontal line array causes the bearing to deviate from the endfire direction.Based on the theory above,a method of estimating bearing of the tow ship noise in deep water is proposed.The theoretical analysis results accord with the experimental results,which helps to identify the target and provide correct initial bearing guidance for noise cancelation methods.展开更多
Based on the fundamental equation of flexible cable dynamics for a towed system, an easily solved mathematical model is set up in this paper by means of appropriate simplification. Several regular patterns of spatial ...Based on the fundamental equation of flexible cable dynamics for a towed system, an easily solved mathematical model is set up in this paper by means of appropriate simplification. Several regular patterns of spatial motion of towed flexible cables in water are obtained through numerical simulation with the finite difference method, and then modification and verification by trial results at sea. A technical support is provided for the towing ship to maneuver properly when a flexible cable is towed. Furthermore, the relations between two towed flexible cables, which are towed simultaneously by a ship, are investigated. The results show that the ship towing two flexible cables is safe under the suggested arrangement of two winches for the towing system, and the coiling/uncoiling sequences of the cables as well as the suggested way of maneuvering.展开更多
The small autonomous platform with a thin line array is an important tool for underwater acoustic mobile surveillance.Generally,only one-dimensional(1-D)direction-of-arrival(DOA)of the source signal can be estimated u...The small autonomous platform with a thin line array is an important tool for underwater acoustic mobile surveillance.Generally,only one-dimensional(1-D)direction-of-arrival(DOA)of the source signal can be estimated using a thin towed line array.In this work,the two-dimensional(2-D)DOA estimation is achieved by the thin line array towed by a small autonomous platform due to its flexible maneuver.Two perpendicular tow paths are formed through the fast turning of this array.An L-shaped array is formed by the same towed array on these two tow paths at different times.Using the array on these two straight paths,two 1-D DOAs of the source signal are obtained respectively,and then the 2-D DOA based on the formed L-shaped array can be estimated.The effectiveness of proposed approach is verified by numerical simulations and its theoretical error is analyzed.展开更多
Towing tractor drivelines are lightly damped non-linear systems. Interactions between components can cause dynamic behavors such as gear gap impact in gear transmissions, shuffle and clonk phenomena in driveline. The ...Towing tractor drivelines are lightly damped non-linear systems. Interactions between components can cause dynamic behavors such as gear gap impact in gear transmissions, shuffle and clonk phenomena in driveline. The torsional vibration of driveline has an important effect on grand engineering vehicle vibration and noise. Through analyzing torsional vibration equations of driveline, torsional vibration model of driveline is developed by using Matlab/Simulink software, Shuffle and clonk phenomena are observed in torsional vibration. The modeling method of analysizing driveline torsional vibration can be used to research and improve similar engineering vehicle driveline behavors.展开更多
In this paper, a method for predicting the position of towline is presented. The location of the finite node is determined by installing fixed spaced attitude sensors in towline arrays, then the appropriate objective ...In this paper, a method for predicting the position of towline is presented. The location of the finite node is determined by installing fixed spaced attitude sensors in towline arrays, then the appropriate objective functions are selected for water depth profile and course profile respectively, and the interpolation fitting method is combined with the determined predicted positions. Through the hydrodynamic analysis of the existing towing cable’s underwater motion, the position of the towing cable under the steady state motion is obtained as the reference basis, and two methods are put forward, which are improved spline interpolation method, polynomial fitting method and multivariate nonlinear regression analysis. In the case of steady state motion, the two methods are compared and compared with the hydrodynamic simulation results. Finally, a more suitable method is selected as the basis of cable location inversion and applied to deep-sea towing operations.展开更多
With the acceleration of the investigation and development of marine resources,the detection and location of submarine pipelines have become a necessary part of modern marine engineering.Submarine pipelines are a typi...With the acceleration of the investigation and development of marine resources,the detection and location of submarine pipelines have become a necessary part of modern marine engineering.Submarine pipelines are a typical weak magnetic anomaly target,and their magnetic anomaly detection can only be realized within a certain distance.At present,a towfish or an autonomous underwater vehicle(AUV)is mainly used as the platform to equip magnetometers close to the submarine pipelines for magnetic anomaly detection.However,the mother ship directly affects the towfish,thus causing control interference.The AUV cannot detect in real time,which affects the magnetic anomaly detection and creates problems regarding detection efficiency.Meanwhile,a two-part towed platform has convenient control,thus reducing the interference of the towed mother ship and real-time detection.If the platform can maintain constant altitude sailing through the controller,the data accuracy in the actual magnetic anomaly detection can be guaranteed.On the basis of a two-part towed platform,a magnetic detection system with constant altitude sailing ability for submarine pipelines was constructed in this study.In addition,experimental verification was conducted.The experimental verification research shows that the constant altitude sailing experiment of the two-part towed platform verifies that the platform has good constant altitude sailing ability in both a hydrostatic environment and the actual marine environment.Meanwhile,the offshore magnetic anomaly detection experiment of submarine pipelines verifies the stable measurement function of the magnetic field and the function of the system to detect magnetic anomaly of submarine pipelines.展开更多
文摘In this paper, the dynamic response of undersea -+towed systems is numerically simulated. A two body towed system is especially considered in detail. The factors influencing the heave of towed-bodies, such as the weight of the towed-body (in sea water), the length and the weight (in sea water) per unit length of the cable between towed-bodies and towing ship, are investigated in detail. Calculations show that the two-body towed system can greatly increases the stability of the towed system.
基金the National Natural Science Foundation of China(No.51965032)the National Natural Science Foundation of Gansu Province of China(No.22JR5RA319)+1 种基金the Excellent Dectoral Student Foundation of Gansu Province of China(No.23JRRA842)the Science and Technology Foundation of Gansu Province of China(No.21YF5WA060)。
文摘Given the unconstrained characteristics of the multi-robot coordinated towing system,the rope can only provide a unidirectional constraint force to the suspended object,which leads to the weak ability of the system to resist external disturbances and makes it difficult to control the trajectory of the suspended object.Based on the kinematics and statics of the multi-robot coordinated towing system with fixed base,the dynamic model of the system is established by using the Newton-Euler equations and the Udwadia-Kalaba equations.To plan the trajectories with high stability and strong control,trajectory planning is performed by combining the dynamics and stability of the towing system.Based on the dynamic stability of the motion trajectory of the suspended object,the stability of the suspended object is effectively improved through online real-time planning and offline manual adjustment.The effectiveness of the proposed method is verified by comparing the motion stability of the suspended object before and after planning.The results provide a foundation for the motion planning and coordinated control of the towing system.
基金This work was financially supported by National Hi-Tech R&D Program of China (863 Program)( Grant No2006AA04Z127)New Century Excellent Talents (NCET) of Tianjin University,2005
文摘Towed cable systems are frequently used in marine measurements where the length of the towed cable varies during launch and recovery. In this paper a novel method for modeling variable length cable systems is introduced based on the finite segment formulation. The variable length of the towed cable is described by changing the length of the segment near the towing point and by increasing or decreasing the number of the discrete segments of the cable. In this way, the elastic effects of the cable can be easily handled since geometry and material properties of each segment are kept constant. Experimental results show that the dynamic behavior of the towed cable is consistent between the model and the physical cable. Results show that the model provides numerical efficiency and simulation accuracy for the variable length towed system.
基金support of the National Natural Science Foundation of China (No.51875540)。
文摘Mobile observation platforms are widely used in oceanographic and marine resource exploration and other applications. Wave Glider is a mobile platform that can transform wave energy into locomotion power and overcome the bottleneck of low energy supply. Wave Glider has recently been applied to tow underwater sensors fulfilling observation tasks. In this paper, the dynamic system of Wave Glider with a towed body is studied by applying multibody mechanics, and the relevant motion conditions of the system are investigated. Dynamic models of Wave Glider with a towed body and tether are first developed individually and then integrated into a whole model. The numerical method is used to obtain the dynamic responses and assess performance of the towed body pulled by the submerged glider of Wave Glider. The effects of sea state, mass of the towed body, and length of the towed cable are investigated on the basis of simulation results. This work can be used for the design and analysis of Wave Glider-towed body systems.
基金the National Natural Science Foundation of China(No.51779140)
文摘This paper aims to research the cable-lead-in rod effect on a towed system through mathematical modeling and numerical simulations.The rod dynamics,as a key part of this study,is modeled using the combination of cable node governing equations and kinematic constraint conditions.As the first attempt to analyze such a problem,the rod is simply treated as an elastic cable segment so as to be incorporated into the dynamics of the cable,and a set of algorithm is then proposed based on the kinematic constraint conditions to fully describe its motions.Meanwhile,the cable and the underwater vehicle are modeled by the traditional lumped mass method and the 6 degree-of-freedom maneuverability equations for submarines respectively;the coupling boundary conditions besides the rod dynamics are also given to form the whole system's model.Several numerical cases are performed to investigate the rod effect on the system in different maneuver situations.Some meaningful conclusions are drawn through comparative analysis.
基金supported by the 12th Five Year Plan National Science and Technology Major Projects(No.20011ZX05023-003-002)Research projects of CNOOC(No.C/KJF JDCJF 006-2009)
文摘Currently, the deghosting of towed streamer seismic data assumes a flat sea level and a sea-surface reflection coefficient of-1; this decreases the precision of deghosting. A new method that considers the rough sea surface is proposed to suppress ghost reflections. The proposed deghosting method obtains the rough sea surface reflection coefficient using Gaussian statistics, and calculates the optimized deghosting operator in the r/p domain. The proposed method is closer to the actual sea conditions, offers an improved deghosting operator, removes the ghost reflections from marine towed seismic data, widens the bandwidth and restores the low-frequency information, and finally improves the signal-to- noise ratio and resolution of the seismic data.
文摘This article discusses the dynamic state analysis of underwater towed-cable when tow-ship changes its speed in a direction making parabolic profile path. A three-dimensional model of underwater towed system is studied. The established governing equations for the system have been solved using the central implicit finite-difference method. The obtained difference non-linear coupled equations are solved by Newton＇s method and satisfactory results were achieved. The solution of this problem has practical importance in the estimation of dynamic loading and motion, and hence it is directly applicable to the enhancement of safety and the effectiveness of the offshore activities.
基金financially supported by the National Key Research and Development Program of China(Grant No.2021YFC2800700)the National Natural Science Foundation of China(Grant Nos.52171330,52101379,52101380,51679053)+2 种基金the Project of Research and Development Plan in Key Areas of Guangdong Province(Grant No.2020B1111010002)the Foundation of Key Laboratory of Marine Environmental Survey Technology and Application,Ministry of Natural Resources(Grant No.MESTA-2021-B010)the Natural Science Foundation of Guangdong Province,China(Grant No.2021A1515012134)。
文摘To find a better way to estimate the lift force induced by an interceptor on a high-speed mono-hull ship,a series of high-speed mono-hull ship models are designed and investigated under different conditions.Different lift forces are obtained by numerical calculations and validated by a model test in a towing tank.The factors that influence the force are the interceptor height,velocity,draft,and deadrise angle.The relationship between each factor and the induced lift force is investigated and obtained.We found that the induced lift mainly depends on the interceptor height and advancing velocity,and is proportional to the square of the interceptor height and velocity.The results also showed that the effects of the draft and deadrise angle are relatively less important,and the relationship between the induced lift and these two factors is generally linear.Based on the results,a formula including the combined effect of all factors used to estimate the lift force induced by the interceptor is developed based on systematic analysis.The proposed formula could be used to estimate the lift force induced by interceptors,especially under high-speed condition.
基金supported by the National Natural Science Foundation of China(Grant No.52271287).
文摘With the rapid development of large-scale development of marginal oilfields in China,simple wellhead platforms that are simple in structure and easy to install have become an inevitable choice in the process of oilfield development.However,traditional simple wellhead platforms are often discarded after a single use.In pursuit of a more costeffective approach to developing marginal oilfields,this paper proposes a new offshore oil field development facility—an integrated bucket foundation for wellhead platform.To verify the safety of its towing behavior and obtain the dynamic response characteristics of the structure,this paper takes a bucket integrated bucket foundation for wellhead platform with a diameter of 40 m as the research object.By combining physical model tests and numerical simulations,it analyzes the static stability and dynamic response characteristics of the structure during towing,complete with the effects of the draft,wave height,wave period,and towing point height,which produce the dynamic responses of the structure under different influence factors,such as roll angle,pitch angle,heave acceleration and towing force as well as the sensibility to transport variables.The results show that the integrated bucket foundation for wellhead platform is capable of self-floating towing,and its movement is affected by the local environment,which will provide a reference for actual projects.
文摘During the past ten years, a marine controlled source electromagnetic（CSEM） method has been developed rapidly as a technology for hydrocarbon exploration. For shallow water environments, two CSEM data acquisition systems： Seabed Logging（SBL） and towed streamer electromagnetics（TSEM） have been developed in recent years. The purpose is to compare the performance of the SBL and TSEM systems at different water depths. Three different methods for the comparison are presented. The first method is a quick one dimensional sensitivity modelling. As a result, the sensitivity of marine CSEM data increases with water depth for the SBL system. Further, the sensitivity decreases with the increasing water depth for the TSEM system. The two other methods use two dimensional synthetic data from a simple 2-D isotropic model. The second method is a reservoir sensitivity index（RSI） method which has been developed to provide a quick comparison of the two systems. The RSI is calculated as the amplitude of the scattered field dividing by data uncertainty. From the calculations, it is found that with the increasing water depth RSI increases for the SBL system, while it decreases for the TSEM system. The third method uses Occam＇s inversion, and applies an anomaly transverse resistance（ATR） ratio for evaluating the resulting resistivity image. In shallow water environments, the resolution of the CSEM inversion results is good for both the SBL and TSEM systems. In deep water environments, the resolution of the CSEM inversion is better for the SBL system than for the TSEM system. The ATR ratios of the resistivity images show the similar conclusion. The SBL data acquisition system has an advantage in deep water environments. The TSEM system, on the other hand, is preferable for the shallow water environments.
文摘Efficient numerical schemes were presented for the steady state solutions of towed marine cables. For most of towed systems,the steady state problem can be resolved into two-point boundary-value problem,or initial value problem in some special cases where the initial values are available directly.A new technique was proposed and attempted to solve the two-point boundary-value problem rather than the conventional shooting method due to its algorithm complexity and low efficiency.First,the boundary conditions are transformed into a set of nonlinear governing equations about the initial values,then bisection method is employed to solve these nonlinear equations with the aid of 4th order Runge-Kutta method.In common sense,non-uniform (sheared) current is assumed,which varies in magnitude and direction with depth.The schemes are validated through the DE Zoysa's example,then several numerical examples are also presented to illustrate the numerical schemes.
文摘A numerical approach was developed to analyze the transient behavior of towed cable during ac- tively controlled deployment/retrieval (DR).The cable motion is described by the lumped parameter method, its corresponding boundary conditions are presented.In view of its varying length during DR,two auxiliary arguments are introduced to describe its continuous varying length and discrete number of nodes(equations), the length is determined by the pay out(or reel-in) rate,which is then used to determine the node number by a logic relation.For the discrete mathematical model of towed cable,an algorithm was developed to deal with the discrete governing equations.The simulation results indicate that the cable experiences more com- plex motions due to its varying length,and tension fluctuates seriously in the startup and ending stage of deployment/retrieval.The effect of towing ship's motion in waves on cable during deployment/retrieval is also considered via numerical simulation.
基金Project supported by the National Defense Basic Science Research Program,China(Grant No.JCKY2016607C009)the Youth Innovation Promotion Association of the Chinese Academy of Sciences(Grant No.2018025)。
文摘In the towed line array sonar system,the tow ship noise is the main factor that affects the sonar performance.Conventional noise cancelling methods assume that the noise is towards the endfire direction of the array.An acoustic experiment employing a towed line array is conducted in the western Pacific Ocean,and a strange bearing-splitting phenomenon of the tow ship noise is observed in the array.The tow ship noise is split into multiple noise signals whose bearings are distributed between 10°and 90°deviating from the endfire direction.The multiple interferences increase the difficulty in recognizing the target for the sonar operator and noise cancellation.Therefore,making the mechanism clear and putting forward the tow ship noise splitting bearing estimation method are imperative.In this paper,the acoustic multi-path structure of the tow ship in deep water is analyzed.Then it is pointed out that the bearing-splitting phenomenon is caused by the main lobe of direct rays and bottom-reflected rays,as well as several side lobes of direct rays.Meanwhile,the indistinguishability between the elevation angle and the bearing angle due to the axial symmetry of a strict horizontal line array causes the bearing to deviate from the endfire direction.Based on the theory above,a method of estimating bearing of the tow ship noise in deep water is proposed.The theoretical analysis results accord with the experimental results,which helps to identify the target and provide correct initial bearing guidance for noise cancelation methods.
文摘Based on the fundamental equation of flexible cable dynamics for a towed system, an easily solved mathematical model is set up in this paper by means of appropriate simplification. Several regular patterns of spatial motion of towed flexible cables in water are obtained through numerical simulation with the finite difference method, and then modification and verification by trial results at sea. A technical support is provided for the towing ship to maneuver properly when a flexible cable is towed. Furthermore, the relations between two towed flexible cables, which are towed simultaneously by a ship, are investigated. The results show that the ship towing two flexible cables is safe under the suggested arrangement of two winches for the towing system, and the coiling/uncoiling sequences of the cables as well as the suggested way of maneuvering.
基金National Key Research and Development Plan Project(No.2020YFB2010800)National Natural Science Foundation of China(Nos.61971307,61905175,51775377)。
文摘The small autonomous platform with a thin line array is an important tool for underwater acoustic mobile surveillance.Generally,only one-dimensional(1-D)direction-of-arrival(DOA)of the source signal can be estimated using a thin towed line array.In this work,the two-dimensional(2-D)DOA estimation is achieved by the thin line array towed by a small autonomous platform due to its flexible maneuver.Two perpendicular tow paths are formed through the fast turning of this array.An L-shaped array is formed by the same towed array on these two tow paths at different times.Using the array on these two straight paths,two 1-D DOAs of the source signal are obtained respectively,and then the 2-D DOA based on the formed L-shaped array can be estimated.The effectiveness of proposed approach is verified by numerical simulations and its theoretical error is analyzed.
文摘Towing tractor drivelines are lightly damped non-linear systems. Interactions between components can cause dynamic behavors such as gear gap impact in gear transmissions, shuffle and clonk phenomena in driveline. The torsional vibration of driveline has an important effect on grand engineering vehicle vibration and noise. Through analyzing torsional vibration equations of driveline, torsional vibration model of driveline is developed by using Matlab/Simulink software, Shuffle and clonk phenomena are observed in torsional vibration. The modeling method of analysizing driveline torsional vibration can be used to research and improve similar engineering vehicle driveline behavors.
文摘In this paper, a method for predicting the position of towline is presented. The location of the finite node is determined by installing fixed spaced attitude sensors in towline arrays, then the appropriate objective functions are selected for water depth profile and course profile respectively, and the interpolation fitting method is combined with the determined predicted positions. Through the hydrodynamic analysis of the existing towing cable’s underwater motion, the position of the towing cable under the steady state motion is obtained as the reference basis, and two methods are put forward, which are improved spline interpolation method, polynomial fitting method and multivariate nonlinear regression analysis. In the case of steady state motion, the two methods are compared and compared with the hydrodynamic simulation results. Finally, a more suitable method is selected as the basis of cable location inversion and applied to deep-sea towing operations.
基金the support of the Fund of State Key Laboratory of Ocean Engineering(GKZD010068,GKZD010074,GKZD010075).
文摘With the acceleration of the investigation and development of marine resources,the detection and location of submarine pipelines have become a necessary part of modern marine engineering.Submarine pipelines are a typical weak magnetic anomaly target,and their magnetic anomaly detection can only be realized within a certain distance.At present,a towfish or an autonomous underwater vehicle(AUV)is mainly used as the platform to equip magnetometers close to the submarine pipelines for magnetic anomaly detection.However,the mother ship directly affects the towfish,thus causing control interference.The AUV cannot detect in real time,which affects the magnetic anomaly detection and creates problems regarding detection efficiency.Meanwhile,a two-part towed platform has convenient control,thus reducing the interference of the towed mother ship and real-time detection.If the platform can maintain constant altitude sailing through the controller,the data accuracy in the actual magnetic anomaly detection can be guaranteed.On the basis of a two-part towed platform,a magnetic detection system with constant altitude sailing ability for submarine pipelines was constructed in this study.In addition,experimental verification was conducted.The experimental verification research shows that the constant altitude sailing experiment of the two-part towed platform verifies that the platform has good constant altitude sailing ability in both a hydrostatic environment and the actual marine environment.Meanwhile,the offshore magnetic anomaly detection experiment of submarine pipelines verifies the stable measurement function of the magnetic field and the function of the system to detect magnetic anomaly of submarine pipelines.
