Search Results (995)

Electric Submersible Pumps (ESPs) are widely deployed in high-flowrate wells but are constrained by frequent failures and the need for rig-based interventions. This study presents the development and field validation of a rigless cable-deployed ESP (CDESP) system designed to enhance operational uptime and reduce intervention costs. The system features a corrosion-resistant metal-jacketed power cable, an inverted ESP configuration that eliminates the motor lead extension (MLE), and a vertical cable hanger spool (VCHS) for surface integration without removing the production tree. A field trial in a high-H₂S well demonstrated successful rigless deployment using coiled tubing (CT), achieving over two years of continuous runtime. Post-retrieval inspection revealed minimal wear, validating the system’s mechanical durability and reusability. Operational performance demonstrated reduced non-productive time (NPT), enhanced safety, and cost savings, with deployment completed in under 24 h, compared to the typical 10–14 days for rig-based methods. The CDESP system’s compatibility with digital monitoring and its potential for redeployment across wells positions it as a transformative solution for offshore and mature field operations. These findings support the broader adoption of CDESP as a scalable, efficient, and safer alternative to conventional ESP systems. Full article

Ensuring the structural reliability and interception efficiency of trash-intercepting nets (TINs) is crucial for the security of the water withdrawal engineering of the nuclear power station (NPS). The numerical model of a flexible TIN using the lumped mass method was developed, and its high accuracy in simulating the tension distribution of the net and its deformation was validated through physical model tests. A systematic analysis was performed to investigate the effect of key parameters (i.e., water depth, intercepting rate, and diameter of longitudinal/transversal ropes) on the structural response, including the total anchor force, the main cable tension, the rope tension, and the netting tension. The results show that the tension forces acting on the transversal ropes are dramatically larger than those acting on the longitudinal ropes, and the net experiences the smallest tension force when the diameter of transversal ropes is the same as the diameter of the longitudinal ropes. This study is useful for the safety design of the TIN of the NPS. Full article

Cable-driven parallel robots (CDPRs) are increasingly used for load manipulation tasks involving predefined toolpaths with intermediate stops. At each stop, where the platform maintains a fixed pose, and the motors keep the cables under tension, the system must evaluate whether it is safe to proceed by detecting anomalies that could compromise performance (e.g., wind gusts or cable impacts). This paper investigates whether anomalies can be detected using only motor torque data, without additional sensors. It introduces an adaptive unsupervised outlier detection algorithm based on Gaussian Mixture Models (GMMs) to identify anomalies from torque signals. The method starts with a brief calibration period—just a few seconds—during which a GMM is fit on known anomaly-free data. Real-time torque measurements are then evaluated using the Mahalanobis distance from the GMM, with statistically derived thresholds triggering anomaly flags. Model parameters are periodically updated using the latest segments identified as anomaly-free to adapt to changing conditions. Validation includes 14 long-duration test sessions simulating varied wind intensities. The proposed method achieves a 100% true positive rate and 95.4% average true negative rate, with 1-second detection latency. Comparative evaluation against power threshold and non-adaptive GMM methods indicates higher robustness to drift and environmental variation. Full article

This paper analyses the parameterisation of protective relays in industrial power distribution stations, focusing on the quantitative relationship between network load and protection system response time. Laboratory simulations using a dedicated automation cabinet and varying network configurations (six streams at 80 samples/cycle and two to four streams at 256 samples/cycle) revealed a clear correlation: higher network loads lead to longer trip times. Under maximum load (four streams, 256 samples/cycle), response times reached up to 63.75 ms. These delays stemmed from network congestion rather than relay instability. The extended clearing times increased the short-circuit energy (I²t) by approximately 35% on average and over 55% in critical scenarios, requiring upsizing of PVC-insulated conductors from 16 mm² to 25 mm² to maintain short-circuit withstand capacity. The findings demonstrate the practical impact of network-induced delays on protection performance, thermal stress, and cable sizing, providing a basis for optimising relay settings and system configuration in modern digital power distribution networks. Full article

With the global ageing population and the increasing prevalence of mobility impairments, the demand for effective and comfortable rehabilitation and assistive solutions has grown rapidly. Soft exoskeletons have emerged as a key direction in the development of wearable rehabilitation devices. This review examines how these systems are designed and controlled, as well as how they differ from the rigid exoskeletons that preceded them. Made from flexible fabrics and lightweight components, soft exoskeletons use pneumatic or cable mechanisms to support movement while keeping close contact with the body. Their compliant structure helps to reduce joint stress and makes them more comfortable for long periods of use. The discussion in this paper covers recent work on lower-limb designs, focusing on actuation, power transmission, and human–robot coordination. It also considers the main technical barriers that remain, such as power supply limits, the wear and fatigue of soft materials, and the challenge of achieving accurate tracking performance, low latency, and resilience to external disturbances. Studies reviewed here show that these systems help users regain functionality and improve rehabilitation, while also easing caregivers’ workload. The paper ends by outlining several priorities for future development: lighter mechanical layouts, better energy systems, and adaptive control methods that make soft exoskeletons more practical for everyday use as well as clinical therapy. Full article

The increasing complexity of the electromagnetic environment poses an increasing risk to unmanned aerial vehicles (UAVs) operating in airspaces subject to adverse electromagnetic effects. This paper investigates the potential electromagnetic interference that UAVs may encounter during flight through the lens of electromagnetic compatibility (EMC), which defines the requirements for the proper operation of UAV electronics. According to existing EMC standards, the immunity threshold for typical commercial drones is 10 V/m. However, European standards for public exposure permit electromagnetic fields and suggest that it is possible for an electromagnetic field of a mobile base station antenna to be as strong as 61 V/m. To assess drone vulnerability to its electromagnetic environment, investigation was conducted in an anechoic chamber, which determined that commercially available drones typically experience uncontrolled descent when subjected to an electric field strength of 30 V/m or higher. The primary coupling path for this interference is through the UAV’s internal cables, as induced parasitic currents perturb the motor control signals. This disruption leads to flight instability as the propellers can no longer be reliably controlled, resulting in flight instabilities. Based on a maximum effective radiated power (ERP) of 40 dBW per sector for a base station antenna, a minimum safe operating distance of 20 m was calculated. Adherence to this safe distance is therefore strongly recommended for any commercial drone operator to avoid EMI-induced flight failure. Full article

Rapid evolution in electrified transportation and, in general, sustainability of electrical and electronic assets is turning the traditional power supply and utilization into something more complex and less known. This transition involves increasing operating voltage and specific power, as well as various types of power supply sources, from AC sinusoidal to DC and power electronics. This revolution, beneficial for asset efficiency and resilience, does come at the cost of increased risk of failure for electrical insulation systems. Intrinsic and extrinsic aging mechanisms are not completely known under DC and power electronics, and the risk of inception of partial discharges, PD, which is the most harmful extrinsic aging factor for electrical insulation, is as high, or even higher, compared with AC. To complicate the picture, electrical and electronic components can be used at different pressure levels, such as in aerospace, and it is known that partial discharge inception voltage, PDIV, drops down, and PD magnitude increases, lowering pressure. Models to predict PDIV for surface and internal discharges, as function of pressure, have been proposed recently, but they cannot be applied straightforwardly on practical asset components where type and locations of defects generating PD is unknown. This paper wants to close this application gap. Derivation and validation of an approximate, heuristic model able to predict PDIV at various pressure levels below and above the standard atmospheric pressure, SAP, are dealt with in this paper, referring to typical asset components such as cables, motors, printed circuit-boards, PCB, and under sinusoidal AC voltage. The good capability of the model to predict PDIV and any investigated pressure, from 3 to 0.05 bar, is validated by PD measurements performed using an innovative, automatic PD analytics software able to identify the typology of defect generating PD, i.e., whether surface or internal. Full article

This paper presents the design and testing of a lightweight, low-cost robotic arm with an extended vertical range. The 9-degree-of-freedom (DOF) system comprises a 6-DOF arm and a 3-DOF gripper. To minimize weight, the six wrist and gripper joints are cable-driven, with all actuators relocated to the shoulder assembly. As a result, the wrist and gripper only weigh 222 g and 113 g, respectively, significantly reducing the inertia on the end effector. The arm utilizes a SCARA-configuration that slides along a tower for extended vertical reach. A key innovation is a closed-section frame that attaches the arm to the tower, in which the bending and torsional loads from the payload can be directly transferred onto the static structure. In contrast to conventional design, this design does not require the shoulder motor to take the bending load directly. Instead, the motor only needs to overcome the rolling friction of the reaction load. Experimental results demonstrate that this approach reduces the required motor torque by a factor of 30. Consequently, the prototype can manipulate a 3 kg payload at a 0.5 m lateral reach while weighing only 4.5 kg, costing USD 1200, and consuming a maximum of 11.1 W of power. Full article

In coal mine non-solidly grounded systems, high-impedance faults generate minimal zero-sequence currents with obscured characteristics and strong interference, complicating faulted line identification. Existing methods rarely address three-phase imbalance and variable cable parameters, causing selection errors. To this end, a method for identifying the non-effective ground fault routing of mining cables based on Steady-State Impedance Analysis (SSIA) and Holmes–Duffing oscillator small-signal detection is proposed. Firstly, based on SSIA, the mapping relationship that the phase of the zero-sequence current variation in the faulted line is the same as the phase of its voltage relative to the faulted ground is derived before and after the occurrence of the fault. Meanwhile, identifiable differences exist in both phase and amplitude of the zero-sequence current change in faulty lines compared to non-faulty lines before and after fault occurrence. This is used as the criterion for high-impedance ground fault line selection. In the mining environment, zero-sequence current variations are characterized as weak signals, which poses significant challenges for detection. Thus, a Holmes–Duffing oscillator weak signal detection method is proposed. Based on chaotic principles, accurate line selection is achieved by diagnosing chaotic states in oscillator-generated phase trajectories. A specific mine grid simulation via MATLAB/Simulink 2023b validates the method’s efficacy and applicability. Full article

A 2D numerical model for viscous flow is established in OpenFOAM version 10 to analyze the hydrodynamic response of submarine power cables for offshore wind turbines under combined wave–current conditions. It focuses on analyzing the effect of the cable suspension ratio e/D and the current-to-wave velocity ratio U_c/U_m on the Morison coefficient of the suspended cable. The results indicate that for the cable suspension ratio e/D of less than 0.5, the strength of the dependence of both the drag coefficient C_d and inertia coefficient C_M on the cable suspension ratio e/D is significantly influenced by the current-wave-ratio U_c/U_m, while this dependence becomes less pronounced for e/D greater than 0.5. And the inertia force coefficient C_M decreases monotonically with the current-to-wave velocity ratio U_c/U_m, while the drag force coefficient C_d demonstrates a more complex, non-monotonic relationship with it. Based on the simulation results in this paper, a quantitative relationship between C_d, C_M, and the key governing parameters is established using a two-layer feedforward neural network model, providing a method for predicting wave–current forces on subsea suspended cables. Full article

The outer sheath of power cables is prone to mechanical damage and environmental stress during long-term operation, and early defects are often difficult to detect accurately using conventional methods. To address this challenge, this paper proposes an outer sheath defect identification method based on leakage current features and graph neural networks. An electro–thermal coupling physical model was first proposed to simulate the electric field distribution and thermal effects under typical defects, thereby revealing the mechanisms by which defects influence leakage current and harmonic components. A power-frequency high-voltage experimental platform was then constructed to collect leakage current signals under conditions such as scratches, indentations, moisture, and chemical corrosion. Multi-scale frequency band features were extracted using wavelet packet decomposition to construct correlation graphs, which were further modeled through a combination of graph convolutional networks and long short-term memory networks for spatiotemporal analysis. Experimental results demonstrate that the proposed method effectively improves defect type and severity identification. By integrating physical mechanism analysis with data-driven modeling, this approach provides a feasible pathway for condition monitoring and refined operation and maintenance of cable outer sheaths. Full article

This article presents a methodological framework for evaluating hydrodynamic loading on seabed structures in the eastern Mediterranean, originally motivated by the design requirements of special protective structures for a planned high-voltage subsea interconnection between Crete and the Greek mainland. The associated study highlighted the need for a comprehensive evaluation of hydrodynamic loading on seabed structures in the South-East Mediterranean. A methodology is presented for determining representative design kinematics near the seabed, accounting for large-scale oceanic circulation, local wind-induced currents, wind-generated surface waves, and tsunami effects. The method integrates long-term metocean datasets, spectral wave modelling, and reliability-based combinations of critical processes, with adjustments for anticipated climate change impacts. The approach is demonstrated through two case studies involving an electrode protective cage and a submarine electricity transmission cable, both representative of components in subsea power connections. The analysis provides design values of velocities, accelerations, and hydrodynamic forces, with typical checks against sliding, uplift, and vibration. Results highlight the depth-dependent magnitude interplay between ocean circulation and wave-induced particle motions, as well as the importance of biofouling and marine growth. The findings aim to support the safe and sustainable design of offshore energy infrastructure in the eastern Mediterranean and similar marine environments. Full article

The neutral point of a 10 kV distribution network often adopts an arc suppression coil or high resistance grounding mode to ensure the reliability of the power supply. The single-phase grounding fault current is below 10 A, and the distribution network can continue to operate with the fault for up to 2 h. However, long-time arc faults may ignite cables and cause electrical fires, causing further damage to adjacent cables and seriously affecting the safety of the power grid. To study the combustion characteristics of a single-phase grounding fault of a distribution network cable under the action of a long-term small current arc, the cable fault ignition test was carried out by using the arc ignition method of welding tin wire fuses. Then, the temperature distribution of the cable channel in an electrical fire was simulated, based on an FDS simulation, and the damage of adjacent cables under typical layout was further analyzed. The results show that the 10 kV cable was quickly ignited by the high temperature arc within 0.04 s after the breakdown and damage of the cable. Flammable XLPE insulation melted or even dripped off at a high temperature in fire. Thus, the fire spread to both ends when burning. Under the condition of 4–10 A, the maximum flame temperatures above the arc fault point reached 725 °C, 792 °C, 812 °C and 907 °C, respectively. According to the network structure, some protection, such as fireproof tape, needs to be applied directly above the faulty cable when the fault current exceeds 6 A. Full article

To address the issue of frequent power frequency overvoltage disconnection accidents in offshore WF caused by the capacitive effect of submarine cables, this paper proposes a double-layer RP optimal configuration method for large-scale offshore WF based on an adaptively improved GSA. Firstly, this paper considers both the RP capabilities of offshore WT themselves and RP compensation equipment, designing a two-layer “configuration-control” optimization framework for RP. The upper layer establishes an optimization configuration model with the objective of minimizing the total investment cost and operational expenses of the equipment. The lower layer establishes a RP optimization operation model with the objective of minimizing a weighted index that comprehensively considers system network losses, voltage deviations, and RP capacity margins. Then, to address the issue of traditional GSA being prone to local optima, this paper introduces a random factor into the mass calculation, combines elite concepts to selectively synthesize gravitational forces based on fitness values, and assigns larger random numbers to forces corresponding to superior particles. By introducing control parameters to adaptively update particle positions, an adaptively improved GSA is proposed, which is employed to solve the established double-layer RP optimization configuration model for large-scale offshore WF. Finally, simulation analysis is conducted on a large-scale offshore WF constructed using MATLAB R2020a. Compared with the basic GSA algorithm, the proposed method reduces the system loss by 50.59% and the voltage deviation by 64.75%. The research demonstrates that the proposed method can effectively enhance the stability of grid voltage and proves the effectiveness of the improved GSA and the proposed two-layer “configuration-control” optimization model. Full article

Submarine power cables (SPCs), as critical infrastructure for offshore wind farms, are the primary conduits for transmitting electricity from turbines to the grid. Actions such as seabed friction can cause damage to the submarine power cable’s outer sheath, accelerating the penetration of seawater corrosion media. This subsequently leads to corrosion fatigue or excessive loading in the tensile armor layer, which seriously threatens the long-term operational reliability of SPCs and the security of energy transmission. Based on homogenization theory and periodic boundary conditions, a repetitive unit cell (RUC) ABAQUS finite element model for a single-core submarine power cable (SPC) was established in this paper. And the mechanical response of the single-core SPC with the corroded tensile armor layers under tensile loading condition were systematically investigated. By comparing with a full-scale model, the feasibility and accuracy of the cable RUC damaged model proposed in this paper were effectively verified. It was found that the RUC damaged model exhibits significant stress concentration phenomena due to localized corrosion damage in the tensile armor layers, with its maximum von Mises stress being considerably higher than that of the RUC intact model; the elastic tensile stiffness of the SPC continuously decreases with increasing corrosion damage depth, but the magnitude of this reduction is small. This is because the corroded region is relatively small compared to the entire cable model dimension. This research reveals the potential impact of localized corrosion on the mechanical performance of the tensile armor layer, which can hold significant engineering importance for assessing the remaining load-bearing capacity of in-service SPCs and ensuring the reliability of subsea energy transmission corridors. Full article