Search Results (8)

In this study, the dynamics of tether cables (TCs) that connect a surface ship and a walking robotic vehicle on the seabed are numerically investigated. The main aim of this study is to develop a reliable prediction model for the dynamic behavior of TCs attached to a seabed walking robot. This system consists of a surface ship, underwater manned seabed walking robot (UMSWR), TC, and winch. The study is comprised of mathematical modeling and numerical simulations of the developed governing equations for the TC dynamics. A relatively simple and efficient mathematical analysis method is proposed to determine the configuration and forces on the TC under a steady state. The problem is solved using the quasi-static technique and lumped mass parameters for discretizing and modeling the dynamics of the TC. Based on the static analysis of the Morrison equation and finite segment method, analytical formulas of the steady-state equation of TC were obtained and solved. The effects of variable water density and variable underwater currents are included in the cable behavior. Consequently, the two-dimensional TC profile and axial tension were estimated in a steady-state configuration. The developed equations were simulated in MATLAB software. Several numerical simulation examples were worked out, demonstrating the accurate performance of the method. Various input parameters of the system and their relationships with the output values were investigated, thereby demonstrating the versatility of the method. Full article

Biogeochemical cycles of carbon transformation throughout the euphotic zone of the sea are controlled by physical processes, e.g., daily thermocline, variation in solar irradiance, thermohaline convection, and intermittent mixing. These processes should be regularly observed with sufficient time resolution at fixed geographical locations. This study provides a brief overview of the carbon observational site in the Northeastern Black Sea. The focus is on the design of a new tethered profiler Winchi for the inner continental shelf part of the site. The profiler hull and two outriggers comprise an open trimaran platform that is positively buoyant and tends to maintain a horizontal position in the water. The lower end of the winch wire is secured to the bottom anchor. By unwinding/winding the wire, the profiler ascends/descends while measuring the depth profiles of marine environment parameters ranging from the seafloor to air–sea interface. After surfacing, the profiler determines its location using the Global Positioning System (GPS) and transmits data to (and from) a server on land through the Global System for Mobile Communications (GSM). Initial field tests with the Winchi profiler at the Northeastern Black Sea shelf exhibited promising results. We report these early tests to demonstrate the use of Winchi. Full article

An airborne wind energy system (AWES) can harvest stronger wind streams at higher altitudes which are not accessible to conventional wind turbines. The operation of AWES requires a controller for the tethered aircraft/kite module (KM), as well as a controller for the ground station module (GSM). The literature regarding the control of AWES mostly focuses on the trajectory tracking of the KM. However, an advanced control of the GSM is also key to the successful operation of an AWES. In this paper we propose a cascaded control strategy for the GSM of an AWES during the traction or power generation phase. The GSM comprises a winch and a three-phase induction machine (IM), which acts as a generator. In the outer control-loop, an integral sliding mode control (SMC) algorithm is designed to keep the winch velocity at the prescribed level. A detailed stability analysis is also presented for the existence of the SMC for the perturbed winch system. The rotor flux-based field oriented control (RFOC) of the IM constitutes the inner control-loop. Due to the sophisticated RFOC, the decoupled and instantaneous control of torque and rotor flux is made possible using decentralized proportional integral (PI) controllers. The unknown states required to design RFOC are estimated using a discrete time Kalman filter (DKF), which is based on the quasi-linear model of the IM. The designed GSM controller is integrated with an already developed KM, and the AWES is simulated using MATLAB and Simulink. The simulation study shows that the GSM control system exhibits appropriate performance even in the presence of the wind gusts, which account for the external disturbance. Full article

Cable tensile forces in winch-assist harvesting have been investigated in order to assess the safety concerns of the technology. However, the literature is lacking, particularly in regards to the impact of winch design. In this study, a Summit Winch Assist tethering a feller-director on ground slopes up to 77% was monitored for four days. The cable tensile forces were simultaneously recorded at the harvesting and anchor machine at a frequency of 100 Hz. Cameras and GNSS devices enabled a time study of the operations and the recording of machine positions. Winch functionality and design were disclosed by the manufacturer and used for the interpretation of the results. The cable tensile forces reached 296 kN at the harvesting machine and 260 kN at the anchor machine. The slow negotiation of obstacles while moving downhill recorded the highest peaks, mainly due to threshold settings of the winch in the brake system activation. Lower but significant peaks were also recorded during stationary work tasks. The peaks, however, were limited to a few events and never exceeded the endurance limit of the cable. Overall, the study confirmed recent findings in cable tensile force analysis of active winch-assist operations and provided evidence of the underlaying mechanisms that contribute to cable tensile forces. Full article

Tethered deep-sea robots and instrument platforms, such as Remotely Operated Vehicles (ROVs) and vertical-profiling or towed instrument arrays, commonly rely on fiber optics for real-time data transmission. Fiber optic tethers used for these applications are either heavily reinforced load-bearing cables used to support lifting and pulling, or bare optical fibers used in non-load bearing applications. Load-bearing tethers directly scale operations for deep-sea robots as the cable diameter, mass, and length typically require heavy winches and large surface support vessels to operate, and also guide the design of the deep-sea robot itself. In an effort to dramatically reduce the physical scale and operational overhead of tethered live-telemetry deep-sea robots and sensors, we have developed the Fiber Optic Reel System (FOReelS). FOReelS utilizes a customized electric fishing reel outfitted with a proprietary hollow-core braided fiber optic fishing line and mechanical termination assembly (FOFL), which offers an extremely small diameter (750 μm) load-bearing (90 lb/400 N breaking strength) tether to support live high-bandwidth data transmission as well as fiber optic sensing applications. The system incorporates a novel epoxy potted data payload system (DPS) that includes high-definition video, integrated lighting, rechargeable battery power, and gigabit ethernet fiber optic telemetry. In this paper we present the complete FOReelS design and field demonstrations to depths exceeding 780 m using small coastal support vessels of opportunity. FOReelS is likely the smallest form factor live-telemetry deep-sea exploration tool currently in existence, with a broad range of future applications envisioned for oceanographic sensing and communication. Full article

The complexity of highly structured forests with multiple tree species, especially when coniferous and broadleaved tree species are mixed, as well as stands with extended machine operating trail spacing and inclined terrain, create challenging operational conditions for mechanized timber harvesting and extraction. Motor-manually felling trees within the midfield and bunching them at the machine operating trails, prior to the arrival of a harvester-forwarder system, is a complex operation. The aim of this study was to assess and compare tethered harvester productivities of a thinning operation, for felling and processing standing trees and for processing bunched trees, through a time study in forest stands with 40-m distances between machine operating trails. Total operational costs of the analyzed thinning operation were 69 €/m³_o.b., including extraction using a multiple forwarder approach. Tree species, merchantable timber volume, and whether the trees were standing or presented as bunched logs all had a significant effect on the harvester time consumption. Moreover, harvester positioning time was significantly shorter when trees were already bunched at the machine operating trail. While the productivity of standing or bunched spruce trees did not differ significantly between the cases (approximately 18 m³_o.b./productive machine hours excluding all delays (PMH₀)), the productivity of standing broadleaved tree species (8.3 m³_o.b./PMH₀) was much lower than that of bunched trees (15.5 m³_o.b./PMH₀). Thus, the described timber harvesting and extraction system may be a valuable option for forest stands with high proportion of broadleaved trees. Full article

In this paper, in order to overcome certain limitations of previously commercialized platforms, a new integrated unmanned surface vehicle (USV) and unmanned underwater vehicle (UUV) platform connected via underwater cable capable of acquiring real-time underwater data and long-time operation are studied. A catamaran-type USV was designed to overcome the limitations of an ocean environment and to play the role as the hub of power supply and communication for the integrated platform. Meanwhile, the UUV was designed as torpedo-shaped to minimize hydrodynamic resistance and its hardware design was focused on processing and sending the underwater camera and sonar data. The underwater cable driven by a winch system was installed to supply power from the USV to the UUV and to transmit acquired data form underwater sonar sensor or camera. Different from other previously studied cooperation system of USVs and autonomous underwater vehicles (AUVs), the merit of the proposed system is real-time motion coordination control between the USV and UUV while transmitting large amount of data using the tether cable. The main focus of the study is coordination of the UUV with respect to the global positioning system (GPS) attached at USV and verification of its performance throughout field tests. Waypoint tracking control algorithm was designed and implemented on USV and relative heading, distance control for USV–UUV coordination was implemented to UUV. To ensure the integrity of the coordination control of the integrated platform, a study on accurate measurement system of the relative position between the USV and the UUV by using the GPS and the ultrashort baseline (USBL) device was performed. Individual tests were conducted to verify the performance of USBL and AHRS, which provide the position and heading data of UUV among the sensors mounted on the actual platform, and the effectiveness of the obtained sensor data is presented. Using the accurate measurement system, a number of field tests were conducted to verify the performance of the integrated platform. Full article

Traditional timber harvests on steep slopes have been conducted through labor-intensive and sometimes environmentally impactful methods, such as manual felling with chainsaws and extraction using bladed skid trails, winching, or cable yarding. Ground-based mechanized harvesting and primary transportation methods such as cut-to-length harvesters and forwarders have emerged in some parts of the world as low-impact, safe, and efficient alternatives to the aforementioned systems. However, when mechanized operations are used on steep terrain, problems such as poor stability, loss of traction, and increased soil disturbance can occur. Tethered or winch-assisted logging practices are being tested and applied in several countries to adapt to challenges associated with operating equipment on steep slopes while minimizing environmental impact. To better understand the feasibility of these systems, we conducted a designed experiment to quantify changes in soil properties and predicted erosion resulting from varying numbers of passes and payload levels by a forwarder operating on slopes ranging from 27 to 38 degrees. The machine was equipped with two different track configurations, tethered by either a machine-mounted or self-contained winch, in eucalyptus plantations in Brazil. On low slopes, bulk density significantly increased, but it did not increase on steeper slopes; this demonstrates traction winches’ effectiveness at reducing concentrated ground pressures. Rut depths were minimal and decreased with increasing slope classes due to reduced track slippage. Predicted erosion rates were high, primarily due to the extremely steep, long slopes and lack of adequate cover in some portions of the trail, illustrating the importance of proper erosion management practices on steep slopes. Full article