Search Results (193)

In this work, the load spectra acting in the vertical direction on the hub carriers and in the horizontal longitudinal direction on the drawbar of a trailed variable chamber round baler were evaluated. To this end, each hub carrier was instrumented with appropriately calibrated strain gauge bridges. Similarly, the baler was equipped with a dynamometric towing pin, instrumented with strain gauge sensors and calibrated in the laboratory, which replaced the original pin connecting the baler and the tractor during the in-field load acquisitions. In both cases, the calibration tests returned the relationship between applied forces and output signals of the strain gauge bridges. Multiple in-field load acquisitions were carried out under typical maneuvers and operating conditions. The synchronous acquisition of a video via an onboard camera and Global Positioning System (GPS) signal allowed to observe the behaviour of the baler in correspondence of particular trends of the vertical and horizontal loads and to point out the most demanding maneuver in view of the fatigue resistance of the baler. Finally, through the application of a rainflow cycle counting algorithm according to ASTM E1049-85, the load spectrum for each maneuver was derived. Full article

Underwater towed systems (UTSs) are widely used in underwater exploration and oceanographic data acquisition. However, the heave motion information of the towing ship is usually affected by the measurement transmitting delay, sensor noise and surface waves, which will result in uncontrolled depth variation of the towed vehicle, so as to adversely affect the monitoring performance and mechanical robustness of the UTS. To resolve this problem, a heave motion prediction approach based on sparse Bayesian learning (SBL) incorporated with empirical mode decomposition (EMD) for the UTS is proposed in this paper. With the proposed approach, a heave motion model of the towing ship with random waves is firstly developed based on strip theory. Meanwhile, the EMD is employed to eliminate the high-frequency noise of the measurement data to restore low-frequency towing ship motion. And then, the SBL is utilized to train the weight parameters in the built model to predict the heave motion, which not only reconstruct the heave motion from non-stationary sensor signals with noise but also prevent overfitting. Furthermore, the depth compensation of the towed vehicle is then performed using the predicted heave motion. Finally, experimental results demonstrate that the proposed EMD-SBL method significantly improves both the prediction accuracy and model adaptability under various sea conditions, and it also guarantees that the maximum prediction depth error of the heave motion does not exceed 1 cm. Full article

The implementation of hybrid propulsion systems in vessels has gained prominence due to their significant advantages in energy efficiency and their reduction in harmful emissions, particularly during low engine load operations. This study evaluates hybrid propulsion system applications in two different tugboats, focusing on fuel consumption and engine load across eight distinct operational scenarios, including Istanbul Strait crossings and towing and pushing manoeuvres. The scenarios incorporate asynchronous electric motors with varying power ratings, lead-acid and lithium iron phosphate batteries with distinct storage capacities, and photovoltaic panels of different sizes. The highest fuel savings of 72.4% were recorded in the second scenario, which involved only towing and pushing operations using lithium iron phosphate batteries. In contrast, the lowest fuel savings of 5.2% were observed in the sixth scenario, focused on a strait crossing operation employing lead-acid batteries. Although integrating larger-scale batteries into hybrid propulsion systems is vital for extended ship operations, their adoption is often limited by space and weight constraints, particularly on tugboats. Nevertheless, ongoing advancements in hybrid system technologies are expected to enable the integration of larger, more efficient systems, thereby enhancing fuel-saving potential. Full article

Light-duty trucks (LDTs) are often used to tow trailers. Towing increases the load on the engine, and this additional load can affect exhaust emissions. Although heavy-duty towing impacts are widely studied, data on LDT towing impacts is sparse. In this study, portable emissions measurement systems (PEMSs) were used to measure in-use emissions from three common LDTs during towing and non-towing operations. Emission rates were characterized by operating modes defined in the Environmental Protection Agency’s (EPA’s) MOVES (MOtor Vehicle Emissions Simulator) model. The measured emission rates were compared to the default rates used by MOVES, revealing similar overall trends. However, discrepancies between measured rates and MOVES predictions, especially at high speed and high operating modes, indicate a need for refinement in emissions modeling for LDTs under towing operations. Results highlight a general trend of increased CO₂, CO, HC, and NOx when towing a trailer compared to non-towing operations across nearly all operating modes, with distinct CO and HC increases in the higher operating modes. Although emissions were observed to be notably higher in a handful of scenarios, results also indicate that three similar LDTs can have distinctly different emission profiles. Full article

In this study, an unsteady vortex element method is applied to the analysis of a horizontal wing in order to investigate its propulsive performance when operating as a biomimetic thruster. The foil undergoes a combined heaving and pitching motion at the same frequency, in a uniform inflow condition, due to its advance at a constant speed. The numerical results are presented and compared to experimental measurements for the propulsion thrust coefficient and the efficiency of the system over a range of motion parameters. The results indicate the significance of 3D effects and show that the present technique can serve for the design of this kind of propulsive system with optimized performance. In the next stage, the wing is examined in a horizontal T-foil arrangement at the bow of a ship as an efficient propulsion system, and its performance in irregular head waves, characterized by a frequency spectrum, is also studied using experiments in a towing tank. In the test cases, a 30% damping of the ship responses in waves is observed with a simultaneous decrease in the total resistance by 5%. The numerical results are compared with data obtained from tank experiments, revealing good agreement, demonstrating the applicability of the present method to the preliminary design of this system for the augmentation of ship propulsion in waves. Full article

Unmanned systems provide significant prospects for improving the efficiency of electromagnetic geophysical exploration in mineral prospecting and geological mapping, as they can significantly increase the productivity of field surveys by accelerating the movement of the measuring system along the site, as well as minimizing problems in cases where the pedestrian walkability of the site is a challenge. Lightweight and cheap UAV systems with a take-off weight in the low tens of kilograms are unable to carry a powerful current source; therefore, semi-airborne systems with a ground transmitter (an ungrounded loop or grounded at the ends of the line) and a measuring system towed on a UAV are becoming more and more widespread. This paper presents the results for a new generation of semi-airborne technology SibGIS UAV-TEMs belonging to the “line-loop” type and capable of realizing the transient/time-domain (TEM) electromagnetics method used for studying a uranium object of the paleovalley type. Objects of this type are characterized by a low resistivity of the ore zone located in relatively high-resistivity host rocks and, from the position of the geoelectric structure, can be considered a good benchmark for assessing the capabilities of different electrical exploration technologies in general. The aeromobile part of the geophysical system created is implemented on the basis of a hexacopter carrying a measuring system with an inductive sensor, an analog of a 50 × 50 m loop, an 18-bit ADC with satellite synchronization, and a transmitter. The ground part consists of a galvanically grounded supply line and a current source with a transmitter creating multipolar pulses of quasi-DC current in the line. The survey is carried out with a terrain drape based on a satellite digital terrain model. The article presents the results obtained from the electromagnetic soundings in comparison with the reference (drilled) profile, convincingly proving the high efficiency of UAV-TEM. This approach to pre-processing UAV–electrospecting data is described with the aim of improving data quality by taking into account the movement and swaying of the measuring system’s sensor. On the basis of the real data obtained, the sensitivity of the created semi-airborne system was modeled by solving a direct problem in the class of 3D models, which allowed us to evaluate the effectiveness of the method in relation to other geological cases. Full article

The control of vehicles towing trailers is of significant interest to industry due to their wide-ranging applications across various sectors. Trailers play essential roles in logistics, mining, and other fields. This study focuses on the control of a dumper with a trailer specifically used for the monitoring of terrain stability in mining operations. The trailer is equipped with a radar system for detecting potential ground shifts that could jeopardize fieldwork safety. While numerous studies have addressed the control of Ackerman vehicles and trailers, this dumper presents a unique challenge due to its rear-axle steering mechanism. Due to this configuration, which has not been extensively studied in the literature, although the differential flatness of the system is proven, computation of the flat outputs leads to a system of partial differential equations that cannot be solved analytically. For this reason, this paper examines partial feedback linearization to facilitate control and proposes a solution for trajectory tracking that also stabilizes jack-knifing tendencies between the vehicle and trailer. The designed control system was successfully validated in a virtual environment. Full article

This paper focused on the motion control of an underwater vehicle installed on a linear guide system, which is driven by two electric winches with wire ropes. The vehicle is subject to complex nonlinear time-varying disturbances and actuator input saturation effects during motion. A coupled dynamic model, incorporating an underwater vehicle, winches, and wire ropes, was established. Particular attention was paid to the nonlinear time-varying hydrodynamic disturbances acting on the underwater vehicle. The Kelvin–Voigt model was introduced to characterize the nonlinear dynamic behavior of the wire ropes, enabling the model to capture the dynamic response characteristics of traction forces. To tackle cross-coupling within the towing system, a differential tension coordination control method was proposed that simultaneously regulates system tension during motion control. For the vehicle dynamics model, a nonsingular fast-terminal sliding-mode (NFTSM) controller was designed to achieve high-precision position tracking control. An auxiliary dynamic compensator was incorporated to mitigate the impact of actuator input saturation. To handle time-varying disturbances, a fuzzy adaptive nonlinear disturbance observer (FANDO) is developed to perform feedforward compensation. Stability proof of the proposed algorithms was provided. Extensive numerical simulations demonstrate the effectiveness of the control strategies. Compared to the NFTSM without the disturbance observer the absolute mean value of the tracking error decreased by 76%, the absolute maximum value of the tracking error decreased by 67%, and the mean square error decreased by 93.5%. Full article

Elastic full waveform inversion (EFWI) is a crucial technique for retrieving high-resolution multi-parameter information. However, the lack of low-frequency components in seismic data may induce severe cycle-skipping phenomena in elastic full waveform inversion (EFWI). Recognizing the approximately linear relationship between the phase components of seismic data and the properties of subsurface media, we propose an Elastic Wave Phase Inversion in local-scale frequency–wavenumber domain (LFKEPI) method. This method aims to provide robust initial velocity models for EFWI, effectively mitigating cycle-skipping challenges. In our approach, we first employ a two-dimensional sliding window function to obtain local-scale seismic data. Following this, we utilize two-dimensional Fourier transforms to generate the local-scale frequency–wavenumber domain seismic data, constructing a corresponding elastic wave phase misfit. Unlike the Elastic Wave Phase Inversion in the frequency domain (FEPI), the local-scale frequency–wavenumber domain approach accounts for the continuity of seismic events in the spatial domain, enhancing the robustness of the inversion process. We subsequently derive the gradient operators for the LFKEPI methodology. Testing on the Marmousi model using a land seismic acquisition system and a simultaneous-source marine towed seismic acquisition system demonstrates that LFKEPI enables the acquisition of reliable initial velocity models for EFWI, effectively mitigating the cycle-skipping problem. Full article

Reservoirs and downstream rivers draining Oregon’s Cascade Range provide critical water supplies for over 1.5 million residents in dozens of communities. These waters also support planktonic and benthic cyanobacteria that produce cyanotoxins that may degrade water quality for drinking, recreation, aquatic life, and other beneficial uses. This 2016–2020 survey examined the sources and transport of four cyanotoxins—microcystins, cylindrospermopsins, anatoxins, and saxitoxins—in six river systems feeding 18 drinking water treatment plants (DWTPs) in northwestern Oregon. Benthic cyanobacteria, plankton net tows, and (or) Solid-Phase Adsorption Toxin Tracking (SPATT) samples were collected from 65 sites, including tributaries, reservoirs, main stems, and sites at or upstream from DWTPs. Concentrated extracts (320 samples) were analyzed with enzyme-linked immuno-sorbent assays (ELISA), resulting in >90% detection. Benthic cyanobacteria (n = 80) mostly Nostoc, Phormidium, Microcoleus, and Oscillatoria, yielded microcystins (76% detection), cylindrospermopsins (41%), anatoxins (45%), and saxitoxins (39%). Plankton net tow samples from tributaries and main stems (n = 94) contained saxitoxins (84%), microcystins (77%), anatoxins (25%), and cylindrospermopsins (22%), revealing their transport in seston. SPATT sampler extracts (n = 146) yielded anatoxins (81%), microcystins (66%), saxitoxins (37%), and cylindrospermopsins (32%), indicating their presence dissolved in the water. Reservoir plankton net tow samples (n = 15), most often containing Dolichospermum, yielded microcystins (87%), cylindrospermopsins (73%), and anatoxins (47%), but no saxitoxins. The high detection frequencies of cyanotoxins at sites upstream from DWTP intakes, and at sites popular for recreation, where salmon and steelhead continue to exist, highlight the need for additional study on these cyanobacteria and the factors that promote production of cyanotoxins to minimize effects on humans, aquatic ecosystems, and economies. Full article

The Hybrid Contra Rotating Propeller is a developing propulsion system that combines a conventional single-shaft propeller with a POD propeller to achieve high energy-saving performance through a Contra Rotating Propeller. In this paper, a new towing tank test method for the Hybrid Contra Rotating Propeller was suggested. By conducting seven patterns of propeller open-water tests and measuring the individual propeller performance and the interaction between the propeller and the POD, the propeller’s mutual interaction can be obtained. Towing tank tests for a study ship were conducted, and the analyzed results are shown. There exists the effect of the wake of the propeller open boat at an unusual (reversed) test layout, which simulates the Hybrid Contra Rotating Propeller, and this effect must be removed for the accurate estimation of the ship’s performance. In conventional towing tank test methods, this effect on the front propeller was obtained and used to correct the performance of the total unit of the Hybrid Contra Rotating Propeller. The presented method allows for the correct removal of the open boat effect on the performance of each propeller and the propeller mutual interaction, resulting in more accurate power estimation. Furthermore, by using the individual performance of two propellers and interaction terms, the presented method enables us to conduct a power estimation at an arbitrary revolution rate of two propellers. Full article

We investigated the attitude control of a towfish to enhance the image quality of its sound navigation ranging system. The target towfish is equipped with two elevators on the horizontal tail wing, and attitude control is performed using these actuators. In particular, when a high-resolution sonar system is mounted on the towfish, any irregular movement can cause defocusing; thus, attitude control of the towfish is essential. Because the towfish has no thrust of its own and moves by being connected to a mother vessel via a cable, its attitude must be controlled by comprehensively analyzing its towing force and equation of motion. Herein, we propose a method for calculating the region where the attitude of the towfish can be controlled based on changes in the center of gravity, towing speed, and towing point. We conducted a water tank test to verify this method and confirmed that the attitude of the towfish could be controlled in controllable areas but not in uncontrollable regions. Full article

Towing operation is an important part of the transportation and installation of offshore floating wind turbines. The study of towing resistance is of great significance to the efficient construction of floating wind turbine towing. This paper takes the floating wind turbine model designed by “China Energy Construction Group Guangdong Electric Power Design Institute Co., Ltd.” as the research object, uses STAR-CCM+ 2302 software to establish the computational domain model of floating wind turbine towing, and compares it with the existing physical model experimental results and empirical formula calculation results to verify the accuracy of the CFD resistance prediction method; then the method is used to calculate the still water towing resistance of the new large-megawatt floating wind turbine at different drafts and speeds, and according to the resistance calculation results, the integrated towing system of the floating wind turbine is established in ANSYS-AQWA (Version 2023 R1), the influence of environmental loads on towing resistance is analyzed, and the selection basis of tugboat is proposed. The results show that towing resistance is closely related to the draft, speed, and foundation configuration of the wind turbine platform. In order to ensure the safety of the towing system, the speed should be kept below 4 kn. The experimental results are compared and verified that the calculation results of this method are close to the experimental values and the empirical formula calculation values, which realizes the rapid prediction of the towing resistance of the floating wind turbine and provides guidance for the towing operation of the offshore floating wind turbine platform. Full article

In this paper, a methodological framework employing an observer-based nonlinear controller is presented for controlling the lateral velocity of a farm tractor, as well as the yaw velocity of the agricultural implement. This approach relies on measurements obtained from sensors installed on a modern farm tractor, including lateral and longitudinal accelerations, longitudinal velocity, yaw rate, steering angle, and the differential yaw rate between the farm tractor and the implement. The nonlinear observer estimates the longitudinal and lateral velocities of the vehicle, as well as the roll dynamics of the implement, and ensures the exponential convergence of the observed variables. The control objective is formulated to ensure error feedback control, guaranteeing accurate tracking of the lateral velocity and yaw rate of the farm tractor and implement, following the reference patterns for these variables. The reference system is modeled as an “ideal” tractor operating without attachments. To evaluate the proposed controller’s performance, two test maneuvers were conducted. The first test involved the classic U-turn maneuver, commonly executed by tractors, while the second was a double-step maneuver, a standard in ground vehicle testing. Both maneuvers were simulated using MATLAB–Simulink to evaluate the controller’s effectiveness and robustness against parameter variations. Full article

Parachute suspension lines shed vortices during descent, and these vortices develop oscillating aerodynamic forces that can induce forced parasitic vibrations of the lines, which can have an adverse impact on the parachute system. Understanding the line’s mechanical behavior can assist in studying the vibrations experienced by the suspension lines. A well-calibrated structural model of the suspension line could be used to help to identify how the braid’s architecture contributes to its mechanical behavior and to explore if and how a suspension line can be designed to mitigate these parasitic vibrations. In the current study, a mesomechanical finite element model of a polyester braided parachute suspension line was constructed. The line geometry was built in the Virtual Textile Morphology Suite (VTMS), and a user material model (UMAT) was implemented in LS-DYNA^® release 14 to describe the material behavior of the individual tows. The material properties were initially calibrated using experimental tension tests on individual tows, which exhibited an initial modulus of ~4100 MPa before transitioning to ~3200 MPa at a stress of 30 MPa. When these properties were applied to the full braid model, slight adjustments were made to account for geometric complexities in the braid structure, improving the correlation between the model and experimental tensile tests. The final calibrated model captured the bilinear tensile behavior of the braid, with an initial modulus of 2219 MPa and a secondary modulus of 1350 MPa, compared to experimental values of 2253 MPa and 1420 MPa, respectively, showing 2% and 5% differences. The calibrated model of the braided cord was then subjected to torsion, and the results showed good agreement with dynamic and static experimental torsion tests, with a difference of 8–19% for dynamic tests and 13–27% for static tests when compared to experimental values. The availability of virtual models of suspension lines can ultimately assist in the design of suspension lines that mitigate flow-induced vibration. Full article