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A MULTI-BODY SPACE-coupled motion SIMULATION FOR A DEEP-SEA TETHERED REMOTELY OPERATED VEHICLE

Journal of Hydrodynamics 2008年第2期20卷 210-215页

作者： ZHU Ke-qiang ZHU Hai-yang ZHANG Yu-song GAO Jie MIAO Guo-ping Maritime College Ningbo University Ningbo 315211 China School of Naval Architecture Ocean and Civil Engineering Shanghai Jiaotong University Shanghai 200030China

A multi-body coupled dynamic model is developed （TROV） system. A strong nonlinear coupling motion between to simulate the motion of a Tethered Remotely Operated Vehicle umbilical tether and ROV is discussed .The movement of ROV is considered as six-degrees of freedom. The lumped mass model is applied and an averaged tangential vector technique is included in the three-dimensional dynamic response equations of the cable-segments. The model can simulate the three-dimensional transient coupled motion of the complex multi-body system in typical ship maneuvering conditions and can be used in either a towing problem or a tethered underwater vehicle problem. Simulation results are seen to fit well with the experiment.

关键词： cables ROV hydrodynamics coupled motion

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Nonlinear Random motion Analysis of A Tension Leg Platform Consider- ing the Set-down motion of A Floating Body

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China Ocean Engineering 2017年第2期31卷 210-219页

作者： WANG Bin School of Civil Engineering Tianjin University Tianjin 300072 China State Key Laboratory of Hydraulic Engineering Simulation and Safety Tianjin University Tianjin 300072 China

The dynamic analysis of a Tension Leg Platform （TLP） in random wave is investigated by considering the set-down of a floating body. The nonlinear restoring stiffness is derived with the set-down motion of a floating body and the coupled motion of the tension leg and platform and the differential equations of the motion are established. The study focuses on the influence of the set-down motion on the nonlinear response of the platform. By considering different significant wave heights and currents, motion responses of the platform are calculated and compared. The analysis shows that the set-down motion significantly increases the heave motion with low frequency and the equilibrium position of the heave motion with the set-down motion is much lower than that without set-down motion. The results in this paper indicate that the set-down motion has a major impact on the safety of the platform inproduction operation, and it is also a threat to the strength of tension legs and risers.

关键词： Tension Leg Platform (TLP) set-down nonlinear restoring stiffness random wave coupled motion

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Intrinsic Kinematics of the Tibiotalar and Subtalar Joints during Human Walking based on Dynamic Biplanar Fluoroscopy

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Journal of Bionic Engineering 2023年第5期20卷 2059-2068页

作者： Shengli Wang Zhihui Qian Xiangyu Liu Guangsheng Song Kunyang Wang Jianan Wu Jing Liu Lei Ren Luquan Ren Key Laboratory of Bionic Engineering Jilin UniversityChangchun130022China School of Mechanical Aerospace and Civil EngineeringUniversity of ManchesterManchesterM139PLUK

Accurate knowledge of the kinematics of the in vivo Ankle Joint Complex(AJC)is critical for understanding the biomechanical function of the foot and assessing postoperative rehabilitation of ankle disorders,as well as an essential guide to the design of ankle–foot assistant ***,detailed analysis of the continuous 3D motion of the tibiotalar and subtalar joints during normal walking throughout the stance phase is still considered to be *** this study,dynamic radiographs of the hindfoot were acquired from eight subjects during normal *** motions with six Degrees of Freedom(DOF)and the coupled patterns of the two joints were *** was found that the movements of the two joints were mostly in opposite directions(including rotation and translation),mainly in the early and late *** were significant differences in the Range of motion(ROM)in Dorsiflexion/Plantarflexion(D/P),Inversion/Eversion(In/Ev),and Anterior–Posterior(AP)and Medial–Lateral(ML)translation of the tibiotalar and subtalar joints(pcoupled with eversion and posterior translation of the subtalar joint during the impact phase(R^(2)=0.87 and 0.86,respectively),and plantarflexion of the tibiotalar joint was coupled with inversion and anterior translation of the subtalar joint during the push-off phase(R^(2)=0.93 and 0.75,respectively).This coordinated coupled motion of the two joints may be a manifestation of the AJC to move flexibly while bearing weight and still have stability.

关键词： Dynamic biplane radiography Tibiotalar joint Subtalar joint In vivo kinematics coupled motion Bionic design

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