Dynamic response analysis of load transfer of topsides from T-barge onto twin-barge in floatover installation

The twin-barge floatover method is a promising approach in the topsides installation of the offshore platform. However, the topsides transfer onto the twin-barge is a challenging task and is seldom investigated. This study focuses on the floatover load transfer operation of the topsides onto the twin-barge by a T-shaped barge and investigates the dynamic responses of the three proximate barges in the operation. The floatover mating process was experimentally simulated by three representative intermediate stages, including 0%, 50%, and 100% stages. The barge and topsides motions, the relative motions of mating points, the contact loads on mating units, tether forces, and mooring forces at various environmental conditions were analyzed. The three floating barges experienced large surge drift motions as well as the sway and yaw drift motions in head seas because of the unsymmetrical configurations. Although a relative radial distance between mating points occurred and exceeded the capture radius of the mating unit at limited instants, the relative motions were to a great extent within the capture radius, indicating the feasibility of the twin-barge floatover method. Comparisons of the loads at the three stages show that the mating units and the tether lines were subjected to larger impact impulse loads at the 0% stage than the 100% stage.     

透水型级配碎石基层填料强度演化特征的离散元模拟

骨架空隙型级配碎石填料因其较好的渗透性能而广泛应用于透水型基床结构层，但其在不同级配下的抗剪强度特征及演化规律仍不明确。首先针对6种不同级配类型的碎石填料试样开展了不同围压下的室内单调加载三轴压缩试验，进而采用考虑颗粒真实不规则形状的三维离散单元方法对室内试验结果进行了数值模拟研究，从颗粒间接触、微观组构和颗粒运动等角度揭示了透水型级配碎石基层(UPAB)填料抗剪强度机理及其随级配变化的演化特征，验证了室内试验得出的级配影响规律及级配优化设计方法。研究结果表明：细颗粒通过改变颗粒体系的内部排列结构(即各向异性程度)而直接影响级配碎石填料宏观抗剪强度，细颗粒含量对试样的剪切破坏形态有直接影响，随着细颗粒含量的减少，试样整体发生较大变形时表现为内部颗粒发生转动的比例下降但发生颗粒间滑动的比例增加；试样失稳的主要原因是由于颗粒拓扑结构的改变，最终发展成不可逆的塑性变形；级配控制参数G/S=1.8时试样表现出最低的各向异性特征，相同应变条件下的颗粒旋转角均值最小，表明此时试样内部的颗粒堆积排列最优且抗剪强度最高，G/S=1.8可取作“填充密实”型与“残余空隙”型结构的分界；不同级配的试样内部颗...     

无人驾驶车辆解耦混合运动规划方法研究

高速公路无人驾驶车辆运动规划要充分考虑车辆的动力学特性和道路环境构成的复杂约束,优先确保车辆的无碰撞行驶轨迹,同时算法实时性比常速情况下要求更高,要充分考虑计算的复杂性。提出一种可生成横纵向最优解逼近群的解耦增强混合运动规划方法,引入Frent坐标系将运动规划问题进行横纵向解耦,在横向偏移规划中融合数值优化和多项式规划算法,在纵向速度规划中融合围绕速度和围绕避障规划算法,解耦规划完成后使用代价函数和碰撞检测方法对生成的轨迹群进行评估和选择。搭建Apollo-LGsvl无人驾驶联合仿真测试平台,对所提出的运动规划方法进行仿真验证。结果表明,提出的横纵向解耦增强混合运动规划算法在高速公路各工况中所生成的运动轨迹能够有效避免车辆发生碰撞,其横向偏移和纵向速度均能满足二阶平滑,最大横向加速度、最大纵向加速度、最大纵向jerk等满足动力学约束。该方法有效减少了最优解逼近群内的轨迹数量,使轨迹评估阶段计算复杂度降低了46%,证明提出的方法具备一定的应用价值。