Understanding fretting fatigue in dovetail joints: Slip accumulation, stick-slip evolution, joint angle and crack initiation

Abstract In this research, a hierarchical dynamic and kinematic modeling framework is proposed for a wheeled-legged manipulator (WLM), explicitly incorporating wheel slip and skid effects through the Gibbs–Appell formulation. Unlike traditional Lagrangian methods that depend on constraint multipliers, the proposed approach unifies the platform and manipulator dynamics while substantially reducing computational complexity. This integration enables efficient handling of nonholonomic constraints without compromising physical fidelity and offers a clear separation between subsystems, allowing the effects of wheel-ground interactions to be analyzed independently from manipulator motions. The proposed formulation is validated through a combination of MATLAB/Webots simulations and laboratory experiments conducted under both dry and wet (soapy ceramic) surface conditions. Experimental results indicate end-effector position deviations of 8–10.5% primarily due to wheel slip and initial joint torque discrepancies of 6.5–20% that progressively diminish as steady-state motion is reached. Comparative evaluation against a conventional Lagrangian model highlights the computational advantage of the Gibbs–Appell formulation, demonstrating reduced assembly time and fewer symbolic differentiation operations. Furthermore, a sensitivity analysis on friction coefficients and slip ratios confirms the robustness of the model to variations in surface conditions. Beyond accurate dynamic prediction, the hierarchical structure enables modular real-time implementation, supporting controller design, trajectory planning, and fault detection. Overall, the results demonstrate that the Gibbs–Appell-based hierarchical modeling framework combines analytical rigor with computational efficiency, providing a robust foundation for control and optimization in advanced wheeled-legged robotic manipulators.

This study presents a numerical investigation into the structural behavior of a pile-in-pile (PIP) slip joint utilizing square hollow section (SHS) members, with a comparative assessment against conventional circular hollow sections (CHSs). A comprehensive finite element model was developed and validated against published CHS experimental results to evaluate key performance indicators, including stress distribution, buckling behavior, and load-carrying capacity under pure bending, axial compression, and diagonal lateral loads. The analysis revealed that SHS joints demonstrated distinct stress concentration patterns and higher capacity under axial compression, whereas CHS joints provided superior performance under bending due to their geometric symmetry. However, SHS corners were more vulnerable under diagonal loading, exhibiting localized buckling at relatively lower loads. These structural weaknesses can be mitigated through design improvements, such as increased wall thickness or corner strengthening. The findings highlight that while SHSs introduce certain vulnerabilities compared to CHSs, they also offer advantages in axial load resistance, supporting their potential as a viable alternative for offshore wind foundation connections.

Tidal energy development in British Columbia (BC), Canada is currently focused on displacing diesel generation in off-grid coastal communities. BC has 434 km2 of sites with peak annual spring currents exceeding 1.5m/s and 52 km2 exceeding 2.5m/s. However, many of these sites are relatively shallow, experiencing large percentage changes in tidal elevation and have significant asymmetry in the flood and ebb current directions due to coastal channel geometry. Proposed projects are in the 50-250kW range and floating moored platforms are suitable as support structures for cost and operational simplicity reasons. This work addresses the design of a unique two-point flexible line mooring for a floating platform supporting a vertical axis turbine at Blind Channel Resort – a tidal demonstration site, located approximately 50 km north of Campbell River. A tidal turbine was previously moored by a rigid arm single-point mooring system at this site that, while effective in optimizing alignment with the current, relied on a submerged rotary electrical slip joint. The slip joint represented a significant point of failure, requiring frequent costly and inconvenient maintenance, given the remoteness of the site. The objective of this work is to replace the rigid single-point mooring and slip joint with a newly designed flexible two-point mooring system. By enhancing the system's affordability and practicality, this new mooring design aims to make small scale, remote, tidal energy installations more viable across BC and other regions. This paper proposes an integration of highly compliant elastic members with traditional mooring line material and Dyneema, in a lazy-S configuration. During low current and low-tide situations, the elastic segments contract, drawing in the excess Dyneema line and preventing the mooring lines from entangling with the sea floor. As the current increases, the elastic segments stretch, and load is shifted onto the Dyneema line. To assess the design, a comprehensive set of tide and current scenarios are established based on data gathered at the site. Acoustic Current Doppler Profilers were utilized at the site and recorded current profiles for a cumulative 364 days. Using this data, five different current elevation profiles were selected as design load cases. System simulations were conducted with ProteusDS software. Initial slack tide simulations assessed the potential for mooring line entanglement with either the seafloor or other lines and provided initial equilibrium configurations of the system for subsequent simulations. The subsequent cases focused on the tidal turbine’s alignment under the five current profile scenarios to ensure that the appropriate alignment was met. Finally, transient simulations were utilized to measure bearing loads in the Dyneema and elastic mooring segments, verifying that the primary load is successfully transferred to the Dyneema as the mooring system extends during current transients. The proposed mooring system eliminates entanglement issues, maintains proper tidal turbine alignment across the full range of current profiles and tidal ranges, and ensures effective load management that meets both operational and safety requirements. This work demonstrates a promising mooring solution for advancing small-scale tidal energy installations in similar settings in BC and beyond.

This paper examines the costs associated with installing PIP (Pile-in-Pile) slip joints compared to traditional tubular joints, focusing on investment, installation processes, and long-term benefits. Previous studies have indicated that the structural performance of PIP slip joints is superior to that of traditional joints. By utilizing the frictional interfaces between conventional structural steel components and the simplest installation methods, PIP slip joints maximize structural integrity and ease of maintenance. As a result, they can lead to lower lifecycle costs, provided they are installed correctly. Quantitatively, the PIP slip joint achieved the highest internal rate of return (IRR) at 43.42%, the lowest Levelized Cost of Energy (LCOE) at 0.013589 EUR/kWh, and the shortest payback period at 2.92 years—outperforming grouted and bolted flange joints across all key financial metrics. The analysis also addresses logistical challenges and workforce requirements, highlighting that significant economic benefits can be realized when implemented appropriately. Furthermore, the PIP slip joint promotes sustainability goals by minimizing material usage, which ultimately leads to reduced carbon emissions through more efficient fabrication and installation, as well as enabling faster deployment. A comprehensive financial assessment of these joint systems in offshore wind monopiles reveals that PIP slip joints are the most cost-effective and financially advantageous option, outperforming key metrics like IRR, LCOE, and payback period due to lower initial investments and operational costs. As PIP slip joints yield a higher net present value (NPV), a shorter payback period, and a lower LCOE, they can enhance profitability and reduce financial risk, and are suitable for streamlined implementation. While grouted and bolted flange joints exhibit similar financial performance, PIP slip joints’ minimal expenditure and consistent superiority make them the optimal choice for sustainable and economically viable offshore wind projects.

Detachable circular hollow sections (CHSs) offer an innovative solution to tackle the complexities of installation, maintenance, upgrades, and repairs in offshore monopile systems, particularly in challenging environments with limited access. As an alternative to traditional tubular joints, the PIP slip joint presents advantages in terms of ease of installation, time efficiency, and reduced susceptibility to failure. This study conducts an experimental investigation on PIP (Pile-in-Pile) slip joints under pure bending conditions, accompanied by comprehensive numerical analyses to examine the relationship between section slenderness, contact properties, and structural performance. The results highlight a strong correlation between force-displacement curves and include a comparison of compressive and tensile strain values for both experimental and numerical models. The experimental and numerical models showed strong agreement across all results, demonstrating the robustness of the findings. Additionally, numerical models were utilized to investigate various D/t ratios, revealing insights into the normalized moment, rotational capacity, and the impact of local buckling and contact mechanics. Furthermore, a comparison of these findings with established code guidelines, such as Eurocode and AISC-LRFD, has been conducted and reviewed in the context of this study. From analysis, it was found that the rise in the D/t ratio prompted a transformation in the buckling mode, which substantially altered the rotational ratio. This shift indicates the importance of understanding how these variables interact in engineering applications. These findings significantly enhance the understanding of PIP slip joints and emphasize their potential as a compelling alternative for offshore wind turbine support structures.

Considering the practical conditions, it has been observed that the support structures of wind turbines inevitably experience bending and axial compression, both during the installation phase and throughout their operational lifespan. The monopile is the most commonly utilized support structure for offshore applications and a reliable method for creating a detachable section within these structures is using a Pile-in-Pile (PIP) slip joint. Consequently, the behavior of PIP slip joints, under combined axial compression and bending, has been meticulously investigated. To facilitate a thorough analysis, overlapping lengths proportional to the pile diameters have been used, encompassing three distinct variations. This approach allows for a comprehensive understanding of structural integrity and performance under varying stress conditions, which are comprehensively understood and accounted for in design considerations. The current study builds upon assessing the pure bending characteristics of slip joints in cylindrical hollow section (CHS) structures. Additionally, two ring stoppers have been strategically employed inside the piles to withstand the axial load. Furthermore, the complexity of the pressure acting in the overlapping length, attributed to the frictional coefficient in that region, has been carefully addressed. The current research also encompasses a comprehensive overview of the P-M envelopes for the existing arrangements, with a particular focus on non-linear buckling, which is known to significantly influence the performance of tubular structures. Finally, a design equation was introduced to concisely describe the behavior of the components and compare it with other design equations provided by an established code.

In this paper, the fluid-solid interaction of a jet pump of a boiling water reactor type 5 (BWR/5), with its riser subjected to a leakage flow through its slip joint, is reported. This is a fluid-elastic instability problem. A methodology is proposed for the evaluation of the velocity of the fluid at the slip joint with and without a labyrinth seal. It is calculated with computational fluid dynamics. The results show that such a seal reduces the velocity of the fluid and produces a stable and linear behavior between the inlet and the outlet fluid velocities at the slip joint. Then the first five natural frequencies of the jet pump assembly are evaluated. The range is between 24.74 Hz and 60.21 Hz. The mass of water inside and outside of such an assembly is considered. With these data and the dimensions of the slip joint, a finite element mesh is developed and the time step (∆t = 0.001 s) is determined. The fluid and structure mesh are coupled. The fluid flow through the slip joint without a labyrinth seal is evaluated with a two-way fluid-structure interaction under normal conditions of operation. Accelerations up to 8 g can be developed at the bottom of the mixer. The fluid flow is estimated during the first 0.25 s. Flow-induced vibration can be exacerbated in resonance conditions. These values are similar to those obtained in the experimental analyses reported in the open literature. One of the excitation frequencies caused by the interaction between the fluid and the structure was close to the third natural frequency of this assembly (46.99 Hz). If the integrity of the labyrinth seal is maintained, the jet pump will not present high-amplitude oscillations. Therefore, an adequate management of seal degradation is required and failures of the jet pump can be avoided.

_ This article, written by JPT Technology Editor Chris Carpenter, contains highlights of paper SPE 215454, “Enhancing Well-Control Safety With Dynamic Well-Control Cloud Solutions: Case Studies of Successful Deep Transient Tests in Southeast Asia,” by M. Ashraf Abu Talib, SPE, M. Shahril Ahmad Kassim, and Izral Izarruddin Marzuki, SPE, Petronas, et al. The paper has not been peer reviewed. _ The complete paper addresses challenges related to well control and highlights the successful implementation of deep transient tests (DTT) in an offshore well performed with the help of a dynamic well-control simulation platform. The paper aims to provide insights into the prejob simulation process, which ensured a safer operation from a well-control perspective. Additionally, a comparison between simulated and actual sensor measurements during the DTT operation is presented. DTT DTT is a formation-testing (FT) method that allows pressure transient tests that reach deeper into the formation compared with conventional interval pressure transient tests (IPTT). DTT enables the testing of formations with higher permeability, greater thickness, and lower viscosity and real-time measurement of crucial parameters. During a DTT, formation fluid is pumped from the reservoir; upon stopping the pump, the formation pressure begins to recover as fluid further from the wellbore replaces the extracted fluid. By analyzing the resulting pressure transient, properties such as formation permeability, permeability anisotropy, and other characteristics can be determined. DTT allows for a better understanding of reservoir characteristics and rock heterogeneity. When properly designed and executed, DTT can reveal potential baffles and boundaries within the radius of investigation. A further advantage of DTT over drillstem tests (DST) is its minimal fluid flow, which allows for the attainment of objectives while contributing to the United Nations sustainable development goals. In DTT operations, the FT tool is connected to the drillpipe through a circulating sub and a slip joint. The circulating sub plays a critical role in DTT operations because it enables the continuous mixing of pumped formation fluid with circulated mud and facilitates its transportation to the surface (Fig. 1). Typically, a constant circulation rate ranging from 100 to 250 gal/min is maintained. During circulation, the annular preventer is closed and the mud/hydrocarbon mixture is directed through the choke line to the mud/gas separator (MGS) once it reaches the surface. No formation fluids are flared during DTT operations. Instead, the circulated oil is retained in the mud and only small amounts of gas are vented. By use of a slip joint, the FT remains anchored to the borehole wall. A high-resolution pressure gauge is used to capture and interpret even minor pressure fluctuations during the pressure transient buildup.

This study investigates the structural behavior of a particular mechanical joint subjected to bending and perturbation and the selection of overlapping lengths for this CHS structure arrangement. We began this research by meticulously validating the methodology through a rigorous replication of a prior experimental study, establishing its reliability as a solid foundation. Subsequently, the process was applied to pile-in-pile (PIP) slip joints with varying overlapping lengths. The primary aim was to determine the optimal overlapping length, a critical parameter in this analysis, encompassing the evaluation of stiffness, bending capacities, and joint efficacy. These investigations reveal a clear correlation between increasing overlapping length and heightened joint stiffness. An optimal overlapping length that strikes a harmonious balance between stiffness, bending capacity, and joint efficiency was identified. These findings hold substantial promise for enhancing the joint design of tubular sections, particularly within the context of wind-turbine structures. Using this novel joint can be promising in increasing the efficiency and reliability of CHS structures in future construction and performance.

This study aims at shedding light on the mechanical behaviour of a prototype monopile–wind turbine tower connection, constituted by a slip joint. Selected examples of data set recorded during a long term monitoring campaign are illustrated and discussed. The data set encompass axial and hoop stresses measured over the slip joint area, relative displacements of the slip joint with respect to the monopile and acceleration levels recorded above the slip joint. In parallel, an ideal and simplified Finite Element model (FEM) of the slip joint is developed, in order to interpret the observed experimental data. Experiments first highlight the relevance of modelling the manufacturing imperfections of the overlapping steel sections. Subsequently, both experiments and FEM show that states of prestress need to be accounted for. Such prestress states first originate from the installation process, and subsequently from further loading events, triggering settlements of the slip joint. Finally, experiments and FEM showcase the force transfer mechanisms from the upper part to the lower part of the slip joint.

We propose an impulsive motion generator inspired by snapping shrimp. The proposed device mimics the geometrical arrangement of a unique claw joint calledcocking slip jointand integrates it with an artificial rack-pinion actuator mechanism rather than adopting the musculoskeletal system as it is. The design approach allows the proposed device to reproduce the impulsive slip motion through the torque reversal and unlatching mechanism of the underlying unique joint by using a single servo motor. Static and dynamic analyses revealed that the actuator force required to store and release elastic energy was remarkably small compared with the resulting acceleration force and rotation/tip speed. Through simulations and experiments, we validated the mechanical analyses and confirmed that the resulting ultrafast slip motion was comparable with the claw closure of snapping shrimp based on the cocking slip joint. Moreover, from an engineering perspective, the motion profiles are modifiable through design parameters, and the repeatability of the impulsive slip motion is satisfactory.

Abstract In Europe, a monopile is the most commonly used foundation type for offshore wind turbines. Existing connections between the monopile (MP) and transition piece (TP) are generally bolts or grout, but another new method is the slip joint. In this method, the joints between the MP and TP are conically shaped and are simply joined together, which is expected to improve workability and reduce maintenance and management costs. In order to apply this structure in Japan, it is necessary to verify its seismic resistance. This paper reports the results of shaking table tests using a scaled specimen to verify the structural safety of the structure against earthquakes.

The aim of this work is to the failure of jet pump analysis using the hydrodynamics and structural analysis coupling in a typical BWR. Different structural problems in jet pups of Boiling Water reactors (BWR) have been reported in the last 20 years. The liquid in the jet pump is accelerated due to high differential pressure in the nozzle that induces vibrations in the slip joint of the diffuser. If the vibrations are out of the range of the natural frequency, they may produce a leakage in the slip joint or a rupture in the riser pipe. A leakage in the area of the slip joint of 5% is simulated to estimate the frequency of vibration of the jet pumps. The results show that as the frequency of the vibration increases the displacement of the jet pump and the stress increases and frequencies higher than 47.5 Hz exceed the modulus of the elasticity limit of the material.

Lower lumbar vertebrae replacement by FEA based assessment of suitable ceramic polymer composites

Analysis of Airstream Inside the Slip Joint of Tracheal Intubation Tube for Breathing Measurement

The issue of imperfections is mostly related to additional internal forces. However, our understanding of imperfections is associated with the change of structural behaviour. In our case, the most likely indicated effects of imperfections are the reduction of the contact area, and the unreachability of the required overlap length. The behaviour of these slip joints depends on sufficient contact between sliding parts. The contact area is affected by the imperfections of the manufactured steel tubes. This contribution presents the manufacturing tolerances and subsequently, it describes the incorporation of them into the design of the slip joint. Furthermore, the article presents a comparison between the ideal numerical model and model with imperfections involved. Moreover, this numerical model is verified by experimental measurements. The results indicate that imperfections have a significant impact on the slip joints. In our comparison, the effect of imperfections is about 120%.

Abstract In April 2020, the world's first submerged full size slip joint was installed in the Borssele V offshore wind farm. An extensive qualification programme in terms of numerical modelling and testing (see photo) was set up prior to installing the slip joint. The Borssele V offshore wind farm offered a unique opportunity to demonstrate to the industry that the slip joint connection is fully feasible, certified and ready for practical implementation (s. paper Suur, S; Hengeveld, F., p. 152 ff.)

Abstract In April 2020 the world's first full‐size submerged slip joint connection was installed at the Borssele Site V offshore wind farm. This event marked the launch of a new, alternative transition piece/monopile (TP/MP) connection for the offshore wind market. An extensive qualification programme in terms of numerical modelling and testing was set up prior to installing the slip joint. This process was witnessed, reviewed and accepted by DNVGL. It led to a certified slip joint design for Borssele V, with a 9.5 MW wind turbine generator (WTG) on top of the foundation as well as an A‐level component certificate for the slip joint in general. The installation of the slip joint for Borssele V was the first use of this connection in a commercial full‐size wind turbine.The implementation of the slip joint connection at Borssele V demonstrated the benefits of the slip joint in terms of simple, safe and fast installation as well as the option for using the slip joint submerged, thus allowing a more optimized weight/length split between MP and TP and the use of smaller installation vessels. A monitoring campaign was executed during and after installation to provide lessons for future slip joint designs.Reducing the levelized cost of energy (LCoE) requires big steps in technology innovation. The Borssele V offshore wind farm offered a unique opportunity to demonstrate to the industry that the slip joint connection is fully feasible and ready for practical implementation.The slip joint: simple connection, ingenious design.

The timber-concrete composite (TCC) slabs have become a preferred choice of floor systems in modern multi story timber buildings. This TCC slab consisted of timber and a concrete slab which were commonly connected together with inclined self-tapping screws (STSs). To more accurately predict the fire performance of TCC slabs, the mechanical behavior of TCC connections under high temperature was investigated by numerical simulation in this study. The interface slip of TCC connections was simulated by a proposed Finite Element (FE) model at room temperature, and different diameter and penetration length screws were considered. The effectiveness of this FE model was validated by comparing with the existing experimental results. Furthermore, the sequentially coupling thermal stress analyses of this model were conducted, and the relationship between the reduction coefficient of connection performance and the effective penetration length of screws was summarized. This study gave the fitting expressions for the reduction coefficient of slip modulus and joint strength. Finally, the numerical investigations of the fire performance of TCC slabs considering the char fall-off of Cross Laminated Timber (CLT) were performed to verify the effectiveness of the proposed reduction law. Comparing the fire-resistance time with experimental results showed deviation of the proposed model was −14.02%.