Winch System Research Articles

Numerical Study on Electromagnetic Thermal Performance of Non-Metallic Armoured Optoelectronic Cable Winch System

Non-metallic armoured optoelectronic cable winch systems (NAOCWSs) play critical roles in facilitating signal transmission and powering subsea equipment. Due to the varying depths in these applications, deploying the entire cable length is unnecessary. However, the portion of the cable that remains coiled around the winch can generate an electromagnetic field, which may interfere with signal transmission and induce electromagnetic heating. This can lead to elevated temperatures within the system, affecting the cable’s lifespan. Consequently, this study examines the distributions of magnetic and temperature fields within the NAOCWS with different currents (10–30 A) and numbers of winding layers (1–10). Findings indicate that the magnetic flux density (MFD) changes periodically, and the period is closely related to the distance between the cables. At the centre of the cable, the flux density is minimum. Temperature distribution correlates with both current amplitude and the number of winding layers, where an increase in either parameter amplifies the temperature variance between the edge and intermediate cables within the same layer. The current does not affect the internal temperature distribution pattern. With the number of winding layers determined, the layer where the highest temperature of the system is located is well defined and does not vary with current.

EL VAPOR COMO SOLUCIÓN AL DRENAJE DE LAS MINAS DE ALMADÉN

A historical improvement process was realized through the traditional drainage methods used in the Almadén mines, such as the use of the hand winch or the winch systems that used human and animal power, until the application of the first steam engine in 1785. The steam engine solution significantly improved the mine drainage process, despite the inconveniences caused by the technological transfer of steam, the lack of technical knowledge, and inadequate materials or consumables. The solution to the problem was provided by using electricity in the following periods. Although the steam engine was used at a lower performance due to the indicated inadequacies, the drainage process was operated and production was increased in the Almadén mines.

Uncrewed aerial vehicle with onboard winch system for rapid, cost-effective, and safe oceanographic profiling in hazardous and inaccessible areas

Interactions between coastal waters and marine-terminating glaciers in the Polar Regions play a significant role in global sea level rise fueled by a rapidly warming Arctic.The risk of glacier calving, and the abundance of ice, can make it impossible for surface vessels to access the waters near glacier termini. Alternative methods using manned aircraft are expensive. As a result, oceanographic measurements are limited near glacier termini.We present an uncrewed aerial vehicle (UAV) with an on-board winch system that allows oceanographic profiling in remote, hazardous areas using a commercial conductivity, temperature, and depth (CTD) sensor payload. The UAV is optimized for easy handling and deployment and is capable of high-speed and efficient cruise flight. An autopilot system provides pilot assistance and autonomous flight capabilities. The total weight of the UAV including payload is 6.5 kg with an endurance of 24 min.Testing of the system was conducted in South Greenland during winter conditions in March 2023 with successful profiles collected near a glacier terminus (<5 m) and in small openings in ice mélange (2.2 m). The system proved capable, reliable, and efficient. Further development of the system will allow other sensors for an even more flexible measurement suite.

Load Assessment Method for Multi-Layer Oceanographic Winch with Synthetic Fibre Ropes Based on Non-Rotation Symmetric Cylindrical Model

Offshore winches are crucial in marine engineering, particularly in marine scientific research and deep-sea exploration. The use of fibre ropes presents significant opportunities for the weight reduction of winches as a consequence of the low length–strength ratio and characteristics of corrosion resistance. Nonetheless, a challenge arises in underestimating the stress load levels in load assessments of multi-layer winch systems using synthetic fibre ropes. Traditional computational methods reliant on symmetrically rotational models fall short in accurately predicting and assessing practical applications. This paper introduces a finite element analysis model based on a non-rotationally symmetric approach with four surfaces subjected to various radial pressure on account of the deformation of the fibre ropes. In the design model, sixteen stress detection paths have been incorporated to identify and confirm non-linear stresses. The outcomes of the finite element simulations have been compared with experimental results with two synthetic fibre ropes, each with distinct deformation characteristics utilised. The findings demonstrate that the application of the model aligns well with experimental results, showcasing its relevance and practical value in real-world scenarios. Precise theoretical calculations and experimental validation are pivotal to ensuring that equipment reliability and safety are maintained alongside the pursuit of light-weighting.

The Ellrott grab: A small, lightweight sediment sampler for collecting undisturbed sandy sediments

AbstractSampling sandy surface sediments is an important first step in understanding biogeochemical processes in these dynamic environments. However, sampling such sediments poses several challenges, especially when undisturbed samples with porewater are required. Several grab samplers are commercially available, but they are either prone to sample loss, too heavy or bulky for use in small vessels, or those with spring‐loaded mechanisms present safety issues. Here, we present the Ellrott grab, a lightweight sediment sampler designed for collecting undisturbed surface sediments including porewater and overlying bottom seawater. The sampler consists of a frame and a rotating bowl that can collect 370 cm2 of surface sediments up to 10 cm deep (2.5 liters total volume). The instrument is 40 × 60 cm in size, has a basic weight of 10 kg, with up to 20 kg additional weights for stability in sandy sediments. Two persons can operate the grab and it can be used on small boats with a crane and winch system or a hand winch. The grab is now in routine use in the Wadden Sea and in Isfjorden, Svalbard. The samples obtained from the grab were suitable for various geochemical and microbial analyses. Using microelectrodes, we found that in situ oxygen profiles were similar to ex situ profiles in cores subsampled from the grab, confirming that the grab causes minimal disturbance to the sample. Although the grab was designed for collecting sandy sediments, it could also be applied to silty sediments, allowing straightforward and efficient sampling of various sediment types.

Research on electro-hydraulic composite drive winch and energy recovery system for mobile crane

Owing to the high power consumption and limited control precision of traditional hydraulic drive winch systems, this study proposes hydraulic and electric-type energy recovery systems. The accumulator used in the hydraulic type has low energy density, which makes it difficult to store a large amount of energy. Meanwhile, the electric motor/generator used in the electric type cannot solve the secondary slip because of oil leakage, which leads to low controllability and high-power consumption under near-zero speed and high torque conditions. Thus, based on electric construction machinery with high-pressure, energy-dense electric energy storage units, this study proposes an electro-hydraulic composite drive winch and energy recovery system and control strategy for mobile cranes. Considering the good control characteristics of the electric motor/generator and the high-power density of the hydraulic accumulator, this hydroelectric composite drive and energy recovery system may solve the secondary sliding challenge and ensure large torque output at near-zero speed. A simulation model of the mobile crane is established to verify the feasibility of the proposed system and control strategy. The research results showed that the system is more efficient at recovering energy when the weight is lowered by a greater distance.

Parent-child underwater robot-based manipulation system for underwater structure maintenance

This study proposes a parent–child robot-based underwater manipulation system for underwater structure maintenance comprising two underwater vehicles with split roles. The larger autonomous underwater vehicle (AUV) acts as the base to transport and control a tethered child robot that is deployed to perform actual manipulation tasks. Conventional AUVs face several challenges when performing manipulation missions because of their large and massive body and the complexity of dynamic control with a rigid arm manipulator in the precise hovering state. To address this problem, we proposed an underwater manipulation system that uses a large parent AUV with high-performance sensors to navigate to the desired location and a child robot with high mobility to perform manipulation tasks. In this study, a parent–child robot-based manipulation system was developed and mathematically modeled considering hydrodynamics. Based on the system model, a nonlinear time delay (TD) controller was applied to the child robot to ensure robustness of the movement, and complementary sensing methods were proposed according to the observation distance. Subsequently, we detailed the mission process such that the manipulation tasks could be performed autonomously. To implement and verify the proposed method, we conducted three-dimensional (3D) simulations, water tank experiments, and sea trials. In the 3D simulation and water tank experiments, we evaluated the position control using a TD controller during a specific disturbance and performed an operational evaluation of the parent–child system. In the water tank, we performed the operation of the child robot with the tether length adjustment of the winch system and the manipulation task. In the sea trial, the predefined mission was successfully completed, which demonstrated the feasibility of properly operating both the robots. The results of the experiments demonstrated the high potential and capabilities of the proposed manipulation system.

Study on Fuzzy Control of Trawler Winch Based on AMESim

This paper introduces the rapid automatic control module of trawler based on the hydraulic system of ‘Zhejiang fishery scientific research ship No.2’.The hydraulic simulation model of double motor winch system is built in AMESim software, and SIMULINK module in MATLAB software designed closed loop fuzzy PID controller for hydraulic system simulation. through fuzzy PID control technology drives the hydraulic winch to quickly adjust the tension of the traction, maintain the stable balance of the traction force, maintain the optimization of network horizontal expansion, not only improve the fishing efficiency, but also timely and effective protection mesh. the technical achievements formed by the research will enable small and medium-sized trawlers to adjust the tension under various working conditions through the fuzzy PID control system to stabilize the opening shape of the trawl, so as to improve the automation level and fishing efficiency of related trawling equipment, and provide technical support for precision fishing.

Energy Saving Characteristics of a Winch System Driven by a Four-Quadrant Hydraulic Pump

In this study, an integrated system of winch driving and potential energy recovery using a four-quadrant pump was proposed, aimed at the large amount of recoverable gravitational potential energy in a winch system. The proposed system changed the original open system into a closed-structure part, using a four-quadrant pump to drive the winch, and an open-structure part, using an open hydraulic pump to balance torque. The closed-structure and open-structure parts were coaxial, and connected with the engine through the transfer case, which was able to make full use of the four-quadrant pump characteristics. It was able to achieve flow regeneration when the weight was lowered, and to achieve direct use of gravitational potential energy. The AMESim model of the original and proposed systems was further established according to a working characteristics analysis of the energy consumption of the winch-driving system. The simulation results verified that the proposed system kept good controllability while recovering potential energy. An experimental prototype was built; the test results showed that, compared with the original winch system, the proposed system increased lifting speed and reduced fuel consumption significantly. Additionally, diesel consumption was reduced by 87% in the descending process.

Still Max: Max Dean asks how we can fix ourselves.

Toronto-based artist Max Dean is perhaps best known for automated works that engage audiences interactively, often in alarming ways: a table that chases you around the room, a spectator-controlled winch system that hoists Dean himself up by the ankles. But since he and then his partner, the painter Martha Fleury, both received cancer diagnoses—he prostate cancer, she ovarian cancer—he has spent the past several years with illness as his focus, creating surreal and surprising objects, characters, and scenarios, which this time probe his own reactions and responses to his work.

Cascade Control of the Ground Station Module of an Airborne Wind Energy System

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.

Investigating the winch performance in an ASV/ROV autonomous inspection system

Combined Autonomous Surface Vehicles (ASV) and remotely operated underwater vehicles (ROV) inspection and intervention systems can contribute to future asset management of offshore renewable energy. This paper presents the design and performance of the winch system which couples the ASV and ROV and deploys/recovers the ROV. The hydrodynamic models and control algorithms are developed and solved with analytical and numerical approaches. The winch performance needs to meet a range of operational profiles, including i) ASV following/not following the ROV ii) winch operating in speed control iii) winch operating in tension control iv) varying ROV distance and depths targets. For a representative ASV/ROV configuration, the work determines the required umbilical length for different ROV targets and suitable winch speeds. The results show that the strategy where the ASV follows the ROV can reduce the umbilical tension, but conditions of compression should be carefully managed. The umbilical tension can also be decreased by tension control and shows to be very effective in larger sea states. This study also models the accidental limit case, where a malfunctioning ROV is recovered. The estimated increase of umbilical tension during the recovery stage of a malfunctioning ROV can thus be incorporated into the design calculations.

Position-Tracking Control of Dual-Rope Winch Robot With Rope Slip Compensation

This article presents the design and position-tracking control of a novel two-degree-of-freedom dual-rope winch robot. It is designed to be facilely installed at both corners of a building using two synthetic ropes and to move freely on the wall plane using the ropes to perform building maintenance work. This robot consists of a dual-rope winch system responsible for its movement on a plane and a thrust module that allows the robot to remain close to the wall through the force of the propeller. In the dual-rope winch system, ascending modules driven by two pulleys and connected by differential gears are arranged symmetrically; the position and posture on the plane can be determined by controlling the ropes. The robot winds a synthetic rope around the pulley to support the load with frictional force. Precise position control is difficult to implement because of the elasticity of the rope and the slip around the pulley. Therefore, in this article, a feedforward control to predict and compensate for the slip length of the rope and a proportional-integral controller to regulate the position error owing to the dynamic characteristics of the rope are proposed. Experiments to verify the performance of the controller for various trajectories were performed on the test bench. It was confirmed that the actual trajectory deviation is within 0.5% of the target trajectory.

Novice and experienced hoist operators in a helicopter hoist virtual reality simulator

ABSTRACT Virtual reality (VR) simulation training for helicopter search and rescues (SAR) hoist operators is very uncommon in comparison to the availability of pilot simulation training. SAR hoist operators control winch systems for hoisting objects or people during helicopter flight. Using a rear crew helicopter VR training simulator we sought to quantify hoist operator performance and validate this system by showing that experienced SAR hoist operators and novices hoist differently. We recruited 12 military SARs and 11 persons without hoisting experience and examined their performance in moderate wind conditions over two landscapes, ocean and land. Experienced operators were not affected by environment, completed missions faster than novices, made fewer velocity adjustments, and demonstrated better cable management. These variables can now be used as sources of feedback to train novice hoist operators. Since there were differences between performances of experienced and novice hoist operators we have established construct validity of the simulator.

ROV launch and recovery from an unmanned autonomous surface vessel – Hydrodynamic modelling and system integration

This paper focusses on the hydrodynamic performance of an unmanned vehicle system, consisting of a remotely operated underwater vehicle (ROV) that has to be launched and recovered autonomously from an Autonomous Surface Vehicles (ASV). The hydrodynamic model of the ASV/ROV coupled system is described in detail and solved numerically. The paper seeks to assess the overall performance of the ASV/ROV system, including the stability of the ASV, the ROV tidal current capacity and the required power of the launch and recovery winch system. The results demonstrate that this ASV/ROV system can complete the launch, holding and recovery tasks meeting stability for the given winch power requirements. The tidal current capacity of the ROV decreases with a larger target water depth. The maximum ROV umbilical tension is observed during steep wave instances when the ROV is in proximity to the ASV. A down-control force is demonstrated to be a suitable solution to limit the maximum tension within the umbilical rated force limits. This paper presents the methods and considerations for working towards a fully autonomous ASV/ROV system capable of autonomous inspection and maintenance missions. The work will be useful for practitioners and researcher working on autonomous offshore systems.

Research on the drilling winch control system for clean sampling of Antarctic Subglacial Lakes

Antarctica, with a large number of ice sheets, is among the last unexplored places on Earth. The subglacial lakes beneath these ice sheets have been isolated from the outside world for up to 35 million years, containing a diverse group of marine organisms and other materials. Its unique hydrological environment provides insights regarding microbial evolution and past climates on Earth, which have become central to interpreting the process of landscape evolution and assessments of possible future climate change. Clean sampling of subglacial lake water without introducing surface biological or other type of contamination has long been a goal of the international scientific community. The overlying ice thickness can reach thousands of meters and in conventional deep ice drilling, drilling fluids are employed while the boreholes exposed to the atmosphere. The only method for penetration is thermal drilling with the rate proportional to the vertical diameter of the drilling rig, which requires the drill body to be as thin as possible. The melted ice/water in the upper borehole will refreeze immediately once penetrating into the ice layers. Cables, thereby, need to be configured inside the drilling rig since separate cables from the external surface are not applicable in such cases. The drill rig comprises the motor-driven winch, outer surface heating system, control system as well as sampling system, totaling 600 kg in weight. Gear reducers are required during the cable lowering/lifting operations with a maximum outer diameter of the winch of 140 mm and a high-precision automatic synchronization between the reducers and cable lowering/lifting system is required. An automatic tension sensor along with a winch control system is designed to realize thee automatic synchronization between the gear reducers and the cable lowering/lifting system through servo control.

An advanced blind-tube monitoring instrument to improve the characterization of subsurface radioactive plumes

This research presents a design of a resilient blind-tube radiometric logging probe, which satisfies key, operational site constraints, for direct in-situ characterization of subsurface radioactivity, particularly caesium-137 and strontium-90. The probe comprises a commercially-available Ø10 mm × 9.5 mm CeBr3 scintillator detector attached to a compact digitizer unit, in a resistant and waterproof housing. The probe is designed to be lowered down into metallic Ø 75 mm blind-tubes by means of a winch system.

Finite Element Analysis for the Stability of Marine Winch System

Li, S. and Liu, Y., 2020. Finite element analysis for the stability of marine winch system. In: Al-Tarawneh, O. and Megahed, A. (eds.), Recent Developments of Port, Marine, and Ocean Engineering. Journal of Coastal Research, Special Issue No. 110, pp. 175–178. Coconut Creek (Florida), ISSN 0749-0208.The marine winch system is the core of marine towing. The stability of this system is of great significance to the stability and safety of complex marine environments and offshore platforms. Based on the design and analysis of the marine winch system, this paper performs a simulation analysis for the strength and stiffness of the drum of the winch system using the ANSYS finite element software. Also, it explores the active heave compensation function of this system. The research results show that the stability of the marine winch system is controlled by the main drive system, rolling gear train and cable routing system; after analyzing the drum of the marine winch system by ANSYS finite element analysis software, it's found that the overall strength of the mechanical drum meets the requirements, and the maximum stress value on the surface of the marine winch mechanical drum was 159.48MPa. The research findings provide a theoretical basis for the stability design of large marine winch systems.

Autonomous Water Sampling Payload Design

Ideally, water sampling process is conducted due to the need for physical, chemical and bacteriological analysis. Difficult access of water bodies, excessive need for personnel, time, and costs are factors that contribute to the complexity of the sampling process. In order to overcome these challenges, a water sampling payload unit is developed and mounted on Lockheed Martin’s multirotor Unmanned Aerial Vehicle (Indago UAV) for autonomous water sampling. In this work, the allowable requirements of the sampling unit in terms of weight, size, and dimensions have been given by the Lockheed Martin due to the limitations of Indago UAV. The developed unit is an integrated system that includes winch system, cup, sterilized sponge, spherical weight, and software. The winch system is used to lower and lift the cup and its components. The cup is well-sealed in order to prevent the sample from any dust, water or air when the winch is lifting the sample, however it is designed where allowing a water to flow in when the cup is reaching the water. It contains a sterilized sponge that absorbs the inflow water. A trapezoidal weight below the cup connected to the winch via a fisher line is used to lower the cup contents into the water and to seal the cup contents when the winch lifts the sample. The unit also includes height sensor and release mechanism. The height sensor detects the UAV’s height above the water. Once the required height is reached, the winch will start lowering the cup. When the required sample has been taken, the cup will move back up by the winch and will be sealed by the trapezoidal weight in order to avoid any spillage of water. The advantage of developed water sampling payload unit is to get the water sample without the need for an individual diver or boat and to provide a safer way to prevent contact with dangerous fluids. Moreover, it can be used to take a sample from a body of water that is difficult to access, possibly off a major road in sand or forest and spill dams of a mine site could be analyzed.

Design Analysis of the Hydraulic System for Containerized Oil Boom

Oil Boom is an equipment used for efforts to overcome the oil spills that occur in the sea. The function of the Oil Boom itself is to limit the oil spill so that it doesn't spread too wide. The hydraulic system is a system that utilizes pressurized liquid fluid as the actuator drive media. The concept of the technical analysis of this system is the design of the winch system using a hydraulic motor which is a driving device as well as a roller of an oil boom that has a length of 2 kilometers and then stored into the drum that has been designed. All components are in a container package that has been designed to place the position and layout. To see the advantages and disadvantages of the system design, technical analysis is carried out. From the results of data processing it can be calculated for the torque moment of the drum which is equal to 9,344.416 Nm and weighs 242.697 kg. BLACKBRUIN BBC05 type hydraulic motor has been determined which has a torque of 10,360-13,305 Nm and a pressure of 350-400 bar. After the total air demand for oil boom as long as 2 km is known, which is equal to 552,951 cm3, the next step is to select the right compressor. Selected type TANABE TASK-25110 compressor with a capacity of 1,020 m3/hour. That way, it can be determined the air filling time for the oil boom is 0.542 hours = ±35-40 minutes.