Research and experiment of rope measurement method for subsea pipeline based on uncertainty analysis

Zhang, Bo; Liu, Haoran; Wang, Tao; Wang, Zhuo

doi:10.1016/j.measurement.2022.111698

Cited by 2 publications

(2 citation statements)

References 8 publications

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“…This strategy utilizes a blend of a draw-wire detector, two magnetically interconnected angle detectors, and a perpendicular angle detector to precisely determine the relative spacing and inclination between two subaquatic conduits. Zhang et al [13], utilizing a measurement line and several bi-axial inclination sensors, and grounded on robotic principles and the matrix transformation algorithm, formulated a measurement framework based on varied positioning approaches and resolved the relative locational data between conduits.…”

Section: Introductionmentioning

confidence: 99%

Construction of a measurement system and analytical solution for docking pose of large aircraft components based on draw-wire displacement sensors

Sun,

Wang,

Wang

et al. 2024

Meas. Sci. Technol.

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Relative pose detection is a key technology in large component automatic docking systems. In this paper, a measurement system has been developed to detect the relative pose of large aircraft components with draw-wire displacement sensors, while an analytical calculation method has been proposed to determine the docking pose of large aircraft components. This method establishes a measurement model for the docking pose of large components and separates the position and orientation solutions based on the distances between seven sets of measurement points measured by the draw-wire displacement sensors. First, the principle of three-dimensional rendezvous positioning is refined to ascertain the relative position of the components. Then, by analyzing the properties of the rotation matrix and the coupling relationship between the position and orientation variables of the movable component, 15 compatible equations containing only two variables with a maximum degree of four are obtained. Based on this set of equations, a unique solution for the rotation matrix was obtained through the variable substitution method, gradually eliminating higher-order terms. Finally, the correctness of the method is verified through numerical examples. Unlike typical parallel mechanism models, this model can directly obtain 15 compatible equations without the need for methods such as Gröbner bases. Moreover, compared to the measurement method using six draw-wire displacement sensors, a unique solution can be directly determined, solving the problem of multiple solution selection. This measurement method only requires measuring the distance between measurement points to solve the relative pose, with low equipment costs and less susceptibility to external environmental factors.

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Section: Introductionmentioning

confidence: 99%

Construction of a measurement system and analytical solution for docking pose of large aircraft components based on draw-wire displacement sensors

Sun,

Wang,

Wang

et al. 2024

Meas. Sci. Technol.

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“…By using a draw-wire displacement sensor in combination with two magnetically coupled angle sensors and an orthogonal angle sensor, the relative distances Journal homepage: https://content.sciendo.com and angles of two subsea pipelines were measured. Bo Zhang et al [13] used a measurement rope with multiple devices such as two-axis tilt sensors, and based on robot theory and transfer matrix algorithms, developed a measurement model based on different positioning modes to determine the relative position information between the pipes. Current research has used wire displacement sensors in robotic systems or in combination with other sensors to measure the relative poses during docking, but no work has been published on spatial pose determination problem of large component docking surfaces using only wire displacement sensors.…”

Section: Introductionmentioning

confidence: 99%

Docking Pose Measurement Method for Large Components Based on Draw-Wire Displacement Sensors

Sun,

Wang,

Tian

et al. 2023

Measurement Science Review

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A method for measuring the docking pose of large components based on the draw-wire displacement sensor is proposed. In this method, coordinate systems and measurement points are established on the docking surfaces of fixed and moving components. The draw-wire displacement sensor is used to measure the distances between these measurement points. A mathematical model based on the distances between the measurement points is established, and the three-sphere rendezvous positioning principle is optimized to obtain the spatial positions of the measurement points. Consequently, the pose deviations of the fixed and moving components in all six degrees of freedom (6DOF) are determined. A simulation analysis of the measurement uncertainty of the obtained pose deviations is performed, resulting in a composite standard uncertainty obtained from the measurement standard uncertainties of different sensors. The simulation results show that the composite standard uncertainty is most affected in the x-axis translation direction and least affected in the x-axis rotation direction. With this method, only the distances between the measurement points need to be measured to determine the corresponding pose relationships. The cost of the equipment is low, and it is not easily affected by external factors such as the environment.

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Research and experiment of rope measurement method for subsea pipeline based on uncertainty analysis

Cited by 2 publications

References 8 publications

Construction of a measurement system and analytical solution for docking pose of large aircraft components based on draw-wire displacement sensors

Construction of a measurement system and analytical solution for docking pose of large aircraft components based on draw-wire displacement sensors

Docking Pose Measurement Method for Large Components Based on Draw-Wire Displacement Sensors

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