The price of crude oil is a major concern for oil companies nowadays, maintaining costs in deepwater drilling activities is of utmost importance. The contribution of the heave movement from oating platforms to the vibrations of drillstrings is still a subject not fully appreciated in the literature. This work deals with the dynamic behavior of the drillstring through nite element analysis (FEA) when an oscillating axial displacement at the top is applied. Numerous drillstring models were generated using two-dimensional beam elements that have degrees of freedom for the axial, shear, bending, and torsion types of displacement. The models incorporated an axial displacement at the top of a vertical drillstring set at the bottom. Natural frequencies were obtained for all degrees of freedom considering diferent heave scenarios. The variation in the normal forces distribution due to the inertia efect on the entire structure caused a change in the stillness for shear and bending degrees of freedom. The variation of natural frequencies related to shear were obtained. In addition, the displacement of the neutral point in the drill column was obtained. The results presented here should contribute to future research on complex dynamic behavior of drillstrings. / O preço do petróleo bruto é uma grande preocupação para as empresas de petróleo hoje em dia, a manutenção de custos em atividades de perfuração em águas profundas é de extrema importância. A contribuição do movimento de heave das plataformas flutuantes para as vibrações das colunas de perfuração ainda é um assunto não totalmente apreciado na literatura. Este trabalho aborda o comportamento dinâmico da coluna de perfuração através da análise de elementos nitos (FEA) quando um deslocamento axial oscilante no topo é aplicado. Numerosos modelos de colunas de perfuração foram gerados usando elementos de vigas bidimensionais que possuem graus de liberdade axiais, de cisalhamento, flexão e torção. Os modelos incorporaram uma deslocamento axial no topo de uma coluna de perfuração vertical engastada na parte inferior. Frequências naturais foram obtidas para todos os graus de liberdade considerando diferentes cenários de heave. A variação na distribuição de forças normais devido ao efeito de inércia em toda a estrutura causou uma mudança na rigidez para graus de liberdade de cisalhamento e flexão. As variações das frequências naturais relacionadas ao cisalhamento foram obtidas. Além disso, o deslocamento do ponto neutro na coluna de perfuração foi obtido. Os resultados aqui apresentados deverão contribuir para futuras pesquisas em comportamento dinâmico complexo de drillstrings.

O mecanismo Plataforma de Stewart é um manipulador do tipo paralelo, com seis graus de liberdade, boa relação peso/carga e alta rigidez. Tais características conferem a este tipo de manipulador propriedades superiores de precisão em relação aos manipuladores seriais. Neste trabalho, o controle de um Manipulador Plataforma de Stewart (MPS) acionado por atuadores hidráulicos é estudado com o objetivo de compensação de movimentos para viabilização de transferência de cargas e pessoas em ambiente naval.Visando ao desenvolvimento de um protótipo experimental, o manipulador é estudado considerando a situação em que se encontra sobreposto a um segundo MPS que tem por objetivo simular o movimento da maré, sendo ambos MPS considerados desacoplados dinamicamente. Neste contexto, o estudo envolve a análise cinemática e dinâmica do manipulador incluindo, também, a dinâmica dos cilindros hidráulicos. Além disso, são estudadas unidades de medição inercial (IMU) utilizando-as como instrumento para medição do movimento da base a ser compensado. O projeto do controlador do sistema de atenuação de movimento faz uso da técnica de Torque Computado (TC). A análise de estabilidade, feita separadamente para o sistema mecânico e hidráulico, baseou-se da teoria de Lyapunov. Simulações realizadas considerando trajetórias similares às do movimento de um navio são utilizadas. Para compensação do movimento são utilizados, também, sinais provenientes de uma IMU. Por meio de simulação, comprova-se que o sistema proposto é capaz de compensar adequadamente os movimentos da base estudados. / The Stewart platform mechanism is a parallel manipulator with six degrees of freedom, high load/weight ratio and high stifness. These properties give them a better accuracy when compared to serial manipulators. This work focuses on study of electrohydraucally Stewart Platform Manipulators (MPS) to enable compensation of vessels motions for load and personell transfer in sea. Aimed at developing an experimental prototype, a second MPS is placed underneath the rst MPS to simulate vessels motions and so both manipulators are considered dynamically decoupled. In this sense, the kinematics and dynamics of this manipulator are presented, as well as a mathematical model of the hydraulic actuator. Furthermore, special attention is given to the study of inertial measurement units (IMU) which is used as an instrument for measuring the motion to be compensated. Controller design for the compensation system is developed considering compute torque theory which consider the system separated in two: mechanical and hydraulic. The Lyapunov criteria is used to guarantee closed loop stability for each subsystem. Simulations are performed considering similar vessel motions. Signals provided from a comercial IMU are used for motion compensation. The control compensation performance is veri ed by means of computer simulations.

The dropped objects are identified as one of the top ten causes of fatalities and serious injuries in the oil and gas industry. It is of importance to understand dynamics of dropped objects under water in order to accurately predict the motion of dropped objects and protect the underwater structures and facilities from being damaged. In this thesis, we study nondimensionalization of dynamic equations of dropped cylindrical objects. Nondimensionalization helps to reduce the number of free parameters, identify the relative size of effects of parameters, and gain a deeper insight of the essential nature of dynamics of dropped cylindrical objects under water. The resulting simulations of dimensionless trajectory confirms that drop angle, trailing edge and drag coefficient have the significant effects on dynamics of trajectories and landing location of dropped cylindrical objects under water.

Expansive soils are treated with anhydrous or hydrated lime. The use of calcium-based stabilizers such as calcium oxide (lime) in sulfate-bearing clay soils has historically led to distress due to the formation of an expansive mineral called ettringite and possibly another such mineral, thaumasite. Predicting the precipitation of these minerals is a complex problem related not only to soil composition but also construction methods, availability of water, ion migration, and whether the expansive mineral growth can be accommodated by the void structure in the surrounding soil. In trying to control the damage associated with such occurrences, engineers have attempted to determine a threshold value of soluble sulfates, a quantity that is relatively easy and quick to measure, at which significant ettringite growth and, therefore, structural distress occurs. Unfortunately, experience alone and “rules-of-thumb” based on experience are not sufficient to deal with this complex issue. This thesis describes how thermodynamic geochemical models of lime-treated soil can be used as a first step toward establishing problematic threshold levels of soluble sulfates for a specific soil. A foundation for the model development is presented, and two different soils are compared to illustrate their very different sensitivities to ettringite growth upon the addition of hydrated lime. Various soil series along the route of SH 130 between Austin and San Antonio have been identified to contain soluble sulfate that may pose a problem for soil stabilization using lime and cement. Since the model predicts ettringite growth based upon site-specific properties, this thesis also shows how the model can be used to assess the potential amelioration effects of soluble silica. Research was conducted at the Texas Transportation Institute to develop a methodology for identifying areas which are susceptible for ettringite formation. The proposed methodology uses a magnetometer to quickly screen large areas for high sulfate. Application of GIS to identify ettringite formation using soils, topographical, and geological maps is also illustrated in this thesis.

No description available.

Roads and highways in cold regions are negatively affected by settlement of embankments in areas of degraded or degrading permafrost, particularly in areas with mean annual temperatures close to 0°C where permafrost is locally discontinuous. Climate warming and human activities can lead to increases in the temperature of permafrost and to thawing. In regions of discontinuous permafrost, thawing may produce thickening of the active layer, large settlements and non-recoverable shear deformations. These can cause potentially dangerous trafficability issues. The research program involved a test site on Provincial Road PR391, about 18 km northwest of Thompson, Manitoba. The foundation material of PR391 is currently classified as “degraded (thawed) permafrost”. The purpose of this research was to investigate and understand the performance of highway embankments on thawed permafrost. The research involved field instrumentation and data collection, laboratory testing, thermal modelling and frost heave predictions. The results of the field instrumentation and data collection show net heat flow into the ground, as well as development of cyclic seasonal gradients of total head. This is believed to be a significant original contribution to understanding the effects of climate change on highway infrastructure. The results also show that displacements observed at the PR391 embankment are a combination of consolidation and shearing strain of the foundation material. Most studies of embankments concentrate on vertical settlements. This research shows that horizontal movements are also present, a contribution that helps explain the mechanism of lateral spreading. The results of the laboratory testing show that the mechanical and shearing properties of the soil collected from the PR391 embankment are not significantly affected by differences in temperature once water in the soil has actually thawed. The results of the thermal modelling show reasonable trends in simulated ground temperatures compared with the data obtained from the thermistors underneath the embankment. The frost heave prediction of PR391 shows that in situ frost heave characteristics can be estimated by applying the Segregation Potential (SP) frost heave method in field conditions. This provides a valuable field study to the limited number of such studies of Segregation Potential, which are normally done under laboratory conditions.

Darbe tiriamos galimybės vertinti laivo supimosi intensyvumą taikant klasikinės ir hidrodinaminės laivo supimosi skaičiavimo metodikas. Prognozavimo galimybių įvertinimui atliekamas laivo DTMB 5415 supimosi eksperimentas reguliariose bangose – matuojamas laivo bortinis, kilinis ir vertikalusis supimasis laivui stovint lagu bangoms ir esant išilginiam bangavimui. Pateikiama informacija apie supimosi eksperimento eigą, paruošimą, naudojamą laboratorinę įrangą ir bandymo rezultatų apdorojimą. Laivo supimosi skaičiavimai atliekami taikant hidrodinaminę skaičiojamosios skysčių dinamikos kompiuterinę programą „FLOW-3D“, klasikinę supimosi skaičiavimų metodiką ir kompiuterine programa „Seakeeper“ paremta hidrodinamine plokščiųjų skerspjūvių teorija. Gauti rezultatai palyginami su eksperimento rezultatais. / Paper analysis the most popular classical and hyrodinamical seakeeping methods for preliminary seakeeping performance prediction. Seakeeping test in regular waves has been performed for validation of seakeeping prediction methods for model DTMB 5415. Roll, pitch and heave motions have been measured for beam and head seas wave headings. The paper supplys Information about seakeeping test procees, preparation instructions for test, required laboratory equipment and seakeeping test data analysis. Computational fluid dynamics software „FLOW - 3D“ have been used for motion response prediction in regular waves, classical seakeeping theory method and strip theory based software Seakeeper. Computed results have been compared with seakeeping eksperimental data.

Roads and highways in cold regions are negatively affected by settlement of embankments in areas of degraded or degrading permafrost, particularly in areas with mean annual temperatures close to 0°C where permafrost is locally discontinuous. Climate warming and human activities can lead to increases in the temperature of permafrost and to thawing. In regions of discontinuous permafrost, thawing may produce thickening of the active layer, large settlements and non-recoverable shear deformations. These can cause potentially dangerous trafficability issues. The research program involved a test site on Provincial Road PR391, about 18 km northwest of Thompson, Manitoba. The foundation material of PR391 is currently classified as “degraded (thawed) permafrost”. The purpose of this research was to investigate and understand the performance of highway embankments on thawed permafrost. The research involved field instrumentation and data collection, laboratory testing, thermal modelling and frost heave predictions. The results of the field instrumentation and data collection show net heat flow into the ground, as well as development of cyclic seasonal gradients of total head. This is believed to be a significant original contribution to understanding the effects of climate change on highway infrastructure. The results also show that displacements observed at the PR391 embankment are a combination of consolidation and shearing strain of the foundation material. Most studies of embankments concentrate on vertical settlements. This research shows that horizontal movements are also present, a contribution that helps explain the mechanism of lateral spreading. The results of the laboratory testing show that the mechanical and shearing properties of the soil collected from the PR391 embankment are not significantly affected by differences in temperature once water in the soil has actually thawed. The results of the thermal modelling show reasonable trends in simulated ground temperatures compared with the data obtained from the thermistors underneath the embankment. The frost heave prediction of PR391 shows that in situ frost heave characteristics can be estimated by applying the Segregation Potential (SP) frost heave method in field conditions. This provides a valuable field study to the limited number of such studies of Segregation Potential, which are normally done under laboratory conditions.

O mecanismo Plataforma de Stewart é um manipulador do tipo paralelo, com seis graus de liberdade, boa relação peso/carga e alta rigidez. Tais características conferem a este tipo de manipulador propriedades superiores de precisão em relação aos manipuladores seriais. Neste trabalho, o controle de um Manipulador Plataforma de Stewart (MPS) acionado por atuadores hidráulicos é estudado com o objetivo de compensação de movimentos para viabilização de transferência de cargas e pessoas em ambiente naval.Visando ao desenvolvimento de um protótipo experimental, o manipulador é estudado considerando a situação em que se encontra sobreposto a um segundo MPS que tem por objetivo simular o movimento da maré, sendo ambos MPS considerados desacoplados dinamicamente. Neste contexto, o estudo envolve a análise cinemática e dinâmica do manipulador incluindo, também, a dinâmica dos cilindros hidráulicos. Além disso, são estudadas unidades de medição inercial (IMU) utilizando-as como instrumento para medição do movimento da base a ser compensado. O projeto do controlador do sistema de atenuação de movimento faz uso da técnica de Torque Computado (TC). A análise de estabilidade, feita separadamente para o sistema mecânico e hidráulico, baseou-se da teoria de Lyapunov. Simulações realizadas considerando trajetórias similares às do movimento de um navio são utilizadas. Para compensação do movimento são utilizados, também, sinais provenientes de uma IMU. Por meio de simulação, comprova-se que o sistema proposto é capaz de compensar adequadamente os movimentos da base estudados. / The Stewart platform mechanism is a parallel manipulator with six degrees of freedom, high load/weight ratio and high stifness. These properties give them a better accuracy when compared to serial manipulators. This work focuses on study of electrohydraucally Stewart Platform Manipulators (MPS) to enable compensation of vessels motions for load and personell transfer in sea. Aimed at developing an experimental prototype, a second MPS is placed underneath the rst MPS to simulate vessels motions and so both manipulators are considered dynamically decoupled. In this sense, the kinematics and dynamics of this manipulator are presented, as well as a mathematical model of the hydraulic actuator. Furthermore, special attention is given to the study of inertial measurement units (IMU) which is used as an instrument for measuring the motion to be compensated. Controller design for the compensation system is developed considering compute torque theory which consider the system separated in two: mechanical and hydraulic. The Lyapunov criteria is used to guarantee closed loop stability for each subsystem. Simulations are performed considering similar vessel motions. Signals provided from a comercial IMU are used for motion compensation. The control compensation performance is veri ed by means of computer simulations.

O mecanismo Plataforma de Stewart é um manipulador do tipo paralelo, com seis graus de liberdade, boa relação peso/carga e alta rigidez. Tais características conferem a este tipo de manipulador propriedades superiores de precisão em relação aos manipuladores seriais. Neste trabalho, o controle de um Manipulador Plataforma de Stewart (MPS) acionado por atuadores hidráulicos é estudado com o objetivo de compensação de movimentos para viabilização de transferência de cargas e pessoas em ambiente naval.Visando ao desenvolvimento de um protótipo experimental, o manipulador é estudado considerando a situação em que se encontra sobreposto a um segundo MPS que tem por objetivo simular o movimento da maré, sendo ambos MPS considerados desacoplados dinamicamente. Neste contexto, o estudo envolve a análise cinemática e dinâmica do manipulador incluindo, também, a dinâmica dos cilindros hidráulicos. Além disso, são estudadas unidades de medição inercial (IMU) utilizando-as como instrumento para medição do movimento da base a ser compensado. O projeto do controlador do sistema de atenuação de movimento faz uso da técnica de Torque Computado (TC). A análise de estabilidade, feita separadamente para o sistema mecânico e hidráulico, baseou-se da teoria de Lyapunov. Simulações realizadas considerando trajetórias similares às do movimento de um navio são utilizadas. Para compensação do movimento são utilizados, também, sinais provenientes de uma IMU. Por meio de simulação, comprova-se que o sistema proposto é capaz de compensar adequadamente os movimentos da base estudados. / The Stewart platform mechanism is a parallel manipulator with six degrees of freedom, high load/weight ratio and high stifness. These properties give them a better accuracy when compared to serial manipulators. This work focuses on study of electrohydraucally Stewart Platform Manipulators (MPS) to enable compensation of vessels motions for load and personell transfer in sea. Aimed at developing an experimental prototype, a second MPS is placed underneath the rst MPS to simulate vessels motions and so both manipulators are considered dynamically decoupled. In this sense, the kinematics and dynamics of this manipulator are presented, as well as a mathematical model of the hydraulic actuator. Furthermore, special attention is given to the study of inertial measurement units (IMU) which is used as an instrument for measuring the motion to be compensated. Controller design for the compensation system is developed considering compute torque theory which consider the system separated in two: mechanical and hydraulic. The Lyapunov criteria is used to guarantee closed loop stability for each subsystem. Simulations are performed considering similar vessel motions. Signals provided from a comercial IMU are used for motion compensation. The control compensation performance is veri ed by means of computer simulations.