公开(公告)号：US11831746B2

公开(公告)日：2023-11-28

申请号：US17444901

申请日：2021-08-11

Applicant: HARBIN ENGINEERING UNIVERSITY

Inventor： Yingfei Zan ,  Lihao Yuan ,  Shenghua Zhong ,  Duanfeng Han ,  Haitao Zhu

IPC: H04L7/00

CPC classification number: H04L7/0012

Abstract: The invention belongs to the technical field of time synchronization of computer co-simulation, and particularly relates to a time consistency synchronization method for distributed simulation. According to the time consistency synchronization method, a most appropriate master clock is selected according to votes, and then the other clocks in a network are controlled to synchronize by using the master clock, so that the consistency of data of each node and a time-related event in time logic is ensured. Even if a certain simulation node goes down, influences on the other links of the whole system are relatively small, which can effectively perform decentration, ensure the time consistency to the greatest extent, and ensure the correctness and the scale of a whole distributed system.

公开(公告)号：US12019960B1

公开(公告)日：2024-06-25

申请号：US18494936

申请日：2023-10-26

Applicant: HARBIN ENGINEERING UNIVERSITY

Inventor： Yingfei Zan ,  Ruinan Guo ,  Lihao Yuan ,  Duanfeng Han

IPC: G06F30/23 ,  G05B17/02 ,  G06F30/15

CPC classification number: G06F30/23 ,  G05B17/02 ,  G06F30/15

Abstract: A method for constructing a six-degree-of-freedom ROV operation simulation platform comprises an integrated control platform, an instructor control system, a marine environment simulation system, a simulation platform calculation system, an ROV control system, a display system and a database storage system; wherein the construction method comprises (1) calculating a hydrodynamic coefficient and a time delay function of a mother ship according to a profile of the mother ship; (2) establishing a finite difference model of umbilical cables and tethers by adopting a beam model, and calculating a shape and tensions at both ends; step (3) establishing boundary conditions of the umbilical cables and the tethers in a coupling model; (4) modeling a tether management system by using a bar element model; (5) establishing a nonlinear ROV maneuverability equation; and (6) establishing a dynamic model of the manipulator considering a pose of the ROV.

公开(公告)号：US11966667B2

公开(公告)日：2024-04-23

申请号：US18144883

申请日：2023-05-09

Applicant: HARBIN ENGINEERING UNIVERSITY

Inventor： Yingfei Zan ,  Lihao Yuan ,  Duanfeng Han ,  Hui Jia

IPC: G06F30/00 ,  B63B35/68 ,  G06F30/15

CPC classification number: G06F30/15 ,  B63B35/68

Abstract: An intelligent simulation system for jacket towing system includes a distributed collaborative simulation subsystem configured to provide a communication interface for each subsystem, a comprehensive management and evaluation subsystem configured to generate and issue a simulation subject, an operation control simulation subsystem configured to generate operation instructions, a motion simulation subsystem configured to receive parameters of the subject and the operation instructions, simulate a motion state of the jacket, a tugboat and a towrope in real time, and transmit the simulated motion states to the visual simulation subsystem, and a visual simulation subsystem configured to perform a three-dimensional display for the real-time simulation of the motion states of the jacket, the tugboat and the towrope. The intelligent simulation system involves human-computer interaction, which can be used for cooperative training and skill training of offshore towing operators, as well as for simulation rehearsal and scheme verification of jacket towing and installation.