The coupling disturbance between the manipulator and the unmanned aerial vehicle (UAV) deteriorates the control performance of system. To get high performance of the aerial manipulator, a robust fractional order fast terminal sliding mode control (FOFTSMC) strategy based on mutable inertia parameters is proposed in this paper. First, the dynamics of aerial manipulator with consideration of the coupling disturbance is derived by utilizing mutable inertia parameters. Then, based on the dynamic model, a robust FOFTSMC algorithm is designed to make the system fly steadily under coupling disturbance. Furthermore, stability analysis is conducted to prove the convergence of tracking errors. Finally, comparative simulation results are given to show the validity and superiority of the proposed scheme.

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The flexible composite pipes are quite suitable for the development of marine oil&gas reservoirs due to the excellent characteristics of design abilities, economics and dynamic behaviors. At present, the theories and methods of the gas permeations in the composite walls have not yet considered the influences of the multiphase flow in the inner pipes. Therefore, the prediction accuracies of the permeation rates are expected to improve for the marine flexible pipelines with significant differences of pressure and temperature drops. In this paper, a comprehensive gas permeation model including gas-liquid two-phase flow is proposed, and the effect of flow patterns on the gas permeation rate and vent period is investigated numerically. The results show that the flow patterns of multi-phase flow have significant impact on the permeation rate of gas due to different pressure drop and temperature drop for the same mass flow rate, and the permeation rate of CO2 is higher than that of CH4 under the same working condition.

Water vapor penetrating an annulus causes condensation and corrosion and endangers the safe operation of the flexible riser. However, in current studies, the condensation of water vapor in the annulus is modeled based on the film condensation hypothesis, which assumes that the metal material is uniformly corroded. This assumption differs from the true corrosion incidents, which are usually initiated by localized corrosion. To further study the condensation law of water vapor in a flexible riser annulus, the evolution of water vapor condensation on the wall surface of a sapphire reactor was evaluated using an annular condensation experimental device. A water vapor condensation growth model was established to analyze the condensation law and its influencing factors. The results show that the maximum radius of condensate droplets on the annular wall surface is approximately 0.48 cm, the average radius of droplets is approximately 0.35 cm, and the volume of condensate that can be accommodated in the 18 × 18 mm simulation area is approximately 0.5 cm3. After the droplet reaches the departure radius and falls off a surface, the time of recondensation is faster than that of the first condensation. The condensation surface coverage increases rapidly in the early stage and then gradually slows down. After stabilization, the maximum coverage can reach 80%. Parameter analysis suggests that the number of fixed nucleation points on the condensation wall affects the time to reach the departure radius and the increasing rate of surface coverage. However, the number of fixed nucleation points has minimal influence on the departure radius and coverage outcomes. The findings of this study establish a theoretical foundation for predicting dropwise condensation behaviors in annulus of pipelines and developing corrosion protection strategies that modify the wall contact angle or structure.