An automatic positioning method and system for offshore caisson foundations

Abstract

The present invention provides an automatic positioning method and system for an offshore caisson foundation. The automatic positioning method for an offshore caisson foundation comprises: obtaining environmental parameters, calculation parameters of the caisson foundation and cables, performing motion response analysis on the caisson foundation and cables, and obtaining the environmental load on the caisson foundation; establishing a balance equation for the caisson foundation and calculating the target tension of each cable; starting to reel in the cables until the cable force of each cable reaches the target tension; and calculating the actual distance L from the mooring point to the anchor point of each cable. i L i Indicates the distance from the mooring point of the current i-th cable to the anchor point, and calculates the actual distance L of each cable i Distance to target L i (Goal) difference ΔL i =L i ‑L i (Goal); where the target distance L i (Goal) represents the distance from the mooring point of the i-th cable to the anchor point when the caisson foundation reaches the target position; according to the difference ΔL i The cables are adjusted until the caisson foundation reaches the target position. The present invention achieves high-precision positioning of the caisson foundation in a complex offshore environment, ensuring the quality of the project.

Description

Technical Field

[0001] This invention relates to the field of caisson foundation positioning technology, specifically to an automatic positioning method and system for offshore caisson foundations. Background Technology

[0002] With the development of cross-sea bridge engineering, caisson foundations have become a commonly used foundation type in marine engineering due to their enormous bearing capacity and excellent stability. During construction, maintaining the stability of the caisson and ensuring accurate positioning are crucial to the safety and quality of the entire project. Traditional caisson foundation positioning methods mainly rely on manual operation, using floating cranes or other equipment to move the caisson to the predetermined position before sinking and raising it. This method suffers from low positioning accuracy, long construction periods, and high labor costs. Furthermore, the complex and variable marine environment, with factors such as wind, waves, and tides, poses even greater challenges to caisson positioning.

[0003] Currently, several automated positioning technologies have been proposed, such as using GPS positioning systems combined with automated control technology for caisson positioning. However, existing automated positioning systems still have shortcomings in cable control, mainly in the following aspects:

[0004] Insufficient positioning accuracy: Existing systems cannot guarantee high-precision positioning of caissons in complex marine environments, which can easily lead to deviations;

[0005] Real-time control is challenging: the marine environment changes rapidly, and existing systems struggle to adjust cable tension and position in real time, resulting in an unstable positioning process.

[0006] High system complexity: Current automatic positioning systems have complex structures, high installation and maintenance costs, and are difficult to operate.

[0007] Therefore, there is an urgent need for a new cable control method that can achieve high-precision automatic positioning of caisson foundations in complex marine environments, simplify operation and maintenance processes, improve construction efficiency, and reduce costs. Summary of the Invention

[0008] The purpose of this invention is to address the shortcomings of existing technologies by providing an automatic positioning method and system for offshore caisson foundations. Based on actual environmental parameters and calculation parameters of the caisson foundation and cables, the target tension of each cable is calculated when the caisson foundation is balanced. The target tension of each cable is used as a control index for initial cable winding. After initial winding, the difference between the actual distance and the target distance of each cable is used as a control index to adjust each cable (winding or unwinding). This ensures the stability of the caisson foundation while accurately reaching the target position, achieving high-precision positioning of the caisson foundation in complex offshore environments and ensuring project quality.

[0009] To address the aforementioned technical problems, this invention provides an automatic positioning method for offshore caisson foundations, comprising:

[0010] Obtain environmental parameters and calculation parameters for the caisson foundation and cables, perform motion response analysis on the caisson foundation and cables, and obtain the environmental load on the caisson foundation.

[0011] Establish the equilibrium equations for the caisson foundation and calculate the target tension of each cable;

[0012] Begin pulling in the cables until the tension in each cable reaches the target tension.

[0013] Calculate the actual distance L from the mooring point to the anchor point for each cable. i L i This represents the distance from the mooring point to the anchor point of the current i-th cable. Calculate the actual distance L for each cable. i Distance L from the target i The difference ΔL between (Goal) i =L i -L i (Goal); where the target distance L is... i (Goal) represents the distance from the mooring point of the i-th cable to the anchor point when the caisson foundation reaches the target position;

[0014] Based on the difference ΔL i Adjust the cables until the caisson foundation reaches the target position.

[0015] Furthermore, the methods for establishing the equilibrium equations for the caisson foundation and calculating the target tension of each cable include:

[0016] The equilibrium equations for a caisson foundation include equilibrium in three translational directions and three rotational directions:

[0017]

[0018] In the formula, N represents the number of cables, and F xi ,F yi ,F zi These represent the force components of each cable in the X, Y, and Z directions, respectively; M ox M oy M oz These represent the torques of each cable about the X, Y, and Z axes, respectively.

[0019] Determine the tension range T during cable installation. min ≤T i ≤T max By using linear programming techniques, feasible solutions are determined, and the target tension of each cable is obtained.

[0020] Furthermore, the equilibrium equation for the caisson foundation is:

[0021]

[0022] In the formula, T i Let α be the target tension of the i-th cable; i Let β be the angle between the projection of the i-th cable onto the XY plane and the Y-axis; i Let F be the angle between the i-th cable and the Z-axis; cx F represents the component of the environmental load along the X-axis. cx =F c cos(α c )+F wave cos(α wave )+F w cos(α w ), F cy F is the component of the environmental load on the Y-axis. cy =F c cos(β c )+F wave cos(β wave )+F w cos(β w ), where α c ,α wave ,α w β represents the angle between the current velocity, wave speed, and wind speed and the X-axis, respectively. c ,β wave ,β w These represent the angles between the flow velocity, wave speed, and wind speed and the Y-axis, respectively; F f denoted as buoyancy force on the caisson; m is the total mass of the caisson foundation and its ancillary facilities; B is the width of the caisson foundation; L is the length of the caisson foundation. Let be the coordinates of the mooring point of the i-th cable.

[0023] In some embodiments, based on the difference ΔL i The method for adjusting the cable includes: adjusting the cable t times until the caisson foundation reaches the target position, where t ≥ 1, and adjusting the difference ΔL each time during the t adjustments. i The largest cable is adjusted, with each adjustment being the difference ΔL between the lengths of the cables. i Each adjustment assesses the tension of each cable. If a cable is under excessive tension, it is loosened, with the loosening amount determined based on the defined tension range.

[0024] In some embodiments, based on the difference ΔL i Methods for adjusting cables include: when the difference ΔL between at least three cables... i If the error is less than the allowable error value, the caisson foundation is considered to have reached the target position.

[0025] In some embodiments, each time based on the difference ΔL i After adjusting the cables, the position of the caisson foundation is verified: multiple measuring points are set on the caisson foundation, and the distance between the actual coordinates of the measuring points and the theoretical coordinates of the measuring points when the caisson foundation reaches the target position is calculated.

[0026] In some embodiments, the environmental parameters include the average flow velocity U at the construction site during the construction period. c Average wind speed U w The irregular wave spectrum S(ω0), where ω0 is the angular frequency.

[0027] In some embodiments, the calculation parameters for the caisson foundation and the cables include:

[0028] The width B and length L of the caisson foundation, the water depth d of the caisson foundation, the position of the center of mass of the caisson foundation at the target position, and the moments of inertia Ixx, Iyy, Izz of the caisson foundation about the local coordinate axes centered on the center of mass.

[0029] The cable's elastic modulus E, density ρ, linear weight γ, and the coordinates of the cable's mooring point and anchoring point. The mooring point is the connection point between one end of the cable and the caisson foundation, and the anchoring point is the fixing point of the other end of the cable.

[0030] In some embodiments, the method of starting to wind up the cables until the cable tension in each cable reaches the target tension includes:

[0031] Each cable is wound up in turn in a cycle, with a certain amount of cable wound up each time, until the cable tension reaches the target tension.

[0032] In a second aspect, the present invention provides an automatic positioning system for offshore caisson foundations, including a caisson positioning monitoring system, a jack control and calculation system, and a caisson positioning execution system;

[0033] The caisson positioning execution system includes multiple cables, multiple anchors corresponding to each cable, and multiple jacks. The jacks are arranged on the caisson foundation. The caisson positioning execution system is used to receive and execute cable adjustment commands generated by the jack control calculation system.

[0034] The caisson positioning and monitoring system includes multiple positioning instruments, multiple inclinometers, and multiple pressure rings. The multiple positioning instruments are used to monitor the three-dimensional geometric coordinates of key points of the caisson foundation in real time. The multiple inclinometers are used to monitor the tilt angles of the caisson foundation in the transverse and longitudinal directions in real time. The multiple pressure rings are arranged on the reaction seats of the jacks to monitor the cable force in real time.

[0035] The jack control and calculation system is used to read monitoring data from the caisson positioning monitoring system, analyze the monitoring data, and generate cable adjustment commands.

[0036] The beneficial effects of this invention are as follows:

[0037] 1. This invention calculates the target tension of each cable when the caisson foundation is balanced, based on actual environmental parameters and calculation parameters of the caisson foundation and cables. The target tension of each cable is used as a control index for initial cable winding. After the initial cable winding is completed, the difference between the actual distance and the target distance of each cable is used as a control index to adjust each cable (winding or releasing the cable). This ensures that the caisson foundation is stable and accurately reaches the target position, achieving high-precision positioning of the caisson foundation in complex marine environments and ensuring project quality.

[0038] 2. The equilibrium equation of the caisson foundation of the present invention includes the equilibrium of three translational directions and three rotational directions, taking into account the influence of water flow, wind and waves on the equilibrium of the caisson foundation during the construction period, so that the calculated target tension of each cable is more in line with reality, ensuring that the caisson foundation is in a horizontal and stable posture.

[0039] 3. In the process of cable adjustment, this invention uses the difference ΔL... i Starting with the largest cable for cable adjustment improves adjustment efficiency and reduces the difference in cable length ΔL. i Reduce it as quickly as possible.

[0040] 4. This invention considers the planar positioning of actual caisson foundations, requiring only three points to determine their planar position. Therefore, when the difference ΔL between at least three cables is... i If the error is less than the allowable error value, the caisson foundation is considered to have reached the target position.

[0041] 5. This invention verifies the position of the caisson foundation by setting measurement points, ensuring the accuracy of the caisson foundation's position after cable adjustment. The measurement points can be set at the cable mooring points or other locations on the caisson foundation.

[0042] 6. The control method of the present invention is simple, which helps to shorten the cycle of caisson foundation positioning and construction, improves the overall construction efficiency, reduces the structural complexity of the automatic positioning system, makes installation and maintenance more convenient, and reduces the difficulty and cost of operation. Attached Figure Description

[0043] Figure 1 This is a structural schematic diagram of the caisson foundation and its ancillary facilities of the present invention;

[0044] Figure 2 This is a cable arrangement diagram of the present invention;

[0045] Figure 3This is a schematic diagram of the stress on the caisson foundation of the present invention.

[0046] Attached diagram labels: 1. Jack; 2. Positioner; 3. Inclinometer; 4. Cable; 5. Anchor. Detailed Implementation

[0047] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0048] like Figure 1 As shown, the present invention provides an automatic positioning system for offshore caisson foundations, including a caisson positioning monitoring system, a jack control calculation system, and a caisson positioning execution system;

[0049] The caisson positioning system includes multiple cables 4, multiple anchors 5 corresponding to each cable 4, and multiple jacks 1. In some embodiments, eight cables 4, eight anchors 5, and eight jacks 1 are provided. Figure 1 As shown, two jacks 1 are installed on each side of the caisson foundation to ensure the horizontal orientation of the caisson foundation. Jacks 1 are continuous jacks, as shown... Figure 2 As shown, one end of cable 4 is connected to jack 1, and the other end of cable 4 is connected to anchor 5. Anchor 5 can be steel pipe pier or iron anchor, etc. The caisson positioning execution system is used to receive and execute the cable adjustment command generated by the jack control calculation system.

[0050] like Figure 1 As shown, the caisson positioning monitoring system includes multiple positioning instruments 2, multiple inclinometers 3, and multiple pressure rings. The multiple positioning instruments 2 are used to monitor the three-dimensional geometric coordinates of key points of the caisson foundation in real time. In some embodiments, the key points are the midpoint of each side of the caisson foundation and the center position of the caisson foundation, with a total of five. The positioning instruments 2 can be GPS. The multiple inclinometers 3 are used to monitor the tilt angles of the caisson foundation in the transverse and longitudinal directions in real time. The inclinometers 3 are set at the midpoint of each side of the caisson foundation, with a total of four. The multiple pressure rings are arranged on the reaction seats of the jacks 1 for real-time monitoring of cable force.

[0051] The jack control calculation system is used to read the monitoring data from the caisson positioning monitoring system, analyze the monitoring data, and generate cable adjustment commands.

[0052] This invention also provides an automatic positioning method for offshore caisson foundations, comprising:

[0053] S1. Obtain environmental parameters and calculation parameters of the caisson foundation and cable 4, perform motion response analysis on the caisson foundation and cable 4, and obtain the environmental load on the caisson foundation.

[0054] Step S1 specifically includes:

[0055] S11. Statistically measure the wave height H and period T at the construction site. p The direction and frequency of the irregular wave spectrum S(ω0) are determined, where ω0 is the angular frequency. These serve as input conditions for wave environment factors. Based on historical data of water flow velocity and wind speed at the construction site, the average flow velocity U during the construction period is calculated and determined. c Average wind speed U w The average flow velocity U at the construction site during the construction period c Average wind speed U w The irregular wave spectrum S(ω0) is the environmental parameter.

[0056] The calculation parameters for the caisson foundation and cable 4 include:

[0057] The width B and length L of the caisson foundation, the water depth d of the caisson foundation, the position of the center of mass of the caisson foundation at the target position, and the moments of inertia Ixx, Iyy, Izz of the caisson foundation about the local coordinate axes centered on the center of mass.

[0058] The elastic modulus E, density ρ, and linear weight γ of cable 4; the coordinates of the mooring point and anchoring point of cable 4; the mooring point is the connection point between one end of cable 4 and the jack 1 of the caisson foundation; and the anchoring point is the connection point between the other end of cable 4 and the anchor 5.

[0059] S12. Conduct numerical simulation of the caisson foundation's motion response. Using a self-developed program or commercial software such as ANSYS / AQWA or Seseam, perform motion response analysis based on the environmental parameters determined in step 11 and the calculation parameters of the caisson foundation and cable 4. Adjust the tension of cable 4 to control the maximum target displacement of the caisson's motion response, including the lateral displacement ΔX. max Longitudinal displacement ΔY max Angular displacement ΔR max Simultaneously, the average wind load F on the caisson foundation is extracted. c Water flow load F w and second-order wave force load F wave .

[0060] S2. Establish the equilibrium equation for the caisson foundation and calculate the target tension force for each cable.

[0061] Step S2 specifically includes:

[0062] like Figure 3 As shown, the origin of the global coordinate system is established at the center of gravity of the caisson foundation. The equilibrium equations of the caisson foundation include equilibrium in three translational directions and three rotational directions:

[0063]

[0064] In the formula, N represents the number of cables 4, F xi ,F yi ,F zi These are the force components of each cable 4 in the X, Y, and Z directions, respectively; M ox M oy M oz These are the torques of each cable 4 about the X, Y, and Z axes, respectively.

[0065] according to Figure 3 The direction of the cable force in each cable 4 can be used to expand the above equilibrium equations:

[0066]

[0067] In the formula, T1, T2, ..., T8 are the target tension forces of the eight cables 4; α1, α2, ..., α8 are the angles (acute angles) between the projections of the eight cables 4 onto the XY plane and the Y-axis; β1, β2, ..., β8 are the angles between the eight cables 4 and the Z-axis; F cx F represents the component of the environmental load along the X-axis. cx =F c cos(α c )+F wave cos(α wave )+F w cos(α w ), F cy F is the component of the environmental load on the Y-axis. cy =F c cos(β c )+F wave cos(β wave )+F w cos(β w ), where α c ,α wave ,α w β represents the angle between the current velocity, wave speed, and wind speed and the X-axis, respectively. c ,β wave ,β w These represent the angles between the flow velocity, wave speed, and wind speed and the Y-axis, respectively; F f denoted as buoyancy force on the caisson; m is the total mass of the caisson foundation and its ancillary facilities; B is the width of the caisson foundation; L is the length of the caisson foundation. Let be the coordinates of the mooring point of the i-th cable 4.

[0068] Determine the tension range T during the construction process of cable 4. min ≤T i ≤T maxBy using linear programming techniques, feasible solutions are determined, and the target tension of each cable is obtained.

[0069] S3. When the caisson is floated to a position close to the target, the cables 4 are laid out. The cables are pulled up according to the target tension of each cable 4 determined in step S2. Each cable 4 is pulled up in a cyclic manner, and each time the cable is pulled up in a certain amount, until the tension of each cable reaches the target tension.

[0070] S4. According to the theoretical solution of the equilibrium equation, if there is no error, the target tension force determined in step S3 can make the caisson foundation reach the target position. Due to the measurement error of cable 4 force and the fluctuation of environmental load, the actual caisson foundation needs to be adjusted multiple times before it can reach the target position.

[0071] Calculate the actual distance L from the mooring point to the anchor point for each cable 4. i L i This represents the distance from the mooring point to the anchor point of the current i-th cable 4. Calculate the actual distance L for each cable 4. i Distance L from the target i The difference ΔL between (Goal) i =L i -L i (Goal); where the target distance L is... i (Goal) represents the distance from the mooring point of the i-th cable 4 to the anchoring point when the caisson foundation reaches the target position;

[0072] Based on the difference ΔL i Adjust cable 4 until the caisson foundation reaches the target position.

[0073] In some embodiments, based on the difference ΔL i The method for adjusting cable 4 includes: adjusting the cable t times until the caisson foundation reaches the target position, where t ≥ 1, and adjusting the difference ΔL each time during the t adjustments. i The largest cable is adjusted, with each adjustment being the difference ΔL between the lengths of the cables. i Each adjustment assesses the tension of each cable. If a cable is under excessive tension, it is loosened, with the loosening amount determined based on the defined tension range.

[0074] Considering the actual planar positioning of the caisson foundation, only three points are needed to determine its planar position. Therefore, the difference ΔL between at least three cables 4 is required. i When the error is less than the allowable error value (which can be set to 5cm), the caisson foundation is considered to have reached the target position.

[0075] To ensure the reliability of cable 4 adjustment, in some embodiments, each adjustment is based on the difference ΔL.i After adjusting the cables, the position of the caisson foundation is verified: multiple measuring points are set on the caisson foundation, and the distance between the actual coordinates of the measuring points and the theoretical coordinates of the measuring points when the caisson foundation reaches the target position is calculated. The measuring points can be selected from the mooring points of cable 4, and the actual coordinates of the measuring points can be calculated from the coordinates measured by the positioning instrument 2.

[0076] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. An automatic positioning method for offshore caisson foundations, characterized in that, include: Obtain environmental parameters and calculation parameters for the caisson foundation and cables, perform motion response analysis on the caisson foundation and cables, and obtain the environmental load on the caisson foundation. Establish the equilibrium equations for the caisson foundation and calculate the target tension of each cable; Begin pulling in the cables until the tension in each cable reaches the target tension. Calculate the actual distance L from the mooring point to the anchor point for each cable. i L i Indicates the distance from the mooring point of the current i-th cable to the anchor point, and calculates the actual distance L of each cable i Distance to target L i (Goal) difference ΔL i =L i -L i (Goal); where the target distance L is... i (Goal) represents the distance from the mooring point of the i-th cable to the anchoring point when the caisson foundation reaches the target position; Based on the difference ΔL i Adjust the cables until the caisson foundation reaches the target position; Methods for establishing the equilibrium equations for the caisson foundation and calculating the target tension of each cable include: The equilibrium equations for a caisson foundation include equilibrium in three translational directions and three rotational directions: In the formula, N represents the number of cables, and F xi ,F yi ,F zi These represent the force components of each cable in the X, Y, and Z directions, respectively; M ox M oy M oz These represent the torques of each cable about the X, Y, and Z axes, respectively. The equilibrium equation for a caisson foundation is: Where, T i Let α be the target tension of the i-th cable; i Let β be the angle between the projection of the i-th cable onto the XY plane and the Y-axis; i Let F be the angle between the i-th cable and the Z-axis; cx F represents the component of the environmental load along the X-axis. cx =F c cos(α c )+F wave cos(α wave )+F w cos(α w ), F cy F is the component of the environmental load on the Y-axis. cy =F c cos(β c )+F wave cos(β wave )+F w cos(β w ), where α c ,α wave ,α w β represents the angle between the current velocity, wave speed, and wind speed and the X-axis, respectively. c ,β wave ,β w These represent the angles between the flow velocity, wave speed, and wind speed and the Y-axis, respectively; F f denoted as buoyancy force on the caisson; m is the total mass of the caisson foundation and its ancillary facilities; B is the width of the caisson foundation; L is the length of the caisson foundation. Let F be the coordinates of the mooring point of the i-th cable; w For the average wind load, F c For water flow load, F wave It is a second-order wave force load; Determine the tension range T during cable installation. min ≤T i ≤T max By using linear programming techniques, feasible solutions are determined, and the target tension of each cable is obtained.

2. The automatic positioning method for offshore caisson foundations according to claim 1, characterized in that, Based on the difference ΔL i The method for adjusting the cable includes: adjusting the cable t times until the caisson foundation reaches the target position, where t ≥ 1, and adjusting the difference ΔL each time during the t adjustments. i The largest cable is adjusted, with each adjustment being the difference ΔL between the lengths of the cables. i Each adjustment assesses the tension of each cable. If a cable is under excessive tension, it is loosened, with the loosening amount determined based on the defined tension range.

3. The automatic positioning method for offshore caisson foundations according to claim 1, characterized in that, Based on the difference ΔL i Methods for adjusting cables include: when the difference ΔL between at least three cables... i If the error is less than the allowable error value, the caisson foundation is considered to have reached the target position.

4. The automatic positioning method for offshore caisson foundations according to claim 1, characterized in that, Each time based on the difference ΔL i After adjusting the cables, the position of the caisson foundation is verified: multiple measuring points are set on the caisson foundation, and the distance between the actual coordinates of the measuring points and the theoretical coordinates of the measuring points when the caisson foundation reaches the target position is calculated.

5. The automatic positioning method for offshore caisson foundations according to claim 1, characterized in that, The environmental parameters include the average flow velocity U at the construction site during the construction period. c Average wind speed U w The irregular wave spectrum S(ω0), where ω0 is the angular frequency.

6. The automatic positioning method for offshore caisson foundations according to claim 1, characterized in that, The calculation parameters for the caisson foundation and cables include: The width B and length L of the caisson foundation, the water depth d of the caisson foundation, the position of the center of mass of the caisson foundation at the target position, and the moments of inertia Ixx, Iyy, Izz of the caisson foundation about the local coordinate axes centered on the center of mass. The cable's elastic modulus E, density ρ, linear weight γ, and the coordinates of the cable's mooring point and anchoring point. The mooring point is the connection point between one end of the cable and the caisson foundation, and the anchoring point is the fixing point of the other end of the cable.

7. The automatic positioning method for offshore caisson foundations according to claim 1, characterized in that, Methods for starting to pull in the cables until the cable tension in each cable reaches the target tension include: Each cable is wound up in turn in a cycle, with a certain amount of cable wound up each time, until each cable reaches the target tension.

8. An automatic positioning system for offshore caisson foundations according to any one of claims 1 to 7, characterized in that, This includes a caisson positioning monitoring system, a jack control calculation system, and a caisson positioning execution system; The caisson positioning execution system includes multiple cables, multiple anchors corresponding to each cable, and multiple jacks. The jacks are arranged on the caisson foundation. The caisson positioning execution system is used to receive and execute cable adjustment commands generated by the jack control calculation system. The caisson positioning and monitoring system includes multiple positioning instruments, multiple inclinometers, and multiple pressure rings. The multiple positioning instruments are used to monitor the three-dimensional geometric coordinates of key points of the caisson foundation in real time. The multiple inclinometers are used to monitor the tilt angles of the caisson foundation in the transverse and longitudinal directions in real time. The multiple pressure rings are arranged on the reaction seats of the jacks to monitor the cable force in real time. The jack control and calculation system is used to read the monitoring data from the caisson positioning and monitoring system, analyze the monitoring data, and generate cable adjustment commands.

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