CN104101541B - A kind of experimental provision for simulating coiled tubing mechanical characteristic in the compliant type standpipe of ocean - Google Patents
A kind of experimental provision for simulating coiled tubing mechanical characteristic in the compliant type standpipe of ocean Download PDFInfo
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- CN104101541B CN104101541B CN201410220247.4A CN201410220247A CN104101541B CN 104101541 B CN104101541 B CN 104101541B CN 201410220247 A CN201410220247 A CN 201410220247A CN 104101541 B CN104101541 B CN 104101541B
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Abstract
The present invention relates to a kind of experimental provision for simulating coiled tubing mechanical characteristic in the compliant type standpipe of ocean, it can be used to analyze the mechanics transmission characteristic that coiled tubing is lowered into during the compliant type standpipe of ocean.During experiment, injection end fixing device 6 fixes the compliant type simulation injection end level of standpipe 24, by adjusting pipe end guiding fixing device 18 in the position of correct frame 17, construct the not synteny of simulation standpipe, 2 pairs of simulation coiled tubings 25 of hydraulic pressure injection device carry out injection operation, the exciting dynamics of adjusting vibration exciter 13, simulates influence of the ocean load to simulation standpipe 24 simultaneously.In operation process, the injection rate of record hydraulic pressure injection device 2, the displacement of oil pipe；Record the parameter of the pressure sensor inside pressure sensor 5 and pipe end test device 21, you can the mechanics transmission characteristic that coiled tubing is injected into during the compliant type standpipe of ocean is analyzed by each data volume of record.
Description
(1) technical field
The present invention relates to it is a kind of simulate coiled tubing mechanical characteristic in the compliant type standpipe of ocean experimental provision, specifically
A kind of device of the mechanics transmission characteristic during the compliant type standpipe of ocean can be lowered into for analysis coiled tubing by saying.
(2) background technology
Coiled tubing relies on its high intensity, high tenacity, jointless characteristic, has been widely used offshore oil and gas field
The multinomial oil gas field of operation such as well-flushing, drilling well, well workover, completion, oil recovery, oil-gas transportation.Due to the broad based growth of offshore production
Prospect, the requirement more wanted is proposed to coiled tubing technology under water.A kind of existing ocean compliant type standpipe, is existed by constructing standpipe
Marine not synteny, its compliance can compensate for floating motion, and due to being vertical connection oil well, therefore can be from FPSO
Perform a variety of operations to oil well.It is existing to compliant type standpipe occur line style change when, the influence to internal coiled tubing
The research of this respect is less, and when not considering that standpipe vibrates under the effect of the marine environment such as wave, stream load, connects inside it
The mechanical characteristic of continuous oil pipe, it is therefore necessary to design a kind of reality for simulating coiled tubing mechanical characteristic in the compliant type standpipe of ocean
Experiment device.
Current utility model patent has：" the bimetallic tube complete buckling simulated experiment dress of Petroleum Univ. of state application
Put and method " 201210101723.1, the device carries out axial operation, two lateral loadings to bimetallic tube by axial loading device
Device acts on bimetallic tube both sides, can simulated dual-layer pipe flexion；Changjiang University's application：A kind of coiled tubing down-hole force
Scholarship and moral conduct is analogue experiment installation, 2010020650215.5, the device can simulate operating environment of the coiled tubing in underground, by electricity
Dynamic driving control system controls the operation of coiled tubing, and experiment is remembered in real time by data collecting system and image recording system
Record.
Above patent is both for the coiled tubing experimental provision under fixed boundary condition, and this patent is then suitable according to ocean
The characteristic during work of formula standpipe is answered, having built can contract than simulation coiled tubing in compliant type standpipe environment tube-in-tube Experiments of Machanics
Device.
(3) content of the invention
The present invention relates to a kind of experimental provision for simulating coiled tubing mechanical characteristic in the compliant type standpipe of ocean.The experiment
Device can be lowered into the mechanics transmission characteristic during the compliant type standpipe of ocean for analysis coiled tubing.
The purpose of the present invention：
A kind of experimental provision for simulating coiled tubing mechanical characteristic in the compliant type standpipe of ocean is noted by left frame 1, hydraulic pressure
Enter device 2, screw 3, packing ring 4, pressure sensor 5, injection end fixing device 6, No. two screws 7, No. two packing rings 8,
Angle support connector 9, No. three screws 10, No. three packing rings 11, experimental provision underframe 12, vibrator 13, vibrator frame 14, No. four spiral shells
Nail 15, No. four packing rings 16, correct frame 17, pipe end guiding fixing device 18, No. five screws 19, No. five packing rings 20, pipe end test dresses
Put 21, No. six screws 22, No. six packing rings 23, simulation standpipe 24, simulation coiled tubings 25 are constituted.Left frame 1 and experimental provision bottom
Frame 12 is connected and fixed with angle support connector 9；Hydraulic pressure injection device 2 is connected by a screw 3 with left frame 1；Pressure is passed
One end of sensor 5 is threadably secured with piston rod to be connected, and the other end is headed on the probe of pressure sensor 5 by oil pipe front end；Note
Enter to hold fixing device 6 to be connected by No. two screws 7 with left frame 1；Vibrator frame 14 passes through No. four screws 15 and experimental provision bottom
Frame 12 is connected；Correct frame 17 is connected by angle support connector 9 with experimental provision underframe 12；Pipe end guiding fixing device 18 passes through
No. five screws 19 are connected with correct frame 17；Pipe end test device 21 is connected by No. six screws 22 with correct frame 17.
The underframe 12 of experimental provision of the present invention is inside body transom 26, longitudinal beam of underframe 27, underframe inside crossbeam 28, underframe
Longeron 29, connecting plate 30, No. seven screws 31, No. seven packing rings 32 are constituted.Body transom 26 is indulged by angle support connector 9 and underframe
Beam 27 is connected；Crossbeam 28 is connected by angle support connector 9 with longitudinal beam of underframe 27 inside underframe；Longeron 29 passes through angle inside underframe
Stand connection 9 is connected with crossbeam 28 inside underframe；Connected between longitudinal beam of underframe by connecting plate 30, No. seven screws 31.
The left frame 1 of experimental provision of the present invention is in left frame top connecting cross beam 33, left frame support bar 34, left frame
Portion's load bearing cross beam 35 is constituted.Left frame top connecting cross beam 33 is connected by angle support connector 9 with left frame support bar 34；It is left
Lower portion load bearing cross beam 35 is connected by angle support connector 9 with left frame support bar 34.
The hydraulic pressure injection device 2 of experimental provision of the present invention is by hydraulic cylinder 36, hydraulic cylinder fixed mount 37, a bolt 38, one
Number nut 39 is constituted.Hydraulic cylinder fixed mount 37 is connected by a screw 3 with left frame；Pass through between two hydraulic cylinder fixed mounts
A number bolt 38 and a nut 39 are connected.
The injection end fixing device 6 of experimental provision of the present invention is by injection end fixed block top 40, injection end fixed block bottom
41st, No. eight screws 42 are constituted.Injection end fixed block top 40 is connected by No. eight screws 42 with injection end fixed block bottom 41.Pipe
Guiding fixing device 18 is held as the embodiment of injection end fixing device 6.
The correct frame 17 of experimental provision of the present invention is led by correct frame support bar 43, correct frame top connecting cross beam 44, section bar
Rail 45, sliding bar 46, No. two sliding bars 47, a slip load bearing cross beams 48 are constituted.Correct frame top connecting cross beam 44 passes through angle
Stand connection 9 is connected with section material guide rail 45, and section material guide rail 45 is connected by angle support connector 9 with correct frame support bar 43；
No. two sliding bars 47 are connected by angle support connector 9 with crossbeam 28 inside section material guide rail 45, underframe, are connected by elastic angle support
Fitting 9 can make No. two sliding bars be parked in the optional position on crossbeam；Slide load bearing cross beam 48 and pass through angle support connector 9 and No. two
Sliding bar 47 is connected；A number sliding bar 46 is connected by angle support connector 9 with section material guide rail 45, body transom 26, passes through pine
Tight angle support connector 9 can make a sliding bar be parked in the optional position on crossbeam.
The pipe end test device 21 of experimental provision of the present invention is by contiguous block 49, sensor 50, pipe end fixed block 51, No. nine spiral shells
Nail 52 is constituted.Pipe end fixed block 51, sensor 50 are fixed on contiguous block 49 by No. nine screws 52.
(4) illustrate
Fig. 1 is the top view of the experimental provision of the present invention；
Fig. 2 is the experimental provision general three figure of the present invention；
Fig. 3 is the experimental provision underframe graphics of the present invention；
Fig. 4 is the left frame graphics of the present invention；
Fig. 5 is the hydraulic pressure injection device graphics of the present invention；
Fig. 6 is the injection end fixing device graphics of the present invention；
Fig. 7 is the correct frame graphics of the present invention；
Fig. 8 is the pipe end test device graphics of the present invention.
(5) embodiment
Illustrate below in conjunction with the accompanying drawings and the present invention is described in more detail：
A kind of experimental provision for simulating coiled tubing mechanical characteristic in the compliant type standpipe of ocean is noted by left frame 1, hydraulic pressure
Enter device 2, screw 3, packing ring 4, pressure sensor 5, injection end fixing device 6, No. two screws 7, No. two packing rings 8,
Angle support connector 9, No. three screws 10, No. three packing rings 11, experimental provision underframe 12, vibrator 13, vibrator frame 14, No. four spiral shells
Nail 15, No. four packing rings 16, correct frame 17, pipe end guiding fixing device 18, No. five screws 19, No. five packing rings 20, pipe end test dresses
Put 21, No. six screws 22, No. six packing rings 23, simulation standpipe 24, simulation coiled tubing 25, body transom 26, longitudinal beam of underframe 27, bottoms
Crossbeam 28, underframe inside longeron 29, connecting plate 30, No. seven screws 31, No. seven packing rings 32, left frame top connecting cross beams inside frame
33rd, left frame support bar 34, left frame inside load bearing cross beam 35, hydraulic cylinder 36, hydraulic cylinder fixed mount 37, a bolt 38, one
Number nut 39, injection end fixed block top 40, injection end fixed block bottom 41, No. eight screws 42, correct frame support bar 43, right frames
Frame top connecting cross beam 44, section material guide rail 45, sliding bar 46, slip load bearing cross beam 47, No. two sliding bars 48, a contiguous blocks
49th, sensor 50, pipe end fixed block 51, No. nine screws 52, guide fixed block top 53, guide fixed block bottom 54, No. ten spiral shells
Nail 55 is constituted.
With reference to Fig. 1, Fig. 2, a kind of experimental provision of simulation coiled tubing mechanical characteristic in the compliant type standpipe of ocean is by a left side
Framework 1, hydraulic cylinder injection device 2, screw 3, packing ring 4, pressure sensor 5, injection end fixing device 6, No. two spiral shells
Nail 7, No. two packing rings 8, angle support connector 9, No. three screws 10, No. three packing rings 11, experimental provision underframe 12, vibrator 13, swash
Shake device frame 14, No. four screws 15, No. four packing rings 16, correct frame 17, pipe end guiding fixing device 18, No. five screws 19, No. five pads
Circle 20, pipe end test device 21, No. six screws 22, No. six packing rings 23, simulation standpipe 24, simulation coiled tubings 25 are constituted.Left frame
Frame 1 is connected and fixed with experimental provision underframe 12 with angle support connector 9；Hydraulic pressure injection device 2 passes through a screw 3 and left frame
Frame 1 is connected, and the effect of hydraulic cylinder injection device 2 is to apply axial force to coiled tubing pipe end, coiled tubing is travelled forward, and is led to
Cross hydraulic system and can control the speed that oil pipe advances, and measure the displacement of coiled tubing；One end of pressure sensor 5 and piston
Bar is threadably secured connection, and the other end is headed on the probe of pressure sensor 5 by oil pipe front end, can measure coiled tubing front end
The situation of injection force size；Injection end fixing device 6 is connected by No. two screws 7 with left frame 1, and it is to clamp and fixed that it, which is acted on,
Simulate standpipe end；Vibrator frame 14 is connected by No. four screws 15 with experimental provision underframe 12, and it is to simulation standpipe that it, which is acted on,
Apply a vibratory output vertically upward, to simulate the situation that compliant type standpipe vibrates under the effect of extra large sample load；Correct frame
17 are connected by angle support connector 9 with experimental provision underframe 12；Pipe end guiding fixing device 18 passes through No. five screws 19 and the right side
Framework 17 is connected, and it is to clamp and fixed-analog standpipe vertical section that it, which is acted on,；Pipe end test device 21 passes through No. six screws 22 and the right side
Framework 17 is connected, and its effect is fixed-analog standpipe end, by pressure sensor measure simulate coiled tubing end by
Power situation.
With reference to Fig. 3 experimental provisions of the present invention underframe 12 by body transom 26, longitudinal beam of underframe 27, inside underframe crossbeam 28,
Longeron 29, connecting plate 30, No. seven screws 31, No. seven packing rings 32 are constituted inside underframe.Body transom 26 passes through angle support connector 9
The overall shape of underframe is connected, constituted with longitudinal beam of underframe 27；Crossbeam 28 is indulged by angle support connector 9 and underframe inside underframe
Beam 27 is connected, and it is to increase the intensity of underframe that it, which is acted on,；Longeron 29 passes through crossbeam inside angle support connector 9 and underframe inside underframe
28 connections, it is to install vibration exciter that it, which is acted on,；Connected between longitudinal beam of underframe by connecting plate 30, No. seven screws 31.
With reference to Fig. 4, the left frame 1 of experimental provision of the present invention by left frame top connecting cross beam 33, left frame support bar 34,
Load bearing cross beam 35 is constituted inside left frame.Left frame top connecting cross beam 33 passes through angle support connector 9 and left frame support bar
34 connections, constitute the overall shape of left frame, and wherein left frame support bar 34 plays a part of supporting left frame；In left frame
Portion's load bearing cross beam 35 is connected by angle support connector 9 with left frame support bar 34, and it is the work that support crossbeam top that it, which is acted on,
Plug cylinder and fixing device.
With reference to Fig. 5, the hydraulic pressure injection device 2 of experimental provision of the present invention is by hydraulic cylinder 36, hydraulic cylinder fixed mount 37, a spiral shell
Bolt 38, a nut 39 are constituted.Hydraulic cylinder fixed mount 37 is connected by a screw 3 with left frame, and its effect is to grip
The position of hydraulic cylinder；Connected between two hydraulic cylinder fixed mounts by a bolt 38 and a nut 39, it is fastening that it, which is acted on,
It will not rock to avoid record data from occurring larger error when hydraulic cylinder, guarantee hydraulic cylinder works.
With reference to Fig. 6, the injection end fixing device 6 of experimental provision of the present invention is solid by injection end fixed block top 40, injection end
Determine block bottom 41, No. eight screws 42 to constitute.Injection end fixed block top 40 passes through No. eight screws 42 and injection end fixed block bottom
41 connection, by screw No. eight screws can for clamp standpipe end.Pipe end guiding fixing device 18 is fixed with injection end
The embodiment of device 6 is the same.
With reference to Fig. 7, the correct frame 17 of experimental provision of the present invention is by correct frame support bar 43, correct frame top connecting cross beam
44th, section material guide rail 45, sliding bar 46, No. two sliding bars 47, a slip load bearing cross beams 48 are constituted.Correct frame top connecting cross beam
44 are connected by angle support connector 9 with section material guide rail 45, and section material guide rail 45 passes through angle support connector 9 and correct frame support bar
43 connections, they constitute the overall shape of correct frame；No. two sliding bars 47 by angle support connector 9 and section material guide rail 45,
Crossbeam 28 is connected inside underframe, by elastic angle support connector 9 No. two sliding bars can be made to be parked in the optional position on crossbeam, can
Change the not synteny of construction standpipe；Slide load bearing cross beam 48 to be connected with No. two sliding bars 47 by angle support connector 9, it can
To install pipe end guiding fixing device 18；A number sliding bar 46 passes through angle support connector 9 and section material guide rail 45, body transom 26
Connection, can make a sliding bar be parked in the optional position on crossbeam by elastic angle support connector 9, realize to pressure sensor
The regulation of position.
With reference to Fig. 8, the pipe end test device 21 of experimental provision of the present invention is by contiguous block 49, sensor 50, pipe end fixed block
51st, No. nine screws 52 are constituted.Pipe end fixed block 51, sensor 50 are fixed on contiguous block 49 by No. nine screws 52, and pipe end is solid
It is the injection direction for simulating standpipe and simulation coiled tubing entered for fixed vertical to determine block 51, solid by pipe end during experiment
The simulation coiled tubing end for determining block 51 is withstood on the probe of sensor 50, you can the stressing conditions of measurement coiled tubing end.
Claims (6)
1. a kind of experimental provision for simulating coiled tubing mechanical characteristic in the compliant type standpipe of ocean, it is characterised in that the mould
The experimental provision of quasi-continuous oil pipe mechanical characteristic in the compliant type standpipe of ocean is by left frame (1), hydraulic pressure injection device (2), one
Number screw (3), packing ring (4), pressure sensor (5), injection end fixing device (6), No. two screws (7), No. two packing rings
(8), angle support connector (9), No. three screws (10), No. three packing rings (11), experimental provision underframe (12), vibrator (13), swash
Shake device frame (14), No. four screws (15), No. four packing rings (16), correct frame (17), pipe end guiding fixing device (18), No. five screws
(19), No. five packing rings (20), pipe end test device (21), No. six screws (22), No. six packing rings (23), simulation standpipe (24), moulds
Quasi-continuous oil pipe (25) is constituted；Left frame (1) is connected and fixed with experimental provision underframe (12) with angle support connector (9)；Liquid
Pressure injection device (2) is connected by a screw (3) with left frame (1)；The hydraulic pressure injection device (2) by hydraulic cylinder (36),
Hydraulic cylinder fixed mount (37), bolt (38), nut (39) composition；Hydraulic cylinder fixed mount (37) passes through a screw
(3) it is connected with left frame；Connected between two hydraulic cylinder fixed mounts by a bolt (38) and a nut (39)；Pressure is passed
One end of sensor (5) is threadably secured with the piston rod of the hydraulic cylinder (36) and is connected, and the other end heads on pressure by oil pipe front end
The probe of force snesor (5)；Injection end fixing device (6) is connected by No. two screws (7) with left frame (1)；Vibrator frame
(14) it is connected by No. four screws (15) with experimental provision underframe (12)；Correct frame (17) is by angle support connector (9) and in fact
Experiment device underframe (12) is connected；Pipe end guiding fixing device (18) is connected by No. five screws (19) with correct frame (1) 7；Pipe end
Test device (21) is connected by No. six screws (22) with correct frame (17).
2. simulating the experimental provision of coiled tubing mechanical characteristic in the compliant type standpipe of ocean as claimed in claim 1, it is special
Levy and be, the underframe (12) crossbeam (28), underframe inside longeron inside body transom (26), longitudinal beam of underframe (27), underframe
(29), connecting plate (30), No. seven screws (31), No. seven packing ring (32) compositions；Body transom (26) passes through angle support connector (9)
It is connected with longitudinal beam of underframe (27)；Crossbeam (28) is connected by angle support connector (9) with longitudinal beam of underframe (27) inside underframe；Underframe
Internal longeron (29) is connected by angle support connector (9) with crossbeam (28) inside underframe；Pass through connecting plate between longitudinal beam of underframe
(30), No. seven screw (31) connections.
3. simulating the experimental provision of coiled tubing mechanical characteristic in the compliant type standpipe of ocean as claimed in claim 1, it is special
Levy and be, the left frame (1) load-bearing inside left frame top connecting cross beam (33), left frame support bar (34), left frame
Crossbeam (35) is constituted；Left frame top connecting cross beam (33) is connected by angle support connector (9) with left frame support bar (34)；
Load bearing cross beam (35) is connected by angle support connector (9) with left frame support bar (34) inside left frame.
4. simulating the experimental provision of coiled tubing mechanical characteristic in the compliant type standpipe of ocean as claimed in claim 1, it is special
Levy and be, the injection end fixing device (6) by injection end fixed block top (40), injection end fixed block bottom (41), No. eight
Screw (42) is constituted；Injection end fixed block top (40) is connected by No. eight screws (42) with injection end fixed block bottom (41)；
Pipe end guiding fixing device (18) includes pipe end guide fixed block top, pipe end guide fixed block bottom.
5. simulating the experimental provision of coiled tubing mechanical characteristic in the compliant type standpipe of ocean as claimed in claim 1, it is special
Levy and be, the correct frame (17) by correct frame support bar (43), correct frame top connecting cross beam (44), section material guide rail (45),
Number sliding bar (46), No. two sliding bars (47), slip load bearing cross beam (48) compositions；Correct frame top connecting cross beam (44) passes through
Angle support connector (9) is connected with section material guide rail (45), and section material guide rail (45) is supported by angle support connector (9) and correct frame
Bar (43) is connected；No. two sliding bars (47) are connected by crossbeam (28) inside angle support connector (9) and section material guide rail (45), underframe
Connect, by elastic angle support connector (9) No. two sliding bars can be made to be parked in the optional position on crossbeam；Slide load bearing cross beam (48)
It is connected by angle support connector (9) with No. two sliding bars (47)；A number sliding bar (46) passes through angle support connector (9) and type
Material guide rail (45), body transom (26) connection, can be such that a sliding bar is parked on crossbeam by elastic angle support connector (9)
Optional position.
6. simulating the experimental provision of coiled tubing mechanical characteristic in the compliant type standpipe of ocean as claimed in claim 1, it is special
Levy and be, the pipe end test device (21) is by contiguous block (49), sensor (50), pipe end fixed block (51), No. nine screws
(52) constitute；Pipe end fixed block (51), sensor (50) are fixed on contiguous block (49) by No. nine screws (52).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410220247.4A CN104101541B (en) | 2014-05-21 | 2014-05-21 | A kind of experimental provision for simulating coiled tubing mechanical characteristic in the compliant type standpipe of ocean |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410220247.4A CN104101541B (en) | 2014-05-21 | 2014-05-21 | A kind of experimental provision for simulating coiled tubing mechanical characteristic in the compliant type standpipe of ocean |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104101541A CN104101541A (en) | 2014-10-15 |
| CN104101541B true CN104101541B (en) | 2017-09-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410220247.4A Expired - Fee Related CN104101541B (en) | 2014-05-21 | 2014-05-21 | A kind of experimental provision for simulating coiled tubing mechanical characteristic in the compliant type standpipe of ocean |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104931285B (en) * | 2015-06-02 | 2017-08-04 | 中国海洋石油总公司 | A kind of vertical standpipe principle prototype experimental rig of Free Station |
| CN108489705B (en) * | 2018-03-27 | 2024-05-28 | 武汉海王机电工程技术有限公司 | Water pressure test device and method for simulating ocean current environment |
| CN109883628A (en) * | 2019-02-26 | 2019-06-14 | 北京工业大学 | A kind of research laterally disturbs the experimental provision and test method of the lower elongate rod buckling behaviors of excitation |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3405372C2 (en) * | 1984-02-15 | 1986-01-16 | Bundesrepublik Deutschland, vertreten durch den Bundesminister für Wirtschaft in Bonn, dieser vertreten durch den Präsidenten der Bundesanstalt für Materialprüfung (BAM), 1000 Berlin | Slow load alternation test bench |
| CN201096685Y (en) * | 2007-11-15 | 2008-08-06 | 中国石油天然气集团公司 | A continuous pipe fatigue testing clamping device |
| CN201924912U (en) * | 2010-12-03 | 2011-08-10 | 长江大学 | Experiment device for stimulation of underground mechanical behaviors of coiled tubing |
| CN202383034U (en) * | 2011-12-21 | 2012-08-15 | 西安三维应力工程技术有限公司 | Full-size combined load mechanical tester for oil pipes |
| CN102636396B (en) * | 2012-03-31 | 2014-06-04 | 中国石油大学(北京) | Double-layer pipe overall buckling simulation experiment device and method |
| CN202720102U (en) * | 2012-04-24 | 2013-02-06 | 镇江四洋特种金属材料制造有限公司 | Flexible-connection vibration fatigue test apparatus |
| CN103206202B (en) * | 2012-11-30 | 2016-06-01 | 中国石油大学(北京) | A kind of deep-sea tube-in-tube mechanics transmission characteristic analysis design mothod device |
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