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Fmc Technologies, Inc.

T.en Loading Systems S.a.s.

T.en Loading Systems

Adrien Vannesson

Karim Yousfi

Pierre Besset

Frédéric Pelletier

Pierre-Eric Bauwens

The system () for the transfer of fluid comprises a tubular fluid transfer line () comprising at one of its ends a coupling system () adapted to be connected to a target duct () for the transfer of fluid, and electrical actuators (-) for controlling the movement of the transfer line in space, each via an actuating shaft, characterized in that each of the actuators for controlling the movement of the transfer line comprises an electric motor with an output shaft, a speed reducer, the actuating shaft being rotationally driven by the motor output shaft by means of the speed reducer, which is reversible, so as to enable the actuating shaft to turn when an actuating torque is directly applied to it, and braking means for locking the actuator in position when movement control is in course and that actuator is not activated for that control.

Fluid transfer line with electric actuators and braking means for each actuator

Device for controlling the movement of one of the ends of an articulated fluid loading arm from a storage position to a target pipe () and from this target pipe () to the storage position, said arm comprising a fluid transfer line equipped at this end with a coupling system (), the latter being adapted to be coupled to the target pipe () for the transfer of the fluid, which device comprises actuators (-) for controlling the movement of the arm in space from the storage position until the coupling system () is positioned in front of the target pipe () for its coupling to the latter, and from the target pipe () to the storage position. This device includes calculation means () adapted for: &#x2014;monitoring in real time the movement of the coupling system (); &#x2014;generating, in real time, from the last determined position of the coupling system () a trajectory of movement of the coupling system () in the direction of the target pipe () or the storage position, based on a dynamic jerk-limited motion law; &#x2014;calculating command instructions to be given to each of the actuators (-) in order to control the movement of the coupling system () based on this motion law.

Motion control device for an articulated fluid-loading arm, acquisition and calculation method and device therefor, and articulated fluid loading arm

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Sens, France

Adrien Vannesson