舾装船舶出坞及靠离泊操纵安全研究

根据船坞的地理位置、气象和水文情况,确定计算拖轮配置及舶船出坞方案,分析了船舶出坞时应注意的有关问题。本文根据某工程舾装码头最大靠泊船型为3万吨级化学品船（兼顾停靠1万吨级化学品船）,进而确定其舾装船舶出坞方案及靠离泊操纵过程中安全保障措施。     

基于人工神经网络的船舶操纵运动仿真

探讨神经网络技术在船舶操纵运动仿真领域的应用,构造一种网络结构和训练方法,验证船舶操纵指令与船舶运动态势参数映射的可行性,并构建了基于典型BP神经网络模型的操纵运动仿真系统.     

中威3#泊位船舶靠离泊安全行为研究

为科学地研究潮流对舟山岙山基地中威3#泊位靠离泊的影响,特对码头附近的潮流进行了详细地分析。利用大型船舶操纵模拟器进行靠离泊试验,并与实船操纵验证相结合,对码头所涉及到的多种船型的油轮,在各种水文、气象条件下的靠离泊操纵进行试验,找出合理的适合靠离泊的时间窗口,并提出了相关的靠离泊方案。     

福州港松下港区松下码头船舶进港操作探析

福州港松下港区自然条件较差,已公布或可查的通航基础资料相对缺乏,风浪对船舶进港航行和靠、离泊作业影响较大,且松下码头前沿水域流态复杂,大型船舶的进港及靠泊安全存在一定问题。通过介绍该港区的水文及气象特点、通航要素和通航现状,以7万t级船舶重载进港靠泊松下码头为例,详述船舶进港和靠泊的操纵要点及注意事项,并提出保障船舶安全通航的思考与建议,可为今后松下港区大型船舶的进港操纵提供一定的参考。     

锚在船舶操纵中的作用

锚的作用非常重要,合理正确地使用它会给船舶操纵带来方便和安全保障。锚在船舶操纵中的用途大致可分为:泊用锚、港内助操用锚和应急操纵用锚三大类。本文就对锚在船舶操纵中的三大用途进行研究。     

规则波中船舶运动六自由度数学模型

为了提高船舶操纵模拟器的精度,应用船舶操纵性分离建模理论,基于傅汝德-克雷诺夫假设,将船舶近似为箱型船,估算波浪对船舶六自由度运动的干扰力与力矩,并将波浪的干扰力与力矩作为外力与力矩的一部分,叠加到分离型船舶运动数学模型中,建立了船舶在规则波作用下六自由度船舶运动的数学模型,给出5级海况下船舶全速旋回运动响应的时间历程仿真曲线.仿真结果显示:仿真结果与相关文献结果相近,运动趋势一致,能够满足大型船舶操纵模拟器对船舶运动数学模型仿真的精度要求,同时船舶运动数学模型由3自由度增至6自由度,提高了模拟的逼真度.     

罗泾港码头的长江散货船靠离泊操纵研究

针对罗泾港码头及其水域的特殊环境,文章阐述了船舶靠离泊操纵的基本原理及规律,并提出了长江散货船在罗泾港码头开展靠离泊操纵的方法、技术和注意事项。     

船舶操纵运动的模糊自适应控制系统

船舶操纵运动控制过程中,由于转向角度可任意设置,系统的航向偏差和偏差变化率有时可能会很大。本文在进行船舶操纵运动模糊控制设计中,为使系统工作平稳,研究了一种根据系统工作过程中的偏差和偏差变化率自动校正比例因子的算法,以实现船舶航向自适应控制。同时为满足系统的稳态性能,该系统中不宜采用模糊了ＰＩ控制器。仿真结果显示了该系统设计的合理性。     

船舶操纵运动的神经网络控制系统研究

船舶在航行时由于航行工况和环境变化多端,受力十分复杂,使得船舶操纵运动特性具有非线性、时变性和干扰的复杂性等特点．文中基于神经网络控制的自学习和自适应性,研究了三种无监督学习的船舶操纵运动神经网络控制系统,并对系统在混合干扰情况下进行了仿真研究,与优化后的传统PID控制系统进行了比较．     

长江通航安全研究的船舶操纵仿真系统

长江水域通航条件高度复杂，有针对性地开展船舶操纵模拟系统的研究显得尤为重要，文中介绍了全功能大型船舶操纵模拟器及通用船舶操纵计算机仿真平台（USManCSP），提出以前者砻实时模拟基础，结合USManCSP中的电子江图信息系统（ECS）、内河船舶操纵运动数学模型、基于模糊控制的引航员控制模型等进行快时模拟研究，建立较完善的通航安全论证分析平台，并给出了二个急弯河段的模拟研究结果．     

开阔水域多物标动态自适应智能航行方法

考虑船舶操纵特性、《1972年国际海上避碰规则》和良好船艺要求,提出了动态自适应目标船不协调避碰行动的开阔水域智能航行方法;将物标分类、建模并构建数字孪生交通环境,结合航向控制方法、操纵运动和复航模型构建了自动航行模型,推演了船舶非线性操纵运动;基于自动航行模型量化解析了《规则》要求,探究动态避碰机理,建立了可行航向求取方法;在多目标环境中,提出了目标船机动判别方法,研究了《规则》约束下构成自主航行方案的改向时机、幅度和复航时机等要素求取方法。仿真结果表明:依靠信息秒级更新的滚动计算,提出的智能航行方法可自适应剩余误差和目标船随机运动;提出的智能航行方法能将可行航向区间和改向幅度精确到1°;将程序运行和复航时机计算步长设置为1、10 s,设置多类静态物标和6艘保向保速目标船,在640、1 053、2 561和3 489 s,本船进行右转9°、复航、保向保速和复航等操纵可让请所有目标并自主航行至终点;设置目标船在300 s采取不协调转向避让行动,本船在980、2 790、3 622、5 470 s时进行右转9°、左转12°、右转17°和复航等操纵可让请所有目标并自主航行至终点。可见,任意初始状态下的船舶均可沿计划航线自动航行至终点,提出的方法能满足多个、多类动静态物标共存的真实开阔水域环境中的智能航行需要。      

进江海轮在能见度不良时的操纵

本文从能见度不良船舶的行动规则及近距离避让两方面着手,阐述进江海轮在能见度不良时的操纵避让措施并提出相关建议,以使船舶驾引人员能从中得到启发,对进江海轮在能见度不良时的安全航行有一定的参考价值,对驾引人员的实际应用亦有一定的参考意义。     

大型船舶操纵性能综合评价

选取 6种典型的大型船舶操纵性能试验数据 ,分析其影响因素 ,并运用 IMO有关船舶操纵性的衡准 ,确定综合评价指标 ,运用层次分析法对其操纵性能进行排序 ,然后对大型油船、散货船和集装箱船的操纵性能进行比较 ,总结出大型船舶的操纵特点 ,并得出对实际船舶操纵具有指导意义的结论     

ARPA局限性分析

ARPA是用于避碰的主要仪器,对减少船舶碰撞发挥了重要作用。由于工作原理和设备性能等方面的原因,ARPA的功能还存在一定的局限性,船舶驾驶员如果完全信任和依赖ARPA进行避碰操作,就可能危及船舶的航行安全。船舶驾驶员应了解ARPA的局限性,正确使用其功能,才能保证航行安全。     

Investigation on maneuverability of a twin-screw ship driven by one screw

It is possible for a twin-screw ship that one screw failure occurs during navigation, and the maneuverability in this case should be noticed by ship designers and operators. It is of great significance to evaluate the related risk. Firstly, a mathematical model for the twin-screw ship maneuvering motion with one failed screw is developed based on the maneuvering model group (MMG) equations, and verified by the model test results. Secondly, the maneuvering motions of a twin-screw liquefied natural gas (LNG) ship with one free rotating failure screw or with one locked failure screw are simulated and compared by using the mathematical model. It is shown that the numerical modeling results are in agreement with the model test results. Compared with those of normal navigation, the port turning ability of the ship with one failed port screw is better, but the starboard turning ability and yaw checking ability become worse. The maneuverability of the ship with locked failure screw is better than that with free failure screw, although the ship speed drops obviously.     

Maneuverability Simulations for Twin-Waterjet Propulsion Vessel

Maneuverability is one of the most important sailing performances of vessels. In this article, a motion control model with three degrees of freedom(DoFs) for twin-waterjet propulsion vessel is proposed. The model is developed on the basis of maneuvering model group(MMG) maneuverability equations. A simulation environment is constructed on the Matlab Simulink platform. Standard turning tests and zig-zag tests are simulated by solving the motion control model, and the corresponding maneuverability parameters are calculated. Simulation results demonstrate that the maneuverability parameters are in accordance with the vessel maneuverability standard.The approach may be applied to the rapid prediction of vessel maneuverability.     

浅谈如皋市长青沙大桥桥墩防撞设计实例

随着沿长江水域大型桥梁的不断涌现以及船舶数量、吨位的快速增加,为有效保障船舶航行和桥梁设施安全,进行了如皋市疏港公路长青沙大桥通航孔安全保障工程的设计。     

Development of a Robotic Cochlear Implantation System

Traditional cochlear implantation surgery has problems such as high surgical accuracy requirement and large trauma,which cause the difficulty of the operation and the high requirements for doctors,so that only a few doctors can complete the operation independently.However,there is no research on robotic cochlear implantation in China.In response to this problem,a robotic cochlear implantation system is proposed.The robot is controlled by robot operating system (ROS).A simulation environment for the overall surgery is established on the ROS based on the real surgery environment.Through the analysis of the kinematics and the motion planning algorithm of the manipulator,an appropriate motion mode is designed to control the motion of the manipulator,and perform the surgery under the simulation environment.A simple and feasible method of navigation is proposed,and through the model experiment,the feasibility of robotic cochlear implantation surgery is verified.     

Parallel processing based on ship maneuvering in identification of interaction force coefficients

The parallel processing based on the free running model test was adopted to predict the interac-tion force coefficients (flow straightening coefficient and wake fraction) of ship maneuvering. And the multi-population genetic algorithm (MPGA) based on real coding that can contemporarily process the data of freerunning model and simulation of ship maneuvering was applied to solve the problem. Accordingly the optimalindividual was obtained using the method of genetic algorithm. The parallel processing of multi-populationsolved the prematurity in the identification for single population, meanwhile, the parallel processing of the dataof ship maneuvering (turning motion and zigzag motion) is an attempt to solve the coefficient drift problem.In order to validate the method, the interaction force coefficients were verified by the procedure and thesecoefficients measured were compared with those ones identified. The maximum error is less than 5%, and theidentification is an effective method.