Local path planning method of the self-propelled model based on reinforcement learning in complex conditions

Conducting hydrodynamic and physical motion simulation tests using a large-scale self-propelled model under actual wave conditions is an important means for researching environmental adaptability of ships. During the navigation test of the self-propelled model, the complex environment including various port facilities, navigation facilities, and the ships nearby must be considered carefully, because in this dense environment the impact of sea waves and winds on the model is particularly significant. In order to improve the security of the self-propelled model, this paper introduces the Q learning based on reinforcement learning combined with chaotic ideas for the model＇s collision avoidance, in order to improve the reliability of the local path planning. Simulation and sea test results show that this algorithm is a better solution for collision avoidance of the self navigation model under the interference of sea winds and waves with good adaptability.     

Multi-objective optimization study on dimensions of medium-sized cruise ship in concept phase北大核心CSCD

［Objective］Aiming at the problem of too many influencing factors and too little reference data for determining the dimensions of medium-sized cruise ships in the concept phase, a simplified multi-objective optimization method based on the fitting of dimensions and performance is proposed. ［Method］First, the dimension relations of medium-sized cruise ships are analyzed and the influence of the latest SOLAS requirements used to determine the optimization range. Second, the influence of cruise ship dimensions on space, resistance, stability and seakeeping are analyzed. Next, based on the principles of genetic algorithms, a multiobjective optimization algorithm with high robustness and high engineering adaptability is determined to establish a multi-objective optimization model for the concept design of medium-sized cruise ships. Finally, the Pareto solution obtained by multi-objective optimization is analyzed to provide initial references for determining the dimensions of the target cruise ship. ［Results］Implemented via a genetic algorithm, the optimization program proposed herein is applied in the concept design of a medium-sized cruise ship in order to optimize the initial dimensions, thereby achieving the expected outcome of providing reasonable initial dimensions for cruise ship design. ［Conclusion ］ The proposed simplified multi-objective optimization model can provide feasible initial dimensions for medium-sized cruise ships in the concept phase. As the Pareto solution obtained by multi-objective optimization has different focuses such as resistance and stability, the most suitable solution needs to be selected according to the design object. © 2023 Chinese Journal of Ship Research. All rights reserved.     

Temptation of“Feast”with Hundreds of Billion Yuan

At present,under the dual drivers of policy and market,the process of inland river ship"switching from oil fuel to gas"in China speeds up again.The industry insiders expected that based on the calculation of ships aged under 7 years as per the current pilot ship requirements,the market size of ships"switching from oil fuel to gas"might reach 30b to 60b Yuan,and plus the newbuilding market,the total     

Formal safety assessment and application of the navigation simulators for preventing human error in ship operations

The International Maritime Organization （IMO） has encouraged its member countries to introduce Formal Safety Assessment （FSA） for ship operations since the end of the last century. FSA can be used through certain formal assessing steps to generate effective recommendations and cautions to control marine risks and improve the safety of ships. On the basis of the brief introduction of FSA, this paper describes the ideas of applying FSA to the prevention of human error in ship operations. It especially discusses the investigation and analysis of the information and data using navigation simulators and puts forward some suggestions for the introduction and development of the FSA research work for safer ship operations.     

CCS:Pioneer for LNG Ship Standard

Although China is relatively late in the trial use of LNG ships,she has become the front runner in the promotion of LNG ships.The launch of China’s first LNG/diesel hybrid pilot inland waterway ship in 2010 became the prelude for the application of LNG as bunker fuel for water transportation.At present,with the speeding up of the layout of LNG stations of energy companies,and the increase of the government’s policy support,there is the trend of fast development of"oil converted to     

Topology optimization of core structure of titanium alloy sandwich cylindrical shell北大核心CSCD

［Objectives］ As a new type of pressure-resistant structure, the titanium alloy sandwich cylindrical shell has not yet been studied comprehensively. The topology of the core layer needs to be confirmed using the optimization method. This paper carries out the core topology optimization of titanium alloy pressure-resistant sandwich cylindrical shells.［methods］An unreinforced cylindrical shell with high thickness is selected as the analysis object, and the axisymmetric element is used to calculate the structural stresses via ANSYS. The cylindrical shell is divided into the upper, middle and lower regions along the thickness direction. The structures of the middle region are set as the design variables, and a two-stage topology optimization mathematical model of its core structure is proposed. Based on Matlab, the main control program of the genetic algorithm is established to carry out the core layout optimization of the unreinforced cylindrical shell along the axial direction only and both the axial direction and radial direction respectively.［results］The optimal core topological form consists of equidistant ribs connecting the inner shell and outer shell vertically.［Conclusions］A sandwich cylindrical shell under hydrostatic pressure is a reasonable pressure-resistant structure. © 2023 Authors. All rights reserved.     

第十一届国际船舶与海洋航行器稳定性会议(STAB 2012)(英文)

23-28 September 2012, Athens, Greece As ancient as Archimedes (circa 250 BC), the topic of stability of ships (and more generally of floating bodies) has fascinated eminent scientists throughout the centuries, of the likes of Huygens, Bouguer, Euler and the Bernoullis. Despite unrelenting effort the field remains topical, combining a deep scientific basis with very practical concerns continually coming from new trends in ship design.     

Global robust and adaptive output feedback dynamic positioning of surface ships

A constructive method was presented to design a global robust and adaptive output feedback controller for dynamic positioning of surface ships under environmental disturbances induced by waves, wind, and ocean currents. The ship’s parameters were not required to be known. An adaptive observer was first designed to estimate the ship’s velocities and parameters. The ship position measurements were also passed through the adaptive observer to reduce high frequency measurement noise from entering the control system. Using these estimate signals, the control was then designed based on Lyapunov’s direct method to force the ship’s position and orientation to globally asymptotically converge to desired values. Simulation results illustrate the effectiveness of the proposed control system. In conclusion, the paper presented a new method to design an effective control system for dynamic positioning of surface ships.     

纵向弯矩下材料随机特性对复合材料船体可靠性的影响

The effects of stochastic characteristics of materials on the reliability of ship hulls made of composite materials under longitudinal moment were extensively studied using reliability and sensitivity calculations of a composite ship hull which was sagging.The reliability indices and failure probabilities of the ship in three kinds of failure modes (buckling,material failure,and ultimate collapse) were calculated by the surface response method and JC method.The importance factors of random variables in stochastic models,such as the model errors in predicting the ultimate longitudinal strength of ship and the longitudinal bending moment that the ship withstands,as well as the stochastic characteristics of materials in the models used,were calculated.Then,the effects of these random variables,including the stochastic characteristics of materials on the reliability index and the failure probability of ships which were sagging,were discussed with their importance factors.The results show that the effects of stochastic characteristics of materials on the reliability of ship hulls made of composite materials should be considered during the reliability assessment of composite ships.Finally,some conclusions and recommendations were given for high-speed ship design and safety assessment.     

军船雷达目标有效截面预报和缩减研究(英文)

Radar cross section(RCS) is the measurement of the reflective strength of a target.Reducing the RCS of a naval ship enables its late detection,which is useful for capitalizing on elements of surprise and initiative.Thus,the RCS of a naval ship has become a very important design factor for achieving surprise,initiative,and survivability.Consequently,accurate RCS determination and RCS reduction are of extreme importance for a naval ship.The purpose of this paper is to provide an understanding of the theoretical background and engineering approach to deal with RCS prediction and reduction for naval ships.The importance of RCS,radar fundamentals,RCS basics,RCS prediction methods,and RCS reduction methods for naval ships is also discussed.     

Celebrating the 40th Anniversary of COSCO

It has been more than two decades since the Port of Seattle welcomed to our harbor the first ship flying the flag of the Peoples Republic of China. Since that first visit from the Liulinhai, which came here for a shipment of American wheat, the Port of Seattle and COSCO have been strong business partners and good friends. COSCO's ships have carried much more than cargo over the past 22 years. COSCO ships, and COSCO employees, have helped build relationships as well as     

Numerical analysis of transient fluid-structure interaction of warship impact damage caused by underwater explosion using the FSLAB北大核心CSCD

［Objectives］This paper aims to address the numerical simulation problems of the dynamic response of ships subject to near-, medium- and far-field underwater explosions by establishing several numerical methods and calculation models. ［Methods］First, load and fluid-structure interaction models are established on the basis of the Eulerian finite element method and acoustic finite element method using the field-split technique, and FSLAB fluid-structure interaction software is developed. Next, near-, medium- and far-field underwater explosions are numerically simulated respectively. The shock wave propagation law, bubble shape and load evolution characteristics of near free-surface and near-wall underwater explosions are obtained, and the shock response characteristics of a spherical shell and ship subject to far-field underwater explosions are analyzed. Finally, the FSLAB software results are compared with the analytical solutions, reference solutions and experimental data. ［Results］The results show that the FSLAB fluid-structure interaction software developed in this paper is effective and accurate in simulating the impact damage of underwater explosions on warships. ［Conclusion］This study can provide a basis and support for the power assessment of underwater anti-explosion and shock design of warships. © 2022 Journal of Clinical Hepatology. All rights reserved.     

Dynamic analysis of multibodies system with a floating base for rolling of ro-ro ship caused by wave and slip of heavy load

Common effect of wave and slip of internal heavy load will make rolling of the roll-on ship serious. This is one of the important reasons for overturn of ro-ro ships. The multibodies System with a floating base is composed of ro-ro ship and slipping heavy load. This paper takes the rolling angle of the ship and the transverse displacement of the heavy load on desk as two freedoms. Making use of analysis of apparent gravitation and apparent buoyaney, the wave rolling moment is derived. By use of dynamic method of multibodies system with a floating base, dynamic equations of the system are established. Taking a certain channel ferry as an example, a set of numerical calculation have been carried out for rolling response of the ship and displacement response of the slipping heavy load under common effect of synchro-slipping heavy loads and wave.     

Optimization of bow shape for a non ballast water ship

In this research,a commercial CFD code ＂Fluent＂ was applied to optimization of bulbous bow shape for a non ballast water ships（NBS）.The ship was developed at the Laboratory of the authors in Osaka Prefecture University,Japan.At first,accuracy of the CFD code was validated by comparing the CFD results with experimental results at towing tank of Osaka Prefecture University.In the optimizing process,the resistances acting on ships in calm water and in regular head waves were defined as the object function.Following features of bulbous bow shapes were considered as design parameters： volume of bulbous bow,height of its volume center,angle of bow bottom,and length of bulbous bow.When referring to the computed results given by the CFD like resistance,pressure and wave pattern made by ships in calm water and in waves,an optimal bow shape for ships was discovered by comparing the results in the series of bow shapes.In the computation on waves,the ship is in fully captured condition because shorter waves,λ/Lpp 0.6,are assumed.     

Statistical Analysis of Ship Collisions with Bridges in China Waterway

Having carried out investigations on ship collision accidents with bridges in waterway in China, a database of ship collision with bridge (SCB) is developed in this paper. It includes detailed information about more than 200 accidents near ship' s waterways in the last four decades, in which ships collided with the bridges. Based on the information a statistical analysis is presented tentatively. The increase in frequency of ship collision with bridges appears, and the accident quantity of the barge system is more than that of single ship. The main reason of all the factors for ship collision with bridge is the human errors, which takes up 70%. The quantity of the accidents happened during flooding period shows over 3 - 6 times compared with the period from March to June in a year. The probability follows the normal distribution according to statistical analysis. Visibility, span between piers also have an effect on the frequency of the accidents.     

The Limit of Large Vessels

On Feb 21(st),the industry was shocked by the news that AP Moller-Maersk placed an order of 10 container ships of 18,000 TEU with the South Korean ship yards.The order brings the development of large vessels to a new climax and at the same time puts forward a series of research subjects to the industry,such as what is the limit for the development of large vessels,whether ship safety can be guaranteed,and etc.     

3-D computational method of wave loads on turret moored FPSO tankers

A three-dimensional method of calculating wave loads of turret moored FPSO (Floating Production Storage and Offloading) tankers is presented. The linearized restoring forces acting on the ship hull by the mooring system are calculated according to the catenary theory, which are expressed as the function of linear stiffness coefficients and the displacements of the upper ends of mooring chains. The hydrodynamic coefficients of the ship are calculated by the three-dimensional potential flow theory of the linear hydrodynamic problem for ships with a low forward speed. The equations of ship motions are established with the effect of the restoring forces from the mooring system included as linear stiffness coefficients. The equations of motions are solved in frequency domain, and the responses of wave-induced motions and loads on the ship can be obtained. A computer program based on this method has been developed, and some calculation examples are illustrated. Analysis results show that the method can give satisfying prediction of wave loads.     

水下无人潜航器航向H_∞鲁棒容错控制器设计(英文)

In order to improve the security and reliability for autonomous underwater vehicle (AUV) navigation, an H∞ robust fault-tolerant controller was designed after analyzing variations in state-feedback gain. Operating conditions and the design method were then analyzed so that the control problem could be expressed as a mathematical optimization problem. This permitted the use of linear matrix inequalities (LMI) to solve for the H∞ controller for the system. When considering different actuator failures, these conditions were then also mathematically expressed, allowing the H∞ robust controller to solve for these events and thus be fault-tolerant. Finally, simulation results showed that the H∞ robust fault-tolerant controller could provide precise AUV navigation control with strong robustness.     

Seabed collision emergency decision-making of AUV based on safety domain model北大核心CSCD

［Objectives］To ensure safety and prevent seabed collisions in complex unknown underwater environments, this study proposes a seabed safety domain model and tiered emergency response strategies. ［Methods］A vertical motion simulation model is established and verified by surpassing the test results, then used to calculate the active and passive safety domain distance of an autonomous underwater vehicle (AUV), thereby establishing a seabed safety domain model. An AUV emergency control system and emergency strategies are then built on the basis of the dynamic safety domain model. The trim and distance from the seabed of the AUV are used to calculate the current and future risk factors. Based on the weighted sum, the comprehensive risk factor is employed to provide the AUV with emergency response strategies.［Results］Lake tests with the AUV sailing at a fixed depth and height show a strong dependency of the comprehensive risk coefficient on seabed height when it is close to the boundary of the AUV's active safety domain. In the opposite case, there is a weak dependency of the comprehensive risk coefficient on seabed height. The results show that the proposed AUV emergency control system can reduce emergency false alarms caused by frequently changing riverbed heights and sailing altitudes close to the seabed. In such cases, reasonable emergency strategies can be realized under complex rough terrain.［Conclusions］The AUV seabed safety domain model and tiered emergency response strategies based on vertical motion equations proposed herein can be applied to evaluate seabed collision risk in various cases. Finally, this paper provides emergency response strategies to avoid seabed collision accidents, which can enhance the safety of AUV navigation. © 2023 Chinese Journal of Ship Research. All rights reserved.     

Application of A* algorithm for real-time path re-planning of an unmanned surface vehicle avoiding underwater obstacles

This paper describes path re-planning techniques andunderwater obstacle avoidance for unmanned surface vehicle （USV）based on multi-beam forward looking sonar （FLS）. Near-optimalpaths in static and dynamic environments with underwaterobstacles are computed using a numerical solution procedure basedon an A algorithm. The USV is modeled with a circular shape in 2degrees of freedom （surge and yaw）. In this paper, two-dimensional（2-D） underwater obstacle avoidance and the robust real-time pathre-planning technique for actual USV using multi-beam FLS aredeveloped. Our real-time path re-planning algorithm has beentested to regenerate the optimal path for several updated frames inthe field of view of the sonar with a proper update frequency of theFLS. The performance of the proposed method was verifiedthrough simulations, and sea experiments. For simulations, theUSV model can avoid both a single stationary obstacle, multiplestationary obstacles and moving obstacles with the near-optimaltrajectory that are performed both in the vehicle and the worldreference frame. For sea experiments, the proposed method for anunderwater obstacle avoidance system is implemented with a USVtest platform. The actual USV is automatically controlled andsucceeded in its real-time avoidance against the stationary underseaobstacle in the field of view of the FLS together with the GlobalPositioning System （GPS） of the USV.