基于深度强化学习的智能船舶航迹跟踪控制

[目的]智能船舶的航迹跟踪控制问题往往面临着控制环境复杂、控制器稳定性不高以及大量的算法计算等问题。为实现对航迹跟踪的精准控制,提出一种引入深度强化学习技术的航向控制器。[方法]首先,结合视线(LOS)算法制导,以船舶的操纵特性和控制要求为基础,将航迹跟踪问题建模成马尔可夫决策过程,设计其状态空间、动作空间、奖励函数;然后,使用深度确定性策略梯度(DDPG)算法作为控制器的实现,采用离线学习方法对控制器进行训练;最后,将训练完成的控制器与BP-PID控制器进行对比研究,分析控制效果。[结果]仿真结果表明,设计的深度强化学习控制器可以从训练学习过程中快速收敛达到控制要求,训练后的网络与BP-PID控制器相比跟踪迅速,具有偏航误差小、舵角变化频率小等优点。[结论]研究成果可为智能船舶航迹跟踪控制提供参考。     

Key technologies of ship remote control system in inland waterways under ship-shore cooperation conditions北大核心CSCD

［Objective ］ To meet the requirements of remotely controlling ship in curved, narrow and crowded inland waterways, this paper proposes an approach that consists of CNN-based algorithms and knowledge based models under ship-shore cooperation conditions. ［Method］On the basis of analyzing the characteristics of ship-shore cooperation, the proposed approach realizes autonomous perception of the environment with visual simulation at the core and navigation decision-making control based on deep reinforcement learning, and finally constructs an artificial intelligence system composed of image deep learning processing, navigation situation cognition, route steady-state control and other functions. Remote control and short-time autonomous navigation of operating ships are realized under inland waterway conditions, and remote control of container ships and ferries is carried out. ［Results］The proposed approach is capable of replacing manual work by remote orders or independent decision-making, as well as realizing independent obstacle avoidance, with a consistent deviation of less than 20 meters. ［Conclusions］The developed prototype system carries out the remote control operation demonstration of the above ship types in such waterways as the Changhu Canal Shenzhou line and the Yangtze River, proving that a complete set of algorithms with a CNN and reinforcement learning at the core can independently extract key navigation information, construct obstacle avoidance and control awareness, and lay the foundation for inland river intelligent navigation systems. © 2022 Journal of Clinical Hepatology. All rights reserved.     

基于动态面控制方法的船舶动力定位控制

随着经济全球化的发展,人们对海洋资源的开采和利用逐年加深,在开采过程中需要在船舶上进行数据采集,保证船舶的稳定性对研究海洋资源具有深远的意义。本文通过引入动态面控制算法,利用动态面控制技术为动力定位船舶设计控制系统,每一步使用一阶积分滤波器来评估虚拟控制输入的导数,仿真结果显示与传统的backstepping方法相比减低了计算的复杂度,增强了鲁棒性。     

舰艇声纳技术的发展动向与分析

舰艇声纳技术在现代战争中发挥着越来越重要的作用。论文介绍了舰艇声纳技术的发展历程以及装备的研制、改进情况，指出了在现代战争中发展舰艇声纳技术的优势和重要性，重点探讨了几种舰艇声纳技术的性能及其特点，最后论述了舰艇声纳技术的发展动向与分析。     

Fatigue damage calculation for oil tanker and container ship structures

The fatigue behaviour of longitudinal stiffeners of oil tankers and container ships, subjected to dynamic loads, is analysed. The following dynamic load components are considered: hull girder vertical wave bending moment, alone and combined with the horizontal wave bending moment, hydrodynamic pressure and inertial forces caused by cargo acceleration.

The spectral method was selected to calculate the fatigue damage, based on S—N curves and Miner's rule. Following this approach, the fatigue damage may be calculated as a function of a stress parameter Ω_p, which represents the cumulative effect of wave induced loads in the unit of time and incorporates the combined effects of stress level and its occurring frequency.

Simple formulas for Ω_p of oil tankers and container ships are given, obtained from the results of hydrodynamic analyses performed on several ships, in different wave environments.

Several examples show the applicability of the methods to real ship structures. The method, however, still needs to be calibrated because of the simplifying hypotheses introduced in the loading conditions.     

台风的预防预控

防抗台风是海事部门的重点工作之一，只有采取有效的针对性措施才能最大限度地减小损失。     

浅谈滚装客船装车处所的固定式灭火系统

装车处所固定式灭火系统直接影响船舶航行安全。文章介绍了滚装客船装车处所固定式灭火系统的配备、各种常见固定式灭火系统的性能，提出了固定式灭火系统的检查要点及保证这些船舶消防设备正确操作和时刻处于良好使用状态的要求。     

对船舶污染损害侵权责任及索赔主体问题的探讨

船舶污染事故是造成海洋环境污染损害的主要原因之一,建立完善的船舶污染损害索赔机制,保证受损方获得及时的赔偿,是恢复海洋环境、维护受害者利益所必须的。文中从民法的基本原理出发,对国家海域所有权、海域使用权等进行了论述,并按照民事侵权责任的承担原则,对索赔权利主体的确定等问题进行了探讨。     

新型环保船舶涂料技术

文章介绍水性船舶涂料的研制背景，指出传统油漆对修造船行业及社会整体发展的不利影响，提出新型水性船舶涂料环保节能、安全健康，施工便利等优点，以及纳米技术的应用，开创了船舶涂装技术的新纪元。     

关于部分海船主配电板存在问题的分析

文中介绍了部分国轮的主配电板存在的一些质量问题，提出防止产生低质量主配电板的一些方法。