考虑横向漂移的船舶路径跟踪自抗扰控制

针对船舶运动系统中内部动态不确定和外部干扰等问题,进行了欠驱动船舶路径跟踪的自抗扰方法研究。利用Backstepping设计参考航向角,并通过线性扩张状态观测器对流干扰和横向运动引起的横向漂移进行估计。其次,根据自抗扰算法对航向进行控制,采用线性扩张状态观测器对外界干扰及内部不确定项进行估计。最后仿真结果表明,在风流干扰下所设计的控制器仍能使船准确地跟踪上参考路径,验证了所提控制方案的有效性。     

Comparing different contour methods with response-based methods for extreme ship response analysis

Environmental contours are often applied in probabilistic structural reliability analysis to identify extreme environmental conditions that may give rise to extreme loads and responses. They facilitate approximate long term analysis of critical structural responses in situations where computationally heavy and time-consuming response calculations makes full long-term analysis infeasible. The environmental contour method identifies extreme environmental conditions that are expected to give rise to extreme structural response of marine structures. The extreme responses can then be estimated by performing response calculations for environmental conditions along the contours.Response-based analysis is an alternative, where extreme value analysis is performed on the actual response rather than on the environmental conditions. For complex structures, this is often not practical due to computationally heavy response calculations. However, by establishing statistical emulators of the response, using machine learning techniques, one may obtain long time-series of the structural response and use this to estimate extreme responses.In this paper, various contour methods will be compared to response-based estimation of extreme vertical bending moment for a tanker. A response emulator based on Gaussian processes regression with adaptive sampling has been established based on response calculations from a hydrodynamic model. Long time-series of sea-state parameters such as significant wave height and wave period are used to construct N-year environmental contours and the extreme N-year response is estimated from numerical calculations for identified sea states. At the same time, the response emulator is applied on the time series to provide long time-series of structural response, in this case vertical bending moment of a tanker. Extreme value analysis is then performed directly on the responses to estimate the N-year extreme response. The results from either method will then be compared, and it is possible to evaluate the accuracy of the environmental contour method in estimating the response. Moreover, different contour methods will be compared.     

Studies on emergency evacuation management for maritime transportation

Marine transportation is a vital component of the world’s economy and transportation network. The number of people using passenger ships around the globe is increasing worldwide. Similar to other transportation systems, passenger safety is critical in maritime shipment. As emergency evacuation processes for ships are highly different from and more complicated than those for buildings and other vehicles, many researchers have published a vast range of documents related to this peculiar research area. However, there is a tangible lack of sufficient literature review studies that investigate marine emergency evacuation (MEE). That being the case, the potential of marine transportation and the effect of emergency evacuation operation on life safety have inspired the proposal of this study. This paper offers a review of the available literature on MEE modelling, analysis and planning during the period from 1973 to 2017 using a systematic approach. After reviewing relevant academic journals, peer-reviewed conference papers, and technical reports of agencies, relevant literature is analysed. In addition, the literature review is extended by means of proposing a framework methodology which considers different possible conditions and situations during MEE. Finally, insights for ship managers and policymakers are discussed and potential future research directions are identified.     

船舶甲板智能抛丸机器人设计

为解决在船舶外场涂装阶段除锈和拉毛施工效率低、质量不稳定、环境污染严重等问题,设计一款用于船舶甲板的智能抛丸机器人。简介该型机器人系统组成,阐述其抛丸分系统、除尘分系统和越障辅助机构的硬件设计及其软件设计,并设计手动遥控和自主导引操作方式。实船测试结果表明,该型机器人可满足船舶甲板除锈清理的工作要求。     

基于信令数据的出行强度影响因素分析模型

为探究城市交通出行强度影响因素及不同因素的影响程度，本文从土地利用与交通基础设施建设两方面出发，分析包括土地利用混合指数，职住混合率熵指数，公共交通站点 500 m覆盖率，路网可达性等17个指标与出行强度的相关关系；基于相关系数和拟合优度分析，提取7个与出行强度强相关指标，基于所识别指标构建北京市中心城区出行强度多元回归模型.模型结果表明，职住混合率熵指数对出行强度的影响最为显著，公共交通站点覆盖率对出行强度的影响比道路网密度和可达性更为明显.此外，给出单一土地利用/交通基础设施指标对出行强度拟合结果的离群特征分析方法，用于评估不同区域基础设施供给与交通出行需求之间的平衡关系.     

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。     

The identification and empirical characterization of vehicular (Lagrangian) fundamental diagrams in multilane traffic flow

Traditional macroscopic traffic flow modeling framework adopts the spatial–temporal coordinate system to analyze traffic flow dynamics. With such modeling and analysis paradigm, complications arise for traffic flow data collected from mobile sensors such as probe vehicles equipped with mobile phones, Bluetooth, and Global Positioning System devices. The vehicle‐based measurement technologies call for new modeling thoughts that address the unique features of moving measurements and explore their full potential. In this paper, we look into the concept of vehicular fundamental diagram (VFD) and discuss its engineering implications. VFD corresponds to a conventional fundamental diagram (FD) in the kinematic wave (KW) theory that adopts space–time coordinates. Similar to the regular FD in the KW theory, VFD encapsulates all traffic flow dynamics. In this paper, to demonstrate the full potential of VFD in interpreting multilane traffic flow dynamics, we generalize the classical Edie's formula and propose a direct approach of reconstructing VFD from traffic measurements in the vehicular coordinates. A smoothing algorithm is proposed to effectively reduce the nonphysical fluctuation of traffic states calculated from multilane vehicle trajectories. As an example, we apply the proposed methodology to explore the next‐generation simulation datasets and identify the existence and forms of shock waves in different coordinate systems. Our findings provide empirical justifications and further insight for the Lagrangian traffic flow theory and models when applied in practice. Copyright © 2015 John Wiley & Sons, Ltd.     

面向生产管理信息化的涂装智能设计系统

研究分析涂装设计工艺流程、涂装生产管理流程及涂装机器人工艺参数，整理分析涂装工艺数据、生产管理信息和涂装机器人的工艺特征，对这些数据进行整理归纳，理清他们之间的逻辑关系，形成数据接口，通过数据库系统完成涂装规范化设计和生产管理以及涂装机器人的对接。     

集美大学教学实习船“育德”轮总体设计

"育德"轮是上海船舶研究设计院为集美大学设计的用于航海专业教学实习、科学研究兼顾货物运输的教学实习船。该船是目前世界吨位最大的教学实习船,配备了功能齐全的教学设施、先进的科研设备以及舒适的学习生活环境。该船还具有安全性高、绿色环保和经济性优异等特点。     

两种响应型船舶运动模型的对比及适用性分析

船舶运动模型作为自动舵性能检测平台的基础与核心，对于自动舵的研发、调试及船舶运动控制算法的设计都有非常重要的意义。现有的航迹航向自动舵检测平台普遍使用简化的一阶线性KT方程。由于忽略船舶回转运动中的纵向速度变化以及首摇角与横向速度之间的耦合，在实际使用中具有一定的局限性。本文引用国际电工委员会制定的航迹自动舵标准（ IEC62065）中提出的船舶运动模型，并对其进行仿真，将仿真结果与一阶线性KT方程的仿真结果进行对比分析，讨论一阶线性KT方程的适用范围。同时介绍改进的一阶非线性KT方程的形式并进行仿真试验，结果表明其与 IEC62065中非线性模型相似度较好，且减少了计算量。