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.     

Development and prospects of initial alignment method for strap-down inertial navigation system北大核心CSCD

Initial alignment technology is directly related to the navigation accuracy and startup time of the strap-down inertial navigation system (SINS), and has always been regarded as a challenging focal point in the research field of inertial navigation. This paper makes a comprehensive survey of SINS initial alignment technology, briefly introduces the basic principles of initial alignment without latitude, coarse alignment with known latitude and precise alignment, and points out their advantages, disadvantages and applicable conditions. The research and effects of existing initial alignment error suppression techniques are then analyzed and discussed. Finally, according to the problems of existing initial alignment methods and the development requirements of the carrier, the future research direction of SINS initial alignment technology is predicted. © 2022 Journal of Clinical Hepatology. All rights reserved.     

基于BP-DS证据理论的航标状态识别模型研究

内河航标标示了可航行水域的边界,是保障内河船舶安全航行的重要前提。面向内河航标不同故障模式,构建一种基于BP-DS证据理论的航标状态识别模型。采用两个BP神经网络分别训练航标基础属性数据与环境因素数据,计算独立的证据值;通过DS证据理论实现航标运行状态识别结果的决策融合。结果表明,基于BP-DS证据理论的航标状态识别模型精度达到80%以上,高于传统经验阈值判别法。     

基于Windows CE的手持式航海功能绘算系统

针对现代舰船航海的需要,融合GIS和PDA技术,采用模块化设计,研制了“手持式航海功能绘算系统”.该系统在WindowsCE环境下融合多种导航信息,绘算快速准确,运行稳定可靠,操作灵活方便,可以提高舰船航海保障能力.     

基于CC工法建造的地下结构受力分析

CC工法作为一种新型地下暗挖技术,为地下工程暗挖施工提供了新的思路,其核心思想是将机械化暗挖小断面结构转换为大断面地下空间建筑结构。为了研究CC工法的结构受力情况,满足CC工法的工法特点需要,使结构安全可靠经济适用,故设计和分析其单元结构和整体结构,并结合CC工法的具体工程应用案例,选取CC工法的3个主要工况进行结构受力分析和设计,得到不同工况的弯剪轴力结果。结果表明： 设计方法和思路较为全面,设计结果安全可靠,能够较好地满足工程需要;同时,研究也为CC工法结构分析和设计提供了方法和依据,为今后相关工程提供了一定的参考。     

曹妃甸LNG码头建设规模与通航效率的适应性

曹妃甸LNG接收站作为我国北方天然气供应的重要保障主体,冬季高峰期月到港LNG船舶达到8～11艘,按照规划扩建后将成为国内外规模最大的LNG接收站。由于LNG船舶通航的严格监管,到港船舶数量的增加会对航道通航效率造成显著压力,因此需要论证码头建设规模与航道的适应性。在现状定线制通航条件下,基于多智能体仿真建模方法,构建曹妃甸港区LNG船舶进出港全过程仿真模型,定量评估不同LNG码头建设规模对LNG船舶通航效率的影响。结果表明,当LNG泊位数达到4个时,船舶进出港受制约明显,优化航路后能有效提高LNG船舶的通航效率。     

微弯分汊河段枢纽增建鱼道水流条件数值模型试验

大源渡航电枢纽拟增建鱼道,受枢纽总平面布置条件限制,鱼道进口如果布置在电站尾水,则施工难度和投资均较大,存在严重安全隐患。为既确保安全、节省投资,又满足过鱼要求,采用SMS-RMA2模型建立了平面二维水动力数学模型,模拟得出枢纽坝轴线下游一定范围内多种不同工况下的流场图,为在坝址所处微弯分汊河段找到合适的鱼道进口位置提供了可靠的参考依据。为提高过鱼效果,建议在鱼道进口上游侧设置导鱼电栅等拦鱼系统和喷淋水声、灯光等诱鱼系统,帮助鱼类及早发现鱼道入口。     

信江东大河复杂浅滩段航道整治方案比选

信江是鄱阳湖流域的五大河流之一,现状航道为Ⅶ级,不满足社会经济发展要求,信江下游拟通过渠化工程来提高航道等级。根据最新河道地形资料及实测水文资料建立工程段的平面二维水流泥沙数学模型并进行详细验证,对航道整治工程后的水流、泥沙冲淤进行计算。对东大河蔡家洲、干港口、磨盘洲3个重点滩险段航道现状及碍航特性进行分析,提出渠化工程后3个险滩段航道整治布置方案,综合考虑工程后的水流运动、工程量、行洪影响、航槽稳定等条件,综合比选得到3个险滩段的航道整治推荐方案及对蔡家洲滩进行工程方案优化,设计成果可为类似航道整治提供参考。     

冰雪条件下中国驾驶员跟驰行为及模型研究

分析驾驶员在冰雪条件下的驾驶行为特性，建立考虑驾驶员行为特性的跟驰模型，有助于丰富现有交通流理论.通过招募驾驶员开展实车跟驰试验，对比分析正常条件与冰雪条件下的驾驶行为差异.进而基于任务难度均衡理论构建包含人类因素参数的任务难度模块，引入改进后的智能驾驶员模型，并采用车辆轨迹数据对模型进行标定和有效性验证.研究表明：驾驶员在跟驰行驶过程中受外界刺激及自身驾驶能力影响时会对车辆行驶状态进行动态调整，试图保持期望间距，且速度与前车一致的状态；冰雪条件下驾驶员采取风险补偿行为，其车头时距波动幅度较正常条件收窄，模型引入人类因素参数可以较好地描述其差异性. 模型有效性验证表明，新模型在6个仿真场景中的表现都优于传统智能驾驶员模型，且表现出更好的鲁棒性.研究结果可为冰雪条件下的交通管理措施制定提供理论支持.     

基于ADAMS的舰载补给起重机摇摆仿真及减摇措施分析

舰载补给起重机吊运柱状箱体时,箱体会由于各种外界影响发生摇摆。针对舰载补给起重机起吊的柱状箱体在舰船摇荡、起重机启停、风载的影响下发生的摇摆进行了ADAMS动力学仿真,得到了这3种因素对柱状箱体摇摆的影响情况,以及柱状箱体在预设工况下的运动规律。改变钢丝绳数量和布置形式进行仿真,得到了不同钢丝绳数量和布置下柱状箱体的运动情况以及相对单根钢丝绳的减摇效果,为进行动基座起重机减摇、防摇研究提供了依据。