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.     

Sea Cucumber Moratorium and Livelihood Diversity in Papua New Guinea

Livelihood diversity factors such as flexibility within fisheries, geographical mobility, reallocation of fishing effort into the broader economy, and the non-material benefits that fisheries provide are important areas of research in marine policy. We use two small-scale fisheries related socio-economic surveys of communities in the Tigak Islands of Papua New Guinea. The first conducted 5 years before a ban on the harvesting of sea cucumbers was imposed and the second from the present day, 5 years after the initiation of the ban—with the objectives of exploring changes in household fishing strategies (types and numbers of species targeted) and to identify any important socioeconomic factors that help explain those changes. Fishing's contribution to total household income has increased significantly (p = 0.019) up from 61% in 2004 to 73% in 2014 with the percentage of female residents living in a household now positively and significantly (p = 0.018) associated with fishing income. The average number of species categories targeted per household increased insignificantly while households with more women are significantly (p = 0.018) less likely to target more species than households with more men. Moreover, customary management practices contribute to this difference. Together, these results show that households are not worse off financially 5 years after the ban on sea cucumber harvesting and that gendered seascape use has implications for the role of livelihood diversity as a marine policy tool.     

Traffic noise abatement: How different pavements, vehicle speeds and traffic densities affect annoyance levels

In this paper, annoyance ratings from traffic noise recorded on cobblestones, dense asphalt, and open asphalt rubber pavements are assessed with regard to car speeds and traffic densities. It was found that cobblestones pavements are the most annoying; also while open asphalt rubber pavement imposes less annoyance than dense asphalt it is not significantly different. Higher car speeds always lead to greater annoyance, as does higher traffic densities. LAeq and LAmax correlate well with annoyance, but loudness is the best predictor. Roughness and sharpness exhibit inconsistent interactions.     

International Symposium on the Ice Carrying Trade at Sea

Overmanning and restrictive labour practices are major causes of low productivity in Indian ports. Proposals are put forward for a programme of reforms to support investment in modern cargo handling systems.     

Effect of nozzle orifice diameter on diesel spray tip penetration according to various spray models for CFD simulation with widely varying back pressure

CFD simulations of spray tip penetration with the standard KIVA3V, ‘original gas jet’ and ‘Normal gas jet profile with breakup length formula’ (NGJBL) spray models were performed to investigate the effects of nozzle orifice size and ambient gas density combinations on the spray penetration. The accuracy of the CFD simulation results was estimated by comparing them with available experimental data. The ambient gas density was varied in 12 kg/m³ intervals from 12 to 69 kg/m³ for each nozzle orifice diameter. The nozzle orifice diameters used were 119, 140, 183 and 206 mm. A total of 20 cases in the CFD simulations were considered with combinations of the 4 nozzle orifice diameters and 5 ambient gas densities. CFD simulations with the NGJBL spray model were more accurate than those with either the standard KIVA3V or gas jet spray models as the nozzle orifice diameter and ambient gas density was increased. The NGJBL and original gas jet model is more effective in predicting the spray tip penetration near the nozzle tip region.     

Vibration reduction of H/Shaft using an electromagnetic damper with mode change

The objective of this study is to develop a damper that can reduce the amplitude of vibration in various frequency ranges. Previous H/Shaft vibration reduction methods work in a passive way. A dynamic damper reduces the amplitude of vibration at its first mode, but vibration still appears at the second mode. A mass damper or hollow shaft can shift the natural frequency to a lower or higher region. The fixed operating frequency prevents vibration from being reduced outside the operating frequency range. The proposed damper uses electromagnets as either masses or actuators to change the damper mode between dynamic damper mode and mass damper mode. The electromagnetic damper (EMD) can change its mode to respond to the vibration excitation at both low and high frequencies. The vibration reduction performance was evaluated by FRF tests in laboratory and vehicle conditions. The results were compared with those of a dynamic damper and indicate that the amplitude of vibration is reduced by 95.6 % when the EMD is implemented on an H/Shaft, whereas only 61.9 % vibration reduction is achieved by the dynamic damper.     

A receding horizon sliding control approach for electric powertrains with backlash and flexible half-shafts

Active control of electric powertrains is challenging, due to the fact that backlash and structural flexibility in transmission components can cause severe performance degradation or even instability of the control system. Furthermore, high impact forces in transmissions reduce driving comfort and possibly lead to damage of the mechanical elements in contact. In this paper, a nonlinear electric powertrain is modelled as a piecewise affine (PWA) system. The novel receding horizon sliding control (RHSC) idea is extended to constrained PWA systems and utilised to systematically address the active control problem for electric powertrains. Simulations are conducted in Matlab/Simulink in conjunction with the high fidelity Carsim software. RHSC shows superior jerk suppression and target wheel speed tracking performance as well as reduced computational cost over classical model predictive control (MPC). This indicates the newly proposed RHSC is an effective method to address the active control problem for electric powertrains.     

Insights into vehicle trajectories at the handling limits: analysing open data from race car drivers

Race car drivers can offer insights into vehicle control during extreme manoeuvres; however, little data from race teams is publicly available for analysis. The Revs Program at Stanford has built a collection of vehicle dynamics data acquired from vintage race cars during live racing events with the intent of making this database publicly available for future analysis. This paper discusses the data acquisition, post-processing, and storage methods used to generate the database. An analysis of available data quantifies the repeatability of professional race car driver performance by examining the statistical dispersion of their driven paths. Certain map features, such as sections with high path curvature, consistently corresponded to local minima in path dispersion, quantifying the qualitative concept that drivers anchor their racing lines at specific locations around the track. A case study explores how two professional drivers employ distinct driving styles to achieve similar lap times, supporting the idea that driving at the limits allows a family of solutions in terms of paths and speed that can be adapted based on specific spatial, temporal, or other constraints and objectives.