An experimental testbed for mobile offshore base control concepts

 The concept of a mobile offshore base (MOB) reflects the need to stage and support military and humanitarian operations anywhere in the world. A MOB is a self-propelled, modular, floating platform that can be assembled into lengths of up to 2 km, as required, to provide logistic support to US military operations where fixed bases are not available or adequate. It accommodates the take-off and landing of C17 aircraft, and can be used for storage, as well as to send resources quickly to shore. In most concepts, the structure is made of three to five modules, which have to perform long-term station-keeping in the presence of winds, waves, and currents. This is usually referred to as dynamic positioning (DP). In the MOB, the alignment is maintained through the use of thrusters, connectors, or a combination of both. In this paper, we consider the real-time control of scaled models of a MOB. The modules are built at the 1 : 150 scale, and are kept aligned by rotating thrusters under a hierarchical hybrid control scheme. This paper describes a physical testbed developed at the University of California, Berkeley, under a grant from the US Office of Naval Research, for the purpose of evaluating competing MOB control concepts. Received: June 4, 2002 / Accepted: October 30, 2002 Acknowledgments. This material is based on work supported by the MOB Program of the US Office of Naval Research under grant N00014-98-1-0744. The authors would like to thank the Link Foundation for its support. Many thanks go to Stephen Spry for his experimental work. The photographs are courtesy of Bill Stone, Gerald Stone, and Jay Sullivan of the PATH Publications staff. Address correspondence to: A.R. Girard (e-mail: anouck@eecs.berkeley.edu)     

Design and evaluation of a hierarchical control architecture for an autonomous underwater vehicle

This paper researches on a kind of control architecture for autonomous undelwater vehicle （AUV）. After describing the hybrid property of the AUV control system, we present the hierarchical AUV control architecture. The architecture is organized in three layers： mission layer, task layer and execution layer. State supervisor and task coordinator are two key modules handling discrete events, so we describe these two modules in detail. Finally, we carried out a series of tests to verify this architecture The test results show that the AUV can perform autonomous missions effectively and safely. We can conclude the control architecture is valid and practical.     

Study of hierarchical federation architecture using multi-resolution modeling

This paper aims at finding a solution to the problem aroused in complex system simulation, where a specific functional federation is coupled with other simulation systems. In other words, the communication information within the system may be received by other federates that participated in this united simulation. For the purpose of ensuring simulation system unitary character, a hierarchical federation architecture (HFA) is taken. Also considering the real situation, where federates in a complicated simulation system can be made simpler to an extent, a multi-resolution modeling (MRM) method is imported to implement the design of hierarchical federation. By utilizing the multiple resolution entity ( MRE ) modeling approach, MRE for federates are designed out. When different level training simulation is required, the appropriate MRE at corresponding layers can be called. The design method realizes the reuse feature of the simulation system and reduces simulation complexity and improves the validity of system Simulation Cost (SC). Taking submarine voyage training simulator (SVTS) for instance, a HFA for submarine is constructed in‘this paper, which approves the feasibility of studied approach.     

基于浮体Morison方程的半潜式超大型浮式结构波浪力简化计算方法

研究了半潜式超大型浮式结构中移动式海上基地（MOB）在高海况随机波作用下波浪力的简化计算方法。文中基于修正后的浮体Morison方程,经理论推导得出了MOB结构波浪力的计算公式。以MOB结构“三模块模型”为例,研究其在6级海况条件下基于Bretschneider谱模拟的随机不规则波中浪向角变化在0°~90°范围内,各模块的波浪力-历时规律,将本文简化算法的计算结果统计值与势流理论的结果相互对比,并对二者进行误差分析。结果表明：运用本文简化算法得到的MOB波浪力统计结果与势流理论的结果吻合程度高,且二者之间的相对误差在工程允许的范围之内,可充分验证本文方法的正确性、合理性与可行性。本文算法相比于势流理论而言更加简单,建议在结构初步设计阶段运用该方法可高效地评估大量不同工况下MOB结构的波浪荷载,研究成果可为半潜式超大型浮式结构动力响应研究奠定基础。     

Study of the ship design process model for collaborative design

The ship design process model is the basis for developing the ship collaborative design system under network environment. According to the characteristics of the ship design, a method for dividing the ship design process into three layers is pat forward, that is project layer, design task layer and design activity layer, then the formalized definitions of the ship design process model, the decomposing principles of the ship design process and the architecture of the ship collaborative design （SDPM） system are presented. This method simplifies the activity network, makes the optimization and adjustment of the design plan convenient and also makes the design process easier to control and change, at last the architecture of the ship collaborative design system is discussed.     

水下机器人递阶控制系统结构设计

为了简化水下机器人的控制系统设计,实现良好的人机界面,本文提出了解耦三级递阶控制系统结构,它包括由任务脚本和任务解释器组成的任务级控制、位置／姿态级控制和执行级控制。采用这种控制结构,大大缩短了开发周期,提高了软件模块的可重用性。     

Reliability analysis of fatigue life of the connectors—the US Mobile Offshore Base

Reliability-based design analysis of the fatigue life of the connectors of the five sections of the 2-km long US Mobile Offshore Base (MOB) is demonstrated. A performance function is defined in terms of the nominal stress range, inherent defect or starter crack, and appropriate material properties, which are considered random variables. The reliability analysis is performed for a sea state 1–8 (SS1–8) random loading having a Gumbel distribution. Where possible, uncertainty data for random variables are obtained from published data relating to the fatigue of metal and metal alloys. Otherwise, judgmental coefficients of variation are prescribed for purposes of demonstration. The fatigue life is assumed to follow the Weibull distribution. The reliability function is defined in terms of the mean life and the total uncertainty in the fatigue life. Preliminary reliability calculations suggest that current design stress levels be reduced to meet the current fatigue life target reliability level for the MOB connectors. An illustrative design is demonstrated and the metal selected for a fatigue design of the connectors for 10 million cycles with a reliability of 0.99 at a nominal stress of 203 MPa is HY-130 steel.     

移动式近海基地的动力定位控制研究

移动式近海基地是一个大型的、浮动的、自行驱动的、由三至五个模块组成的海洋结构.其中的每个模块均能在风、浪、流作用力下实现长期定位.本文首先讨论了针对移动式近海基地的控制架构.然后针对近海基地中的单独模块设计了一个非线性带前馈的比例微分(PD)控制器,并将其应用到多个模块的运动控制中.文中同时给出了所设计的控制系统的仿真结果.     

基于LabVIEW的船舶电站实时监控系统

基于LabVIEW虚拟仪器开发平台，设计了一种船舶电站实时监控系统。系统采用工控机和单片机两级控制模式，通过Modbus通信协议实现两级之间的实时通信，完成对船舶电站柴油发电机组的监控。给出了监控系统的具体实施方案，详细讨论了船舶电站实时监控程序的编制要点。该监控系统界面友好，功能完善，可视性强。这种基于LabVIEW将工控机与单片机有机结合的方法，是一种开发智能化图形监控设备的有效途径，在现代舰船电站智能控制设计中具有实用价值。     

基于多处理机的船舶动力定位控制系统

该文介绍了船舶动力定位控制的设计方法,研究了动力定位系统的分布式多处理机体系结构,提出了动力定位应用软件的层次化结构设计思想,基于多处理机的系统设计方案合理,并行度高,实时性好,可靠性高,可以很好的完成复杂船舶动力定位系统所要求的实时信息采集,数据处理,控制计算,推力分配,能源管理等任务,具有重要的工程实用价值。     

船舶主机遥控信息显示系统设计

船舶主机遥控系统是机舱自动化系统的一个重要组成部分.文章设计了一种适合中小船舶的主机遥控信息显示系统,该系统基于嵌入式编程技术,采用STM32系列微控制器,实现主机参数、状态和报警信息的显示,从系统架构设计、电路设计和软件编程等方面对这一系统进行了介绍.     

某滨海住宅小区的建筑设计方案

以漳州台商投资区某住宅小区的建筑设计为例,重点介绍因地制宜建设宜居型住宅小区的主要设计原则,以及中标建筑设计方案在社区功能布局、交通组织和建筑造型风格等方面的特点,探讨建筑设计在构建以人为本的和谐社会中应发挥的作用。     

基于UML的机动目标跟踪体系结构框架

针对机动目标跟踪系统开发中存在的体系结构复杂、算法通用性弱的问题,分析了利用面向对象的方法建立其体系结构框架的意义,介绍了基于UML的体系结构框架的设计方法,设计了机动目标跟踪系统的体系结构框架。由用例视图描述需求,逻辑视图描述逻辑结构。通过分层和包的分解,将系统从逻辑上划分成松散耦合的多个组成部分。采用时序图和状态图从动态的角度对框架进行了描述。基于该框架实现的应用系统具有良好的扩充性和重用性,有效地降低了应用系统的研发成本。并且为今后此类框架的研制开发提供思路,具有一定借鉴和指导意义。     

多重网络型船舶主机遥控仿真系统的设计与开发

轮机模拟器是现代化航海教育的必备设施,其中最重要的子系统是船舶主机遥控仿真系统.文章介绍了船舶主机气动操作系统的实时仿真构思、多重网络的硬件结构组成、仿真系统功能和软件编程思想,详细阐述了该系统的实时在线仿真、离线单步运行和任意时间比例尺连续运行特点.     

一种应用于综合舰桥系统的体系结构设计

论文以综合舰桥为研究对象,研究了综合舰桥系统体系结构的设计方案。从系统总体设计的角度,分析了综合舰桥系统的基本功能、组成要素、信息流程、连接方式、层次划分与设计规范,设计了包括运作体系结构、系统体系结构和技术体系结构的三维系统体系结构。其中运作体系结构规定了系统的任务与信息流程;系统体系结构界定了系统的组成元素和元素之间的连接方式;技术体系结构规定了系统设计应遵循的技术标准和规范。论本文提出的综合舰桥系统体系结构,为系统总体设计提供了理论框架。     

舰载网络故障管理机制与实现技术研究

文章分析了舰艇中舰载网络故障管理的工作内容、步骤和流程,归纳了故障管理的检测和诊断机制,描述了故障管理的实现技术,包括故障管理体系结构与层次功能等内容。     

支持协同设计的船舶设计过程模型研究

船舶设计过程模型是在网络环境下开展船舶并行和协同设计系统的基础.本文根据船舶设计的特点,提出了将船舶设计过程按照项目、设计任务和设计活动三个层次进行分解的方法,并给出了船舶设计过程模型形式化定义.该模型明确了设计任务间的并行、顺序和协同关系,可以直接按设计任务构成活动网络图进行规划、分析、管理等工作,使设计过程具有良好的可变更性和可控性.     

Mobile offshore bases—an overview of recent research

The Mobile Offshore Base (MOB) is a multipurpose, floating logistics base which can be stationed in coastal or international waters. The offshore base is comprised of self-propelled modules that are connected together at sea to form a runway and support base for fixed-wing aircraft and helicopters. The MOB is used as a prepositioned cargo stowage and transshipment point, enabling the movement of cargo to and from ships in an open seaway. Described here is an approach to developing a mobile, offshore basing capability. The work is discussed in context of two significant MOB projects including a discussion of criteria and major technical issues. Presented at the International Workshop on Very Large Floating Structures (VLFS'96), 25–28 November 1996, Hayama, Japan     

电力推进船舶电网集中监控系统研究与开发

为了提高船舶电力系统运行可靠性和故障检测能力,通过分析电力系统功能和任务,提出了以集中监控装置为控制层,以现场控制装置为服务层,以信息采集设备和电力系统设备为数据层的三层分布式架构,研究并开发了船舶电网集中监控系统。本文详述了该电网集中监控系统组成、功能和软硬件设计方案。实船试验表明,该电网集中监控系统实现了船舶电力系统集中监测、控制、保护和管理,保障了电力系统的安全、稳定、连续、经济运行。     

入口治超系统在新收费系统中的应用与优化

为顺利完成取消省界收费配套项目中的入口拒超项目,在收费站入口引入治超系统.根据各收费站的具体情况进行称重设备选型和施工方案优化;对入口治超系统的架构进行分析,指出其数据上传方式.针对试运行过程中发现的窄条称重系统存在的设计缺陷,给出增加光幕的解决方案,并进行数据分析,指出增加光幕的具体优势.结果表明,采用该方案优化的入口治超系统上线之后,超限超载车辆数量明显减少,达到了治超的目的.