Direct algorithms for steady-state solution of long slender marine structures

The steady state solution of long slender marine structures simply indicates the steady motion response to the excitation at top of the structure.It is very crucial especially for deep towing systems to find out how the towed body and towing cable work under certain towing speed.This paper has presented a direct algorithm using Runge-Kutta method for steady-state solution of long slender cylindrical structures and compared to the time iteration calculation;the direct algorithm spends much less time than the time-iteration scheme.Therefore, the direct algorithm proposed in this paper is quite efficient in providing credible reference for marine engineering applications.     

声纳隔振模块性能分析

拖曳线声纳在海洋资源勘探、水下反潜战争中一直起着非常重要的作用。为了提高声纳的隔振性能,必须在声阵模块前、后插入性能优良的隔振模块。文章在建立声纳隔振模块有限元模型的基础上,对隔振模块的隔振性能进行了理论计算,得到了一些有价值的结论。这些结论对于进一步改进和提高隔振模块性能具有参考价值。     

Adaptive Sliding-Mode Tracking Control for an Uncertain Nonlinear SISO Servo System with a Disturbance Observer

An adaptive sliding mode controller with a disturbance observer (ASMC-DO) is proposed for the control of a single-input and single-output (SISO) servo system which has uncertain parameters, nonlinear friction, disturbance and input saturation. It is difficult to choose the suitable value of the parameters. The newly designed adaptive method is used to reduce the effects of system time-varying parameters, such as the moment of inertia and the damp coefficient. The robustness of object is improved. A DO is selected to approximate the compound disturbance and to render the estimate error convergent in finite time. The stability and the convergence of the closed-loop system are proved by using the Lyapunov theory. Experimental results show that the proposed ASMC-DO can better satisfy the influence of variable parameters and external disturbance to the control precision of the SISO servo system than other two controllers. The effectiveness of the proposed controller is showed. The control input stability and robust performances of the input saturation system are enhanced and the chattering is reduced.     

Dynamic Behavior of Two Part Towing Cable System During Turning

An improved numerical method is used to simulate the dynamic behavior of a two part towing cable systems during turnings. In U turns and full turns, periodical heave motions are found both for the towed vehicle and for the depressor. Periodic motions of the subsea units and of the cable surface tension are closely related to the turning parameters, such as turning velocity and turning radius. System parameters, such as length of the second cable and the vehicle hydrodynamics, also damp turning instability.     

Dynamic response analysis of towed cable during deployment/retrieval

A numerical approach was developed to analyze the transient behavior of towed cable during ac- tively controlled deployment/retrieval (DR). The cable motion is described by the lumped parameter method, its corresponding boundary conditions are presented. In view of its varying length during DR, two auxiliary arguments are introduced to describe its continuous varying length and discrete number of nodes(equations), the length is determined by the pay out(or reel-in) rate, which is then used to determine the node number by a logic relation. For the discrete mathematical model of towed cable, an algorithm was developed to deal with the discrete governing equations. The simulation results indicate that the cable experiences more com- plex motions due to its varying length, and tension fluctuates seriously in the startup and ending stage of deployment/retrieval. The effect of towing ship's motion in waves on cable during deployment/retrieval is also considered via numerical simulation.     

Numerical Investigation of the Dynamics for Low Tension Marine Cables

This paper presents a numerical investigation into the dynamics of marine cables which are extensively used in offshore industry. In this numerical study, the Euler-Bernoulli beam model is adopted to develop the governing equations of the cable. Bending stiffness is considered to cope with the low tension problem in local area of towing cable, and thus a more accurate solution with the consideration of the axial elongation can be given.The derived strongly-coupled and nonlinear governing equations are solved by a second-order accurate, implicit,and large time step stable central finite difference method. The quadratically convergent Newton-Raphson iteration method is applied to solving the discrete nonlinear algebraic equations. Then a towed array sonar system(TASS)problem is studied. The numerical solutions agree reasonably well with the experimental data and the simulated results of the references. The specified program of the present paper shows great robustness with high efficiency.     

粘弹性阻尼器对空间桁架结构减震设计与分析

大跨空间结构的振动控制问题一直是人们关注的焦点,其抗震性能的好坏直接关系到人民生命和国家经济财产安全.采用粘弹性阻尼器对大跨空间桁架结构进行减震控制,计算阻尼器相应的力学参数,并对加与未加粘弹性阻尼器结构的地震响应进行对比.分析计算表明:无论在Taft地震波还是在E1 Centro地震波下,在大跨空间桁架结构中加入粘弹...     

Intelligent video surveillance for checking attendance of traffic controllers in level crossing

This paper proposes a detecting and tracking scheme for automatic checking attendance of traffic controllers in level crossing by recognizing their warning waistcoats. Considering of the actual requirement of rapidity and validity, this paper employs techniques of motion detection, color segmentation and feature matching to deal with the challenging problems of illumination varying, light reflection and disturbance. Therefore, the task of distinguishing the target from candidates can be fulfilled accurately. Once a target being detected, the established color models are modified through learning color of the detected target, and then Cam-shift algorithm is employed to track this target smoothly. The experiments in real scenes demonstrate that this method has a great capability to detect and track traffic controllers in complex level crossing environment accurately, and the comparisons further demonstrate the validity of the proposed method.     

An Adaptive Scheme for Neighbor Discovery in Mobile Ad Hoc Networks

The neighbor knowledge in mobile ad hoc networks is important information. However, the accuracy of neighbor knowledge is paid in terms of energy consumption. In traditional schemes for neighbor discovery, a mobile node uses fixed period to send HELLO messages to notify its existence. An adaptive scheme was proposed. The objective is that when mobile nodes are distributed sparsely or move slowly, fewer HELLO messages are needed to achieve reasonable accuracy, while in a mutable network where nodes are dense or move quickly, they can adaptively send more HELLO messages to ensure the accuracy. Simulation results show that the adaptive scheme achieves the objective and performs effectively.     

双体船平移操纵水动力性能试验研究

介绍了用船模拖曳试验来确定某喷水推进双体船平移运动水动力特性的方法,并对试验结果进行了分析.通过船模试验发现,船体平移时的水动力大小随航速增加而快速增加,在同一航速但不同尾斜角下水动力大小也各不相同;水动力的方向和水动力作用点的位置随航速的改变而改变,但变化幅度不大,受尾斜角影响较大.准确掌握船体平移运动水动力特性,可为合理制定喷水推进器的控制策略,充分发挥喷水推进船优异的机动性、操纵性提供理论依据.     

Robust buffer management mechanism in quality of service routers

Active queue management (AQM) is essentially a router buffer management strategy supporting TCP congestion control. Since existing AQM schemes exhibit poor performance and even instability in time delay uncertain networks, a robust buffer management (RBM) mechanism is proposed to guarantee the quality of service (QoS). RBM consists of a Smith predictor and two independent controllers. The Smith predictor is used to compensate for the round trip time (RTT) delay and to restrain its negative influence on network performance. The main feedback controller and the disturbance rejection controller are designed as proportional-integral (PI) controller and proportional (P) controller by internal model control (IMC) and frequency-domain analysis respectively. By simulation experiments in Netwrok-Simulator-2 (NS2), it is demonstrated that RBM can effectively manage the buffer occupation around the target value against time delay and system disturbance. Compared with delay compensation-AQM algorithm (DC-AQM), proportional-integral-derivative (PID) algorithm and random exponential marking (REM) algorithm, the RBM scheme exhibits the superiority in terms of stability, responsiveness and robustness.     

小净距隧道施工中爆破地震波监测与处理

目前对爆破地震的研究主要还局限在单纯的测试和总结经验上,对爆破振动效应未进行全方位的分析,基于以往经验,爆破工作者通过大量的试验和回归分析及计算机的辅助运用,得出大量有用结论。通过对某隧道的现场爆破振动测试数据进行回归分析,给出符合该地段的经验公式,定性分析地震波对建筑物的破坏特点及其传播衰减规律。     

拖带无动力船舶时拖轮配置计算方法比较分析

考虑到无动力船舶种类中的舾装船舶吃水较低的特殊性,文章对拖带无动力船舶时拖轮功率配置五种计算方法进行比较分析,得出各自计算方法的优缺点及适用条件,从而为无动力船舶拖轮功率合理配置提供一定的方法依据。     

The Modified Multiple Model Switching Tuning Control Application in AVC

In the complex mechanical vibration environment, the dominant frequency of the system varies remarkably and swiftly under various running conditions, which also characterizes uncertainty and time-variation. It is very impending and important to suppress or isolate the detrimental vibrations related to the above memtoned system with active vibration control (AVC) technology. This paper presented the improved linear quadratic gaussian (LQG) control scheme with a specified filter to realize broadband disturbance/noise attenuation and assure intensive suppression of vibration at the key vibration frequency, then applies and modifies the multiple model switching tuning (MMST) control method by disturbance observation to track the variation of dominant vibration component timely. The effectiveness and superiority of the presented control method were demonstrated by numerical simulation and AVC experiment on a flexible cantilever beam under sweeping excitation.     

布索形式对斜拉桥抗震性能的影响

从斜拉桥抗震概念设计的角度出发,对竖琴形、扇形和辐射形三种不同索面布置形式的斜拉桥进行了建模,并对此三种不同模型的动力特性、顺桥向时程响应进行了对比分析.研究结果表明：纵飘振型对斜拉桥的地震响应尤其是塔顶、跨中的位移响应有显著的影响;而斜拉索的顺桥向布置形式对斜拉桥的纵飘周期影响显著,随着主梁与斜拉索平均倾角的减小,纵向刚度逐渐增大,从而纵飘频率增大;索型不同,地震作用下最危险拉索的位置不同.     

山地系统灾变行为自组织临界性研究

为了研究山地系统宏观动力学的整体规律,基于戴维斯地貌发育理论,提出处于地貌发育阶段幼年晚期的河谷及壮年期的山地具有自组织临界性(self organized criticality, SOC)的内禀属性,并建立了基于斯特拉勒积分的大流域地貌发育阶段判别方法.以地震触发崩塌滑坡为切入点,通过震区实震资料分析、元胞自动机模拟、振动台沙堆模型实验,提出不同烈度区地震触发崩塌滑坡分布的演化规律:在Ⅶ度、Ⅷ度、Ⅸ度区,崩塌滑坡规模与出现频率之间存在良好的负幂律关系,在Ⅹ度区,幂律关系弱化,在Ⅺ度区,这一关系转为对数正态分布. 通过3个案例介绍了SOC理论在岩土体地震扰动深度评估、泥石流防治工程设计径流量极值计算、基于地震活动性参数b值在地应力评估中的应用.      

Weighted Adaptive Generalized Predictive Control for Carding Autoleveler

In textile industry, carding process has decisive influence on produced yarn quality. From the system theoretic point of view, it is marked by stochastic disturbance, long delays, and parameter variation. So, a carding process is difficult to control with traditional control algorithms (such as PID). In this paper, a weighted adaptive generalized predictive control (GPC) law was developed to control such a process. The experimental results show that GPC autoleveller controller could greatly reduce the sliver‘s standard deviation and reject disturbance.     

Semi-Active Predictive Control of Isolated Bridge Based on Magnetorheological Elastomer Bearing

Time-delay of magnetorheological elastomer bearing(MRB) can bring structural response menace to bridges. This paper investigates a bridge pier-bearing semi-active-coupling control method based on model predictive control(MPC). The presented strategy takes the structure prediction model to predict the state responses of the controlled plant in a period of future time. Then, the control law can be determined by solving a finite horizon optimization problem. The peak shearing force of pier top, the displacement and the acceleration of beam are chosen as control goals, and the vibration isolation rate is applied to characterize the vibration isolation effect.It is noted that MPC method naturally takes the time-delay and uncertain interference into consideration, and significantly improves the control performance of the system. Finally, the numerical example is described and the seismic response of isolated bridge based on MRB is analyzed. The simulation results show that predictive control can be used to control the time-delay of bridge system in different degrees. The best control performance is at0.4 s. Even if the time-delay reaches 2 s, it is still good. Therefore, the control method significantly reduces the adverse effects of time-delay on the system, and has a good vibration isolation performance.     

大跨度拱形无柱地铁车站抗震性能分析

采用土—结构相互作用原理针对我国首个明挖拱形无柱结构地铁车站———青岛地铁3号线保儿站进行了水平地震力作用下的有限元动力时程分析。结果表明,地震作用下地铁车站结构的动力反应较静力条件下的弯矩增幅在拱顶处最大,增幅率为42%;拱形结构和同跨度的矩形结构相比,在拱脚和边墙与底板连接处内力和变形都较大,在抗震设计时应特别注意加强这些部位的抗震措施;通过时程分析法可以看出在地震动0.1～0.9 s时,达到了结构的自振频率,地震动引起的地震反应最大,此频率点可以为地下结构反映谱的研究提供一定的参考。     

Central pattern generator based gait control for planar quadruped robots

In this paper, a gait control scheme is presented for planar quadruped robots based on a biologic concept, namely central pattern generator （CPG）. A CPG is modeled as a group of the coupled nonlinear oscillators with an interaction weighting matrix which determines the gait patterns. The CPG model, mapping functions and a proportional-differential （PD） joint controller compose the basic gait generator. By using the duty factor of gait patterns as a tonic signal, the activity of the CPG model can be modulated, and as a result, a smooth transition between different gait patterns is achieved. Moreover, by tuning the parameters of the CPG model and mapping functions, the proposed basic gait generator can realize adaptive workspace trajectories for the robot to suit different terrains. Simulation results illustrate and validate the effectiveness of the proposed gait controllers.