Tracking control of underwater vehicle subject to uncertainties using fuzzy inverse desired trajectory compensation technique

Computed-torque controller plus fuzzy inverse desired trajectory compensation technique based on robust adaptive fuzzy observer is proposed to control underwater vehicle subject to uncertainties. A fuzzy inverse desired trajectory compensator is developed as a nonlinear filter at input trajectory level outside the control loop to address the issue of unavailable normalizing factor. A robust adaptive state observer with loose constraint on the position of the uncertainty function is proposed to evaluate the unavailable states. Numerical simulation results of regulation performance demonstrate that the observer solves the problem of strict constraint conditions on position uncertainties. Comparisons of tracking performance between the proposed control method and computed-torque controller are performed. The results confirm that compensation at the input trajectory offers better position tracking performance and easier practical implementation than other fuzzy compensation techniques at joint torque level. The proposed control approach is simulated and its efficiency is validated through the simulation of an underwater vehicle.     

Use of diesel engine and surface-piercing propeller to achieve fuel savings for inshore fishing boats

Fishing is a major local industry in Malaysia, particularly in rural areas. However, the rapidly increasing price of fuel is seriously affecting the industry’s viability. At present, outboard petrol engines are the preferred choice for use in small-scale fishing boats because they deliver the advantages of high speed and low weight, they are easy to install, and they use minimal space. Petrol outboard engines are known to consume a greater amount of fuel than inboard diesel engines, but installing diesel engines with conventional submerged propellers in existing small-scale fishing boats is not economically viable because major hullform modifications and extra expenditure are required to achieve this. This study describes a proposal to enable reductions in fuel consumption by introducing the combined use of a diesel engine and surface-piercing propeller (SPP). An analysis of fuel consumption reduction is presented, together with an economic feasibility study. Resulting data reveal that the use of the proposed modifications would save 23.31 liters of fuel per trip (40.75 %) compared to outboard motors, equaling annual savings of RM 3962 per year.     

Effect of ship bow overhang on water shipping for ship advancing in regular head waves

This paper presents the results of an experimental investigation dealing with the effect of bow overhang extensions on the quantity of shipping water over the foredeck in case of ships advancing in regular head waves. To perform this investigation, a series of free-running tests was conducted in regular waves using an experimental model of a multipurpose cargo ship to quantify the amount of shipping water. The tests were performed on five bow overhang variants with several combinations of wavelength and ship speed conditions. It was observed that the quantity of shipping water was affected by some parameters such as wavelength, ship speed, and bow shape in terms of an overhang extension. The results show the significant influence of an overhang extension, which is associated with the bow flare shape, on the occurrence of water shipping. These results involve the combined incoming regular waves and model speed.     

A mathematical model for acceleration phase of aerodynamically alleviated catamarans and minimizing the time needed to reach final speed

Racing catamarans use aerodynamic alleviation concept which in existing extreme ground effect significantly enhances the performance. Beside design measures, controlling strategies may be employed as convenient solutions to improve the performance and address concerns regarding poor stability in these crafts. Being of substantial importance for a racing catamaran to reach the final speed as soon as possible, this study attempts to find the optimal form of changing the drive angle (as control variable) to minimize its acceleration time. In this regard, a mathematical model is developed for forward acceleration phase of these catamarans based on empirical and theoretical methods. Then the formulation and solution algorithm for the time-optimal problem are described according to an indirect method. Results for a representative racing craft have been presented in uncontrolled and controlled conditions. Problem in controlled condition has been solved without and with a predefined constraint regarding stability margin. Optimal controlling of the drive angle without stability constraint during the acceleration results in 40 % reduction in time required to reach the speed of 110 kn and 14 % reduction in resistance at this speed in comparison to the uncontrolled case. Addition of the stability constraint changes optimal solution for drive angle and causes craft trim angle follow a decreasing trend at higher speeds.     

The relationship between maritime education and employer trust: the structural equation modelling (SEM) perspective

The research is aimed to identify factors in the maritime education and training (MET) system and its relationship on maritime labour employers’ (MLEs) trust based on current practice in Malaysia. A questionnaire survey was used, and the respondents were the participants of a related conference in Malaysia. The structural equation modelling technique was used to explain the relationships in the stipulated research model. The test of structural model confirms that the model is adequate in explaining the MLEs’ trust. The results reveal that the perceived MET institutions’ efficiency has significant direct effects on the MLEs’ trust and the perceived seafarers’ competency. In addition, the perceived implementation of International Convention was found to significantly affect the seafarers’ competency. However, the perceived seafarers’ competency was not found to directly affect the MLEs’ trust. This study suggests that the MLEs’ trust is an important indicator and feedback on it can be used to further enhance the current MET system and its policies. Thus, one of the strategies is to develop a policy in order to achieve an effective maritime education and training. This is to support the maritime communities in progressing towards a more sustainable development in the MET in the context of enhancing the maritime safety.     

Investigation of the capabilities of yield functions on describing the deformation behavior of 5754O aluminum alloy sheet under combined loading paths

The combined loading tests of 5754O aluminum alloy sheet are used to verify the yield function. Three yield functions are implemented into the commercial finite element model (FEM) code ABAQUS as a user material subroutine UMAT for the FEM simulation of the combined loading tests. The comparison of the simulating and experimental results shows that the modified Yld2000-2d yield function can describe the mechanical behavior of 5754O aluminum alloy sheet under combined loading paths reasonably while other three yield functions do not. The performance of the modified Yld2000-2d yield function on describing the mechanical behavior under combined loading paths is analyzed in detail. It is concluded that the modified Yld2000-2d yield function can be adopted to describe the deformation behavior of 5754O aluminum alloy sheet for industrial applications.     

“I can do perfectly well without a car!”

This article presents the results of a study exploring travellers’ preferences for middle-distance travel using Q-methodology. Respondents rank-ordered 42 opinion statements regarding travel choice and motivations for travel in general and for car and public transport as alternative travel modes. By-person factor analysis revealed four distinct preference segments for middle-distance travel: (1) choice travellers with a preference for public transport, (2) deliberate-choice travellers, (3) choice travellers with car as dominant alternative, and (4) car-dependent travellers. These preference segments differ in terms of the levels of involvement and cognitive effort in travel decision making, the travel consideration-set and underlying motivations. The study showed that for most people there is more to travel than getting from point A to point B, and that there is considerable heterogeneity in middle-distance travel preferences. Policy implications for reducing the need for travel and promoting a modal shift from car to other travel modes are discussed.     

Construction of eukaryotic recombinant vector of renalase and its expression as a eukaryotic protein

Renalase is a secreted amine oxidase that metabolizes catecholamines. It has been proposed to modulate blood pressure and heart rate and its downregulation might result in hypertension. Despite its potential relevance for human health, the biochemical characterization of renalase is still scarce. The aim of this study is to synthesize the human renalase eukaryotic protein by genetic engineering. The human renalase gene was amplified by polymerase chian reaction (PCR). After digestion by BamH I and Xho I enzymes, the DNA fragments were cloned into the transfer vector, pFastBacHTb-Fc, to generate the pFastBacHTb-renalase expression vector. The ligation products were transformed into E. coli DH10Bac to obtain recombinant transposon rBacmid-renalase. The recombinant transposon was further transferred into insect high-V cells, and the recombinant human renalase eukaryotic protein was expressed successfully.     

Optimal power distribution of front and rear motors for minimizing energy consumption of 4-wheel-drive electric vehicles

In this paper, the optimal power distribution of the front and rear motors for minimizing energy consumption of a 4WD EV is investigated. An optimal power distribution control is developed based on the mathematical energy consumption model of an EV. The objective function is defined while ignoring time. And, the time effect is applied by considering the objective function for every single driving point which consists of the vehicle driving force and velocity. From the optimization problem, the optimal torque distribution maps of the front and rear motors can be obtained for all vehicle driving force and velocity ranges. These maps can be expressed using a 3-dimensional map. If the vehicle driving force and velocity are determined, the optimal front and rear motor torques can be determined using these maps. These maps can distribute the front and rear motor torques for the entire velocity range. Thus, these maps can perform the optimal power (torque times speed) distribution of the front and rear motors for minimizing the energy consumption of the 4WD EV. The performance of the optimal power distribution is evaluated by comparing the energy consumption to that of simple power distribution control. For obtaining the energy consumption, a vehicle driving simulation is performed. For the simulation, the driving cycle is required, and the NEDC (New European Driving Cycle) is used. From the simulation results, it is found that the energy consumption of simple power distribution is 4.8 % larger than the optimal one. Thus, the optimal power distribution can minimize the 4WD EV energy consumption as the optimization objective function.     

Design of a compact 18-speed epicyclic transmission for a personal mobility vehicle

This paper describes the design and shifting dynamics of a novel and small-sized transmission which composed of three epicyclic gear modules and a hub shaft in conjunction with several clutches. The proposed epicyclic gear train can be used in a personal mobility vehicle such as an electric utility vehicle and small car, etc. And it is distinguished from others for its small size, light weight, high efficiency, and wide speed range up to 18 gear steps. In this paper, its dynamic behavior is dealt with in order to ensure the automatic and robust shifts according to the shift commands, focused on the shift mechanism design. First the overall structure and operating principles of the transmission are described in detail. Based on the CAD data of whole components, a detailed multibody dynamic model is built using ADAMS software which can analyze the dynamic behavior of a mechanical system. Then numerical simulations are performed during the shift and whole operating period. From the simulation and experiment results, the overall performance and operating principles of the 18 speed epicyclic transmission are discussed and the design of shift device is optimized to ensure the robust shift finally.