Biogeography-based combinatorial strategy for efficient autonomous underwater vehicle motion planning and task-time management

Autonomous Underwater Vehicles (AUVs) are capable of spending long periods of time for carrying out various underwater missions and marine tasks. In this paper, a novel conflict-free motion planning framework is introduced to enhance underwater vehicle’s mission performance by completing maximum number of highest priority tasks in a limited time through a large scale waypoint cluttered operating field, and ensuring safe deployment during the mission. The proposed combinatorial route-path planner model takes the advantages of the Biogeography-Based Optimization (BBO) algorithm toward satisfying objectives of both higher-lower level motion planners and guarantees maximization of the mission productivity for a single vehicle operation. The performance of the model is investigated under different scenarios including the particular cost constraints in time-varying operating fields. To show the reliability of the proposed model, performance of each motion planner assessed separately and then statistical analysis is undertaken to evaluate the total performance of the entire model. The simulation results indicate the stability of the contributed model and its feasible application for real experiments.     

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.     

Vortex-induced vibration of a tension leg platform tendon: Multi-mode limit cycle oscillations

This paper studies the application of mathematical models to analyze the vortex-induced vibrations of the tendons of a given TLP along the Indian coastline, by using an analytical approach, analyzed using MATLAB. The tendon is subjected to a steady current load, which causes vortex-shedding downstream, leading to cross-flow vibrations. The magnitude of the excitation (lift and drag coefficients) depends on the vortex-shedding frequency. The resulting vibration is studied for possible resonant behavior. The excitation force is quantified empirically, the added mass by potential flow hydrodynamics, and the vibration by normal mode summation method. Non-linear viscous damping of the water is considered. The non-linear oscillations are studied by the phase-plane method, investigating the limit-cycle oscillations. The stable/unstable regions of the dynamic behavior are demarcated. The modal contribution to the total deflection is studied to establish the possibility of resonance of one of the wet modes with the vortex-shedding frequency.     

Some insights in novel risk modeling of liquefied natural gas carrier maintenance operations

This study discusses the analysis of various modeling approaches and maintenance techniques applicable to the Liquefied Natural Gas (LNG) carrier operations in the maritime environment. Various novel modeling techniques are discussed; including genetic algorithms, fuzzy logic and evidential reasoning. We also identify the usefulness of these algorithms in the LNG carrier industry in the areas of risk assessment and maintenance modeling.     

A new method for absolute datum transfer in seafloor control network measurement

To decrease the time consumption and the labor intensity in the absolute datum transfer of traditional seafloor control network measurement, a new method, namely sailing-circle positioning method, is put forward in this paper. First, the traditional intersection positioning model is improved by considering the equivalent sound velocity profile error as an unknown parameter in the adjustment model. Second, the effect of geometric dilution of precision (GDOP) on positioning accuracy is analyzed. By seeking for the minimum of GDOP, it is concluded that the absolute datum transfer can achieve the highest accuracy in the condition of sailing along a circle relative to other sailing paths. Moreover, the optimal radius of the circle for the accurate datum transfer is also given out. Besides, the correlation between the accuracy of datum transfer and the sound velocity error in this method is analyzed. Finally, the new method was tested and verified by the experiments in Songhua lake with the water depth of 60 m and in South China sea with the water depth of 2000 m, respectively. These experiment results show that the new method can improve the accuracy and efficiency of traditional datum transfer method significantly.     

Enabling a viable technique for the optimization of LNG carrier cargo operations

In this study, we optimize the loading and discharging operations of the Liquefied Natural Gas (LNG) carrier. First, we identify the required precautions for LNG carrier cargo operations. Next, we prioritize these precautions using the analytic hierarchy process (AHP) and experts’ judgments, in order to optimize the operational loading and discharging exercises of the LNG carrier, prevent system failure and human error, and reduce the risk of marine accidents. Thus, the objective of our study is to increase the level of safety during cargo operations.     

Oriented review to potential simulator for faults modeling in diesel engine

This paper presents a literature review on most of the faults and their models that are considered on a diesel engine. Several faults that may be produced on diesel engine have been analyzed, classified, modeled, and their influences on the global system have been shown. Thus, this paper aims to prepare an important data base on diesel engine faults which may help researchers to develop precise strategies on diesel engine fault diagnosis and prognosis, and also it helps in the development of diesel engine simulators aiming to study the behavior of the diesel engine in the presence of faults. Different fault models such as analytical, empirical, degradation models which may be represented as function of time or as function of the number of cycles, data driven models such as neural network models, or simply constant are presented and analyzed. The global overall models for diesel engine integrating faults are expressed. And finally, the use of these models with the most common failure density distribution functions is proposed giving a more realistic approach to our study.     

Advantages of twin rudder system with asymmetric wing section aside a propeller

This study presents a new twin rudder system with asymmetric wing section, aside a propeller, as a new category energy saving device (ESD) for ships. The energy saving principle of the new ESD, which is called “Gate rudder”, is described and its applicability on a large bulk carrier is explored using experimental and numerical methods. The study makes emphasis on the cost-effectiveness of the proposed ESD and presents a potential energy saving up to 7–8 % with the new device as well as an attractive return investment in 0.37–0.9 year. These estimations are based on the conventional powering methods, whereas the accuracy of the ESD design method is confirmed by model test measurements.     

Application of digital image correlation method to in-situ dynamic strain measurement

Application of digital image correlation (DIC) method to determination of in-situ dynamic strain is presented in this study. Firstly, an integrative software is programmed based on the DIC algorithms and point-wise least-squares fitting technique. Then, simulated speckle images are generated to study the computational accuracy of this software. The experimental setup and procedures for measuring in-situ dynamic strain through both DIC and strain gauge are proposed. The DIC results are close to those measured by strain gauge. This fact reveals that DIC is a practical and effective tool for in-situ dynamic strain measurement. Finally, the full-field in-situ dynamic strain of another specimen is measured by DIC, and the overall distribution of the strain in the measurement area is clearly shown.     

The Gothenburg congestion charges: cost–benefit analysis and distribution effects

This paper performs an ex-post cost–benefit and distribution analysis of the Gothenburg congestion charges introduced in 2013, based on observed effects and an ex-post evaluated transport model. Although Gothenburg is a small city with congestion limited to the highway junctions, the congestion charge scheme is socially beneficial, generating a net surplus of €20 million per year. From a financial perspective, the investment cost was repaid in slightly more than a year and, from a social surplus perspective, is repaid in < 4 years. Still, the sums that are redistributed in Gothenburg are substantially larger than the net benefit. In the distribution analysis we develop an alternative welfare rule, where the utility is translated to money by dividing the utility by the average marginal utility of money, thereby avoiding putting a higher weight on high-income people. The alternative welfare rule shows larger re-distribution effects, because paying charges is more painful for low-income classes due to the higher marginal utility of money. Low-income citizens pay a larger share of their income because all income classes are highly car dependent in Gothenburg and workers in the highest income class have considerably higher access to company cars for private trips. No correlation was found between voting pattern and gains, losses or net gain.