Development of a navigation algorithm with dead reckoning for unmanned ground vehicles

A navigation algorithm is indispensable for Unmanned Ground Vehicles (UGVs). During driving, UGVs follow a global path. In this study, we propose a navigation algorithm using Real Time Kinematic (RTK)-Differential Global Positioning System (DGPS) units and encoders to complement global path planning. Sometimes GPS systems lose their signals and receive inaccurate position data due to many factors, such as edifice and barrier obstructions. This paper shows that GPS deviations can be solved using a Dead Reckoning (DR) navigation method with encoders and that position errors can be decreased through the use of RTK-DGPS units. In addition to this method, we will introduce a new waypoint update algorithm and a steering algorithm using RTK-DGPS units.     

Distributed support modelling for vertical track dynamic analysis

The finite length nature of rail-pad supports is characterised by a Timoshenko beam element formulation over an elastic foundation, giving rise to the distributed support element. The new element is integrated into a vertical track model, which is solved in frequency and time domain. The developed formulation is obtained by solving the governing equations of a Timoshenko beam for this particular case. The interaction between sleeper and rail via the elastic connection is considered in an analytical, compact and efficient way. The modelling technique results in realistic amplitudes of the ‘pinned–pinned’ vibration mode and, additionally, it leads to a smooth evolution of the contact force temporal response and to reduced amplitudes of the rail vertical oscillation, as compared to the results from concentrated support models. Simulations are performed for both parametric and sinusoidal roughness excitation. The model of support proposed here is compared with a previous finite length model developed by other authors, coming to the conclusion that the proposed model gives accurate results at a reduced computational cost.     

Observations on colony formation by the cosmopolitan phytoplankton genus Phaeocystis

Few marine phytoplankton have heteromorphic life cycles and also often dominate the ecosystems in which they occur. The class Prymnesiophyceae contains a notable exception: the genus Phaeocystis includes three species that form gelatinous colonies but also occur within their ranges as solitary cells. Phaeocystis antarctica and P. pouchetii are exclusively high latitude taxa, and are notable for regionally tremendous blooms of the colony stage. P. globosa occurs circumglobally, yet its colony blooms primarily are confined to colder waters within its range. Three additional species are warm water forms that have been reported only as solitary cells or loose aggregations that bear little resemblance to the organized colonies of the other taxa. Interpretation of existing data indicates that resource availability (light, temperature and nutrients) by itself is not sufficient to explain this distinction between cold-water colony-forming taxa and warm water solitary cell taxa, nor why colony development in P. globosa is essentially a spatially restricted phenomenon within a much broader geographic range. Colony development by P. globosa in situ has been observed at temperatures ≥20 °C, but only rarely and generally under conditions of seasonally or anthropogenically elevated nutrient supply. Data presented here demonstrate colony development at 20–22 °C in natural plankton communities from oligotrophic waters that were pre-screened through 63 μm mesh (i.e. lacking mesozooplankton and large microzooplankton), but not in unscreened communities containing microzooplankton and >63 μm zooplankton. Reduction of colony proliferation at higher temperatures by mesozooplankton grazing remains as an intriguing possibility that is consistent with available evidence to help explain differences in latitudinal extent of in situ colony development. These data are interpreted within a theoretical framework regarding the potential advantages and disadvantages of the two life cycle stages.     

Application of new parameterizations of gas transfer velocity and their impact on regional and global marine CO2 budgets

One of the dominant sources of uncertainty in the calculation of air–sea flux of carbon dioxide on a global scale originates from the various parameterizations of the gas transfer velocity, k, that are in use. Whilst it is undisputed that most of these parameterizations have shortcomings and neglect processes which influence air–sea gas exchange and do not scale with wind speed alone, there is no general agreement about their relative accuracy.The most widely used parameterizations are based on non-linear functions of wind speed and, to a lesser extent, on sea surface temperature and salinity. Processes such as surface film damping and whitecapping are known to have an effect on air–sea exchange. More recently published parameterizations use friction velocity, sea surface roughness, and significant wave height. These new parameters can account to some extent for processes such as film damping and whitecapping and could potentially explain the spread of wind-speed based transfer velocities published in the literature.We combine some of the principles of two recently published k parameterizations [Glover, D.M., Frew, N.M., McCue, S.J. and Bock, E.J., 2002. A multiyear time series of global gas transfer velocity from the TOPEX dual frequency, normalized radar backscatter algorithm. In: Donelan, M.A., Drennan, W.M., Saltzman, E.S., and Wanninkhof, R. (Eds.), Gas Transfer at Water Surfaces, Geophys. Monograph 127. AGU,Washington, DC, 325–331; Woolf, D.K., 2005. Parameterization of gas transfer velocities and sea-state dependent wave breaking. Tellus, 57B: 87–94] to calculate k as the sum of a linear function of total mean square slope of the sea surface and a wave breaking parameter. This separates contributions from direct and bubble-mediated gas transfer as suggested by Woolf [Woolf, D.K., 2005. Parameterization of gas transfer velocities and sea-state dependent wave breaking. Tellus, 57B: 87–94] and allows us to quantify contributions from these two processes independently.We then apply our parameterization to a monthly TOPEX altimeter gridded 1.5° × 1.5° data set and compare our results to transfer velocities calculated using the popular wind-based k parameterizations by Wanninkhof [Wanninkhof, R., 1992. Relationship between wind speed and gas exchange over the ocean. J. Geophys. Res., 97: 7373–7382.] and Wanninkhof and McGillis [Wanninkhof, R. and McGillis, W., 1999. A cubic relationship between air−sea CO2 exchange and wind speed. Geophys. Res. Lett., 26(13): 1889–1892]. We show that despite good agreement of the globally averaged transfer velocities, global and regional fluxes differ by up to 100%. These discrepancies are a result of different spatio-temporal distributions of the processes involved in the parameterizations of k, indicating the importance of wave field parameters and a need for further validation.     

Longhaul feeder services in an era of changing technology: an Asia-Pacific perspective

Traditional liner carriers, operating in the highly competitive commercial environment of the last few years, have attempted to lower the marginal cost of each box carried. Technological improvements in both construction and propulsion systems have led to a steady growth in carrying capacity. Ships of 600+ TEUs are now in service and, as a result of this trend, have displaced 'smaller' ships from the major east-west trades. The more competitive environment of these trades has in turn led to a redeployment of ships in the 2500+ TEU range to the north-south trades. The result has been a rapid increase in north-south capacity, including feeder services and falling freight rates. Despite the current excess supply in shipping and historically low freight rates, significant developments in technology have created opportunities for new fast containerships. The paper analyses the key economic factors in the differentiation of the new fast ship technology from the traditionally designed containerships and demonstrates the potential financial viability to owners of these new 'greyhounds'.     

Comment Some reflections on port competition in the United States and western Europe

'Port competition' is a rather puzzling expression. This paper approaches it literally, searching for precise meanings. In seaports that contain complex and changeable mixtures of public and private enterprise, who competes and why? The answers to these questions are not conclusive but suggestive indications are found in the US, UK and northwestern Europe. Finally, we discuss what seem to be the key influential factors which may impact on the competitiveness of a port.     

Transient design waves for green-water loading on bulk carriers

The wave surface profiles associated with extreme relative motion between a slender stationary vessel and the adjacent wave surface are investigated for long-crested head seas. The methodology is based upon an established statistical relationship for a Gaussian random process which indi-cates that in the vicinity of an extreme event the most probable shape of the time history approaches that of the autocorrelation function. Attention is given to the relative motion at a longitudinal position which is representative of the No. 1 hatch cover location on a bulk carrier. Second-order corrections to the wave surface profiles are used to provide estimates of nonlinear relative motions. It is shown that extreme relative motion at the hatch cover location is associated with the vessel encountering a steep-fronted wave with pronounced asymmetry in the horizontal and vertical directions. In order to evaluate the exceedence probabilities, it is hypothesized that the peaks of the nonlinear relative motions are closely correlated with the peaks of an underlying linear process. The overall methodology is applied to an investigation of relative motion exceedence probabilities for vessel lengths of 250 m and 300 m over a range of survival seastates. Received: July, 1999 / Accepted: November, 1999     

Further study on the ultimate strength analysis of spherical pressure hulls

From a comparative study it is concluded that current design rules for the spherical pressure hull of manned submersible need to be updated and unified. In this paper, a series of spherical pressure hulls are calculated by nonlinear FEM. Based on these numerical results, the influence of critical arch length and the relationship of ultimate strength with t/R and structural imperfection are studied. Finally, empirical formulae for the ultimate strength of the titanium alloy spherical pressure hull of deep manned submersible based on numerical computations are given. The formulae can be used as the core equations to update current design rules.     

2和4的方程式

尽管中国曾经号称"自行车王国",但如今能为我们界定为自行车专家的人却并不算多。因为90%还在骑车的人不过是被迫仍然使用这种廉价的代步工具而已,而另一些人则在"升级"为四轮之后就患上了"汽油依赖症"。只有经历过从两轮到四轮,再重新回到两轮的资深人士,才有资格和我们一起计算这个算式……