基于深度强化学习的智能船舶航迹跟踪控制

[目的]智能船舶的航迹跟踪控制问题往往面临着控制环境复杂、控制器稳定性不高以及大量的算法计算等问题。为实现对航迹跟踪的精准控制,提出一种引入深度强化学习技术的航向控制器。[方法]首先,结合视线(LOS)算法制导,以船舶的操纵特性和控制要求为基础,将航迹跟踪问题建模成马尔可夫决策过程,设计其状态空间、动作空间、奖励函数;然后,使用深度确定性策略梯度(DDPG)算法作为控制器的实现,采用离线学习方法对控制器进行训练;最后,将训练完成的控制器与BP-PID控制器进行对比研究,分析控制效果。[结果]仿真结果表明,设计的深度强化学习控制器可以从训练学习过程中快速收敛达到控制要求,训练后的网络与BP-PID控制器相比跟踪迅速,具有偏航误差小、舵角变化频率小等优点。[结论]研究成果可为智能船舶航迹跟踪控制提供参考。     

Collision avoidance path planning in multi-ship encounter situations

Journal of Marine Science and Technology - Collision avoidance path planning is still one of the essential problems in the design and application of an intelligent maritime navigation system. Its...     

海船船员资源管理能力评价模型

为了保证船舶的安全航行,减少人为事故的发生,需要对船舶指挥人员的驾驶台资源管理能力进行科学、合理的评估.结合多年船舶操纵模拟器培训评估经验,分析了传统的评估方法中存在的问题,利用德尔菲法建立了评价指标体系,采取综合评判的方法,建立了驾驶台资源管理能力评价模型.该模型对指导驾驶台资源管理培训和对船员的船舶管理能力评估有较大的现实意义.     

Hybrid model for prediction of bus arrival times at next station

Effective prediction of bus arrival times is important to advanced traveler information systems (ATIS). Here a hybrid model, based on support vector machine (SVM) and Kalman filtering technique, is presented to predict bus arrival times. In the model, the SVM model predicts the baseline travel times on the basic of historical trips occurring data at given time‐of‐day, weather conditions, route segment, the travel times on the current segment, and the latest travel times on the predicted segment; the Kalman filtering‐based dynamic algorithm uses the latest bus arrival information, together with estimated baseline travel times, to predict arrival times at the next point. The predicted bus arrival times are examined by data of bus no. 7 in a satellite town of Dalian in China. Results show that the hybrid model proposed in this paper is feasible and applicable in bus arrival time forecasting area, and generally provides better performance than artificial neural network (ANN)–based methods. Copyright © 2010 John Wiley & Sons, Ltd.     

宜万铁路别岩槽隧道F3 断层突发性涌水治理

宜万铁路别岩槽隧道F3断层在初期支护完成后,由于受地表强降雨影响,突发大规模涌水,使初期支护严重变形。文章主要介绍了F3断层的涌水事故、应急预案,以及通过采取“径向注浆加固-初期支护加强-及时施作二次衬砌”等综合技术措施,有效地治理了F3断层涌水-变形段。     

浅谈气幕法沉井在防汛排水工程中的应用

结合工程实例对气幕法沉井工艺有效减低井周土体扰动的原理,有利于减少沉井工程周边管线与构筑物搬迁,降低沉井工程的成本等优势及该工艺的应用进行分析和探讨,总结了一些经验,认为该工艺是在城市化地区沉井施工中一种值得采用的施工措施。     

参数化装配实体模型在柴油机总体概念设计中的应用

结合并行工程产品结构概念设计理论 ,提出了在柴油机总体概念设计中使用参数化装配模型的设计方法和实现手段。基于I-DEAS软件 ,针对部分研究内容进行了二次开发 ,采用基于特征的变结构参数化建模技术生成了柴油机各零部件局部特征库和参数化简化模型库 ,并依据柴油机总体装配树型结构建立参数化装配模型 ,最后对总体装配模型进行运动仿真和静、动态干涉检查。     

Optimum design of tilting bogie frame in consideration of fatigue strength and weight

This paper addresses the use of finite-element (FE) analysis to calculate the fatigue strength of a bogie frame, for the development of tilting trains in Korea. A multi-body dynamic analysis was performed to extract the load condition by tilting on curves. Using the results of the multi-body dynamic analysis and the load scenario setout in the UIC standard, FE analysis was performed to obtain the stress distribution and to calculate the fatigue strength. An attempt was made to minimize the weight of the bogie frame using a back-propagation artificial neural network (ANN). The results of this study reveal that the stresses at some nodes are near the fatigue limit in the Goodman diagram and by using back-propagation ANN, the weight of the bogie frame could be reduced by 4.7%.     

《良友画报》及其文化效用

《良友画报》是现代上海一份属于中产阶级的市民杂志，集新闻性、趣味性、知识性于一身，对于培育提升市民的国民意识和倡导现代文明生活方式，发挥过积极的社会效用，是探寻上海都市文化的重要媒介。     

船舶工业发展与战略性人力资源管理的思考

文章通过中国船舶工业发展趋势的描述,针对近期船舶工业发展的特点,通过对战略性人力资源管理的理解.提出适应我国船舶工业发展应对措施和建议.