Path planning and collision avoidance for autonomous surface vehicles I: a review

Journal of Marine Science and Technology - Autonomous surface vehicles are gaining increasing attention worldwide due to the potential benefits of improving safety and efficiency. This has raised...     

临近端头井盾构开挖引起土体沉降数值分析北大核心CSCD

文章以南昌地铁2号线雅苑路站施工为例,基于小应变硬化土体(HSS)本构模型,建立从端头井始发的双线盾构隧道掘进模型,分析了基坑开挖与双线盾构掘进共同作用下的土体沉降规律。结果表明:(1)加固盾构始发区土体可有效减弱区域范围内地表沉降,该区域内地表沉降量远小于区间隧道沉降量;(2)在同一埋深条件下,先建隧道地表沉降最大值高于后建隧道地表沉降最大值,地表横向沉降槽呈现非对称W型;(3)基坑开挖与盾构掘进共同作用下引起的地表沉降值,可以由二者单独作用产生的沉降值叠加计算得到。     

Cooperative path following control of UAV and USV cluster for maritime search and rescue北大核心CSCD

［Objectives ］ This paper studies a three-dimensional (3D) cooperative path-following control problem in the process of maritime search and rescue for a heterogeneous unmanned cluster system composed of unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs).［Methods ］ First, kinematic models of the UAVs and USVs are established under a fixed coordinate system and body coordinate system. In order to design a 3D path-following controller suitable for motion control, an air coordinate system is established, and the path tracking error models of the UAVs and USVs are established in the Serret-Frenet coordinate system. Next, a 3D line-of-sight (LOS) guidance law is designed at the kinematic level, and a cooperative path-following control method suitable for heterogeneous clusters of marine vehicles is proposed, allowing the UAVs and USVs to track the preset parameterized path. Finally, the stability of the control system is analyzed based on the Lyapunov stability theory.［Results］The simulation results verify the effectiveness of the proposed cooperative path-following control method for heterogeneous clusters of marine vehicles.［Conclusions］The results of this study can provide references for maritime search and rescue by using the proposed cooperative path-following control method. © 2022 Journal of Clinical Hepatology. All rights reserved.     

Visual analysis semantic label method based on navigation logic division北大核心CSCD

[目的]旨在探索处理内河实船数据、提高其可理解性和辅助研究识别船舶行为的新方法。[方法]通过构建航行逻辑层级和划分时序数据获得船舶行为的语义标签,设计航行逻辑可视化分析系统,将船舶航行状态与数据可视化相结合,辅助分析数据及研究船舶行为特征。最后,依托数字航道,选择船舶行为复杂的内河航道工作船的数据进行实例检验,利用所提系统分析异常数据并研究船舶行为。[结果]通过航行逻辑的交互可视化,可有效确定无规律的位置跳动异常数据产生的原因及特点,帮助进行异常数据处理,并经过定性分析特征和定量分析阈值,划分出了靠泊与直航状态数据,进一步丰富了船舶行为语义标签。[结论]结合船舶行为语义标签设计的可视化分析系统,通过人机自由交互,提高了数据的可理解性,可辅助异常数据分析处理及船舶行为研究,为数据分析人员提供研究工具。     

A three-phase QFD-based framework for identifying key passenger needs to improve satisfaction with the seat of high-speed rail in China

This study aims to suggest a three-phased methodological framework based on the operational approach of quality function deployment (QFD) to improve the service quality and passenger satisfaction with China’s high-speed rail (HSR) by identifying the key passenger needs with regard the HSR seats. For the first phase, the collection of the voice of the customers/passengers (VOC), the processing of the collected VOC into need items and further into passenger needs of QFD would be explained in terms of knowledge management. For the second phase, a reference comparison-based fuzzy best–worst method is developed for determining the relative importance of passenger needs, with a particular purpose of coping with the uncertainty and ambiguity associated with qualitative assessment of respondents. For the third phase, the importance-performance analysis is performed to determine the improvement priorities for meeting passenger needs. Findings showed that Body-friendly seat structure and Reasonable layout of the seat are the two most important needs demanded by the passengers of second-class cabins, with the former being the top priority. The current study provides useful references for service operators of HSR to formulate development strategies for improving the seat comfortability, which subsequently contributes to improving HSR’s service quality and passenger satisfaction. Moreover, the proposed methodological framework for identifying the important passenger needs can be appropriately adjusted and expanded to similar transportation infrastructures and facilities.

     

不同土壤条件下水平板对平面铲刀工作阻力的影响

在砂土和级配土确定的3种土壤条件下,给定90°和60°2种作业倾角,选择作业深度为90 mm,以水平板长度(0,30和60 mm)不同的L型铲刀为作业工具开展土壤推运试验,并对相同土壤条件和相同作业倾角下的试验结果进行对比分析。研究结果表明:L型铲刀在一定作业条件下可以有效改善推运工作阻力,但土壤条件是影响L型铲刀改善工作阻力的前提,即土壤抗剪强度较大时,L型铲刀对工作阻力的有益影响更为显著;当土壤条件相同时,L型铲刀对工作阻力的有益影响程度与作业倾角关系密切;当土壤条件和作业倾角都确定时,L型铲刀对工作阻力的有益影响程度与水平板长度有关,且该水平板长度存在一个最优值使L型铲刀在相同作业条件下的工作阻力最小。     

An interpretation of inter-container port relationships from the demand perspective

Container ports serve as important conduits to facilitate the efficient flow of containerized cargo. As part of value-driven chain systems that intersect between hinterlands, efficiency gains that are generated within the container port will have a direct impact on the competitive advantage of its users and affect the economic potential of both the origin and destination hinterlands. As such, the paper proposes the usage of indifference analysis propounded in microeconomic theory as a useful means to examine inter-container port competition and complementarity. The framework presented can also be combined with Porter's ‘Diamond’ model in order for inter-container port demand relationships to be quantified, measured and analysed in an holistic manner. Apart from analysing inter-port relationships from the standpoint of container ports, the framework can also be used to analyse inter-port relationships from the perspective of other key players in the value-driven chain system and modified accordingly to incorporate various indicators that are deemed to be relevant to these parties.     

X65管线厚板控制冷却时的相变效应

为明确相变效应对X65管线厚板控制冷却的影响,通过开发线性混合热膨胀模型、拓展Avrami相变动力学模型和应用Leblond模型建立了热力耦合有限元模型.用该模型研究了X65管线厚板在上下层流冷却系数分别为3和1 kW/(m2.K)的非对称控制冷却时,相变效应对温度、残余应力和应变的影响.结果表明:相变期间,潜热减缓心部和下表面的冷却速度达50%、25%;潜热和TRIP效应分别产生峰值为89、-89 MPa,并且130、-170 MPa的应力可减小整体残余应力;相变膨胀产生峰值为723、-479 MPa的组织应力决定了整体残余应力大小及分布.     

多用户类型弹性需求随机期望-超额用户平衡模型

为准确描述随机路网环境下出行者规避行程时间不确定风险的择路行为,推导了通勤者需求量服从对数正态分布和路段通行能力服从贝塔分布条件下计算期望-超额行程时间的计算公式,并在考虑出行者对行程时间的估计误差和路网服务水平对交通需求影响的基础上,建立了用等价变分不等式表示的多用户弹性随机期望-超额用户平衡模型.算例结果表明:随着需求水平波动程度和路段通行能力退化程度的加剧,当需求方差-均值比从0.5增至2.0、贝塔分布参数(l和m)从90和10变为10和10时,通勤者和非通勤者期望最小理解期望-超额行程时间分别增加了48.5%和99.2%.     

基于正交试验的钢纤维混凝土配合比优化

为了优化掺钢纤维混凝土配合比,采用正交试验法研究水灰比、早强剂掺量、钢纤维掺量、矿料级配等四个因素对掺钢纤维混凝土物理力学性能的影响规律。结果表明:矿料级配对混凝土的和易性影响最为显著,其次是水灰比;钢纤维的掺量是影响混凝土抗折强度的主要因素,并且抗折强度随着钢纤维掺量的增加而增加;影响钢纤维混凝土的抗压强度的主要因素是水灰比,且抗压强度与水灰比的大小成反比。