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。     

基于居民出行时间价值的SP调查设计

不同城市和地区的居民出行时间价值研究方法各异,SP调查逐渐成为研究出行时间价值的重要手段。首先系统梳理SP调查的方法、设计、实施和特点。基于北京市第四次居民出行调查的SP分项调查,详细阐述SP调查的技术方案、实施方法、调查规模和抽样方式,重点分析SP调查方案的设计。基于均匀设计方法,采用SP调查和RP调查相结合的方案,通过确定影响因素、设定情景模式和主要参数,基于不同出行方式分别设计了SP调查表格和情景模式卡。通过对北京市SP调查相关实证分析,提出SP调查实施改进的对策建议。     

铑催化剂用水合三氯化铑的制备

水合三氯化铑是制备铑催化剂的关键原材料之一。随着化工及汽车行业的发展,对铑催化剂有了更多的需求,由此对水合三氯化铑的需求量越来越大。本文综述了当前铑催化剂的应用,以及其原材料水合三氯化铑制备技术的研究进展,并且展望了未来水合三氯化铑的制备技术。     

Study on shaft alignment of propulsion shafting system depending on single reaction force supporting position of aft stern tube bearing

Journal of Marine Science and Technology - Trends of large-scale ships have seen propulsion shaft and propeller sizes increase. This has enabled shafts to have greater stiffness, yet has caused...     

Hybrid process of fabricating high-quality micro wine-glass fused silica resonators

A new hybrid method, which combines improved glass-blown technology with wet etching, is reported to fabricate micro wine-glass resonators with high-quality fused silica. The optimum placement is compared to achieve the resonators with good shell shape. The typical shell diameter is about 4mm and its thickness covers from dozens to hundreds of micrometers. The etching rates in corrosion solutions with different ratios and at different thicknesses of hemispherical shells are studied. We also conclude how to precisely control the thickness. The corrosion solutions with different ratios of HF solution to NH₄F solution make the spherical shells rougher in different degrees. The best roughness is 0.581 nm in the 1: 8 ratio corrosion solution while the original roughness is 0.537 nm. This fact shows that the resonator remains atomically smooth surface. Based on the glassblowing spherical fused silica structure, the thickness of the resonator is effectively controlled by buffered oxide etch (BOE) technology according to the measured etching rate. The measured resonant frequency of the hemispherical shell at ambient pressure and room temperature is 1.75 kHz of rocking mode which is close to the simulated frequency. Using such a low-cost hybrid approach, we can fabricate high-quality microscale resonators in batch.     

Purification effects of C2Cl6 on A00 aluminum

The effects of several fluxes on purification, microstructures and properties of A00 aluminum have been studied. The experimental results and analyses indicate that many cracks and large porosities exist in the surface film above the melt purified by C₂Cl₆ and that the film is floc and mostly composed of Al₂O₃ and pure aluminum, which carries many carbon particles and AlCl₃ not fully volatilized. And then over 50% (mass fraction) of the all-melting residue is pure aluminum, which is one of the major reasons for high melting loss. Moreover, because of a mass of gas bubbles and a state of seethe, there are many inclusions which size is under 10 ??m in the microstructure of A00 aluminum purified with C₂Cl₆ or fluxes containing C₂Cl₆. With this purifying method, the aluminum crystal grains are extended along the radius that was observed firstly and the average crystal size of A00 aluminum are about 100?C150 ??m. In addition, small size inclusions have little affected on tensile strength and micro inclusions under 10 ??m have little affected on elongation.     

Novel experimental strategy for high resolution AFM imaging of membrane-associated bacterial toxins

Bacterial pore-forming toxins （PFTs） are essential virulence factors of many human pathogens. Knowl- edge of their structure within the membrane is critical for an understanding of their function in pathogenesis and for the development of useful therapy. Atomic force microscopy （AFM） has often been employed to structurally interrogate many membrane proteins, including PFTs, owing to its ability to produce sub-nanometer resolution images of samples under aqueous solution. However, an absolute prerequisite for AFM studies is that the samples are single-layered and closely-packed, which is frequently challenging with PFTs. Here, using the prototypical member of the cholesterol-dependent cytolysin family of PFTs, perfringolysin O （PFO）, as a test sample, we have developed a simple, highly robust method that routinely produces clean, closely-packed samples across the entire specimen surface. In this approach, we first use a small Teflon well to prepare the supported lipid bilayer, remove the sample from the well, and then directly apply the proteins to the bilayer. For reasons that are not clear, bilayer preparation in the Teflon well is essential. We anticipate that this simple method will prove widely useful for the preparation of similar samples, and thereby enable AFM imaging of the greatest range of bacterial PFTs to the highest possible resolution.     

Estimation of delay variability at signalized intersections for urban arterial performance evaluation

Urban arterial performance evaluation has been broadly studied, with the major focus on average travel time estimation. However, in view of the stochastic nature of interrupted flow, the ability to capture the characteristics of travel time variability has become a critical step in determining arterial level of service (LOS). This article first presents a stochastic approach that integrates classic cumulative curves and probability theories in order to investigate delay variability at signalized intersections, as a dominant part of the link travel time variability. This serves as a basis for arterial travel time estimation, which can be obtained through a convolution of individual link travel time distributions. The proposed approach is then applied in the estimation of travel time along one arterial in Shanghai, China, with abundant automatic vehicle identification (AVI) data sources. The travel time variability is evaluated thoroughly at 30-min intervals, with promising results achieved in comparison to the field measurements. In addition, the estimated travel time distributions are utilized to illustrate the probability of multiple LOS ranges, namely, reliability LOS. The results provide insights into how we might achieve a more reliable and informative understanding of arterial performance.     

拱架式预切槽施工机械在黄土隧道施工中的应用

隧道预切槽施工技术在国外应用比较广泛,但在我国应用还较少。针对黄土地质专项研制了国内首台拱架式预切槽机,并在黄土隧道进行了施工试验。通过施工试验,掌握设备定位、分区切灌、设备行走、施工作业组织等关键技术,并提出应用改进及优化措施。试验结果表明切槽系统工作状态和设备切削、喷灌功能满足设计及施工试验要求,为预切槽同步切削喷灌一体化研究提供了数据支撑和研究方向。     

废气旁通阀开度对增压直喷汽油机部分负荷性能的影响

汽油机节气门产生的节流损失对增压发动机泵气损失的影响相当严重,尤其是在中小负荷时,针对这一问题采用试验的方法研究了中小负荷下旁通阀开度对增压直喷汽油机性能的影响。研究结果表明,在节气门开度较小的小负荷工况下,涡轮增压器不宜工作,否则排气背压过大,对发动机非常不利;而废气旁通阀全开可以减小排气背压,能使发动机的动力性和经济性提高3%左右。对废气旁通阀的合理控制可以实现发动机在自然吸气和涡轮增压两种模式之间的转换。