Inverse optimal control for speed-varying path following of marine vessels with actuator dynamics

A controller which is locally optimal near the origin and globally inverse optimal for the nonlinear system is proposed for path following of over actuated marine crafts with actuator dynamics. The motivation is the existence of undesired signals sent to the actuators, which can result in bad behavior in path following. To attenuate the oscillation of the control signal and obtain smooth thrust outputs, the actuator dynamics are added into the ship maneuvering model. Instead of modifying the Line-of-Sight (LOS) guidance law, this proposed controller can easily adjust the vessel speed to minimize the large cross-track error caused by the high vessel speed when it is turning. Numerical simulations demonstrate the validity of this proposed controller.     

Trend analysis of activity generation attributes over time

Activity generation models are relatively poorly developed in activity-based travel demand modelling frameworks. This research investigates whether observed distributions of activity attributes (activity frequency, start time and duration) used as inputs in the activity generation component of an activity-based travel demand model have changed over time. This research empirically examines changes in the distributions of activity generation attributes over time in the Greater Montreal area (GMA), Quebec, Canada. It also focuses on how these attributes vary with peoples’ socio-demographic characteristics. This research relies on the 1998, 2003 and 2008 origin–destination (O–D) household travel surveys of the GMA. The comparative analysis at three time points in a 10-year period clearly reveals that distributions of activity attributes are significantly changing over time. Work and school activities show similar trends; frequency “1” has increased and frequency “2+” has decreased over time. The occurrence of shopping activity on weekdays is decreasing over time. Start time and duration distributions for each activity have also changed significantly over time. The research allows preparing activity attributes for the application of an activity-based model, TASHA, such that they reflect temporal changes in travel behaviour of the GMA.     

Specification of regret-based models of choice behaviour: formal analyses and experimental design based evidence

Travel behaviour analysis has recently witnessed a rapidly growing interest in regret-based models of choice behaviour. Two different model specifications have been introduced in the transportation literature. Chorus et al. (Transportation Research B 42: 1–18, 2008a; in: Proceedings 87th Annual Meeting of the Transportation Research Board, Washington DC, 2008b) specified regret as a (non) linear function of the difference between the best-foregone choice alternative and the chosen alternative. Later, as an approximation to the original specification, Chorus (2010) suggested a logarithm function of utility differences between all choice alternatives, mainly for ease of estimation. This paper makes two contributions to this literature. First, formal analyses are conducted to identify the parameter space where the logarithmic specification becomes theoretically inferior to the original specification. Second, an empirical stated choice study on the choice of shopping centre is conducted to empirically test which specification best describes stated choices. Results suggest that for the collected data the original specification outperforms the new specification. Implications of this finding for the application of regret-based choice models in travel behaviour analysis are discussed.     

边界任意弹性约束薄板的横向振动(英文)

This paper presents an analytical study on the influence of edge restraining stiffness on the transverse vibrations of rectangular plate structure. An improved Fourier series method was employed to analyze the transverse vibration of plate structure with general elastically restrained boundary conditions. A linear combination of a double Fourier series and eight auxiliary terms was sought as the admissible function of the flexural displacement of the plate, each term being a combination of a polynomial function and a single cosine series expansion. The auxiliary terms were introduced to ensure and improve the smoothness of the original displacement function and its derivatives at the boundaries. Several numerical examples were given to demonstrate the validity and accuracy of the current solution. The influences of translational and rotational stiffness on the natural frequencies and mode shapes of plate were analyzed by numerical results. The results show that the translational stiffness has bigger influence on the natural frequencies than the rotational stiffness. It is generally well known that little change of the rotational stiffness has little influence on the mode shapes of plate. However, the current work shows that a very little change of rotational stiffness value may lead to a large change of the mode shapes of a square plate structure.     

Polling algorithm based on traffic burst characteristics of broadband wireless access systems

In this paper, we propose a novel polling algorithm to decrease the number of idle slots and collission slots during the polling cycle by evaluating the bandwidth request of the subscribe stations (SSs) in the next polling cycle for broadband wireless access (BWA) systems. We firstly analyze the feature of silent time intervals and deduce the Hurst index which symbolizes the degree of self-similarity and long-relative nature. Then we represent the inactive OFF time intervals by the Pareto model and estimate the shape parameter α by the group measured data. Finally we can evaluate the transmission probability of a silent SS before the next polling cycle. By this algorithm, we can find the optimal transmission opportunities for the base station (BS) to achieve the least collision or void timeslots in order to achieve the largest bandwidth efficiency. The theoretical analysis and simulation results show that this polling algorithm can improve the performance for BWA system.     

Total losses and the peril of piracy in English law of marine insurance

Whereas the Marine Insurance Act 1906 provides substantial detail about total losses, very little is provided in relation to piracy in the said statute. The recent judgments in Masefield v Amlin by Steel J ([2010] 1Lloyd's Rep. IR 345) and then by the English Court of Appeal ([2011] EWCA Civ 24) have highlighted the difficulties associated with determining whether a seizure of the subject-matter of insurance, in this case cargo, by pirates, demanding a ransom, can give rise to a claim for a total loss. This is a very important matter which also raises issues of legality and public policy. This article examines the implications of this judgment against the backdrop of the English marine insurance definition of piracy and the intricacies of the law relating to constructive and actual total losses. The article concludes with the suggestion that possibly the marine insurance definition of piracy should tally with that in the domain of public international law, and further, that legislative intervention should be considered for the purpose of ascertaining the point in time whether and when seizure by pirates can constitute a total loss.     

Universal jurisdiction as obligation to prosecute or extradite

Before searching for new legal solutions to manage maritime piracy problems, especially those related to jurisdiction, it is essential to examine and analyse the existing international legal framework to determine whether current international legal instruments are already appropriate to face off this threat. One such principle is the “Aut dedere aut iudicare” principle, which has been also codified into SUA Convention, at art. 6 par. 4. This obligation comes from an international treaty, so it cannot be disregarded by any state (short of becoming susceptible to international liability), neither can it be amended by a national law. If a state party has inadequate law resources to establish its jurisdiction, or if unable or unwilling to prosecute the pirate, then such state party has no choice but extradite the pirate. If we consider the above principle as a conventional obligation, then it should be limited only to state parties, and it should be applied only under conditions stated by SUA Convention. Instead, if we consider it as a customary law principle, because piracy—as crimen iuris gentium—offends international community as a whole, then such principle shall be binding without any limit or condition.     

舰船全寿期配置管理及其编码映射技术研究

舰船全寿期各配置视图,既是全寿命优化设计的结果,又是实现舰船预期功能并保证这些功能有效实施的关键技术.为保证配置的唯一性和处理方便,配置是用各主要编码来表达的.本文所提出的各配置之间的算法乃是实现配置自动处理的基础.舰船全寿期配置管理是实现各配置视图生成、相互映射、配置更改及其状态跟踪技术的综合应用,亦是保证舰船质量和有效使用及全寿期信息共享的核心.     

ZS6900EV纯电动城市公交客车

文章主要介绍了ZS6900EV纯电动城市公交客车的结构参数、动力性能及其基本工作原理、主要部件和测试结果.