Key technologies of ship remote control system in inland waterways under ship-shore cooperation conditions北大核心CSCD

［Objective ］ To meet the requirements of remotely controlling ship in curved, narrow and crowded inland waterways, this paper proposes an approach that consists of CNN-based algorithms and knowledge based models under ship-shore cooperation conditions. ［Method］On the basis of analyzing the characteristics of ship-shore cooperation, the proposed approach realizes autonomous perception of the environment with visual simulation at the core and navigation decision-making control based on deep reinforcement learning, and finally constructs an artificial intelligence system composed of image deep learning processing, navigation situation cognition, route steady-state control and other functions. Remote control and short-time autonomous navigation of operating ships are realized under inland waterway conditions, and remote control of container ships and ferries is carried out. ［Results］The proposed approach is capable of replacing manual work by remote orders or independent decision-making, as well as realizing independent obstacle avoidance, with a consistent deviation of less than 20 meters. ［Conclusions］The developed prototype system carries out the remote control operation demonstration of the above ship types in such waterways as the Changhu Canal Shenzhou line and the Yangtze River, proving that a complete set of algorithms with a CNN and reinforcement learning at the core can independently extract key navigation information, construct obstacle avoidance and control awareness, and lay the foundation for inland river intelligent navigation systems. © 2022 Journal of Clinical Hepatology. All rights reserved.     

港口供电系统改进

目前港口供电系统存在体积大、结构设置不合理和不适应环境等问题,经研究提出了减小体积、优化系统配置、提高箱变安全性和环境适应性等相应对策,在研究的基础上设计了一种新型箱式变电站,解决了目前港口供电系统存在的不足.     

Approximate optimal AUTOSAR software components deploying approach for automotive E/E system

The AUTOSAR has been developed as the worldwide standard for automotive E/E software systems, making the electronic components of different suppliers to be employed universally. However, as the number of component-based applications in modern automotive embedded systems grows rapidly and the hardware topology becomes increasingly complex, deploying such large number of components in automotive distributed system in manual way is over-dependent on experience of engineers which in turn is time consuming. Furthermore, the resource limitation and scheduling analysis make the problems more complex for developers to find out an approximate optimal deploying approach in system integration. In this paper, we propose a novel method to deploy the AUTOSAR components onto ECUs with the following features. First, a clustering algorithm is designed for deploying components automatically within relatively low time complexity. Second, a fitness function is designed to balance the ECUs load. The goal of our approach is to minimize the communication cost over all the runnable entities while meeting all corresponding timing constraints and balancing all the ECUs load. The experiment results show that our approach is efficient and has well performance by comparing with other existing methods in specific and synthetic data set.     

盾构下坡掘进对推进阻力的影响研究

以神华新街6°煤矿斜井盾构工程为背景,针对盾构下坡掘进工况,通过建立盾构上作用的水土压力载荷与坡度的数学关系模型,推导出推进阻力与坡度的数学公式。结合工程实例,计算水平掘进与6°下坡掘进各推进阻力值,并利用MATLAB软件绘制下坡掘进时推进阻力随坡度变化的曲线。结果表明:1)6°下坡掘进的总推进阻力相对于水平掘进仅减小了约8%,坡度小于13°时,可通过水平掘进时的推进阻力减去重力沿掘进轴线上的分量来近似求得,且偏差小于10%;2)总推进阻力会随坡角的不断增大而减小;3)当坡度大于50.4°后,盾构有自动向下滑移的趋势,刀盘将自动压紧开挖面,导致刀具自动嵌入开挖面,增加了启动扭矩与换刀的难度。     

漫谈矿山法隧道技术第十四讲——隧道涌水及其控制方法

分析制定隧道控制地下水对策的基本观点:既要考虑隧道施工对地下水的影响,也要考虑地下水对隧道施工的影响。指出控制地下水的对策必须符合3个条件:1)确保施工作业安全、顺利地开展;2)不对周边环境产生有害的影响;3)以合理的工费和工期来实现。隧道涌水视其发生位置、涌水量、发生时期、涌水量的历时变化等是各种各样的,应对隧道涌水进行合理分类,以便有的放矢地采取相应的对策。介绍了日本统计的地质构造和涌水现象的分类。涌水处理应达到3个基本目标:1)确保隧道施工在无水的条件下进行,或者是在可以接受的渗漏水条件下进行,或者是在对周边环境"可接受干扰"的条件下进行;2)二次衬砌原则上不承受水压作用,不得已时把水压控制在二次衬砌容许的范围内;3)运营中的隧道洞内不能成为地下水流经的通道,隧道衬砌背后必须形成一个纵横交错的、不易堵塞的、通畅的排水系统。达到上述目标的基本方法是:充分利用和提高围岩的隔水性能,合理地处理好"排"与"堵"的关系。针对涌水处理的3个基本目标,分别介绍了国内外相应的经验和措施。1)一些国家的指南、标准对隧道的涌水量进行了分级,认为涌水量≤2.5 L/(min·m)时基本上可以认为是在无水条件下施工;一般的线状流水、经常涌水可以用自然排水法排水;而针对突发大量涌水,则需要采取特殊的地下水对策予以解决。2)按照二次衬砌是否承受水压,隧道可分为3种情况:1衬砌不承受水压,即所谓的完全排水型隧道;2衬砌承受全部水压,即所谓的非排水型(防水型)隧道;3衬砌背后设置注浆域,分担衬砌承受的水压,衬砌只承受部分容许的水压。从目前的隧道设计实际来看,在山岭隧道中多数采用方案1,在城市隧道中多数采用方案2,在高水压和突发大量涌水的极端情况下采用方案3。介绍了日本、美国的设计经验。3)我国铁路隧道采用把地下水引入隧道,再从洞内两侧边墙附近设置的排水沟排出地下水的做法是值得商榷的;特别是在可能发生冻害的地区,更不可取。在国外,日本、德国、法国等国家的铁路、公路隧道基本上是把中央排水管设置在仰拱内或仰拱下方,而在隧道两侧只留有用于排出流入隧道内的雨水或隧道清洗水的排水沟;因此,建议立项研究取消洞内排水沟,设置中央或两侧脚部排水管的问题。最后指出,实现涌水处理的3个基本目标我们尚需努力,特别是"目标"的定位问题,尚需进行基础性的研究才能解决。在隧道施工中,涌水是不可避免的、客观存在的现象,我们积累的经验非常丰富,但缺乏系统的、认真的总结和归纳。     

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。     

Modelling,simulation and applications of longitudinal train dynamics

ABSTRACT

Significant developments in longitudinal train simulation and an overview of the approaches to train models and modelling vehicle force inputs are firstly presented. The most important modelling task, that of the wagon connection, consisting of energy absorption devices such as draft gears and buffers, draw gear stiffness, coupler slack and structural stiffness is then presented. Detailed attention is given to the modelling approaches for friction wedge damped and polymer draft gears. A significant issue in longitudinal train dynamics is the modelling and calculation of the input forces – the co-dimensional problem. The need to push traction performances higher has led to research and improvement in the accuracy of traction modelling which is discussed. A co-simulation method that combines longitudinal train simulation, locomotive traction control and locomotive vehicle dynamics is presented. The modelling of other forces, braking propulsion resistance, curve drag and grade forces are also discussed. As extensions to conventional longitudinal train dynamics, lateral forces and coupler impacts are examined in regards to interaction with wagon lateral and vertical dynamics. Various applications of longitudinal train dynamics are then presented. As an alternative to the tradition single wagon mass approach to longitudinal train dynamics, an example incorporating fully detailed wagon dynamics is presented for a crash analysis problem. Further applications of starting traction, air braking, distributed power, energy analysis and tippler operation are also presented.     

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借鉴定性推理中描述参数的相关方法,首先提出了描述城市快速路各车道交通流同态程度的概念——同态度量指数（Homogeneous Measure Index ,HMI),大量对快速路的实证研究得到的HMI指数反应了不同情况下交通流状态的定性差异。通过对北京环路交通拥堵发生与消散过程的观察和分析,本文发现当交通拥堵发生或消散的过程被触发时,不同车道交通流的同态度量指数HMI会发生定性跃迁变化,并且各车道交通流的同态性变化将是一个“同态 非同态同态”的过程,因此可以利用这一性质,将HMI作为一个指标来对城市快速路交通拥堵是否可能发生进行预警。     

TNFα、Leptin-Rb、NF-κB和PPAR-γ在酒精性肝病大鼠肝细胞中的表达

目的 探讨TNFα、NF-κB、Leptin-Rb和PPAR-γ等在大鼠酒精性肝病中与肝组织炎症、坏死和纤维化的关系.方法 胃造瘘法建立长期大鼠酒精性肝病模型,分别在第4、8、12、24和52周用免疫组化、原位杂交和RT-PCR技术检测不同阶段大鼠肝组织中TNFα、NF-κB、PPAR-γ和Leptin-Rb等的表达.结果 TNFα、NF-κB和Leptin-Rb水平在模型组大鼠肝细胞中,第8周表达逐渐增强,第24周起高水平表达一直持续至52周(P<0.01).PPAR-γ在对照组和第4、8周模型组肝细胞中表达最强,第12周表达开始减弱.TNFα和NF-κB在肝细胞中的表达呈明显正相关关系,与PPAR-γ则呈负相关关系(P<0.01).结论 TNFα和NF-κB与肝细胞病变程度有很好的一致性关系,Leptin-Rb在肝细胞的表达与肝纤维化发展相一致,PPAR-γ则刚好相反.