S^2 BHCA Multiple AUVs cooperation oriented control architecture

Oceanographic survey, or other similar applications should be the applications of multiple AUVs. In this paper, the skill ＆ simulation based hybrid control architecture （S^2BHCA） as the controller＇s design reference was proposed. It is a multi-robot cooperation oriented intelligent control architecture based on hybrid ideas. The S^2BHCA attempts to incorporate the virtues of the reactive controller and of the deliberative controller by introducing the concept of the ＂skill＂. The additional online task simulation ability for cooperation is supported, too. As an application, a multiple AUV control system was developed with three ＂skills＂ for the MCM mission including two different cooperative tasks. The simulation and the sea trials show that simple task expression, fast reaction and better cooperation support can be achieved by realizing the AUV controller based on the S^2BHCA.     

现代有轨电车系统票务方案初探

现代城市建设迫切需要建立一个多层次、立体化的综合公共交通体系，重点是发展以轨道交通为骨干的公共交通网络：根据各城市的发展实际需要，进行合理规划、科学分析论证，从而建立大、中、低客运量相互匹配的多种形式相结合的客运交通工具。现代有轨电车系统是我国城市轨道交通体系中的崭新模式．具有优越的性能和良好的发展前景。现对现代有轨电车系统的适用性及与其适用的票制、售检票方式等进行研究和探讨。     

加快发展铁路中型养路机械促进铁道线路维修的现代化

阐述了发展铁路中型养路机械的必要性,认为发展中型养路机械不仅符合铁道部制定的养路机械发展的方针政策,而且也是铁道线路维修的实际需要。介绍了中型养路机械的研制、使用情况和配套设想。     

Total oil spill costs and compensations

Although counteracting environmental programmes and policies have been strengthened, large oil spills still occur at irregular intervals. The total oil spill costs and their compensations have attracted much interest from various parties, such as local stakeholders, and state and federal governments. This paper addresses five major cost categories whose aggregations are expected to cover the overall direct and indirect costs after the release of an oil spill. Among them, research costs should not be neglected, since they tend to be high if public attention has been drawn to the case. Through an examination of the relationship between the total oil spill costs and their admissible claims, we found that:

1. admissible claims do not cover the overall costs of the oil spill, and
2. admissible claims cannot be compensated in full in the case of large spills.

Clearly, a sound oil spill contingency management aims to minimize both the environmental impacts of areas most at risk and the total oil spill costs. In this paper an economic model for measuring environmental damages following an oil spill is addressed and applied to the Prestige case which happened to be the worst oil pollution in the history of Spain. The model indicates how an ideally a priori economic evaluation may intuitively help managers to make informed as well as fast decisions in contingency cases.     

关于雷电防护的一些认识

指出现代防雷应考虑被保护对象、防护等级、地域情况等诸多因素，采取灵活适宜的防雷，由此讨论几种可行的防雷措施；简要介绍几种常用的避雷器及其优缺点，并提出选择避雷器时需注意的问题；对几个比较模糊的防雷观念的认识（接闪器、消雷器、雷电流的反击现象）进行阐述；最后，概述防雷技术的现状与趋势。     

浅析城市轨道交通之特许经营法律的完善

城市轨道交通项目投资额巨大、建设周期长、政府财政负担重等问题是每个发展轨道交通的城市都要面临的难题。如何改善城市轨道交通投融资环境．减少该领域潜在的风险，已经成为相关政府和企业深思的课题。作者将以北京地铁4号线特许经营为例．浅析城市轨道交通特许经营的有关法律法规并就其完善提出几点建议。     

某深厚软土路基处理方案分析

某高速公路沿线大部分路段为软土路基。其中一桥头段位于深厚软土路基上,根据工后沉降的要求,采用了带桩帽的预应力管桩 土工格栅垫层的处理形式。经过对现场试验数据分析,表明该种处理方法效果较好,具有处理深度大、质量易保证、工后沉降小等突出优点,可以作为类似软基处理设计时参考。     

高速铁路通过能力的计算

随着我国国民经济的发展和科学技术的进步,我国铁路事业也进入了飞速发展的时代,90年代初,筹建高速铁路的工作报告已被提交有关部门研究讨论,2000年京沪高速铁路的修建已到了实施阶段.京沪高速铁路的修建将结束我国没有高速铁路的历史,将会使铁路的效益、质量、技术和能力为一体,促进我国铁路的全面改观,使我国铁路的发展真正转到依靠科学进步上来.     

浅谈桥梁工程混凝土外观质量的施工控制

影响混凝土外观质量的施工因素较多，如何提高混凝土外观质量是工程质量上台阶、上水平的重要指标。     

斜腿刚构桥几何布局的优化设计

采用数学规划的方法从静力和动力两方面对斜腿刚构桥的几何布局进行优化设计。静力优化设计的优化目标是截面截面应力平方均值最小，动力优化设计的优化目标是结构自振周期平方和最小。采用了直接搜索法寻优。通过算例可知，这两种优化设计方法均可行，且均为刚性设计。