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91.
[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. 相似文献
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C. H. Lee 《International Journal of Automotive Technology》2017,18(2):317-325
CFD simulations of spray tip penetration with the standard KIVA3V, ‘original gas jet’ and ‘Normal gas jet profile with breakup length formula’ (NGJBL) spray models were performed to investigate the effects of nozzle orifice size and ambient gas density combinations on the spray penetration. The accuracy of the CFD simulation results was estimated by comparing them with available experimental data. The ambient gas density was varied in 12 kg/m3 intervals from 12 to 69 kg/m3 for each nozzle orifice diameter. The nozzle orifice diameters used were 119, 140, 183 and 206 mm. A total of 20 cases in the CFD simulations were considered with combinations of the 4 nozzle orifice diameters and 5 ambient gas densities. CFD simulations with the NGJBL spray model were more accurate than those with either the standard KIVA3V or gas jet spray models as the nozzle orifice diameter and ambient gas density was increased. The NGJBL and original gas jet model is more effective in predicting the spray tip penetration near the nozzle tip region. 相似文献
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K. H. Lee J. H. Bak J. -L. Park C. -H. Lee 《International Journal of Automotive Technology》2017,18(2):255-261
The objective of this study is to develop a damper that can reduce the amplitude of vibration in various frequency ranges. Previous H/Shaft vibration reduction methods work in a passive way. A dynamic damper reduces the amplitude of vibration at its first mode, but vibration still appears at the second mode. A mass damper or hollow shaft can shift the natural frequency to a lower or higher region. The fixed operating frequency prevents vibration from being reduced outside the operating frequency range. The proposed damper uses electromagnets as either masses or actuators to change the damper mode between dynamic damper mode and mass damper mode. The electromagnetic damper (EMD) can change its mode to respond to the vibration excitation at both low and high frequencies. The vibration reduction performance was evaluated by FRF tests in laboratory and vehicle conditions. The results were compared with those of a dynamic damper and indicate that the amplitude of vibration is reduced by 95.6 % when the EMD is implemented on an H/Shaft, whereas only 61.9 % vibration reduction is achieved by the dynamic damper. 相似文献
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Insights into vehicle trajectories at the handling limits: analysing open data from race car drivers
John C. Kegelman Lene K. Harbott J. Christian Gerdes 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2017,55(2):191-207
Race car drivers can offer insights into vehicle control during extreme manoeuvres; however, little data from race teams is publicly available for analysis. The Revs Program at Stanford has built a collection of vehicle dynamics data acquired from vintage race cars during live racing events with the intent of making this database publicly available for future analysis. This paper discusses the data acquisition, post-processing, and storage methods used to generate the database. An analysis of available data quantifies the repeatability of professional race car driver performance by examining the statistical dispersion of their driven paths. Certain map features, such as sections with high path curvature, consistently corresponded to local minima in path dispersion, quantifying the qualitative concept that drivers anchor their racing lines at specific locations around the track. A case study explores how two professional drivers employ distinct driving styles to achieve similar lap times, supporting the idea that driving at the limits allows a family of solutions in terms of paths and speed that can be adapted based on specific spatial, temporal, or other constraints and objectives. 相似文献
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Maxsurf软件是由澳大利亚Formation Design Systems公司为船舶设计和建造者开发的、适用于各种船舶设计、分析和建造的一套非常完整的计算机辅助船舶设计和建造软件。文章以Fountain Pajot公司的Orana44双体帆船为例,讨论了Maxsurf软件对双体帆船阻力计算是否依然适用,并将Maxsurf软件中的Hullspeed模块的计算结果与循环水池试验的结果进行了对比。同时,将计算出的不同速度下的所需动力值与已知的资料进行对比。通过对比分析发现,利用Maxsurf软件计算得到的阻力值较为合理的反映出了双体帆船的实际阻力性能,可以为双体帆船的阻力计算提供了有价值的参考。 相似文献
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