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.     

International Symposium on the Ice Carrying Trade at Sea

Overmanning and restrictive labour practices are major causes of low productivity in Indian ports. Proposals are put forward for a programme of reforms to support investment in modern cargo handling systems.     

Vibration reduction of H/Shaft using an electromagnetic damper with mode change

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.     

A receding horizon sliding control approach for electric powertrains with backlash and flexible half-shafts

Active control of electric powertrains is challenging, due to the fact that backlash and structural flexibility in transmission components can cause severe performance degradation or even instability of the control system. Furthermore, high impact forces in transmissions reduce driving comfort and possibly lead to damage of the mechanical elements in contact. In this paper, a nonlinear electric powertrain is modelled as a piecewise affine (PWA) system. The novel receding horizon sliding control (RHSC) idea is extended to constrained PWA systems and utilised to systematically address the active control problem for electric powertrains. Simulations are conducted in Matlab/Simulink in conjunction with the high fidelity Carsim software. RHSC shows superior jerk suppression and target wheel speed tracking performance as well as reduced computational cost over classical model predictive control (MPC). This indicates the newly proposed RHSC is an effective method to address the active control problem for electric powertrains.     

Insights into vehicle trajectories at the handling limits: analysing open data from race car drivers

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.     

Evaluating air emission inventories and indicators from cruise vessels at ports

This paper provides an estimation of air emissions (CO₂, NO_X, SO_X and PM) released by cruise vessels at the port level. The methodology is based on the “full bottom-up” approach and starts by evaluating the fuel consumed by each vessel on the basis of its individual port activities (manoeuvring, berthing and hoteling). The Port of Barcelona was selected as the site at which to perform the analysis, in which 125 calls of 30 cruise vessels were monitored. Real-time data from the automatic identification system (AIS), factor emissions from engine certificates and vessel characteristics from IHS Sea-web database were also collected for the analysis. The research findings show that the most appropriate indicators are inventory emissions per “port-time gross tonnage”, “port-time passenger” and “port time”. These emission indicators improve our understanding of cruise emissions and will facilitate the work that aims to estimate reliably and quickly the in-port ship emission inventories of cruise ports.     

The Bid-rent Land Use Model of the simple,efficient, elegant,and effective model of land use and transportation

Integrated land use/transportation forecasting models add significant policy and infrastructure alternatives analysis capabilities to the urban planning process. The financial, time, and staff requirements to develop these models has put them beyond the reach of most small to medium sized urban areas. This paper presents the land use allocation submodel of the Simple, Efficient, Elegant, and Effective model of land use and transportation (SE³M), an integrated land use and transportation forecasting model founded upon Economic Base Theory and Bid-rent Theory. The Bid-rent Land Use Model (BLUM) is an agent based, spatial competition model utilizing unique utility curves for willingness to pay and incomes for budget constrained abilities to pay for each agent. The model structure, estimation, calibration, implementation, and validation are presented. With a single year of land use data available, the validation approach used the Kappa Index of Agreement to spatially check model outputs against base year control data while controlling for agreement by chance. The U.S. territory of Guam is used as the case study/proof of concept implementation for this model framework. Once calibrated, BLUM could solve the spatial competition problem on Guam in less than two minutes of processing time with over 90% accuracy.     

Genetics of traffic assignment models for strategic transport planning

This paper presents a review and classification of traffic assignment models for strategic transport planning purposes by using concepts analogous to genetics in biology. Traffic assignment models share the same theoretical framework (DNA), but differ in capability (genes). We argue that all traffic assignment models can be described by three genes. The first gene determines the spatial capability (unrestricted, capacity restrained, capacity constrained, and capacity and storage constrained) described by four spatial assumptions (shape of the fundamental diagram, capacity constraints, storage constraints, and turn flow restrictions). The second gene determines the temporal capability (static, semi-dynamic, and dynamic) described by three temporal assumptions (wave speeds, vehicle propagation speeds, and residual traffic transfer). The third gene determines the behavioural capability (all-or-nothing, one shot, and equilibrium) described by two behavioural assumptions (decision-making and travel time consideration). This classification provides a deeper understanding of the often implicit assumptions made in traffic assignment models described in the literature. It further allows for comparing different models in terms of functionality, and paves the way for developing novel traffic assignment models.     

The relevance of international transport costs on food prices: Endogenous and exogenous effects

The paper addresses the problem of transport costs and their influence on food prices for South American imports. While transport does not seem to be in the focus of existing analyses, its impact on food prices might be underestimated and even closely linked to the development of commonly mentioned drivers of food prices. Since transport price formation is a function of demand and supply, drivers of food prices are also expected to impact on transport prices. The authors argue that a number of relevant factors that drive transport costs - and in consequence food prices - can be influenced by policy makers. Based on empirical analysis, the authors explain the functioning of the determinants of transport costs in the segment of international shipping, trying to describe their exogenous and endogenous components. These results are discussed in reference to policy development in the region.