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.     

A review of the Effect of α/W ratio on fracture toughness （Ⅱ） experimental investigation in LEFM

In part I of this series, experimental investigation in EPFM （elastic-plastic fracture mechanics） had been discussed. In this paper, experimental investigation in LEFM （ linear elastic fracture mechanics） is given. Fracture toughness tests had been carried out on three different strength steels, using both through-cracked specimens with different α/W ratio and semi-elliptical cracked specimens with variable crack size and shape. Results show that the fracture toughness KIC increases with decreasing α/W when α/W 〈 0.3 for three-point-bend specimens, and that for α/W 〉 0.3, it is independent of α/W. Shallow crack specimens, both through-cracked and surface-cracked, gave markedly higher values than deeply notched specimens. However, the effect of crack shape on fracture toughness is negligible. Results also show that the LEFM approach to fracture is not tenable for design stresses where αc is often very small, far less than 2.5 （ KIC/σy）^2.     

Mixed analysis of shell and solid elements using the overlaying mesh method

 This article presents a mixed method of analyzing shell elements and solid elements using the overlaying mesh method. In the structural design of a ship's hull, the shell elements are used for the global model. However, the solid elements are necessary to analyze the stress concentration zones or the vicinity of a crack. In such cases, the models are analyzed using zooming analysis, in which the results of a global model analysis are transferred to a local model analysis by imposing boundary conditions. This method is more advantageous than zooming analysis in terms of the accuracy of the solution and the modeling flexibility. Some examples of a plate model with a cracked surface or with a projection are shown in order to demonstrate the effectiveness of the method. Received: August 6, 2002 / Accepted: November 25, 2002 Address correspondence to: S. Nakasumi (sumi@nasl.t.u-tokyo.ac.jp) Updated from the Japanese original, which won the 2002 SNAJ prize (J Soc Nav Archit Jpn 2001;189:219–224; and 190:655–662)     

The role of professional associations in shipping

This article is in three parts. The first covers the historical development of qualifying associations. The second covers the particular role of maritime institutions that include The Royal Institution of Naval Architects, The Institute of Marine Engineering Science and Technology and The Nautical Institute. The third and final section considers the future for maritime professional associations in the context of international shipping.     

Maritime accident investigation and temporal determinants of maritime accidents: A case study

This paper presents the results of an investigation into temporal determinants of maritime accidents based on a data-set obtained from the proceedings of formal inquiries in the former German Democratic Republic (GDR). The results show that there is no statistically significant outcome between the probability for an accident and the time of watch. Thus the results do not confirm previous studies, which reported significant time of day effects.The outcome of this study indicates that marine inquiries can provide useful data for an analysis of underlying causes of maritime accidents. It is suggested that accident inquiries should be extended into the area of watch systems employed and should record the hours of work and of rest of the officers on the watch involved in a maritime accident.     

A finite pointset method for the numerical simulation of free surface flow around a ship

In this paper, we present a Finite pointset method (FPM) for the numerical simulation of free surface flow around a ship in calm water. It is a Lagrangian and meshless particle scheme which is applied to the projection method for the incompressible governing equations. This requires the solution of Poisson problems in each time step, so a moving least squares (MLS) interpolants is used for the spatial derivatives in order to discretize the Poisson equation with pressure-Dirichlet condition of free surface flow in meshless structure. Meanwhile, an additional problem of the periodic particle locations redistribution in the present approach is still handled by MLS interpolants. With the proposed FPM technique, problems associated with the free surface flow around a ship are circumvented. A verification of numerical modeling is made using the Wigley hull and the validity of the proposed methodology is examined by comparing the detail of wave profile and wave-making resistance with Series 60 model. The results demonstrate that FPM is able to perform efficient and stable simulations of free surface flow around a ship.     

A new method for absolute datum transfer in seafloor control network measurement

To decrease the time consumption and the labor intensity in the absolute datum transfer of traditional seafloor control network measurement, a new method, namely sailing-circle positioning method, is put forward in this paper. First, the traditional intersection positioning model is improved by considering the equivalent sound velocity profile error as an unknown parameter in the adjustment model. Second, the effect of geometric dilution of precision (GDOP) on positioning accuracy is analyzed. By seeking for the minimum of GDOP, it is concluded that the absolute datum transfer can achieve the highest accuracy in the condition of sailing along a circle relative to other sailing paths. Moreover, the optimal radius of the circle for the accurate datum transfer is also given out. Besides, the correlation between the accuracy of datum transfer and the sound velocity error in this method is analyzed. Finally, the new method was tested and verified by the experiments in Songhua lake with the water depth of 60 m and in South China sea with the water depth of 2000 m, respectively. These experiment results show that the new method can improve the accuracy and efficiency of traditional datum transfer method significantly.     

Advantages of twin rudder system with asymmetric wing section aside a propeller

This study presents a new twin rudder system with asymmetric wing section, aside a propeller, as a new category energy saving device (ESD) for ships. The energy saving principle of the new ESD, which is called “Gate rudder”, is described and its applicability on a large bulk carrier is explored using experimental and numerical methods. The study makes emphasis on the cost-effectiveness of the proposed ESD and presents a potential energy saving up to 7–8 % with the new device as well as an attractive return investment in 0.37–0.9 year. These estimations are based on the conventional powering methods, whereas the accuracy of the ESD design method is confirmed by model test measurements.     

Oriented review to potential simulator for faults modeling in diesel engine

This paper presents a literature review on most of the faults and their models that are considered on a diesel engine. Several faults that may be produced on diesel engine have been analyzed, classified, modeled, and their influences on the global system have been shown. Thus, this paper aims to prepare an important data base on diesel engine faults which may help researchers to develop precise strategies on diesel engine fault diagnosis and prognosis, and also it helps in the development of diesel engine simulators aiming to study the behavior of the diesel engine in the presence of faults. Different fault models such as analytical, empirical, degradation models which may be represented as function of time or as function of the number of cycles, data driven models such as neural network models, or simply constant are presented and analyzed. The global overall models for diesel engine integrating faults are expressed. And finally, the use of these models with the most common failure density distribution functions is proposed giving a more realistic approach to our study.     

New procedure for the analysis of speed trial results,with special attention to the correction of tidal current effect

Almost all the existing analysis methods of speed trial results were proposed before 1970s, and the actual analysis procedures are very old-fashioned with instructions like “plot the results on a chart and draw a smooth mean line”, “read a value from the mean line” and so on. Such instructions not only show up the analysis procedures old-fashioned, but also make them very ambiguous and unclear. They should be up-dated to a method which is clear not only in logic but also in calculation procedure, and also fits the present computing technology. At first, the author reviewed the major analysis methods and concluded that the logic of the up-dated analysis procedure can be composed of the logics of the existing ones. Then, the analysis procedure is composed of three stages; namely (1) correction of power and propeller revolution to the ones corresponding to no air condition, (2) correction of tidal current effect, and (3) correction of power and propeller revolution to the ones corresponding to no wind condition. For the stages (1) and (3), there seems to be no big issue except the estimation of the amount of environmentally added resistance in the stage (1). Then, the author focused on the correction of tidal current effect in this paper. For the correction of tidal current effect, the author considers the essential points for the up-date are in the direction of finding out appropriate functions for the variation of tidal current velocity and the ship speed through the water. Then, he investigated to find out such functions and made his proposal. Finally, the applicability of the new procedure is assessed by the analysis of simulated speed trial results of a VLCC.