Biogeography-based combinatorial strategy for efficient autonomous underwater vehicle motion planning and task-time management

Autonomous Underwater Vehicles (AUVs) are capable of spending long periods of time for carrying out various underwater missions and marine tasks. In this paper, a novel conflict-free motion planning framework is introduced to enhance underwater vehicle’s mission performance by completing maximum number of highest priority tasks in a limited time through a large scale waypoint cluttered operating field, and ensuring safe deployment during the mission. The proposed combinatorial route-path planner model takes the advantages of the Biogeography-Based Optimization (BBO) algorithm toward satisfying objectives of both higher-lower level motion planners and guarantees maximization of the mission productivity for a single vehicle operation. The performance of the model is investigated under different scenarios including the particular cost constraints in time-varying operating fields. To show the reliability of the proposed model, performance of each motion planner assessed separately and then statistical analysis is undertaken to evaluate the total performance of the entire model. The simulation results indicate the stability of the contributed model and its feasible application for real experiments.     

机车轴悬式电机悬挂齿轮副变形的三维有限元分析

本文用三维有限元方法对东风_4型内燃机车的整个牵引电机传动系统进行了计算。其计算模型利用假想的二力杆连接齿轮副的啮合点,人为地造成了均匀传递啮合力的力学条件,从而计算出了合理的齿轮修形量。     

A Training Framework for Understanding Conflict in the Coastal Zone

The coastal zone is attractive for human settlement because it tends to be resource rich, providing a good location to generate incomes and livelihoods. Equally, however, it is a complex and powerful natural environment, which means that the coastal zone often becomes a focus of conflict with multiple users competing for limited space and resources. Understanding the causes of, and determining solutions to, the ensuing problems requires inputs from a range of analyses across sectors and disciplines. However, different disciplinary and sectoral approaches frequently use different investigative methods, language, and means of presenting results. This article presents a framework that has been developed in collaboration with Indian institutions over the past three years in an effort to address some of these fundamental problems of analysis and translation into policy action. Key components addressed by the framework are strengthening the capacity to practice, knowing how to proceed and how to find out what needs to be known using experience-based problem solving.     

EFD and CFD for KCS heaving and pitching in regular head waves

The KCS container ship was investigated in calm water and regular head seas by means of EFD and CFD. The experimental study was conducted in FORCE Technology’s towing tank in Denmark, and the CFD study was conducted using the URANS codes CFDSHIP-IOWA and Star-CCM+ plus the potential theory code AEGIR. Three speeds were covered and the wave conditions were chosen in order to study the ship’s response in waves under resonance and maximum exciting conditions. In the experiment, the heave and pitch motions and the resistance were measured together with wave elevation of the incoming wave. The model test was designed and conducted in order to enable UA assessment of the measured data. The results show that the ship responds strongly when the resonance and maximum exciting conditions are met. With respect to experimental uncertainty, the level for calm water is comparable to PMM uncertainties for maneuvering testing while the level is higher in waves. Concerning the CFD results, the computation shows a very complex and time-varying flow pattern. For the integral quantities, a comparison between EFD and CFD shows that the computed motions and resistance in calm water is in fair agreement with the measurement. In waves, the motions are still in fair agreement with measured data, but larger differences are observed for the resistance. The mean resistance is reasonable, but the first order amplitude of the resistance time history is underpredicted by CFD. Finally, it seems that the URANS codes are in closer agreement with the measurements compared to the potential theory.     

Integrated reliability and sizing optimization of a large composite structure

In this paper, we present the application of probabilistic design modeling and reliability-based design optimization (RBDO) methodology to the sizing optimization of a composite advanced submarine sail structure under parametric uncertainty. With the help of probabilistic sensitivity analysis, the influence of individual random variables on each structural failure mode is examined, and the critical modes are treated as probabilistic design constraints under consistent lower bounds on the corresponding reliability indices. Whereas the failure modes are evaluated for structural components in the solution of the RBDO problem, the overall system reliability is also evaluated as a post-optimization step. The results indicate that in comparison to a deterministic-optimum design, the structural mass of the probabilistic optimum design is slightly higher when consistent probabilistic constraints are imposed, and the overall structural stiffness is found to be more critical than individual component laminate ply thicknesses in meeting the specified design constraints. Moreover, the post-optimality analysis shows that the overall system failure probability of the probabilistic optimum design is more than 50% lower than that of the deterministic optimal design with less than 5% penalty in structural mass.     

Research progress and application of computational method for hydrodynamic noise from air-water interface北大核心CSCD

含水气界面水动力噪声是船海工程结构物经常遇到的一类典型重要噪声,具有机理复杂、声源形式多样、传播影响因素众多等特点。含水气界面水动力噪声与自由面相互作用,受空化、水气泡混合流等影响,对舰船的隐蔽性造成很多负面影响,具有重要的研究意义。分别从自由面噪声、空化噪声和水气泡混合流噪声3个方面进行介绍,并阐述相应噪声的计算方法以及在噪声计算时需要考虑的关键问题和目前所采用的解决方案。最后,展望未来的研究发展方向。     

Transport of radionuclides by sea-ice and dense-water formed in western Kara Sea flaw leads

A transport assessment of particle-bound and dissolved artificial radionuclides (¹³⁷Cs and ^239,240Pu) by sea-ice and dense-water formed in western Kara Sea flaw leads close to the Novaya Zemlya dumping sites is presented in this study. We both performed a “best estimate” based on available data, and a “maximum assessment” relying on simulated constant releases of 1 TBq ¹³⁷Cs and ^239,240Pu from individual dumping bays. The estimates are based on a combination of (i) the content of particulate matter in sea-ice; (ii) analytical data and numerical simulations of radionuclide concentrations in shelf surface deposits, suspended particulate matter (SPM), and the dissolved phase; and (iii) estimates of lead-ice and dense-water formation rates as well as modeling results of local ice drift pathways. In the “best estimate” case, 2.90 GBq ¹³⁷Cs and 0.51 GBq ^239,240Pu attached to sea-ice sediments can be exported from the lead areas toward the central Arctic basin. The radionuclide burden of the annually formed dense lead water in the “best estimate” amounts to 4.68 TBq ¹³⁷Cs and 0.014 TBq ^239,240Pu. In the “maximum assessment”, potential export-rates of ice-particle bound ¹³⁷Cs and ^239,240Pu toward the central Arctic would amount to 0.64 and 0.16 TBq, respectively. As much as ≈900 TBq ¹³⁷Cs and ≈6.75 TBq ^239,240Pu could be annually taken up by 34.75 dense-water rejected in the lead area. Assuming the (unlikely) instantaneous release of the total ¹³⁷Cs and ^239,240Pu inventories (≈1 PBq and 10 TBq, respectively) from the Novaya Zemlya dumping sites into the dissolved phase, the dense lead water locally formed during one winter season could take up ≈90% of the Cs and ≈68% of the Pu released.     

Altimeter assimilation in the OCCAM global model: Part I: A twin experiment

An altimeter data assimilation scheme has been tested in the OCCAM (Ocean Circulation and Climate Advanced Modelling) global 1/4°, 36-level model using a twin experiment format. The Cooper and Haines displacement scheme is used. The method works well in most regions and depths. Currents and densities in the top 1000 m generally improve by over 50–70% after 5 months of sea level assimilation every 15 days. Below 1000 m, an error reduction of up to 50% is achieved. The errors remain low during a further 60-day run without assimilation. Diagnostics for the North Atlantic, the Tropical Pacific and the Antarctic Circumpolar Current are shown alongside the global averages.The main problems encountered were in weakly stratified regions of the Antarctic and Arctic seas. A scale selective filter is developed to avoid assimilating scales much larger than the local deformation radius, and this avoids the adverse assimilation effects in the southern oceans. A companion paper uses this scheme to assimilate TOPEX and ERS-1 altimeter maps.     

Overview of intelligent ship route optimization methods北大核心CSCD

智能船舶航线优化在学术界和工业界均受到越来越多的关注。针对智能船舶航线优化问题,从航线设计方法和航线优化算法这2个层面,分别阐述各种设计方法和优化算法的特点。结合近5年来的最新研究成果,在分析国内外智能船舶航线优化技术发展现状的基础上,将航线设计方法归纳为3种,即基于气象数据的航线优化、基于油耗模型的航线优化以及基于航线库或航路点库的航线优化,剖析其技术内涵及应用情况;深入分析改进的等时线法、动态规划法、图形搜索算法、智能算法、人工智能和机器学习算法的特性及不足,总结归纳将各类算法应用于智能船舶航线优化时存在的主要问题。最后,简要展望智能船舶航线优化的发展趋势,为未来在该领域的研究提供一定的思路。