Tracking control of underwater vehicle subject to uncertainties using fuzzy inverse desired trajectory compensation technique

Computed-torque controller plus fuzzy inverse desired trajectory compensation technique based on robust adaptive fuzzy observer is proposed to control underwater vehicle subject to uncertainties. A fuzzy inverse desired trajectory compensator is developed as a nonlinear filter at input trajectory level outside the control loop to address the issue of unavailable normalizing factor. A robust adaptive state observer with loose constraint on the position of the uncertainty function is proposed to evaluate the unavailable states. Numerical simulation results of regulation performance demonstrate that the observer solves the problem of strict constraint conditions on position uncertainties. Comparisons of tracking performance between the proposed control method and computed-torque controller are performed. The results confirm that compensation at the input trajectory offers better position tracking performance and easier practical implementation than other fuzzy compensation techniques at joint torque level. The proposed control approach is simulated and its efficiency is validated through the simulation of an underwater vehicle.     

Use of diesel engine and surface-piercing propeller to achieve fuel savings for inshore fishing boats

Fishing is a major local industry in Malaysia, particularly in rural areas. However, the rapidly increasing price of fuel is seriously affecting the industry’s viability. At present, outboard petrol engines are the preferred choice for use in small-scale fishing boats because they deliver the advantages of high speed and low weight, they are easy to install, and they use minimal space. Petrol outboard engines are known to consume a greater amount of fuel than inboard diesel engines, but installing diesel engines with conventional submerged propellers in existing small-scale fishing boats is not economically viable because major hullform modifications and extra expenditure are required to achieve this. This study describes a proposal to enable reductions in fuel consumption by introducing the combined use of a diesel engine and surface-piercing propeller (SPP). An analysis of fuel consumption reduction is presented, together with an economic feasibility study. Resulting data reveal that the use of the proposed modifications would save 23.31 liters of fuel per trip (40.75 %) compared to outboard motors, equaling annual savings of RM 3962 per year.     

Effect of ship bow overhang on water shipping for ship advancing in regular head waves

This paper presents the results of an experimental investigation dealing with the effect of bow overhang extensions on the quantity of shipping water over the foredeck in case of ships advancing in regular head waves. To perform this investigation, a series of free-running tests was conducted in regular waves using an experimental model of a multipurpose cargo ship to quantify the amount of shipping water. The tests were performed on five bow overhang variants with several combinations of wavelength and ship speed conditions. It was observed that the quantity of shipping water was affected by some parameters such as wavelength, ship speed, and bow shape in terms of an overhang extension. The results show the significant influence of an overhang extension, which is associated with the bow flare shape, on the occurrence of water shipping. These results involve the combined incoming regular waves and model speed.     

A mathematical model for acceleration phase of aerodynamically alleviated catamarans and minimizing the time needed to reach final speed

Racing catamarans use aerodynamic alleviation concept which in existing extreme ground effect significantly enhances the performance. Beside design measures, controlling strategies may be employed as convenient solutions to improve the performance and address concerns regarding poor stability in these crafts. Being of substantial importance for a racing catamaran to reach the final speed as soon as possible, this study attempts to find the optimal form of changing the drive angle (as control variable) to minimize its acceleration time. In this regard, a mathematical model is developed for forward acceleration phase of these catamarans based on empirical and theoretical methods. Then the formulation and solution algorithm for the time-optimal problem are described according to an indirect method. Results for a representative racing craft have been presented in uncontrolled and controlled conditions. Problem in controlled condition has been solved without and with a predefined constraint regarding stability margin. Optimal controlling of the drive angle without stability constraint during the acceleration results in 40 % reduction in time required to reach the speed of 110 kn and 14 % reduction in resistance at this speed in comparison to the uncontrolled case. Addition of the stability constraint changes optimal solution for drive angle and causes craft trim angle follow a decreasing trend at higher speeds.     

The relationship between maritime education and employer trust: the structural equation modelling (SEM) perspective

The research is aimed to identify factors in the maritime education and training (MET) system and its relationship on maritime labour employers’ (MLEs) trust based on current practice in Malaysia. A questionnaire survey was used, and the respondents were the participants of a related conference in Malaysia. The structural equation modelling technique was used to explain the relationships in the stipulated research model. The test of structural model confirms that the model is adequate in explaining the MLEs’ trust. The results reveal that the perceived MET institutions’ efficiency has significant direct effects on the MLEs’ trust and the perceived seafarers’ competency. In addition, the perceived implementation of International Convention was found to significantly affect the seafarers’ competency. However, the perceived seafarers’ competency was not found to directly affect the MLEs’ trust. This study suggests that the MLEs’ trust is an important indicator and feedback on it can be used to further enhance the current MET system and its policies. Thus, one of the strategies is to develop a policy in order to achieve an effective maritime education and training. This is to support the maritime communities in progressing towards a more sustainable development in the MET in the context of enhancing the maritime safety.     

盾构隧道内机械法修建废水泵房技术研究

为解决采用传统矿山法修建废水泵房存在工期长、风险大等问题以及在机械法联络通道内修建废水泵房作业空间狭小、二次拆除管片风险大等问题，提出采用机械法在盾构隧道内修建废水泵房，明确上部接口和下部封底2项关键技术，并通过数值模拟分析地层水压力对封底混凝土力学性能的影响，最后将该修建技术应用到北京地铁17号线望—勇区间隧道中。研究结果表明： 1）考虑安全系数不小于1.4的情况下，1.0 m厚C30混凝土封底水压可用于不超过0.3 MPa水压的地层条件； 2）封底混凝土与外盾相连接的角部为薄弱部位，其破坏模式呈异形“八”字分布； 3）盾构隧道内采用机械法修建废水泵房能有效保障施工质量，泵房容积大，可有效减少潜水泵的启停次数，降低维修时间和成本，减少对线路运营的影响。     

Investigation of the capabilities of yield functions on describing the deformation behavior of 5754O aluminum alloy sheet under combined loading paths

The combined loading tests of 5754O aluminum alloy sheet are used to verify the yield function. Three yield functions are implemented into the commercial finite element model (FEM) code ABAQUS as a user material subroutine UMAT for the FEM simulation of the combined loading tests. The comparison of the simulating and experimental results shows that the modified Yld2000-2d yield function can describe the mechanical behavior of 5754O aluminum alloy sheet under combined loading paths reasonably while other three yield functions do not. The performance of the modified Yld2000-2d yield function on describing the mechanical behavior under combined loading paths is analyzed in detail. It is concluded that the modified Yld2000-2d yield function can be adopted to describe the deformation behavior of 5754O aluminum alloy sheet for industrial applications.     

“I can do perfectly well without a car!”

This article presents the results of a study exploring travellers’ preferences for middle-distance travel using Q-methodology. Respondents rank-ordered 42 opinion statements regarding travel choice and motivations for travel in general and for car and public transport as alternative travel modes. By-person factor analysis revealed four distinct preference segments for middle-distance travel: (1) choice travellers with a preference for public transport, (2) deliberate-choice travellers, (3) choice travellers with car as dominant alternative, and (4) car-dependent travellers. These preference segments differ in terms of the levels of involvement and cognitive effort in travel decision making, the travel consideration-set and underlying motivations. The study showed that for most people there is more to travel than getting from point A to point B, and that there is considerable heterogeneity in middle-distance travel preferences. Policy implications for reducing the need for travel and promoting a modal shift from car to other travel modes are discussed.     

Construction of eukaryotic recombinant vector of renalase and its expression as a eukaryotic protein

Renalase is a secreted amine oxidase that metabolizes catecholamines. It has been proposed to modulate blood pressure and heart rate and its downregulation might result in hypertension. Despite its potential relevance for human health, the biochemical characterization of renalase is still scarce. The aim of this study is to synthesize the human renalase eukaryotic protein by genetic engineering. The human renalase gene was amplified by polymerase chian reaction (PCR). After digestion by BamH I and Xho I enzymes, the DNA fragments were cloned into the transfer vector, pFastBacHTb-Fc, to generate the pFastBacHTb-renalase expression vector. The ligation products were transformed into E. coli DH10Bac to obtain recombinant transposon rBacmid-renalase. The recombinant transposon was further transferred into insect high-V cells, and the recombinant human renalase eukaryotic protein was expressed successfully.     

上海轨道交通直流电力电缆的故障分析

直流1500V电缆是保障地铁正常运行的关键设施。介绍了上海地铁直流电缆的敷设方式和环境,在统计历史故障的基础上对直流电缆故障进行了分类,提出了在新线建设和改造项目中,尽可能采用带铠装的软电缆;通过在线检测手段,建立专家评估系统,评定绝缘的优劣并预警其劣化的趋势;改进直流电缆敷设质量,改善其运行环境等措施和建议。