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.     

Robust traffic assignment model: Formulation,solution algorithms and empirical application

ABSTRACT

The deterministic traffic assignment problem based on Wardrop's first criterion of traffic network utilization has been widely studied in the literature. However, the assumption of deterministic travel times in these models is restrictive, given the large degree of uncertainty prevalent in urban transportation networks. In this context, this paper proposes a robust traffic assignment model that generalizes Wardrop's principle of traffic network equilibrium to networks with stochastic and correlated link travel times and incorporates the aversion of commuters to unreliable routes.

The user response to travel time uncertainty is modeled using the robust cost (RC) measure (defined as a weighted combination of the mean and standard deviation of path travel time) and the corresponding robust user equilibrium (UE) conditions are defined. The robust traffic assignment problem (RTAP) is subsequently formulated as a Variational Inequality problem. To solve the RTAP, a Gradient Projection algorithm is proposed, which involves solving a series of minimum RC path sub-problems that are theoretically and practically harder than deterministic shortest path problems. In addition, an origin-based heuristic is proposed to enhance computational performance on large networks. Numerical experiments examine the computational performance and convergence characteristics of the exact algorithm and establish the accuracy and efficiency of the origin-based heuristic on various real-world networks. Finally, the proposed RTA model is applied to the Chennai road network using empirical data, and its benefits as a normative benchmark are quantified through comparisons against the standard UE and System Optimum (SO) models.     

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.     

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.     

Marine accident analysis for collision and grounding in oil tanker using FTA method

In this study, collision and grounding data registered in GISIS (Global Integrated Shipping Information System) were investigated for oil tankers. The database includes the information of the collision and grounding accidents during the period between 1998 and 2010 in oil tankers. The risk assessments were carried out using fault tree analysis (FTA) programme for the incidents as collision and grounding occurred in oil tankers. In this study, we were able to investigate first the potential problems which cause the collision and grounding accidents have been determined, second, the occurrence of accidents has been shown with causal factors by the FTA method, and, finally, the significance degree of the initial events causing occurrence of accidents have been put forth. Collision in oil tanker resulted in economical loss (81%), pollution (6%) and death or injury (13%). Grounding in oil tanker resulted in economical loss (91%) and pollution (9%). According to the FTA results, the main reason for the accidents originating from human error is as follows: for collision accidents, Convention on the International Regulations for Preventing Collisions at Sea (COLREG) violation and the lack of communication between vessels; and for grounding accidents, the interpretation failure of the officer on watch and lack of communication in the bridge resource management.     

台北公共交通月及无车日活动回顾与展望

台北国际无车日自2002年起举办了5次,由最早的骑自行车活动扩大至包含“走路上学日”与“公共交通月”丰富多彩的系列活动,渐渐获得民众认同。无车日活动的目标是通过活动的倡导和社会参与来改变民众使用交通工具的行为,潜移默化的效应可促使形成可持续交通政策,当可持续交通政策与基础设施建设落实后又可具体改变交通环境,形成良性的循环机制。首先说明了“无车日”的由来,并回顾台北都会区过去5年来举行无车日系列活动的内容与经验,同时基于活动的发展与成果归纳出无车日活动的成功要素,最后提出未来活动将扩大举办的内容、方式与展望,以期能为其他城市作参考。     

A study of vibration and vibration control of ship structures

This paper examines the vibration characteristics and vibration control of complex ship structures. It is shown that input mobilities of a ship structure at engine supports, due to out-of-plane force or bending moment excitations, are governed by the flexural stiffness of the engine supports. The frequency averaged input mobilities of the ship structure, due to such excitations, can be represented by those of the corresponding infinite beam. The torsional moment input mobility at the engine support can be estimated from the torsional response of the engine bed section under direct excitation. It is found that the inclusion of ship hull and deck plates in the ship structure model has little effect on the frequency-averaged response of the ship structure. This study also shows that vibration propagation in complex ship structures at low frequencies can be attenuated by imposing irregularities to the ring frame locations in ships. Vibration responses of ship structures due to machinery excitations at higher frequencies can be controlled by structural modifications of the local supporting structures such as engine beds in ships.     

Effects of the ‘Belt and Road’ initiative on the wine import logistics of China

China’s Belt and Road (BR) initiative is expected to facilitate international trade between the countries involved. In this study, we review the special requirements of wine logistics and the market growth potential of wine consumption in China. A model minimizing generalized logistical costs is developed and applied to wine imports in China, so that the best candidate cities in which to locate transport gateways and distribution centers can be identified. Our analysis suggests that the most preferred gateways are Shanghai, Tianjin, Guangzhou, and Hong Kong, which all have similar delivery costs. In comparison, Beijing and Chongqing have much higher delivery costs, mainly because they do not have good access to marine transport and/or efficient domestic distribution networks. For long-distance intercontinental transport of large volumes of wine, marine shipping remains the only viable delivery mode. However, wine distribution within China extensively uses air, road, and water transport. Therefore, cities with excellent multi-modal transport services are better positioned to become wine logistics gateways. Our study also highlights the importance of value-added services and good government support, which are important factors that influence distribution costs and quality.     

Back-Calculation of Ground Stress Field and Rockburst Analysis for Wunvfeng Tunnel北大核心CSCD

Studying the in-situ stress distribution at a tunnel site is very important to determine surrounding rock characteristics, the engineering design and the construction scheme. By using the multiple linear regression method based on the least square algorithm, the initial geostress field is analyzed and the corresponding regression coefficients are obtained. The ground stress obtained from the proposed back analysis is reasonable and can meet the demands of the engineering applications. From the rockburst risk level distribution diagram, it is speculated that the Wunvfeng tunnel is in the high filed stress area. Field monitoring should be strengthened and emergency plans should be made to cope with the rockburst risks during the construction process. © 2018, Editorial Office of "Modern Tunnelling Technology". All right reserved.