Determination of attainable regions in ship maneuvers: an application of differential inclusions to the modeling of ship dynamics

A commonly used mathematical tool in vehicle dynamics simulation is the ordinary differential equation. However, in some situations, these equations may not be sufficient to solve problems. For robust flight, surface ship or submarine control design, safety assessment, missile and aircraft guidance, the influence of disturbances, and differential games of pursuit–evasion, more versatile tools are needed. The differential inclusion (DI) is a generalization of a differential equation that can be extremely useful. The solution of a DI is not just a model trajectory or a set of trajectories obtained by a randomization of the original problem. The solution is a reachable set, and it is a deterministic object. A differential inclusion solver and its application to vessel movement are described. Compared to previous publications on the DI solver, the new feature is an implementation of the fuzzy sets technique to improve the resulting images. It is pointed out that the reachable sets cannot be assessed properly while treating the uncertain variables as random. The application of the DI solver can give a proper view of the regions in the state space where all the possible model trajectories belong.     

Novel Manufacturing Technology of Hyperbolic Plates for Shipbuilding

On the basis of the principle of dieless hydrobulging technology, a novel hydrobulging technology for manufacturinghyperbolic plates is proposed. First, a toroidal pipe elbow or a partial toroidal pipe elbow is formed, then the single hydrobulgedstructure can be cut up into some desired plates. It is proved by experiments and finite element simulation that manufacturingtechnology of hyperbolic plates adopting integrated hydrobulging forming technology is feasible.     

Internet-based Teleoperation Platform For Mobile Robot

An Internet-based teleoperation platform for Mobile Robot is introduced in this paper. The hardware of the system mainly consists of a mobile robot. Its software employs client-server architecture for robot control and feedback information display . Different communication protocols are adopted according to the characteristics of message exchanged between the robot server and the client. The user interface is designed for the purpose of interaction. The great benefit of this client-server architecture is that the client software is insulated from the lowest level details of the mobile robot. Thus, it is very easy to implement and test new advanced teleoperation control algorithms, interface designs and applications on this platform without large programming work.     

轮轨外形及接触问题的进一步研究

介绍了新近研制的轮轨踏面外形设计和分析软件系统WDesign的原理、功能和应用例子。主要功能包括采用接触角函数法CAF的踏面外形设计、条状法STRIP的轮轨接触应力分析、圆弧曲线拟合法计算接触点的曲率、任意离散点法的轮轨几何匹配分析等。     

Application of ML to System Identification for Underwater Vehicle

In this paper, maximum-likelihood (ML) and its relaxation algorithm, which are used to identify the mathematicsmodel of an underwater vehicle(UV), arc discussed. With the trial data of zigzag tests, the hydrodynamic derivatives of theUV were estimated, and the relaxation algorithm is confirmed to have better astringency from the contrast between the twomethods.Then a simulation environment based on these parameters is established to verify the validity and effect of these meth-ods. The result shows the model is credible and the methods are very useful for the research of maneuverability and adaptivecontrol of underwater vehicles.     

On the realization of nonlinear wave profiles using the Banach fixed-point theorem: Stokes wave in a finite depth

A new mathematical formulation for the realization of nonlinear wave profiles and its nonlinear solution procedure, based on the Banach fixed-point theorem, is proposed. To apply the formulation, a nonlinear equation for the Stokes wave in a finite depth was derived, and some numerical solutions are given. A numerical study showed that the proposed iteration method, based on linear progressive wave potential only, enabled us to realize the Stokes nonlinear wave profiles in a finite depth. The nonlinear strategy of iteration has a very fast convergence rate, i.e., only about 6–10 iterations are required to obtain a numerically converged solution.     

FEA for designing of floating raft shock-resistant system

Choosing the equipment with good shock-resistant performance and taking shock protection measures while designing the onboard settings, the safety of onboard settings can be assured when warships, especially submarine subjected to non-contact underwater explosion, that is, these means can be used to limit the rattlespace (i. e. , the maximum displacement of the equipment relative to the base) and the peak acceleration experienced by the equipment. Using shock-resistant equipments is one of shock protection means. The shock-resistant performance of the shock-resistant equipments should be verified in the design phase of the equipments. The FEA (finite element analysis) software, for example, MSC. NASTRANw, can be used to verify the shock-resistant performance. MSC. PATRAN and MSC. NASTRAN are used for modeling and analyzing the floating raft vibration isolating equipment. The model of the floating raft and the floating raft vibration isolating system are theoretically analyzed and calculated, and the analysis results are in agreement with the test results. The transient response analysis of the system model follows the modal analysis of the floating raft vibration isolating system. And it is used to verify the shock-resistant performance. The analysis and calculation method used in this paper can be used to analyze the shock-resistant performance of onboard shock-resistant equipments.     

On the Influence of Weight Reduction and Weight Distribution on Vehicle Handling, Ride and Performance

This investigation discusses the dynamic characteristics of a full sized passenger automobile of the 5000-6000 lb weight class relative to Vehicle Handling, Performance and Ride Quality. Weight and moment of inertia parameters are introduced to modify weights and mass moment of inertia judicially and the dynamic behavior is investigated on the basis of the above mentioned criteria. Finally weight reductions at discrete locations along the vehicle length axis are contemplated and the dynamic behavior is determined relative to the above criteria. The overall geometry of the vehicle is considered as being fixed for all weight modifications.     

Multivariate assimilation in MERCATOR project: New statistical parameters from forecast error estimation

The new operational prototype of Mercator (french Global Ocean Data Assimilation Experiment contribution) is composed of a North Atlantic primitive equation ocean model OPA (Ocean Parallel Algorithm between 20°S and 70°N, [Madec, G., P. Delecluse, M. Imbard and C. Lévy (1998). OPA8.1 ocean general circulation model reference manuel. Notes du pôle de modélisation IPSL. n°11: 91p]) and of a multivariate and multidata assimilation scheme [De Mey, P. and M. Benkiran (2002). “A multivariate reduced-order optimal interpolation method and its application in Mediterranean basin-scale circulation.” Ocean Forecasting : Conceptual basis and application, Pinardi, N., Springer Verlag.] This system has already given some significant improvements from previous Mercator configurations (M. Benkiran, personal communication). However some biases on ocean state still remain in the tropics where the reduced-order optimal interpolation scheme is suspected to be ill-parameted in the model forecast error. Indeed the guess error covariance matrix is decomposed into an error variance value and a spatio-temporal correlation function which are assumed to have some “good” properties (spatial homogeneity of the correlation function, constant ratio between signal and error variance). This study shows how we can use ensemble methods to validate these assumptions. We can see that the correlation function can reach negative values locally, mostly in regions of high variability contradictory with the homogeneous hypothesis. The reduced space used in the operational configuration is based on the signal seasonal Empirical Orthogonal Functions (EOFs). An empirical relationship between signal and error variance has been set and the correlation function is the same on every dimension of the reduced space. By projection of the estimated guess error variance onto the reduced space, we find a repartition of this quantity quite different to what was set in the system. The error statistics is found to be inhomogeneous compared to hypothesis made in the assimilation scheme. These two new parameters tested separately in the assimilation scheme gives significant improvements of the forecast and analysis results. This is particularly obvious in the tropics. But relationship between signal and error statistics (as assumed in the optimal interpolation) is found to be complex.