基于碰撞危险度模型的AUV三维避障研究

自治式水下机器人(AUV)在复杂海洋环境航行时要求能够及时躲避障碍物.文中建立了基于前视声呐的环境模型,将未知障碍物信息转化到环境中,并对未知障碍物进行属性判断.将水面船舶的碰撞危险度概念应用到AUV的水下环境避障中,建立新的水下三维碰撞危险度模型,仿真实验证明此方法可以使AUV 在多水下运动障碍物的不确定环境中得到较好的局部避碰效果.     

船舶碰撞事故中人为因素的分析

人为因素是船舶碰撞事故频发的重要原因。作者从船舶碰撞事故的原因入手,重点探讨了人为因素对安全的影响,提出了减少船舶碰撞事故中人为失误的对策,所提建议具有较强的可操作性和实际参考价值。     

船舶碰撞事故调查处理要点探析

通过对船舶碰撞事故调查的要点进行分析,提出了对船舶碰撞事故进行处理的原则和方法,以及安全建议,对指导海事调查部门实施船舶碰撞事故调查有一定的参考意义．     

考虑静水压力的加筋圆柱壳体径向碰撞机理研究

水下碰撞是水下结构物的主要事故形式之一,而深水静压载荷环境下的碰撞、触礁等问题是深水静压和碰撞联合载荷作用下的结构响应问题,是最为危险的碰撞环境.采用MSC/Dytran大型非线性动力有限元程序,建立数值有限元模型,考虑深水静压和外物撞击的联合作用,进行深水静压环境、无水压力环境下以及不同撞击载荷多工况碰撞环境和撞击历程的数值分析,对加筋圆柱壳体碰撞载荷作用下的变形、失效机理和变形历程进行比较,分析了不同速度、质量撞击物撞击载荷作用下撞击强度、深水压力载荷等对碰撞历程的影响和加筋圆柱壳体深水碰撞环境下的动态响应特性和碰撞机理.结果显示:由于准静压载荷的附连联合作用,撞击形变将不可避免地带来准静压载荷的做功,其能量将直接由结构吸收,从而将导致加筋圆柱壳体结构的防撞能力急剧下降.同时,随着静水压力的增大,撞击初始阶段所产生的小变形将导致圆柱壳体的整体环向失稳,从而导致壳体整体迅速压溃,因此,深水环境下结构碰撞问题的研究主要是结构的初始稳定性问题的研究.圆柱壳体通过横向平台的加强后将有效提高壳体结构的横向失稳临界应力,从而能够明显地改善加筋圆柱壳体结构的径向耐撞能力.     

Potential benefits of an adaptive forward collision warning system

Forward collision warning (FCW) systems can reduce rear-end vehicle collisions. However, if the presentation of warnings is perceived as mistimed, trust in the system is diminished and drivers become less likely to respond appropriately. In this driving simulator investigation, 45 drivers experienced two FCW systems: a non-adaptive and an adaptive FCW that adjusted the timing of its alarms according to each individual driver’s reaction time. Whilst all drivers benefited in terms of improved safety from both FCW systems, non-aggressive drivers (low sensation seeking, long followers) did not display a preference to the adaptive FCW over its non-adaptive equivalent. Furthermore, there was little evidence to suggest that the non-aggressive drivers’ performance differed with either system. Benefits of the adaptive system were demonstrated for aggressive drivers (high sensation seeking, short followers). Even though both systems reduced their likelihood of a crash to a similar extent, the aggressive drivers rated each FCW more poorly than their non-aggressive contemporaries. However, this group, with their greater risk of involvement in rear-end collisions, reported a preference for the adaptive system as they found it less irritating and stress-inducing. Achieving greater acceptance and hence likely use of a real system is fundamental to good quality FCW design.     

山区双车道公路路侧危险度对安全影响的分析研究

为探明路侧危险度对安全的具体影响规律,本文做了深入的调研和分析．分析结果表明：路侧危险度和路侧事故率是偏弱的负相关关系,而与全部事故率、碰撞事故率是偏弱的正相关关系;在综合考虑接入口密度、道路线形、交通组成、路侧危险度等因素构建的综合事故预测模型中,路侧危险度只在碰撞事故预测模型中为正向影响系数,在其他模型中为非显著影响。进一步分析发现,路侧危险度对全部事故率的影响是按二次抛物线先降低后持续上升,对碰撞事故率影响是按二次抛物线持续上升,对路侧事故率影响是按二次抛物线持续下降．基于分析结果,确定了路侧危险度事故减少因子,并对路侧危险度对碰撞事故的影响做了细致分析．     

Design and hardware-in-loop implementation of collision avoidance algorithms for heavy commercial road vehicles

An important aspect from the perspective of operational safety of heavy road vehicles is the detection and avoidance of collisions, particularly at high speeds. The development of a collision avoidance system is the overall focus of the research presented in this paper. The collision avoidance algorithm was developed using a sliding mode controller (SMC) and compared to one developed using linear full state feedback in terms of performance and controller effort. Important dynamic characteristics such as load transfer during braking, tyre-road interaction, dynamic brake force distribution and pneumatic brake system response were considered. The effect of aerodynamic drag on the controller performance was also studied. The developed control algorithms have been implemented on a Hardware-in-Loop experimental set-up equipped with the vehicle dynamic simulation software, IPG/TruckMaker®. The evaluation has been performed for realistic traffic scenarios with different loading and road conditions. The Hardware-in-Loop experimental results showed that the SMC and full state feedback controller were able to prevent the collision. However, when the discrepancies in the form of parametric variations were included, the SMC provided better results in terms of reduced stopping distance and lower controller effort compared to the full state feedback controller.     

20000 t浮动核电站驳船与补给船碰撞计算分析

浮动核电站驳船作为反应堆的承载结构,其耐撞性能与发生碰撞时反应堆部位的冲击环境对核电站的运行安全有十分重要的影响。文章参考俄罗斯即将投入运营的"罗蒙诺索夫"号浮动核电站的结构形式和布置情况,在ANSYS/LSDYNA中建立了浮动核电站驳船与其中的小型核反应堆及其主要管路的简化有限元模型,对驳船舷侧在与补给船球鼻首发生微能碰撞时结构的变形损伤情况进行分析,并通过计算核反应堆关键位置处的冲击谱,对碰撞过程中反应堆部位的冲击环境进行了分析,为管路相关设备的冲击设计提供参考。     

基于自动文本分析的船舶避碰案例学习模型

构建基于自然语言处理的案例学习模型,以文本形式描述的船舶避碰案例,通过自动分词、消岐和语义分析等步骤,从中提取和生成以框架形式描述的避碰案例,并将其存储在计算机中。仿真试验表明,该模型可以实现避碰案例从文本文件到可用案例的有效转换,为案例学习提供新的方法。     

临沂市北京路沂河桥桥头堡结构设计分析

北京路沂河桥东、西两岸分别设置四座桥头堡,结构形式为四柱围合的框架结构,与拼宽桥桥墩共用承台桩基础。地震作用分析同时考虑建筑与桥梁设计的最不利荷载作用,对桥头堡在桥面位置、承台桩基础、楼顶平台3个薄弱部位进行重点分析。首先介绍了桥头堡主体结构在地震作用下不会与拼宽桥发生碰撞;其次分析了合并承台后会改变群桩基础中各桩位的受力情况,受桩-土-结构相互作用体系的影响会增大拼宽桥墩身荷载及桩基础总地震荷载;最后对观光厅立柱及核心筒进行抗震分析,并介绍了避免顶部平台剪力滞效应所采取的措施。