Workspace analysis to generate a collision-free torch path for a ship welding robot

We propose a method to determine the optimal initial location and to generate torch paths for a ship welding robot with 6 degrees of freedom (DOF). The optimal initial location is determined using an objective function, which is set up by combining constraints on the torch posture, manipulability, and the range of each joint angle to avoid collisions. A genetic algorithm (GA) is used to optimize the objective function because it does not require additional derivatives. After the initial location is determined, torch paths are generated by interpolating the starting point, endpoints and torch postures using inverse kinematics. Our method can be applied to automate the welding job for each block during ship building, irrespective of the shape of the robots, by changing the objective function.     

一种新型船舶智能载重测量仪的研究与应用

针对船舶货物卸载重量计量难的现状,开发了一种新型的船舶智能载重测量仪,并提出一种结构树编码免疫辨识算法实现船舶重量模型的辨识,该测量仪通过检测船体前后左右四个位置的吃水深度,精确计算船舶重量、船体倾斜度等数据,实现船舶卸货计量的智能化与自动化.在散装水泥运输船上的应用实践表明,该测量仪能实现比较理想的测量精度,误差小于0.5%,完全能满足船舶运输中对中低价货物的计量要求.     

基于LM算法的组合导航系统的故障诊断

LM (Levenberg-Marquardt)算法是梯度下降法与高斯-牛顿法的结合,在训练次数与精度上明显优于标准的BP算法.介绍了BP神经网络,采用LM算法对标准BP算法进行改进,并应用于船舶组合导航系统的故障诊断.仿真结果表明,LM算法可有效地提高学习速度,缩短训练时间,诊断效果好.     

基于遗传算法优化模糊控制器的船舶航向控制

针对模糊控制器中的量化因子、比例因子、积分系数、模糊规则之间互相耦合,人工整定困难的问题,提出了一种基于遗传优化的船舶航向模糊PID自动控制算法。仿真对比试验表明,经遗传优化后的船舶航向模糊PID控制性能得到了极大的提高,系统无超调,上升快,工作稳定,具有较强的鲁棒性。     

船舶柴油机调速器参数整定的多目标优化和多属性决策研究

综合考虑系统在输入阶跃扰动和负荷扰动两个工况时的超调量、稳定时间和ITAE指标,研究了PID控制器参数寻优的问题。采用多目标遗传算法求出Pareto最优解,使用信息熵法和逼近理想解的排序方法（TOPSIS）对Pareto最优解给出了排序。计算了一艘水面船舶柴油机调速器控制的数值算例,结果表明本文方法有效,所设计的PID性能优异,可以工程实际应用。     

AIS与VTS的雷达／ARPA信息融合的研究与实现

分析了信息融合的必要性,并在信息融合基本原理的基础上,提出了信息融合的步骤,采用模糊数学中正态型隶属度函数算法实现AIS与VTS的雷达/ARPA信息融合,解决了不同设备处理同一信息的差异问题。     

Foldable container in empty container repositioning in intermodal transportation network of Belt and Road Initiative: strengths and limitations

In 2013, the concept of the ‘Silk Road Economic Belt and the 21st-Century Maritime Silk Road (Belt and Road)’ was initiated by the Chinese government, which involves Asian, European and African continents and their adjacent seas. Logistics plays a core role in such a large framework of economy and trade. In recent years, China, European Union, and Southeast Asia pay much attention to the design and development of the intermodal transportation network towards both economic and environmental efficiency. In this paper, we propose an empty container repositioning model in the intermodal transportation network of Belt and Road (B&R) Initiative by considering both standard and foldable containers. In this model, empty containers are repositioned from the inland of the original area, such as China, to other areas of B&R Initiative related countries and regions, such as European Union and Southeast Asia. We develop a mixed integer linear programming model to determine the optimal repositioning of empty containers via the intermodal transportation network. An Artificial Bee Colony algorithm is developed to solve large size problems in practice and numerical experiments are conducted to show the efficiency of our proposed algorithm. We provide managerial insights regarding the impact on the network performance of foldable containers transportation.     

整体温差作用下高桩码头基桩内力计算方法

为研究高桩码头完建后整体温差对基桩内力的影响,结合工程实例,建立三维有限元模型,对上部平台温变规律进行分析,认为斜桩、直桩对上部平台温变约束作用均可忽略不计,平台处于自由温变状态,存在水平位移为零的温变发散中心。基于刚性平台自由温变规律,提出了考虑斜桩码头平动扭转的三维算法,三维算法的桩顶位移、内力与有限元结果接近。对于全直桩或近似对称的斜桩码头,还可简化为平动的二维算法。并给出了直桩、斜桩内力的估算简式,由估算式可知,位于发散同心圆上的直桩内力大于斜桩内力,桩顶轴力、弯矩与桩径2次、4次方成正比,桩径对温差内力的影响显著。     

A two-phase model for dry port location with an application to the port of Dalian in China

This paper provides guidance for an optimal and reasonable dry port layout for the port of Dalian in China. We present a two-phase framework on the location of dry ports, which solves the selection of candidate inland cities and optimal dry port location choice, respectively. Fuzzy C-Means Clustering is applied to select alternative cities in the vast hinterland of the seaport of Dalian, with a view to identify evaluation factors that affect the location selection decision. A cost-minimisation linear programming solution is proposed, with the aid of a genetic algorithm, to choose the optimal location as well as capacity level among the candidate inland cities.     

基于蚁群算法和群决策理论的动态路径优化研究

文章针对城市交通信号控制中的动态路径优化问题,综合考虑相邻交叉口间距和路段交通饱和度两个参数的影响,提出了一种基于蚁群算法和群决策理论的动态路径优化算法模型,并通过仿真实验,对比分析了该算法模型的有效性。