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.     

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.     

舰船中央冷却系统管路流动仿真分析研究

舰船中央冷却系统是一个大型的、复杂的流体网络系统.采用流体系统仿真软件FLOWMASTER对舰船中央冷却系统建立仿真模型,进行稳态和动态工况的计算.通过稳态工况计算验证舰船中央冷却系统设计的合理性,并在此基础上模拟变工况下中央冷却系统管路参数的动态变化特性.仿真模型计算了一些实船调试中可能出现的情况,为实船中央冷却系统的调试指明了方向,确保高效、可靠、顺利地完成调试工作.     

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。     

广州港南沙港区粮食及通用码头工程平面布局形态分析

通过分析影响广州港南沙港区粮食及通用码头工程平面布局的中部挖入式港池轴向走向、宽度、位置等,确定该工程的平面布局,在此基础上通过潮流、潮流泥沙数模和物模试验以及船舶靠离泊操纵模拟试验进行验证.     

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。