无人帆船循迹航行的控制研究

提出一种适用于无人帆船循迹航行的控制器,并应用于一条1.5m长风帆艇的湖上航行测试。该控制器包含三个独立模块,局部路径策略模块决定帆艇的转向过程;帆自动控制模块根据帆位角和相对风向角的对应关系获取最佳推进力;舵自动控制模块基于从航海经验中提炼的245条模糊控制规则实现航迹调整。1.5m帆艇的湖上测试结果表明,该控制器在多种风场条件下都可有效完成帆艇的循迹航行,具有在无人帆船上实现长程航行的应用前景。     

存在饱和输入的欠驱动船舶航迹跟踪控制

针对控制输入存在饱和限制的欠驱动船舶的航迹跟踪问题,提出鲁棒饱和控制方法。以船舶纵向速度和艏向角速度为虚拟输入,设计饱和运动学控制器,并引入二阶滤波器形式对控制器进行简化;利用反步法并引入Nussbaum型函数,设计饱和动力学控制器,以实现对任意光滑航迹的跟踪控制,并保证跟踪误差收敛至零点附近的一个有界区域内。仿真算例验证了设计方法的有效性和鲁棒性。     

斜拉索-磁流变阻尼器多性能约束下的减振控制算法

提出一种极点和方差指标约束下的斜拉索-磁流变减振控制算法。基于Halmiton原理与切比雪夫级数求解方法建立斜拉索-阻尼器减振控制系统状态空间方程。以极点表达减振控制快速性和稳定性约束,以方差表达小振幅和振速约束,基于凸优化理论,给出满足相容快速性、稳定性、小振幅以及振速指标约束下的磁流变半主动减振控制算法。最后,以某斜拉桥C20号斜拉索为例进行仿真验证。结果表明,给出的减振控制算法能保证斜拉索在随机外界激励下的快速性稳定性,且有效抑制拉索的振幅,减振效果良好。     

Energy-aware control for automated container terminals using integrated flow shop scheduling and optimal control

The performance of container terminals needs to be improved to handle the growth of transported containers and maintain port sustainability. This paper provides a methodology for improving the handling capacity of an automated container terminal in an energy-efficient way. The behavior of a container terminal is considered as consisting of a higher level and a lower level represented by discrete-event dynamics and continuous-time dynamics, respectively. These dynamics represent the behavior of a large number of terminal equipment. The dynamics need to be controlled. For controlling the higher level dynamics, a minimal makespan problem is solved. For this, the minimal time required by equipment for performing an operation at the lower level is needed. The minimal time for performing an operation at the lower level is obtained using Pontryagin’s Minimum Principle. The actual operation time allowed by the higher level for processing an operation at the lower level is subsequently determined by a scheduling algorithm at the higher level. Given an actual operation time, the lower level dynamics are controlled using optimal control to achieve minimal energy consumption while respecting the time constraint. Simulation studies illustrate how energy-efficient management of equipment for the minimal makespan could be obtained using the proposed methodology.     

Fuzzy-logic-based incident detection for signalized diamond interchanges

This paper documents a fuzzy-logic-based incident detection algorithm for signalized urban diamond interchanges. The model is capable of detecting lane-blocking incidents whose effects are manifested by patterns of deterioration in traffic conditions that require adjustments in signal control strategies. As a component of a real-time traffic adaptive control system for signalized diamond interchanges, the algorithm feeds an incident report (i.e., the time, location, and severity of the incident) to the system's optimization manager, which uses that information to determine the appropriate signal control strategy.The performance of the model was studied using a simulation of an actual diamond interchange. The simulation study evaluated the model's performance in terms of detection rate, false alarm rate, and mean time to detect. The model's performance was encouraging, and the fuzzy-logic-based approach is considered promising.     

优化GM（1,1）模型在连续刚构桥施工监控中的应用

文章结合优化GM（1,1）模型用于罗天乐大桥施工监控的工程实例,介绍了优化GM（1,1）模型的原理、计算方法及计算过程,并根据实际监控经验提出了建议。罗天乐大桥的具体施工监控实践表明,优化GM（1,1）模有着较高的预测精度,能较好地应用于大跨度连续刚构桥的施工监控。     

二灰碎石基层冷再生施工技术应用

利用旧路面基层获取铣刨料,添加新鲜骨料、结合料后进行再生混合料级配组成及配合比设计。利用二灰比、集料含量与28d劈裂强度关系方程,对配合比进行验证。着重阐述了混合料拌和工艺及连续式拌和设备成品料仓的改进。在拌和、摊铺、压实、养生等工艺上对再生混合料的施工提出控制要点及质量控制措施。     

南宁大桥主桥承台混凝土施工质量控制探讨

文章结合南宁大桥主桥承台大体积混凝土施工实例,分析了大体积混凝土产生裂缝的原因,并从承台大体积混凝土施工方案、材料选择、配合比设计、现场浇筑质量控制等方面,介绍了保证承台大体积混凝土施工质量的控制措施以及取得的效果,对类似工程有一定的借鉴作用。     

An exact modelling of the uniform control traffic delay in undersaturated signalized intersections

The average delay experienced by vehicles at a signalized intersection defines the level of service (LOS) at which the intersection operates. A major challenge in this regard is the ability to accurately estimate all the components underlying the overall control delay, including the uniform, incremental and initial queue delays. This paper tackles this challenging task by proposing a novel exact model of the uniform control delay component with a view to enhancing the accuracy of the existing approximate models, notably, the one reported in the Highway Capacity Manual 2010. Both graphical and analytical proofs are employed to derive exact closed‐form expressions for the uniform control delay at undersaturated signalized intersections. The high degree of accuracy of the proposed models is analysed through extensive simulations to demonstrate their abilities to exactly characterize the performance of real‐life intersections in terms of the resulting vehicle delay. Unlike the existing widely adopted uniform delay models, which tend to overestimate the LOS of real‐life intersections, the delay models introduced in this paper have the merit of exactly capturing such a LOS. Copyright © 2016 John Wiley & Sons, Ltd.     

公路工程土石方填筑的施工质量控制

在石料丰富的山区高速公路高填方路段进行施工,经常采用土石混填路堤。从选择料场、控制土石层的虚铺厚度、何时碾压、控制土的含水量、碾压遍数及压路机吨位、检测等方面进行了阐述,分析了土石路基常见病害的形成原因,并提出相应的施工工艺和控制措施。