水下船体表面清刷机器人方案研究

介绍一种新型的用于船体表面清刷、涂装等作业的水下船体表面清刷机器人总体组成、基本功能和工作原理，并提出了机械本体、清刷作业装置和控制系统三部分的设计方案。该机器人具有工作效率高，安全性好等优点。     

车用电池箱液冷系统仿真设计

电池包的热管理系统是电动汽车和混合动力安全有效行驶过程中必不可少的辅助系统。本文分析电池工作环境,总结了其设计要求,以某新能源科技有限公司生产的高性能镍氢动力电容电池-NMCH300S为例,运用三维建模软件设计出了电池包的机械结构,并利用有限元ANSYS软件计算出危险点位置,用第四强度理论校核了最危险点强度满足设计要求,使仿真设计起到减少试加工成本的作用。     

大秦线分散自律调度集中工程实施方案

根据大秦线重载运输的需求，以及车站计算机联锁设备、无线通信平台的情况，制定了大秦线分散自律调度集中实施方案。     

Robustness of autonomous underwater vehicle control in variable working conditions

The performance of the control systems of autonomous underwater vehicles (AUVs) in the presence of parameter variations was studied. With an AUV working at different operating speeds and in different ocean environments, the physical parameters such as speed, hydrodynamic coefficients, or inertias may be perturbed from their nominal values. The vehicle control systems can be modeled as systems with parameter uncertainty. An existing robust control method, which uses the robustness properties of polynomials, was used for this system to calculate the permissible ranges of variation in the parameters. The method was applied to the Naval Postgraduate School AUV II and the results were verified by simulating the motion control of the vehicle under the influence of parameter perturbations.     

网络背景下的高职化学自主学习探析

基于网络环境下的自主学习对学生来说,是一种全新的学习方式。文章围绕自主学习的内涵、心理机制和网络自主学习的特点,分析了高职化学课程开展网络环境下自主学习的优势和特征,并对高职化学教学开展基于网络环境下的自主学习提出了要求。     

基于Matlab的AUV近水面运动模型的建立与仿真

该文运用矢量方法对自主式水下航行器(AUV)近水面的六自由度运动方程进行了推导，得到了一个适于在Matlab环境中仿真的高度矢量化的空间运动模型，并用在Matlab的仿真工具箱Simulink中建立的AUV近水面的六自由度运动仿真模块对AUV的近水面运动进行了仿真，在此基础上分析了波浪力对AUV的影响。该模型的建立和仿真为AUV近水面的稳定性分析和控制系统的设计提供了便利的工具。     

基于UKF的水下地形匹配算法组合

为了克服断续地形辅助导航给UKF算法带来的不利影响,提出了改进TERCOM／ICCP＋UKF地形匹配组合算法.首先分析了基于UKF的水下地形匹配算法及其在实际水下地形辅助导航中的局限性.然后,针对UKF地形匹配效果易受大初始位置误差影响的不足,以“粗搜索”＋“精匹配”的算法组合模式为基础,给出了TERCOM、ICCP和UKF匹配算法的组合策略和算法克服相似地形影响的方法.仿真显示,较之单一UKF匹配算法,组合算法能够克服了大初始位置误差对算法匹配效果的影响,具有更好的工程适用性.     

基于CFD不同AUV艇体的阻力性能分析

自主水下航行器（AUV）作为探索海洋、开发资源和军事作战等水下应用的重要手段,其速度和续航力是评价其性能优劣的重要方面。AUV在水下航行时的阻力主要取决于其几何形状和尺寸以及其表面的光滑程度,因此,研究AUV的几何形状和外观尺寸便显得尤为重要。对AUTOSUB,HUGIN,REMUS,BLUEFIN1和BLUEFIN2这5种艇型建立几何模型并进行阻力性能分析。通过采用计算流体动力学（CFD）方法进行数值模拟,并将所得结果与理论结果进行对比分析,以验证CFD模拟的可靠性及模拟的最优模式。通过对比不同直径、不同舵的展弦比、带舵和无舵、有整流罩以及相似径长比的不同艇型来比较AUV的阻力性能,最终得到艇型的阻力性能特点以及最佳艇型。研究表明：在5种艇型中,AUTOSUB型最优,其次是HUGIN型、REMUS型和BLUEFIN1型,最后是BLUEFIN2型,其中AUTOSUB型和HUGIN型适合中、高速航行,REMUS型和BLUEFIN型适合低速航行。     

Cost-benefit analysis of alternative vehicles in the Philippines using immediate and distant future scenarios

Alternative vehicle technologies promise a sustainable future by reducing carbon emissions and pollution. However, their widespread adoption tends to be slow due to high costs and uncertainties in benefits. Using a life cycle-based approach, this study calculates ownership savings and societal benefits for various alternative vehicle technologies against their baseline vehicle technology (e.g. gasoline or diesel). The assessment is performed from a developing country context – in the Philippines. Furthermore, immediate and distant future scenarios are modeled. The immediate future scenario assesses costs and benefits if the shift is to happen now, while the distant future scenario considers the effect of widespread autonomous driving and ridesharing. The results of the study echo the significant societal benefits from electric- and fuel cell-powered vehicles found in literature, but they are hindered by high ownership costs. In the immediate future, the diesel hybrid electric vehicle can potentially have both positive societal and operational costs for public transportation. For a gasoline-powered private passenger car, a simple shift to diesel, 20% biodiesel or 85% methanol can be beneficial. In the distant future, it is expected that autonomous, rideshared vehicles can potentially lure people away from driving their own vehicles, because of lower costs per passenger-kilometer while sustaining the privacy and comfort of a private car.     

Autonomous technologies in short sea shipping: trends,feasibility and implications

ABSTRACT

The maritime industry has been continuously transforming the nature of its business and striving to embrace technology in many aspects. In this context, autonomous technologies have been receiving momentum with a potential to revolutionise the landscape of shipping industry. After conducting a comprehensive literature review on the issues facing by the short sea shipping (SSS) industry, a model is developed to explore the potential savings of removing crew and use of autonomous technologies through a Continuously Unmanned Ship (CUS) that is operated by a Shore Control Centre (SCC). The analysis shows that autonomous technologies are viable to the challenges that the shipping industry is facing in terms of crew costs and skill shortage. To validate this statement, a case study is selected and various scenarios were tested based on relevant operational and financial considerations, including crew arrangement, cargo utilisation levels and shore wage coefficients. The results suggest that the savings occur in demand-uncertain markets and where a network of vessels are operated via a control centre. While autonomous technology use in shipping holds promise, there remain several limitations that this research addresses in terms of implementation, commercial attractiveness, risk profile, legislative, workforce planning and port operations.