从“GOLDEN ROSE”案看烟大航线的监管

这片水域俨然已经取代老铁山水道和成山角水域成为北方海域最为危险的区域,进一步考虑到烟大航线有众多的客滚船航行,一旦发生客船碰撞事故,后果将不堪设想。如何看待及评估这片水域的危险性,如何对该区域实施有效监管是摆在海事部门面前迫切需要研究和解决的问题。     

Collision-avoidance under COLREGS for unmanned surface vehicles via deep reinforcement learning

ABSTRACT

Collision avoidance for unmanned surface vehicles (USVs) is significant for the fulfillment of autonomous navigation. Generally, classical collision-avoidance algorithms are proposed for relatively simple encounter situation, in this scenario only two USVs are stressed. Furthermore, to generate the rational manoeuvre operations, it is necessary that USVs should abide by International Regulations for Preventing Collision at Sea (COLREGS). However, COLREGS has not paid attention to rules for multi-USV collision-avoidance problem. Furthermore, those collision-avoidance rules in COLREGS have not been quantified for USVs. Following that, this paper utilizes deep reinforcement learning (DRL) algorithm to resolve collision-avoidance for USVs even in complex encounter situations. Within our DRL algorithm, related COLREGS is quantified properly and integrated into the DRL model, and then encounter situation of USVs is formulated as environmental observation value, accordingly a set of decision making is reached by decision-making neural network, and the reward function is designed for updating network parameters iteratively. Consequently, collision avoidance for USVs can be achieved eventually. By employing our DRL algorithm, collision avoidance for USVs under generous complex scenarios are resolved with the aid of corresponding intelligent decision-making operations. Simulation results verify the effectiveness of our DRL algorithm.     

武汉天兴洲公铁两用大桥疲劳四线系数的研究

四线铁路桥梁疲劳检算系数与各线列车在桥上的相遇次数及构件的荷载分配系数有关。根据列车过桥的随机性特点,运用概率理论分析四线列车在桥上的相遇概率和次数以及四线铁路桥在各种相遇情况下的损伤度,推导出四线铁路桥梁疲劳检算中四线系数的计算公式。运用该公式,以过桥长度1 092 m,横梁端剪力的荷载分配数据为依据,计算得武汉天兴洲大桥中间主桁疲劳检算四线系数为1.96。根据天兴洲大桥的结构及受力特点,综合分析所有情况的计算结果,建议天兴洲大桥疲劳四线系数取2.20。     

智能船舶的反应型避碰规划研究

对于多船会遇场景而言,在反应型避碰规划中考虑操船者意图具有明显的优越性,可在紧迫局面下更合理地执行《1972年国际海上避碰规则》（即COLREGs）的背离规则。对此,提出一种基于隐马尔可夫模型的操船意图预报方法,将生成的目标船意图预报结果与经典速度障碍法相融合,产生更合理的碰撞危险评估结果,据此建立的反应型避碰规划算法比经典速度障碍法更安全。依托案例三体船完成的自主避碰试验,验证所提改进算法的有效性、可靠性和实时性,为智能船舶的自主避碰研究提供参考。     

分解协调法在船舶避碰决策中的研究

针对多船会遇的避碰决策情况,采用大系统理论的目标分解协调法将本船与多船之间的转向避碰幅度问题分解成多个独立的优化子问题,通过协调器求出本船转向避碰幅度的最优解。仿真结果表明,该方法不仅可以求解出多船会遇情况下本船的相对最优转向角,也为多船避碰智能决策系统提供参考。     

浅谈多船会遇局面的界定与划分

在分析多船会遇研究现状及其弊端的基础上,提出了多船会遇局面的定义,并分别从三种会遇态势和避碰行动方式类型的角度对多船会遇局面进行了划分,分析了多船会遇局面的各种态势,以期对多船避碰及智能决策的研究提供一定的理论参考。