Distributed model predictive control for vessel train formations of cooperative multi-vessel systems

Recently, the cooperative control of multiple vessels has been gaining increasing attention because of the potential robustness, reliability and efficiency of multi-agent systems. In this paper, we propose the concept of Cooperative Multi-Vessel Systems (CMVSs) consisting of multiple coordinated autonomous vessels. We in particular focus on the so-called Vessel Train Formation (VTF) problem. The VTF problem considers not only cooperative collision avoidance, but also grouping of vessels. An MPC-based approach is proposed for addressing the VTF problem. A centralized and a distributed formulation based on the Alternating Direction of Multipliers Method (ADMM) are investigated. The distributed formulation adopts a single-layer serial iterative architecture, which gains the benefits of reduced communication requirements and robustness against failures. The impacts of information updating sequences and responsibility parameters are discussed. We furthermore analyze the scalability of the proposed method. Simulation experiments of a CMVS navigating from different terminals in the Port of Rotterdam to inland waterways are carried out to illustrate the effectiveness of our method. The proposed method successfully steers the vessels from different origins to form a vessel train. Due to the effective communication, vessels can timely respond to the velocity changes that others make. After the formation is formed, the distances between vessels become constant. The results show the potential to use CMVSs for inland shipping with enhanced safety.     

分布对象技术构建企业应用系统

在简要介绍了分布计算相关技术后，针对企业ERP技术平台及应用模型所应具有的特点分别进行了技术上的分析．通过对CORBA、COM 、J2EE、WebService等分布式框架中的技术及应用性能进行较为系统的研究和比较，结合企业的需求，采用CORBA作为企业ERP的技术平台．CORBA具有跨平台、跨网络、跨语言、跨协议、跨版本、开发商中立等诸多特性，它的极强的适应性比较适合企业当前及长远发展的需要．对于应用模型，设计了一种基于CORBA的C／S和B／S混合模型，此模型中的B／S部分，采用四层浏览器-Servlet-CORBA-EIS结构，对整个模型进行了详尽的论述和分析．最后给出了一个应用这种模型的正在企业良好运行的ERP的一个功能模块——供暖收费系统．     

基于VC＋＋6．0的扩展ASCII码的串行通信的研究

作者介绍了在VC 6．0环境下，采用ActiveX控件实现串行通信的一种方法，能够以二进制方式通信，解决了扩展ASCII码的串行传输问题。着重讨论了ActiveX控件的机制和VC 6．0环境下的程序设计方法。     

交换机中报文三层转发的分布式处理研究与实现

随着芯片处理能力的迅速提高，交换机内部由报文转发机制所造成的瓶颈亟需解决。介绍了在华为新型（S6500系列）交换机上实现报文三层转发的分布式处理系统的原理，详述了分布式交换机对整机三层转发表的维护机制及ARP的分布式处理和表项同步机制。     

机车分解修管理软件开发

针对襄樊北机务段生产管理的需要,开发机车分解修管理系统来规范机车分解修过程,使信息收集反馈更加及时,使机务段管理决策更加准确。在机车分解修管理软件的开发过程中,考虑到该软件将来演化的需要,利用软件重用、模块化设计思想来组建规划整个软件的框架,使其具有很强的开放性、扩展性和可维护性。采用C Builder来编写机车分解修管理软件客户端程序,结合进库分解修模块设计实例,阐述如何利用动态链接库技术、对象库机制、OLE技术来提高所设计软件的性能。     

RAID5磁盘阵列技术的性能分析

作者首先概述磁盘阵列技术的几种结构,然后较为深入地分析和比较了集中式与分布式RAID_5各自不同的特点,最后对磁盘阵列技术的应用前景作了论述。     

Development of a finite element modeling system for ship structures

In ship structural design, many structural analyses by the finite element method are carried out on models at several different scale levels; for example, a whole ship, cargo hold parts, and detailed structures. However, one serious problem with this design and analysis process is that the generation of the finite element models for a complex configuration is very difficult and laborious. To overcome this problem, an object oriented, finite element modeling system, MODIFY, has been developed by the authors. In this paper, the concept of the finite element modeling system and the techniques for the construction of the system are explained. First, the object oriented data structure of the system, based on the Part-Object concept, is proposed. In this concept, not only the geometry of the domain but also the analytical conditions, such as boundary conditions and material properties, and the finite element model, are represented by the object oriented data structure. By using this data structure, effective finite element model generation can be expected. Second, a mesh generation algorithm based on the frontal method is described. The original frontal method by S.H. Lo was improved for application to three-dimensional curved surfaces. A new inner node placement technique to make quadrilateral elements around stress concentrated areas is also proposed. These techniques are suitable for ship structures, and more accurate results from the finite element analysis can be expected. Moreover, the parallel mesh generation is implemented in MODIFY by using the client-server concept to accelerate mesh generation. Third, a prototype system for the automatic finite element model generation for different analysis levels is proposed. The system is based on the concept of the PD part, which is the part in the design and production stage, and automatic computing of the intersection between PD parts. The validity of this system is demonstrated by some examples.     

分布式浮块在深水油气田开发中的应用

概 要：分布式浮块DBM(Distributed buoyancy module)主要为深水柔性管线提供上浮力,以维持柔性管线所需的波形,文中重点分析了DBM浮块、夹具结构及测试要求等,为DBM在我国深水油气田的应用及发展提供参考。     

面向对象的道路交通拥挤识别算法表决融合

为了满足不同服务对象对交通检测率和误判率的不同要求,在分析交通参与者与管理者的算法融合需求的基础上,提出对不同服务对象应选择不同的信任级别。利用前向神经网络和概率神经网络分别对不同的服务对象进行算法表决融合,计算结果表明这样可以实现交通参与者对高检测率、交通管理者对低误判率的不同要求。     

A multi-agent architecture for cooperative inter-jurisdictional traffic congestion management

This paper describes , an innovative multi-agent architecture for the provision of real-time decision support to Traffic Operations Center personnel for coordinated, inter-jurisdictional traffic congestion management on freeway and surface street (arterial) networks. is composed of two interacting knowledge-based systems that perform cooperative reasoning and resolve conflicts, for the analysis of non-recurring congestion and the on-line formulation of integrated control plans. The two agents support incident management operations for a freeway and an adjacent arterial subnetwork and interact with human operators, determining control recommendations in response to the occurrence of incidents. The multi-decision maker approach adopted by reflects the spatial and administrative organization of traffic management agencies in US cities, providing a cooperative solution that exploits the agencies’ willingness to cooperate and unify their problem-solving capabilities, yet preserves the different levels of authority and the inherent distribution of data and expertise. The interaction between the agents is based on the functionally accurate, cooperative paradigm, a distributed problem solving approach aimed at producing consistent solutions without requiring the agents to have shared access to all globally available information. The cornerstone of this approach is the assumption that effective solutions can be efficiently obtained even when complete and up-to-date information is not directly available to the agents, thus reducing the need for complex data communication networks and synchronization time delays. The simulation-based evaluation of the system performance validates this assumption. The paper focuses on the distributed architecture of the agents and on their communication and decision making characteristics.