ROV attitude control based on multi-motor cooperative propulsion北大核心CSCD

[目的]为了提高遥控水下航行器(ROV)在复杂水下环境中的姿态控制性能,开展多电机协同推进的ROV姿态控制研究。[方法]首先,针对多电机系统的结构和算法,分别提出一种基于PID速度补偿器的偏差耦合结构和一种新型非奇异终端滑模控制(SMC)算法,并设计一种新颖的基于多电机协同推进的ROV姿态控制方法;然后,建立ROV的运动学和动力学模型,开展推进器组推力建模分析、解耦简化ROV动力学模型研究;最后,设计一种ROV滑模姿态控制器。[结果]仿真结果表明,所提的结构和算法可提高多电机系统的抗干扰性、同步性和快速响应能力,进而提高ROV姿态控制系统的稳定性与鲁棒性。[结论]所提方法可为ROV姿态控制提供一种新的可用方案。     

Development and prospects of initial alignment method for strap-down inertial navigation system北大核心CSCD

Initial alignment technology is directly related to the navigation accuracy and startup time of the strap-down inertial navigation system (SINS), and has always been regarded as a challenging focal point in the research field of inertial navigation. This paper makes a comprehensive survey of SINS initial alignment technology, briefly introduces the basic principles of initial alignment without latitude, coarse alignment with known latitude and precise alignment, and points out their advantages, disadvantages and applicable conditions. The research and effects of existing initial alignment error suppression techniques are then analyzed and discussed. Finally, according to the problems of existing initial alignment methods and the development requirements of the carrier, the future research direction of SINS initial alignment technology is predicted. © 2022 Journal of Clinical Hepatology. All rights reserved.     

深海变径声阵缆布放回收装置研究

本文提出了基于深海工作站运搭载的变径缆海底布放回收方式，介绍了变径缆海底布放回收装置的主要工作原理和结构组成，完成了布放回收装置主要部套件的设计计算以及和电液控制系统的设计及计算。     

基于自适应活动轮廓的图像分割

在活 动轮廓的基础上，引入了统计“图像势能”和松驰法，提出了基于自适应活动轮廓的图像分 割方法。该方法克服了活动轮廓的一些缺陷，能准确、可靠地检测物体曲率高的边缘部分，且分割结果与活动轮廓的初始位置无关。实验结果验证了该方法的有效性。     

烟大铁路轮渡渡船电力推进系统仿真分析

随着计算机仿真技术在工程研究领域的广泛应用,船舶电力系统数字仿真已成为高效的船舶电力系统分析手段.烟大火车渡船采用了当今国际先进的电力推进系统,通过对该系统进行了数字仿真分析,验证了该船电网运行的稳定性和可靠性.     

Dynamics of Tracked Vehicles

This paper provides a brief review of the state-of-the-art of tracked vehicle dynamics, including mobility over soft terrain, ride dynamics over rough surfaces and manoeuvrability. It is found that considerable progress has been made in the development of analytical frameworks for evaluating and predicting tracked vehicle mobility over soft terrain, taking into account the characteristics of terrain response to normal and shear loading. Certain computer simulation models for tracked vehicle mobility have been gaining increasingly wide acceptance by industry and governmental agencies in product development and in procurement. It is also found that most of the research on tracked vehicle ride dynamics and manoeuvrability is confined to operations on rigid surfaces. To achieve a realistic evaluation and prediction of the dynamic behaviour of tracked vehicles in the field, the key is to have a better understanding of terrain response to dynamic vehicular loading, including its dynamic stiffness and damping. Challenges that face vehicle dynamicists in this emerging field are identified.     

多功能智能型航次计划优化系统设计与实现

介绍了一个多功能智能型航次计划优化系统的设计与实现，得到了一个能在微机网络上运行的有效原型。在设计中引入了人工智能技术，并特别注意了友好的人机界面。     

大口径超深钻孔灌注桩施工

录安洲夹江大桥基础采用超深钻孔灌注桩,由于桩径大,地质复杂,施工难度较大。文章介绍在施工中采取先进施工方法,并针对在施工过程中出现的一系列问题及采取的相应对策,成功地完成了施工任务。     

A study of passenger discomfort measures at the Hong Kong mass transit railway system

This note investigates the important attributes relating to the crowding effects at the Mass Transit Railway (MTR) stations in Hong Kong. Data was collected at two sets of three MTR stations to study the responses of the passengers due to the discomfort at crowded vehicles and platforms. Stated preference surveys were used to study the effects of passenger discomfort measures.     

Development and Deployment of Public Transport Policy and Planning in Taiwan

Over the past decade, the escalating roadway congestion and environmental deterioration due to heavy use of private vehicles have provoked the Taiwan government to realize the importance of public transport systems. Under the “carrot-and-stick” rationales, the government has formulated public transport policies and exercised a series of related initiatives by providing sufficient and higher quality of public transport services so as to attract more private vehicle users. In this paper, the planning philosophy and policy formulation of Taiwan’s public transport development are highlighted. The most important initiatives, including the Five-year Enhancement of Mass Transportation Program and the upgrading public transport schemes in the National Development Plan are examined. Based on previous experience and lessons, we point out the most challenging issues that the government will encounter. Suggestions for the future of public transport planning are also addressed.