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。     

半约束模型试验--一种验证随浪和斜浪中波浪力计算的手段

本文采用半约束模型试验技术，对一条高速船在规则波中随浪和斜浪工况进行了流体动力系列试验，以探讨航运的安全性，验证作用于船体上波浪力的估算方法。对每次试验，以波动方程的形式采用数值估算方法确定环绕船模的波浪运动的时间历程。并用同样的方法从测量数据中提取垂荡和纵摇与模型测量运动，一阶波导纵荡、横荡作用力和首摇力矩。因此合理比较理论计算的波浪力与力矩的时间历程成为可能。这表明SSPA海事动力学的研究所(MDL)模型试验设施可以提供高质量的测量，与所述计算方法结合起来可用来验证理论计算和建立半经验方法。     

A continuous network design model in stochastic user equilibrium based on sensitivity analysis

The continuous network design problem (CNDP) is known to be difficult to solve due to the intrinsic properties of non‐convexity and nonlinearity. Such kinds of CNDP can be formulated as a bi‐level programme, in which the upper level represents the designer's decisions and the lower level the travellers' responses. Formulations of this kind can be classified as either Stackelberg approaches or Nash ones according to the relationship between the upper level and the lower level parts. This paper formulates the CNDP for road expansion based on Stackelberg game where leader and follower exist, and allows for variety of travellers' behaviour in choosing their routes. In order to solve the problem by the Stackelberg approach, we need a relation between link flows and design parameters. For this purpose, we use a logit route choice model, which provides this in an explicit closed‐form function. This model is applied to two example road networks to test and briefly compare the results between the Stackelberg and Nash approaches to explore the differences between them.     

Shape Optimization of Elliptical Road Containers Due to Liquid Load in Steady-State Turning

A numerical analysis of liquid load in elliptical road containers undergoing a steady-state turning manoeuvre is presented for containers of unrestricted size and for containers of fixed capacity. The liquid load is expressed in terms of the horizontal and vertical forces and the overturning moment created by these forces around the middle bottom point of the container. The moment is obtained by integrating the liquid free-surface equation and using numerical calculation of the resulting expressions. An optimization study with an objective to minimize the peak overturning moment is performed on containers of fixed capacity to identify the optimal height/width ratio of the container. The results of this investigation being of a general nature, i.e. with no restriction for an application, are particularly intended for road tankers under a steady turning manoeuvre, where they can be applied with high degree of accuracy.     

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.     

Benthic community patterns reflect water column processes in the Northeast Water polynya (Greenland)

Benthic community patterns were investigated in the Northeast Water polynya (Greenland) during the summers of 1992 and 1993 to elucidate to what extent the bottom fauna is influenced by the dynamics of the overlying water. Five different fractions of the benthos (foraminiferans, nematodes, polychaetes, peracarid crustaceans, and epibenthic megafauna), ranging in average adult body size over 6 orders of magnitude (from about 100 μm to about 10 cm), were sampled quantitatively at 69 stations in water depths from 40 to 515 m. Total abundances of nematodes, polychaetes and peracarid crustaceans were found to be primarily correlated with parameters characterizing the potential benthic food supply (water column pigment and nitrate concentrations, sediment bound pigments and sediment biological activity), whereas abundances of foraminiferans and megabenthos were largely associated with seabed properties. Four benthic zones were distinguished by separately analyzing the faunistic composition and distribution of the five community fractions for Ob Bank, Western Westwind Trough, Eastern Westwind Trough, and Belgica Trough. This pattern was shown principally to reflect pelagic regimes differing in surface water hydrography, ice cover and euphotic productivity. This is the first time that a synoptic study of several benthic community portions spanning such a range in sizes and life styles has been performed in a polar shelf ecosystem. Our results indicate that abundances as well as composition of Arctic benthos are largely influenced by mesoscale pelagic processes, and thus provide further evidence for the importance of the benthic-pelagic coupling in high latitude seas.     

Risk and return of U.S. water transportation stocks over time and over bull and bear market conditions

The aim of this paper is to investigate the behaviour of water transportation company stock returns in the U.S. stock exchanges from 1985 to 1994 in order to determine whether the systematic risk of this industry is different from that of the 'average' company in the market, whether it has changed over the ten year period, over bull and bear market conditions, and whether there is a firm 'size' effect in the industry. In the context of the Capital Asset Pricing Model (Capm), we find that the systematic risk of the shipping industry return is not different from that of the 'average' company. It is also found that the covariance of water transportation companies with respect to the overall stock market return did not change over the ten year period although it appears that it has changed over normal upward/downward market movements. There is also reasonable evidence that the intercept of the equation might have changed over normal upward/downward market movements. Finally, we document contradictory evidence regarding the size effect; during the period 1985-1989 we find small companies to have significantly higher returns and risk while during the period 1990-1994 medium size companies tend to have higher risk than small and large firms, which is not however compensated by higher returns.