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。     

Influence of initial heeling angle on ship roll motion response北大核心CSCD

[目的]系统地研究初始横倾角对随机横浪下船舶横摇运动响应的影响。[方法]以路径积分法为基础,通过数值求解控制横摇运动微分方程概率属性的Fokker-Planck方程,得到横摇运动响应的概率分布。[结果]结果显示,初始横倾角对船舶横摇运动响应谱的影响有限,但对横摇角概率分布以及横摇运动响应极值分布的影响十分明显,且会造成船舶安全性的显著恶化。[结论]路径积分法可作为研究随机海浪下船舶横摇运动特性的有效数值方法。     

Widening the Panama Canal and U.S. ports: historical and economic impact analyses

ABSTRACT

The economic history of the U.S. illustrates how the role of many cities has been changed by being seaports or located on navigable rivers or lakes. Based on the widening of the Panama Canal in 2016, the West Coast ports that include the west coast seaports of California, Oregon, and Washington were expected to become less important, while the freight shares of the East Coast and Gulf ports would increase. By how much it has been not easy to measure or predict so far, but this study attempted to define some of the key parameters in the measurement. As well as several relevant background topics, both the demand- and supply-side versions of the National Interstate Economic Model, have been applied for the measurement of economic impacts. U.S. port authorities and policy makers at the local and national levels who respond and develop plans for coping with the new realities of the Panama Canal are able to understand the extent to which changes in shippers’ and land-mode transporters’ behaviors would undermine the logistics and the costs of their activities. Therefore, this study is important for a diverse spectrum of port development strategies in the U.S. to respond to the Canal expansion.     

Effects of perceived safety,involvement and perceived service quality on loyalty intention among ride-sourcing passengers

Transportation - Ride-sourcing services are increasingly popular since they were first introduced in the last decade. Particularly in developing countries where public transport systems have...     

Total oil spill costs and compensations

Although counteracting environmental programmes and policies have been strengthened, large oil spills still occur at irregular intervals. The total oil spill costs and their compensations have attracted much interest from various parties, such as local stakeholders, and state and federal governments. This paper addresses five major cost categories whose aggregations are expected to cover the overall direct and indirect costs after the release of an oil spill. Among them, research costs should not be neglected, since they tend to be high if public attention has been drawn to the case. Through an examination of the relationship between the total oil spill costs and their admissible claims, we found that:

1. admissible claims do not cover the overall costs of the oil spill, and
2. admissible claims cannot be compensated in full in the case of large spills.

Clearly, a sound oil spill contingency management aims to minimize both the environmental impacts of areas most at risk and the total oil spill costs. In this paper an economic model for measuring environmental damages following an oil spill is addressed and applied to the Prestige case which happened to be the worst oil pollution in the history of Spain. The model indicates how an ideally a priori economic evaluation may intuitively help managers to make informed as well as fast decisions in contingency cases.     

Exact Equations for Tractrix Curves Associated with Vehicle Offtracking

Vehicle offtracking behavior at low speeds is closely approximated by a geometric entity called a tractrix. This paper presents differential equations for generalized coordinates of a planar multibody vehicle model based on tractrix behavior. The equations are exact, can be used with any type of input path, are valid for forward and backward movements, and are much simpler than previously published formulations used to compute transient offtracking. The differential equations can be integrated using conventional numerical integration algorithms to obtain plots of the low-speed tracking performance of articulated vehicles. The equations were formulated symbolically by a computer program used to analyze the kinematic and dynamic behavior of multibody systems. Example numerical results are plotted.     

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.     

Should the user pay?

The paper puts the case that historical analysis helps to understand current discussions on user-pays principles and practice. In particular, (a) it is demonstrated that the nature of funding systems is dominated by political considerations, and (b) user-pays systems lead to inadequate funding of infrastructure when politically controlled, but provide funds for expansion when “market-driven” (in pursuit of profit maximisation). The case is illustrated by reference to the experience of interregional transport infrastructure in 19th century in England and 20th century Australia. Revenue deficiencies arising from government-controlled rates can lead to the demise of private transport infrastructure. The problem is considered in the context of the history of interregional roads and railways in England between the 15th and 19th century in England and in Australia in the 19th and 20th century. The current embrace by government of the user-pays system in transport services arises from fiscal deficiencies, as much from economic philosophy. User-pays policies are part of the global re-emergence of economic rationalism since the 1970s. The lesson for other nations from Australia's experience is twofold. First, in a federal system of government, despite the efficiency benefits of user-pays in interregional land transport, fiscal and political objectives will prevail. Second, in sparsely populated and/or developing countries, deregulation of long distance road transport will make funding a national highway system a critical concern.     

Effects of information in road transport networks with recurrent congestion

This paper aims to gain more insight into the implications of information provision to drivers on the performance of road transport networks with recurrent congestion. For this purpose, a simulation program consisting of three components has been written. The first component is the traffic simulation model, the second component is the information provision mechanism, and the third component monitors the behavioural decision-making process of the drivers, which is modelled using a utility-based satisficing principle. Three types of information provision mechanisms will be considered: information based upon own-experience, after-trip information and real-time en route information. The findings in this paper, obtained in a hypothetical context, underline the important relationship betweenoverreaction, thelevel of market penetration and thequality of the information. High quality information allows a high level of market penetration, while low quality information, even when provided at low levels of market penetration, induces overreaction. Furthermore, real-time en route information is in particular beneficial during the process leading to a steady state; it reduces the variance in travel time considerably. The paper concludes with a discussion on the market potential of motorist information systems when commercially marketed.     

Effect of capacity concentration on highway corridor performance

This paper investigates, through use of analytical models, the effects of capacity concentration on highway corridor performance. It concludes that when highways operate at a fixed total capacity, decreasing the highway spacing can increase the average travel time because highways will become more congested. When highways operate below capacity, decreasing the spacing is usually beneficial as it tends to reduce trip length when accessing highways, and allows a greater percentage of travel to be completed on highways instead of arterials.