S^2 BHCA Multiple AUVs cooperation oriented control architecture

Oceanographic survey, or other similar applications should be the applications of multiple AUVs. In this paper, the skill ＆ simulation based hybrid control architecture （S^2BHCA） as the controller＇s design reference was proposed. It is a multi-robot cooperation oriented intelligent control architecture based on hybrid ideas. The S^2BHCA attempts to incorporate the virtues of the reactive controller and of the deliberative controller by introducing the concept of the ＂skill＂. The additional online task simulation ability for cooperation is supported, too. As an application, a multiple AUV control system was developed with three ＂skills＂ for the MCM mission including two different cooperative tasks. The simulation and the sea trials show that simple task expression, fast reaction and better cooperation support can be achieved by realizing the AUV controller based on the S^2BHCA.     

Factors that promote innovation in shipping companies

This study seeks to identify factors that promote innovation in shipping companies. The study is based on an empirical investigation of 63 companies headquartered in Norway. The results imply that organizational and interorganizational variables are important to innovation. Three aspects of innovation are focused on: (1) service/product innovations, (2) market innovations, and (3) production method innovations. The explanatory variables that are applied in this study capture between 13-51% of the variability of the measures of innovation. The results indicate that an explicit strategy that promotes innovation is very important for the actual level of innovation within shipping companies. In management literature, it is often assumed that organic organizational features like decentralized decision-making promote innovation. The opposite features are assumed to restrain innovation. However, the results do not support these basic assumptions. For example, it seems to be important that managers make precise decisions in order to promote innovation.     

Mixed analysis of shell and solid elements using the overlaying mesh method

 This article presents a mixed method of analyzing shell elements and solid elements using the overlaying mesh method. In the structural design of a ship's hull, the shell elements are used for the global model. However, the solid elements are necessary to analyze the stress concentration zones or the vicinity of a crack. In such cases, the models are analyzed using zooming analysis, in which the results of a global model analysis are transferred to a local model analysis by imposing boundary conditions. This method is more advantageous than zooming analysis in terms of the accuracy of the solution and the modeling flexibility. Some examples of a plate model with a cracked surface or with a projection are shown in order to demonstrate the effectiveness of the method. Received: August 6, 2002 / Accepted: November 25, 2002 Address correspondence to: S. Nakasumi (sumi@nasl.t.u-tokyo.ac.jp) Updated from the Japanese original, which won the 2002 SNAJ prize (J Soc Nav Archit Jpn 2001;189:219–224; and 190:655–662)     

Dynamic Simulation of a Smart Crank and Slider Mechanism

In this paper, a smart crank and slider mechanism is analyzed mostly from a dynamic view. By means of dynamic explicit finite element method, 3D nonlinear structure is simulated. It is proved that the mechanism can effectively accomplish smart movement prescribed. And in order to ensure reciprocal movement with higher frequency, measures should be taken to avoid over heating of parts. Compared with internal energy, kinetic energy of total rigid body is dominating, and Y direction equivalent rigid velocity is much higher than X direction velocity. Equivalent rigid velocity of all parts is consistent with respective movement condition. For both energy and velocity, slider effect is dominating. Three direction equivalent inertia force oscillates. Force amplitude in Y -direction is comparitively the greatest.     

Maritime accident investigation and temporal determinants of maritime accidents: A case study

This paper presents the results of an investigation into temporal determinants of maritime accidents based on a data-set obtained from the proceedings of formal inquiries in the former German Democratic Republic (GDR). The results show that there is no statistically significant outcome between the probability for an accident and the time of watch. Thus the results do not confirm previous studies, which reported significant time of day effects.The outcome of this study indicates that marine inquiries can provide useful data for an analysis of underlying causes of maritime accidents. It is suggested that accident inquiries should be extended into the area of watch systems employed and should record the hours of work and of rest of the officers on the watch involved in a maritime accident.     

The role of professional associations in shipping

This article is in three parts. The first covers the historical development of qualifying associations. The second covers the particular role of maritime institutions that include The Royal Institution of Naval Architects, The Institute of Marine Engineering Science and Technology and The Nautical Institute. The third and final section considers the future for maritime professional associations in the context of international shipping.     

Wave impact on a horizontal elastic plate

The objective is to find slamming-induced local stresses in the steel or aluminum wetdeck of a multihull vessel. This is studied theoretically by representing the wetdeck as a beam model and accounting for dynamic hydroelastic effects. Two numerical methods are used, one being a simplified asymptotic solution. Satisfactory agreement between the two methods is reported. Experimental drop tests of horizontal elastic plates of steel and aluminum are also reported, and the results from the experiments agree well with the numerical computations. This study reveals, both numerically and experimentally, that slamming-induced local stresses are strongly influenced by dynamic hydroelastic effects. The maximum bending stresses are insensitive to where waves hit, the curvature of the waves, and maximum pressures. Measured maximum pressures are very sensitive to external conditions, and cannot be used as a measure of maximum local bending stresses. A simple procedure for local design stresses due to wetdeck slamming is outlined.     

德国铁路电力机车动车概况

简要介绍德国铁路现有电力机车动车的各种系列、数量和主要改进.     

Valuation of externalities through neo-classical methods by including institutional variables

Externalities are uncompensated influences that are not expressed in a market but that affect the production possibilities or the welfare level of third parties. An example is the noise pollution in airport areas. Although air transport is an important source of economic growth and employment in many countries, the social and environmental problems connected with this sector are rising rapidly. Consequently, airports are becoming a matter of concern to many politicians. On what kind of values should they base their decisions as to further growth or consolidation of the current situation? In this paper we discuss two approaches, one based on mainstream, neo-classical, economics, and one based on institutional approaches, more in particular new institutional economics, which can be seen as a development complementary to the mainstream.     

A review of the Effect of α/W ratio on fracture toughness （Ⅱ） experimental investigation in LEFM

In part I of this series, experimental investigation in EPFM （elastic-plastic fracture mechanics） had been discussed. In this paper, experimental investigation in LEFM （ linear elastic fracture mechanics） is given. Fracture toughness tests had been carried out on three different strength steels, using both through-cracked specimens with different α/W ratio and semi-elliptical cracked specimens with variable crack size and shape. Results show that the fracture toughness KIC increases with decreasing α/W when α/W 〈 0.3 for three-point-bend specimens, and that for α/W 〉 0.3, it is independent of α/W. Shallow crack specimens, both through-cracked and surface-cracked, gave markedly higher values than deeply notched specimens. However, the effect of crack shape on fracture toughness is negligible. Results also show that the LEFM approach to fracture is not tenable for design stresses where αc is often very small, far less than 2.5 （ KIC/σy）^2.