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.     

莆田显惠侯神灵及其对船员的保护

著名的莆田祥应庙前身是当地白杜方氏家族专用的祠堂.庙里供奉的神灵显惠侯,当地的百姓把他视为农业生产及生命财产的保护神,同时,他也是航海者信奉的神灵.本文作者以周尾和朱纺这两人出海之前均到该庙膜拜的典型事例,分析指出上述二人的出海经商与白杜方氏家族存在着直接关系,可能是受雇于当时既从事农业又涉猎海上贸易的白杜方氏家族,因此宋时显惠侯只是一个地方性的神灵,只对某一部分人提供某些特定的庇护,并不具有普遍意义.     

Fluxes of dissolved inorganic carbon in three estuarine systems of the Cantabrian Sea (north of Spain)

The diffusive and in situ fluxes of dissolved inorganic carbon (DIC) and total alkalinity (TA) have been measured and an estimation has been made of the water–atmosphere fluxes of CO₂ in three estuarine systems of the Cantabrian Sea during the spring of 1998. Each of these systems undergoes a different anthropogenic influence. The diffusive fluxes of dissolved inorganic carbon and total alkalinity obtained present values ranging between 0.54–2.65 and 0.0–2.4 mmol m⁻² day⁻¹, respectively. These ranges are in agreement with those of other coastal systems. The in situ fluxes are high and extremely variable (35–284 mmol TA m⁻² day⁻¹, 43–554 mmol DIC m⁻² day⁻¹ and 22–261 mmol dissolved oxygen (DO) m⁻² day⁻¹), because the systems studied are very heterogeneous. The values of the ratio of the in situ fluxes of TA and DIC show on average that the rate of dissolution of CaCO₃ is 0.37 times that of organic carbon oxidation. Equally, the interval of variation of the relationship between the benthic fluxes of inorganic carbon and oxygen (F_DIC/F_DO) is very wide (0.3–13.9), which demonstrates the different contributions made by the processes of aerobic and anaerobic degradation of the organic matter, as well as by the dissolution–precipitation of CaCO₃. The water–atmosphere fluxes of CO₂ present a clear dependence on the salinity. The brackish water of these systems (salinity<20), where maximum fluxes of 989 mmol m⁻² day⁻¹ have been estimated, act as a source of CO₂ to the atmosphere. The more saline zones of the estuary (salinity>30) act as a sink of CO₂, with fluxes between −5 and −10 mmol m⁻² day⁻¹.     

Active Roll Control for Passenger Cars

The development of a mathematical model of a limited bandwidth hydro-pneumatic suspension that is incorporated into a vehicle handling model is described. The combined model is used to evaluate a suitable control strategy for eliminating body roll during a cornering manoeuvre. The philosophy behind the roll control strategy has been to use feedback measurements of the body motions which do not compromise the ride control. A study of the influence of the position of the body motion feedback transducer on the effectiveness of the system to reduce the body roll is presented. Non-linear modelling of the suspension components for a 0.8g cornering manoeuvre has revealed performance limitations. Conclusions are drawn as to the effectiveness of the control scheme.     

Maritime liner shipping and the stevedoring industry: market structure and competition strategies

Globalization, liberalization, competition and spatial interaction are significant factors affecting the transformation of manufacturing industries worldwide. In the transportation and logistics industry, however, cooperation is becoming even more critical than competition in determining firms' efficiency. Cooperation has always characterized the liner sector in which strategic alliances, mergers and acquisitions have generated twin effects: notable increases in ship size and falls in freight rates. Meanwhile, the stevedoring industry is undergoing privatization-driven consolidation and the emergence of global pure terminal operators. This article focuses on vertical integration between global carriers and terminal operators. We address the following key current issues:

• dedicated terminals as a strategy for cutting costs and controlling integrated transport chains;
• the struggle for supply chain control, involving global carriers versus global terminal operators, driven by financial power and technical and managerial capability.

We close analysing one of the core problems of the market, namely the evolving role of the dedicated terminals. For the pure stevedores they represent an opportunity to secure a cargo, while in the hands of the liners they enable cost stability and the possibility to put pressure on pure terminal operators.     

Development of Green-Naghdi models with a wave-absorbing beach for nonlinear, irregular wave propagation

Two-dimensional and three-dimensional Green-Naghdi (GN) models equipped with a numerical wave-absorbing beach have been developed to simulate nonlinear, regular, and irregular wave propagation. The numerical beach is introduced near the downstream boundary to absorb outgoing waves. An appropriate amount of numerical damping and an appropriate length of numerical beach are investigated using numerical experiments. The results show that the GN models with a numerical beach work very well in simulating wave propagation in water in a small computational domain.