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.     

均匀流场中含自由液面的陷落腔脉动压力分布研究

在有自由液面的情况下,针对横剖面为圆形的陷落腔模型,在均匀流场条件下,开展水动力实验研究,模拟了大量的工况,测量了腔体壁面的流体脉动压力.本文分析了模型所受的脉动压力随傅汝德数在不同腔体位置的变化趋势,并讨论了晃荡现象对压力分布的影响.实验时发现,傅汝德数小于0.35的工况有明显的晃荡现象发生,而傅汝德数小于0.35的工况的脉动压力系数也明显大于其他工况,且变化剧烈.本文认为,流体剪切层自持振荡与腔内液体深度驻波振荡共振是产生晃荡现象的原因,本文实验中Fr≤0.35的工况对应的流速正是达到以上两种振荡频率耦合所需要的流速.本文对工程应用中的腔体尺度和形式的设计有一定的指导意义.     

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。     

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.     

基于资源节约的企业评价指标体系探讨

企业评价是一种目标导向性活动。面对资源日趋紧张及环境日趋恶化的形势,满足可持续发展和环境治理的要求,对企业的评价应体现其资源的利用效率,因此文章首先提出并论证了构建资源节约导向型的企业评价指标体系的必要性。其次,将企业资源划分为土地、能源、水资源和矿产资源,并从资源占用、资源节约、资源回收利用方面探讨了指标体系的构建方法,给出了基于资源节约的指标体系。最后应用改进后的主成分分析法对该指标体系进行评价,克服以往评价方法客观性不强的缺点。     

GTO门控电路

ＧＴＯ门控电路对ＧＴＯ的关断能力，工作频率、可靠性等影响极大，本文分析了ＧＴＯ关断过程的及其波形，提出了主要的门控电路参数，并对国内外若干重要的典型门控电路作了简要的说明。     

选线系统的知识获取与定线指导专家超文本模型

选线专家超文本模型将知识库、推理机与超文本系统相结合,可有效地组织、存储和应用海量的选线信息,是开发选线知识获取与定线指导系统的有效模式。详细介绍了选线专家超文本系统的体系结构、选线专家超文本模型的知识表达模式和超地形图构建技术。