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.     

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.     

高桩码头梁顶裂缝原因分析及控制技术

混凝土裂缝是困扰码头外观质量的“老大难”问题,而梁顶部位面层混凝土裂缝(简称梁顶裂缝)作为高桩梁板式码头中常见的质量通病,一直是工程技术人员的攻关课题。在宁波港北仑四期集装箱码头工程建设过程中,通过分析梁顶裂缝产生的原因,采取降低混凝土强度、梁顶部位割双缝等措施基本克服了梁顶裂缝,取得了较好的效果,也为同类工程提供了借鉴。     

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.     

基于城市轨道交通综合监控系统的Web方案设计

结合苏州市轨道交通1号线工程实例,介绍了基于综合监控系统的Web方案。从系统设计的角度,讨论了Web系统的硬件构成及信息发布、视频发布的设计原则;从软件功能的角度,分析了Web系统的软件构成、实时数据的获取及视频发布等相关功能。该方案基于原综合监控系统的硬件基础,实现了综合监控重要数据信息的复示,以及重要CCTV(闭路电视系统)视频图像的发布功能。综合监控系统中的Web系统与办公信息网络的融合,为企业的运营管理提供了更全面、便捷的信息来源。     

空气湿度对地铁车轮磨耗的影响及机理研究

车轮磨耗影响着地铁的运营安全和运营成本。目前,关于车轮磨耗的研究多集中于轴重、轮轨接触状态等因素的影响,考虑空气湿度影响的研究较少。通过对某城市地铁进行了长期监测,对每月的车轮平均磨耗量及空气相对湿度进行了统计分析,得出了车轮磨耗量随空气湿度增加而降低的规律;并结合已有试验数据,对这一规律进行了验证。对空气湿度影响车轮磨耗的机理进行了探讨,发现在气温未达到露点温度时,湿度主要影响轮轨接触表面的粗糙度、硬度以及氧化膜的形成;在气温达到露点温度之后,轮轨表面将会形成水膜,这将会降低轮轨间摩擦系数,降低车轮的磨耗量。     

Micro-Grinding Performance of Hard-Brittle Chip Materials in Precision Micro-Grinding Microgroove

The micro-structure on hard-brittle chip materials (HBCMs) surface can produce predominant functions and features. The micro-grinding with diamond wheel micro-tip is an efficient method to machine microstructure on HBCMs. However, different HBCMs and crystal orientation may have a significant influence on the micro-grinding performance. In this paper, the micro-grinding performance along different crystal orientation of HBCMs is investigated. First, a dressed 600^# diamond grinding wheel is used to micro-grind micro-structure on HBCMs. Then, the experiment of micro-grinding force test is completed. Finally, the quality of microgroove, the grinding ratio and the micro-grinding force are investigated and they are related to the crystal orientation of HBCMs. It is shown that the stronger resistance to the micro-crack propagation has the best quality of microgroove and the smallest grinding ratio. Moreover, the hardest single-crystal SiC has the best machinability and the micro-grinding force is 38.9%, 10.8% and 46.8% less than the one of sapphire, single-crystal Si and quartz glass, respectively. The direction to micro-grind easily is the crystal orientation 〈10\(\overline 1 \)0〉 for single-crystal SiC and sapphire. In addition, the micro-grinding force increases with the increase of the micro-grinding depth and feed rate and decreases with the increase of the grinding wheel speed.