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。     

Maritime security guidelines: a study of Swedish ports’ perceived barriers to compliance

ABSTRACT

Due to the constant risk of piracy and terrorist attacks which cause disturbances within international shipping of goods, barriers to the adoption of maritime security guidelines (MSGs) at European ports have become prevalent. In this paper, a conceptual framework was created to explore the perceived barriers that prevent compliance with MSGs. To verify the conceptual framework, empirical data were collected using a mixed-methods approach, which was comprised of interviews with national experts and a survey of 47% of Swedish ports involved in the shipping of goods. According to the presented framework, the perceived barriers of Swedish ports to compliance with MSGs were linked to collaborations within the Swedish Maritime Security stakeholder network, available resources and educational knowledge about security culture. In addition, the perceived barriers of smaller ports were linked to the adaptation to MSGs at different levels and the absence of specific tools of maritime security management. Due to an increased interest in international shipping of goods, this paper is currently one of few that addresses the barriers to compliance with MSGs. Moreover, the paper presents a general conceptual framework, novel managerial implications and recommendations for future research.     

基于故障树的动车组常用制动失效风险分析及对策

分析CRH3型动车组制动系统的工作原理、结构、功能及工作流程,根据其关键功能,包括空电复合制动、网络和硬线冗余指令传递、直通式电空制动方式、电气指令和空气指令传输方式等的特点,对常用制动系统结构和功能进行分解,建立常用制动失效故障树,分析基本事件的结构重要度,得出牵引执行系统电机故障、牵引控制单元故障、网压过高是导致常用制动失效发生的最重要因素,提出针对各类基本原因事件的风险控制措施.     

舰船惯导水平姿态误差动态自主评估与补偿方法

针对海上舰船惯导长时间工作而又无法获得外部导航校准信息、无法评估惯导水平姿态误差问题,提出利用惯导自身信息实现水平姿态误差评估与补偿的新方法。根据舰船稳速直航状态下的实际加速度值近似为零的特点,分析惯导等效加速度和惯导速度误差与水平姿态角误差之间的关系,建立海上舰船惯导水平姿态误差自主评估模型。仿真实验分析结果表明,提出的水平姿态误差动态自主评估与补偿方法,在不依赖外部导航信息条件下,实现惯导水平姿态误差动态自主评估与补偿,在给定的仿真实验条件下,水平姿态角误差最大值和振荡范围均减小了75.8%,有效提升了舰船惯导的水平姿态精度。     

铁路隧道工程可行性研究阶段风险评估研究

风险评估对于铁路隧道工程的建设和项目选线具有重要意义。针对铁路隧道工程风险评估在可行性阶段对应的风险类别与风险因素,建立基于AHP法的多因素模糊综合评价体系以及相应的隧道风险等级定量评判标准。模型根据专家对各风险类别和风险因素相对发生概率的定性评判,通过AHP法计算得到各风险类别和风险因素在整个风险评估体系中发生的相对概率,并将风险事件发生后果等级赋予相应的风险分值。最终结合得到的概率与风险分值通过模糊综合评价得到隧道综合风险评估分值和其对应的风险等级,从而对铁路隧道工程风险进行综合、定量、直观的评估。将A隧道运用该体系进行分析评价,得到其在可行性研究阶段的综合风险评估值为4. 774,风险等级为中度。     

南宁地铁2号线岩溶风险分析和处理原则

岩溶地区城市地铁修建过程中,岩溶地质灾害问题严重威胁着地铁施工和后期运营的安全,由于受到地质条件和人类工程活动等多因素影响,需要综合分析各影响因素的作用,进而制定岩溶处理原则。以南宁地铁2号线石子塘车站和石子塘站—大沙田站区间为例,分析岩溶洞穴几何特征以及空间分布规律,针对不同岩溶塌陷风险等级的影响范围和危险程度,确定相应岩溶处理原则。石子塘车站岩溶塌陷可以划分为高风险区、中等风险区、低风险区,其岩溶处理范围分别为隧道轮廓线两侧围护结构处基岩界面以下15、10、6 m,处理措施分别为采用注浆帷幕以及钻孔灌注桩+内支撑体系的围护结构,注浆帷幕以及围护孔和中立柱桩加固,注浆以及围护孔和临时立柱桩。基于不同岩溶塌陷风险等级的岩溶处理原则考虑岩溶场地的复杂性,具有较大实际工程意义,对今后岩溶地区城市隧道的施工有一定参考价值和借鉴意义。     

铁路车务系统既有线施工安全风险管理探讨

针对铁路既有线改造施工、日常养护对运输效率和运输能力的影响,分析既有线施工对车务系统安全风险管理的要求,探讨施工现场车务系统的安全卡控措施,即强化车务系统管理人员的安全责任制和施工安全风险关键点的卡控措施,探索既有线施工安全风险管理的新方法、新途径,逐步形成安全风险管理的长效机制。     

山区公路地质灾害评价模型探讨

目前对公路沿线地质灾害的评价方法以定性评价为主,尚未形成一套行之有效的定量或半定量评价体系和方法。文章根据公路工程的特点以及现有的地质灾害评估理论和实践,并结合公路地质灾害野外调查情况,提出了公路地质灾害发育程度、危害性、发展趋势及危险性评价方法,可供有关部门参考。     

Through the storm: Transit agency management in response to climate change

The increase in extreme weather events due to climate change poses serious challenges to public transit systems. These events disrupt transit operations, impair service quality, increase threats to public safety, and damage infrastructure. Despite the growing risk of extreme weather and climate change, little is known about how public managers recognize, experience and address these risks. Using data from a national study of public transit agencies we investigate the types of extreme weather events transit agencies are experiencing, the associated risks, and how agencies are preparing for them. We find that while extreme events are commonly experienced by transit agencies across states and transit managers perceive increased risks from these events, most agencies rely on the traditional emergency management approach to address extreme weather ex post rather than taking a proactive approach to mitigating the adverse weather impact on transit assets and infrastructure ex ante. Managers report that a lack of access to financial resources is the greatest challenge for undertaking adaptation and preparation. We conclude with a discussion of what these findings mean for understanding organizational adaptation behavior as well as climate adaptation policy making.     

Comparing French carpoolers and non-carpoolers: Which factors contribute the most to carpooling?

Carpooling is an effective solution to major environmental problems but it is insufficiently used, particularly in France. In order to increase carpooling, it is important to understand why people do or not carpool. This study, carried out a large sample of drivers, was aimed at (1) identifying whether or not people carpool, (2) investigating the factual data (e.g. socio-demographics, transportation accessibility) and motivational factors (e.g. attitudes regarding car use, public transportation, environment) upon which carpoolers and non-carpoolers differ, and (3) highlighting the main determinants of the practice of carpooling. An online survey was administered to 1207 French drivers (48% men, ages 19–87) recruited by means of a random-quota method. In our sample, 52.5% of the participants said they were using carpooling. Carpoolers and non-carpoolers were similar in terms of kilometers driven per year, distance to their workplace or schools/universities, and public transportation accessibility. Compared to non-carpoolers, carpoolers were more likely to be women, have children, have positive attitudes toward public transport, and be more environmentally aware. These results suggest various different strategies for increasing the number of carpoolers and the frequency of carpooling use by taking into account the gender of road users.