基于无人船的水质监测及控制系统设计

针对执行水质监测任务过程中固定浮标监测站单点监测存在局限性、船载观测人员取样耗时耗力等问题,本文设计了一种搭载多点、分层自动采水取样装置的智能无人船水质监测系统,可实现目标水域的多点、分层连续水质数据测量及取样。该智能无人船具备基于快速随机树(Rapid Random Tree)算法的自主避障和快速路径规划功能,解决了现有无人船技术存在的多障碍自主路径规划难等问题。同时,本设计结合了ARM9控制芯片、M5310无线传输模块,通过可视化的显示界面和远程WEB访问的功能,大大提升了科研人员及时处理特殊情况便捷性。通过实验测试及比对分析,证明本设计具有智能高效、稳定可靠等优点,能够满足职能部门对于水质监测工作的需要。     

Temporal variation of modulated-wave-train geometries and their influence on vertical bending moments of a container ship

A towing experiment was conducted using a modulated wave train to investigate the vertical bending responses of a hydro-structural container ship model. In the experiment, a spatially periodic modulated wave train, as a model of a freak wave in successive high waves mimicking the so-called three sisters, was generated by the recently established higher-order spectral method wave generation (HOSM-WG) method. HOSM-WG enables us to control the location and timing of the maximum crest height in a wave tank. With precise control of the towing carriage, an experiment was conducted in which the timing of the encounters between the ship model and the modulated wave train was accurately determined. The maximum sagging moment (SM) was found to increase in proportion with the encounter wave height. However, because of differences in the relative depth of the fore and aft troughs, the maximum SM is highly variable for a given wave height. The temporal wave-geometry evolution caused the relative trough-depth to vary significantly within a wave period in the vicinity of the maximum crest height. As a result, depending on the encounter timing, the SM varied considerably for a given wave height. The temporal variation of the wave geometry is a robust feature of a modulated wave train and is common between the spatially periodic and temporally periodic modulated wave trains.     

尺度分层多阈值结合SVM分类的热红外舰船识别

针对尺度自适应选择分层多阈值方法,有时检测目标不完整且存在较多虚警目标等问题,提出了一种基于尺度分层多阈值和SVM分类相结合的舰船目标检测与识别方法。首先使用尺度自适应分层多阈值方法进行初检测;其次根据样本学习生成舰船目标特征及最佳分类特征组合;最后使用SVM样本学习分类实现舰船目标检测与识别。实验结果表明,该方法比单一使用样本分类法降低了虚警率,提高了检测效率,能在近岸舰船目标与背景对比度较低的情况下实现虚假目标有效剔除,且在突堤式码头停放的舰船目标识别中更有效和更稳定。     

Yamaguchi分解Notch滤波的全极化SAR图像舰船目标检测

极化合成孔径雷达数据蕴含了丰富的地物极化散射信息,已广泛应用于海上舰船目标检测研究。针对极化相干矩阵无法直接用于分析特定散射体物理特性的缺陷,利用Yamaguchi极化分解改进了极化Notch滤波器。将基于模型的极化分解方法引入Notch滤波器,利用表面散射、二次散射、体散射和螺旋体散射等散射机制的能量构造散射矢量代替极化相干散射矢量,并加入功率能量因子,构造新的极化SAR图像Notch滤波器。Radarsat-2全极化SAR图像实验结果表明,改进算法有效增强了舰船目标与海杂波背景间的对比度,检测性能优越。     

一种船舶坐标测量方法

船舶测量环境的特殊性给船舶测量带来了挑战,如何快速高效地完成船舶测量任务十分关键;本文采用全站仪配合球棱镜进行测量,在船头、船尾和船上分别架设仪器建立测站坐标系,通过公共点对各测站坐标系进行转换,统一建立龙骨坐标系,使船上所有测量点坐标均在龙骨坐标系下,以便在后期的安装测量及检测中能快速恢复龙骨坐标系并直接进行后续测量工作。事实表明该方法可以满足船舶测量的要求,准确可靠地完成了船舶测量的任务。     

“雪龙”号科考船在冰区航行的船体振动测量研究

船舶在冰区航行时,船体会受到多种类型激振力的作用而产生不同程度的结构振动。船体振动会对船体结构安全以及船上人员的正常工作产生不利影响。船体结构振动的现场测量可较为准确地分析船体振动的基本特性,确定船体振动与外界荷载因素的对应关系。在2015—2016年中国第32次南极科学考察过程中,对"雪龙"号极地科学考察船的冰激振动开展了现场测量。本研究对比了船体在无冰区和冰区航行过程中的船体振动变化,分析了船体在不同航速、冰厚以及不同破冰航行方式下的振动规律。测量结果表明:船体冰激振动随着航速和冰厚的增加而显著增大;在船体采用冲撞式破冰时横向振动最为明显,而在连续式破冰时,垂向振动最为明显。以上研究可为冰区航行中船体振动的现场监测技术提供有益参考,并有助于分析海冰对船体振动规律的影响。     

基于执行依赖启发式动态规划的船舶减摇鳍在线最优控制

针对船舶线性横摇系统,设计了一种基于执行依赖启发式动态规划（ADHDP）方法的在线学习最优减摇鳍控制器.在设计过程中直接使用输入输出数据获取系统状态值.利用评价网络来逼近针对船舶减摇鳍控制系统设计的性能指标函数,并通过执行网络获得最优控制律,这两个网络都是多层前馈神经网络,即反向传播（BP）神经网络.在训练过程中,这两个神经网络不仅可以使用实时测量数据,也可以减少船舶横摇模型的内部误差和不确定性干扰的影响,从而提高系统的鲁棒性.最后,仿真结果表明所提出的ADHDP控制器对于降低船舶横摇有很好的控制效果.     

大型泊位设计中的水流问题——以宝钢马迹山港为例

本文以宝钢马迹山２５万吨级矿石中转港码头设计中所遇到的水流问题为例,通过对研究水域的水流性质以及泊位、船舶、水流三者之间关系的初步分析,认为水流尽管与风、浪一样不致船舶结构破坏,但一定时段内却可能对其靠泊造成困难,而水流作用于系泊中船舶并传递给码头结构物的荷载,以及水流与波浪相互作用使得波流要素改变则是设计中必需考虑的。最后,作者对港口设计和运作提出建议,以期相类似水深流急地区建设大型泊位时能有所借鉴。     

Elastic response of catamaran wetdeck to liquid impact

The impact of an elastic plate onto the compressible fluid without free surface deformation is considered. The ability of the liquid volume to be deformed is geometrically limited which leads to severe impact conditions. The present analysis is focused on the stresses in the plate and the hydrodynamic loads under the impact. The motivation for this research comes from ship hydrodynamics, where the hulls of a catamaran restrict the liquid outflow and the water impacts onto the wetdeck. The influence of the air on the impact process is investigated. The analysis did not reveal any great advantage of utilizing the air-cushion effect or ejection of air into the water near the impact region to prevent high stresses in the elastic plate. It was found that in the problem considered, the stress peaks far from the plate centre and the one-mode approximation does not provide correct information about the stress level.     

Significant load and green water on deck of offshore units/vessels

In this paper the probability of green water occurrence is investigated by taking into account the threshold of the vertical relative motion exceeding the freeboard. The number of wetting of the unit/vessel is predicted using probabilistic method. This paper compares the significant load, due to shipping of green water with the works of other researchers, and the loads are found to be close with the results presented in this paper. There is no direct relation between the velocities in the waves and the water velocity over the deck. The water velocities around the bow are heavily distributed by the presence of the bow. This scenario makes the flow very complex for schematic modelling.