Experimental study on hydrodynamic performance of SWATH vessels in calm water and in head waves

An extensive experimental investigation on four SWATH hull forms has been conducted in calm water and in regular waves at University of Naples Federico II. Calm water tests have been analyzed in the range of Froude number Fr_T from 0.1 to 0.6. For all four SWATH configurations at the speed, corresponding to Fr_T 0.32, the behaviour in regular waves has been tested. The results of heave, pitch and vertical accelerations are presented in nondimensional form as RAO. For the “most promising” SWATH #4 configuration, a set of stabilizing fins have been designed and an active stabilization system has been developed. The developed SWATH#5 has been tested in calm water on three displacements in the range of Fr_T from 0.1 to 0.65. The dynamic wetted surface has been identified and the residual resistance coefficient C_R as well as R_T/Δ are reported. Seakeeping tests have been performed in regular head sea and in head and following irregular sea at Fr_T = 0.50. The conditions for the occurrence of dynamic longitudinal instabilities have been identified. The results allows to comment the effect of slenderness of struts and SWATH’s immersed bodies on resistance and seakeeping and concerns the applicability of SWATH concept to small craft.     

Experimental investigation on a cabin-suspended catamaran in terms of motion reduction and wave energy harvesting by means of a semi-active motion control system

A novel concept catamaran equipped with a suspended cabin, named Wave Harmonizer Type 4 (WHzer-4), is proposed and evaluated. The mass-spring-mass system is constructed by mounting four sets of suspensions in-between the cabin and the twin-hull. Two sets of dual motor/generators (M/Gs) are attached on the center beam of the cabin's deck fore and aft. Each shaft-end of the dual M/Gs is connected to the twin-hull through a rack-pinion gear unit. In this way the vertical relative motion between the cabin and the twin-hull can be transferred into the rotational motion of the M/Gs, and vice versa. A semi-active motion control system, which contains a proportional-integral (PI) controller, is designed and applied to each of the dual M/Gs for the aim of absorbing wave energy under the condition of suppressing the local vertical velocity of the cabin as much as possible. A 1/5 scale model ship with a length of 1.6 m is built, and a forced-oscillation bench test is implemented to validate the performance of the control system. Then, a series of towing tank tests is carried out in regular head waves. The heave and pitch responses of the cabin, those of the twin-hull and the corresponding wave energy capture width ratio (CWR) at five control scenarios and two reference scenarios are investigated. Discussion on the results of the tank test shows that the motion reduction of the cabin and the wave energy harvesting can be achieved simultaneously at a few wave conditions. However, at other conditions, although noticeable amount of wave energy is harvested, motion reduction of the heave and pitch of the cabin could not be obtained at the same time. It is suggested that varying the gain settings of the PI controllers according to the location of the controllers may improve the effectiveness of the proposed control system.     

Feedback control system for blow-out preventer positioning

During the drilling of ultra-deep-water subsea petroleum wells, a blow-out preventer (BOP), a piece of safety equipment, must be assembled on the wellhead. The BOP is suspended using the drilling riser during the wellhead approach operation, and the riser's top end is connected to the floating platform rig. This article presents a feedback control system for the automatic approach of the BOP to the wellhead. Compared to state-of-the-art controls, ours does not require ancillary thrusters installed alongside the riser nor inclination sensors atop of the drilling riser. Additionally, our proposed control embeds a closed-loop dynamic positioning system, thus retaining the characteristics of the original control system and adding an extra closed-loop. This eases implementation of the BOP approach control to an existing platform. To calculate the optimal gains for the BOP controller, we assume a linear system for the riser, including only the pendulum-shape. The simulation is carried out using nonlinear models for both riser and floating platform. We assume an International Towing Tank Conference standard semi-submersible platform, coupled with a 3000-m free-hanging vertical riser for the time-domain simulation. The results show the BOP tracking to be a step-shaped input signal under current and wave loads. A discussion of the performance of feedback control under different environmental loads is also included.     

Formation control of multiple underwater vehicles subject to communication faults and uncertainties

This paper proposes a novel approach to analyze and design the formation keeping control protocols for multiple underwater vehicles in the presence of communication faults and possible uncertainties. First, we formulate the considered vehicle model as the Port-controlled Hamiltonian form, and introduce the spring-damping system based formation control. Next, the dynamics of multiple underwater vehicles under uncertain relative information is reformulated as a network of Lur’e systems. Moreover, the agents under unknown disturbances generated by an external system are considered, where the internal model is applied to tackle the uncertainties, which still can be regulated as the Lur’e systems. In each case, the formation control is derived from solving LMI problems. Finally, a numerical example is introduced to illustrate the effectiveness of the proposed theoretical approach.     

长江三角洲蓝图重绘的基础科学问题:进展与未来研究

在全球气候变化和人类活动影响加剧的背景下,作为河口海岸重要子系统的三角洲正在发生快速变化。长江三角洲地处长江入东海交汇处,是中国最重要的经济核心区之一,对邻近区域乃至整个长江经济带经济社会发展都起着重要作用。由于全球变暖、海面上升和强烈人类活动引发了三角洲系统状态转换,因此以往基于恒定系统状态而获得的有关长江三角洲的认识已不能满足未来需求,迫切需要对未来海面变化、极端事件、流域与河口工程影响下的三角洲物质循环条件、物理过程、地貌冲淤演化、源-汇格局调整等科学问题进行深入研究。在三角洲系统行为、未来演化趋势的预测能力建设中,应重视从海面到海底的综合立体观测系统的发展,以获取关键数据;基于三角洲系统的时、空演化特征,建立三角洲本征态和衍生态的谱系理论。未来需针对系统状态转换而调整原先的经济社会发展模式,以便保护自然资源、重建生态系统,更好地支撑长江经济带发展,重绘长江三角洲发展蓝图。     

虚拟地理环境中基于多模式的多人动作捕捉方法

虚拟地理环境对人类理解、探索地理现象以及发现地理现象之间的联系起到很重要的作用。在基于VR技术的虚拟地理环境中更高效,更自然的交互对虚拟地理环境系统的可用性以及理解、探索地理现象的效率至关重要。当前,人机交互中更自然便捷的交互依赖于动作捕捉技术,而现有的基于单种捕捉模式的动作捕捉方式,易受到遮挡、定位漂移等的影响,捕捉精度受到限制,并只能捕捉单个人的动作,不能满足虚拟地理环境对动作捕捉技术提出的特殊需求。针对单种模式的动作捕捉设备应用于虚拟地理环境受到的限制,本文分析了虚拟地理环境系统中的交互需求以及其对动作捕捉技术提出的特殊需求,创新性的提出了一种基于多种动作捕捉模式以捕捉多人动作的方法。本文方法集中于如何融合基于多种模式的多台设备的动作数据,描述了多人动作捕捉框架及其涉及到的技术,在动作捕捉效果上具有明显提升,能够捕捉多人动作,并开发了原型系统对此方法进行了验证。     

湖南省似大地水准面2017模型及精度分析

利用近7万个湖南及邻近省份重力观测数据、502个GNSS/水准控制点及数字高程模型,以EIGEN-6C4全球重力场模型作参考重力场,采用顾及地球曲率影响的各类地形质量位及引力的第二类Helmert凝集法严密算法,利用高分辨率地形数据恢复甚短波扰动重力场,确定空间分辨率2′×2′的高精度湖南省似大地水准面模型（HNGG2017）。经外部检核,模型整体精度均优于±0.022 m。与历史模型相比,新模型在湖南北部常德汉寿、西南部永州江永等地区精度得到显著改善。     

中国人海经济系统环境适应性演化及预警

基于敏感性-稳定性-响应3维要素构建指标体系,运用熵值法和ARIMA-BP组合预测模型研究中国人海经济系统环境适应性的演化及预警。结果表明：① 2001~2016年中国人海经济系统环境适应性呈稳定上升态势,总体集中于中警状态,期间经历了“人海环境系统比较优势阶段→耦合协调阶段→人海经济系统比较优势阶段”的双螺旋适应过程,预计2017~2020年再次进入相互契合的轻警状态;② 16 a间中国人海经济系统环境适应性波动存在上升期短-衰退期长现象,预计未来4 a人海经济系统环境适应性在经济下行和生态约束背景下的速率不容乐观;③ 权衡人海经济系统和人海环境系统的关系,追求总体效益最大化,延长适应性周期波动中扩张期活动,差别化和灵活性的适应行为是未来主要排警对策。     

基于水利益共享的跨境流域水资源多目标分配研究——以澜沧江-湄公河为例

以水利益共享代替分水的理念有利于充分发挥水资源效益和减少区域矛盾冲突,但由于缺乏具体可实施的分配模式一直停留在设想阶段。基于水利益共享理念,建立跨境流域水资源多目标分配指标体系,并结合澜沧江-湄公河流域跨境水资源利用现状及需求,提出澜沧江-湄公河流域跨境水资源多目标分配模型。为基于水利益共享的跨境水资源多目标分配提供了具有充分可操作性的指标体系和分配模型,有助于推进跨境流域水利益共享的实施,实现区域双边或多边在水资源利用上的共赢和发展目标。     

中国旅游城市生态安全系统评估与类型划分研究 ——基于节点权重约束网络DEA模型

采用 DPSIR概念模型作为旅游生态安全系统的基本形态,引入网络 DEA模型测度系统运行效率,从“投入-产出”的研究视角探究旅游生态安全系统内部作用机理。采用结构方程模型对网络 DEA模型的结构及权重加以限制,构建具有节点权重约束的网络 DEA评价模型,对主要旅游城市生态安全系统实例进行实证研究。研究结果认为：将生态安全系统分为自然运行阶段、管理反馈阶段2阶段进行效率评价,加权综合得出各旅游城市生态安全系统的综合评价值,以此为依据将样本城市划分为按系统效率的评价结果将其分划为绿色发展型、稳步发展型、高效发展型、双向提升型和管理能力缺失型,针对各类型旅游城生态安全系统特点提出改善其生态安全系统状况的建议。