Robust leader-follower formation tracking control of multiple underactuated surface vessels

This paper is concerned with the formation control problem of multiple underactuated surface vessels moving in a leader-follower formation.The formation is achieved by the follower to track a virtual target defined relative to the leader.A robust adaptive target tracking law is proposed by using neural network and backstepping techniques.The advantage of the proposed control scheme is that the uncertain nonlinear dynamics caused by Coriolis/centripetal forces,nonlinear damping,unmodeled hydrodynamics and disturbances from the environment can be compensated by on line learning.Based on Lyapunov analysis,the proposed controller guarantees the tracking errors converge to a small neighborhood of the origin.Simulation results demonstrate the effectiveness of the control strategy.     

西安地铁隧道穿越饱和软黄土地段的地表沉降监测

以西安地铁一号线朝阳门站—康复路站区段饱和软黄土地铁隧道为研究对象,通过施工期现场地表沉降变形监测,分析了在饱和软黄土特殊地层条件下隧道浅埋暗挖法施工引起的该区段地表沉降变形规律以及地表沉降槽分布特征。结果表明:在饱和软黄土隧道开挖时,随着掌子面的推进,隧道顶地表沉降可分为沉降微小阶段、沉降显著发展阶段、沉降缓慢阶段和沉降稳定阶段;单线隧道开挖后的最大地表沉降量为18.89mm,双线隧道开挖后的最大地表沉降量为36.4mm;已开挖隧道对围岩土体的扰动作用使得后开挖隧道的地表沉降发展较大;双线隧道的地表沉降槽宽度接近单线隧道沉降槽宽度的2倍,因此可以将其近似为单线隧道地表沉降槽宽度与双线隧道轴线中点距离之和;单线隧道开挖后地表沉降槽宽度为8.4～9.3m,双线隧道开挖后地表沉降槽宽度为16.2～17.5m;隧道开挖施工的沉降槽宽度参数为0.435～0.467,单线隧道开挖后的地层损失率为0.765%～1.324%,双线隧道开挖后的地层损失率为1.231%～2.200%。     

基于统计的小波包分析的输电塔结构损伤预警

本文针对输电塔结构的损伤特点,提出了基于统计过程控制理论和小波包分析实现输电塔结构损伤预警的方法。首先将振动测试信号进行小波包分解,然后以小波包系数节点能量作为识别损伤的特征向量建立相应的损伤因子,通过统计过程控制理论计算其单侧置信上限,实现输电塔结构的损伤预警。为了证明该方法,对一个三层输电塔结构模型进行了试验研究,结果表明该方法能够有效地识别损伤的发生。     

500 kV输电线路黄河大跨越塔基工程施工实践

500 kV输电线路黄河大跨越塔基工程分地下和地上两大部分,集多种施工工艺方法于一体。重点阐述了钻孔桩施工,支撑系统的选择,高桩承台模板的支护,地脚螺栓的安放和大体积承台砼的浇注等施工关键工序、技术难点和重点的具体控制方法。     

海洋测深中的船移效应研究

海洋测深大多是在移动的测量船上进行的,测量船的移动则不可避免地产生船移效应,因而船移效应是影响海洋测深精度的因素之一。在系统推证海洋测深中的船移效应模型基础上,对几种典型船速、水深、海底坡度和波束角情形下的船移效应进行了数值计算,研究了船移效应的影响规律和量级,揭示了船移效应的非对称性影响。根据海洋测深的IHO最低标准要求,提出了采用窄波束和限制船速的降低测深船移效应影响的有效方法。     

海底入射角对多波束反向散射强度的影响及其改正

综合考虑测船姿态、声线弯曲和海底地形对入射角的影响,推导了计算多波束海底入射角的实用模型。根据Lambert法则,改正海底入射角对反向散射强度的影响。实例计算结果表明,所述模型能精确地计算波束在海底的入射角,有效地改正其对反向散射强度的影响。     

Optimization of fishing vessels using a Multi-Objective Genetic Algorithm

A fishing boat hull is used as an example of how hull form optimization can be accomplished using a Multi-Objective Genetic Algorithm (MOGA). The particular MOGA developed during this study allows automatic selection of a few Pareto Optimal results for examination by the designers while searching the complete Pareto Front. The optimization uses three performance indices for resistance, seakeeping and stability to modify the hull shape to obtain optimal hull offsets as well as optimal values for the principal parameters of length, beam and draft. The modification of the 148/1-B fishing boat hull, the parent hull form of the ?stanbul Technical University (?TÜ) series of fishing boats, is presented by first fixing the principal parameters and allowing the hull offsets to change, and secondly by simultaneously allowing variation of both the principal parameters and the hull offsets. Improvements in all three objectives were found. For further research the methodology can be modified to allow for the addition of other performance objectives, such as cost or specific mission objectives, as well as the use of enhanced performance prediction solvers. In addition, one or more hulls could be evaluated by experiment to validate the results of using this particular optimization approach.     

AIS专题统计分析应用系统研究

AIS专题统计分析应用系统以AIS岸基网络系统提供的信息为基础,采用分级、分类、定制等多种技术手段,实现AIS船舶运行信息的有效管理和共享,为航海及其他海洋活动提供更加全面、及时、可靠和集成的综合信息服务,进一步发挥AIS系统信息的社会服务效能.文章描述了系统的实现目标、系统组成、功能模块设计及关键技术,并对系统应用前...     

洛宁程家沟-沙沟银多金属矿中深斜孔钻探技术

洛宁程家沟-沙沟银多金属矿区矿床产状陡,矿体集中,钻探设计多为分支孔,钻孔中深、斜度大。如何要在保证效益的情况下确保钻孔质量成为关键技术。通过1550 m斜孔施工实例,介绍了矿区中深斜孔钻探工艺的选择及保证钻孔弯曲度的具体措施。     

江苏南京定林寺斜塔纠偏及地基加固技术

通过江苏南京定林寺斜塔成功纠偏及地基加固工程,使原来的最大倾斜度7°59’纠偏至5°36’,纠偏角度为2°23’,仍保持了世界上现存第一斜塔的要求。该工程主要采用"塔式古建筑组合控制纠偏技术",为砖石古塔的加固纠偏及保护提供了新的思路。