平面点集凸壳的一个性质

该文揭示了平面点集凸壳的一个性质,即如果一个子凸壳包含东、西、南、北4个方向上的极值点,则其任一条子凸壳边的外点必在该边所确定的外直角三角形中,并对该性质进行了数学证明。在此基础上,利用该性质对快速凸壳算法进行了改进,达到了良好的加速效果。     

Dense RFB和LSTM遥感图像舰船目标检测

针对当前遥感图像舰船目标检测精度不佳问题,本文构建舰船目标数据集STAR,提出基于Dense RFB和LSTM多尺度舰船目标检测算法。该算法首先在SSD网络基础上设计了浅层特征增强模块,基于人眼视点图采用Dense RFB特征复用和膨胀卷积增大感受野的尺度和种类,增强浅层网络对细节特征的提取能力;其次设计了深层多尺度特征金字塔融合模块,采用FPN和LSTM思想,基于反卷积和残差网络对深层不同尺度特征进行融合,增强网络结构非线性和特征层的表征能力;最后加入聚焦分类损失函数进行联合训练,有效避免了正负样本失衡问题。在遥感图像舰船数据集上实验,本文所提舰船目标检测算法精度均值达到81.98%,检测速度达到29.6帧/s。此外,遥感图像中成像模糊、被遮挡、部分被裁剪等舰船目标的检测效果也优于原有经典算法,实验结果表明该算法对遥感图像舰船目标检测的泛化能力较强,有效地提高了遥感图像舰船目标检测的精度。     

三维分层流动过双山脉地形激发的大气船舶重力波动力学理论和数值试验

利用我们建立的三维分层线性理论计算模式和中尺度数值模式ARPS, 分别研究了三维分层流动过双山脉地形产生的三维线性和非线性山脉重力波和大气船舶的结构特征及其形成机制.线性理论计算结果表明三维三层流动过双山脉地形时,两个山脉各自强迫出一个发散模态的山脉背风波,在第二个山脉背风面,三维三层流动过双山脉地形可以强迫出两个发散模态的拦截背风波,大大加强了对大气环流的拖曳作用.非线性数值模拟结果表明,流动过山所产生的非线性山脉重力波和大气船舶完全不同于三维分层线性理论计算模式所产生的山脉重力波和大气船舶的结构和特征,由于分层流体之间的非线性相互作用,三维三层流动过双山脉地形时,可在第二个山脉背风面激发4个发散模态的拦截背风波. 三维三层流动过双山脉地形所强迫的山脉重力波和大气船舶,具有同三维三层流动过孤立山脉所产生的山脉重力波和大气船舶完全不同的结构和特征,三维流动过双山脉地形对两个山脉之间的距离表现出极大的敏感性.对于相距较远的两个山脉,流动过双山脉所强迫的山脉重力波表现为4个发散模态的拦截背风波,波动的能量相对于相距较近的两个山脉能传播到更高的高度.     

钛合金载人舱球壳试验压力和应力衡准取值研究

各国潜水器规范对潜水器载人舱球壳试验压力的规定各有不同,以球壳的中面膜应力作为计算对象,推算各规范和标准关于膜应力在试验压力下的应力衡准。结合"蛟龙号"和"深海勇士号"两型潜水器载人舱球壳的外压试验,对计算应力和实测应力数据分析对比,提出适合钛合金载人舱球壳的试验压力和应力衡准参考值。     

航行船舶真风误差源分析

真风对海上航行的船舶有重要的气象导航意义,若真风测算不准确,会给导航员造成误判,影响船舶安全航行,但在船舶等运动平台上真风无法直接测量,只能依靠矢量模型计算间接获取。根据真风解算模型和误差传播规律,推导了船舶真风误差模型。在矢量模型中,航行船舶真风误差主要来自于船风和相对风的计量误差,船风的计量误差主要是由于航速航向的选取问题导致的误差,相对风的测量误差主要包括传感器自身精度、安装误差、平台姿态影响和系统性干扰误差等几个方面。以船舶转向过程为例,分析了航行风与相对风的变化规律,结合船体运动姿态,加入运动补偿修正量,建立了船舶转向式真风补偿模型。     

Optimized support vector regression algorithm-based modeling of ship dynamics

This study contributes to solving the problem of how to derive a simplistic model feasible for describing dynamics of different types of ships for maneuvering simulation employed to study maritime traffic and furthermore to provide ship models for simulation-based engineering test-beds. The problem is first addressed with the modification and simplification of a complicated and nonlinearly coupling vectorial representation in 6 degrees of freedom (DOF) to a 3 DOF model in a simple form for simultaneously capturing surge motions and steering motions based on several pieces of reasonable assumptions. The created simple dynamic model is aiming to be useful for different types of ships only with minor modifications on the experiment setup. Another issue concerning the proposed problem is the estimation of parameters in the model through a suitable technique, which is investigated by using the system identification in combination with full-scale ship trail tests, e.g., standard zigzag maneuvers. To improve the global optimization ability of support vector regression algorithm (SVR) based identification method, the artificial bee colony algorithm (ABC) presenting superior optimization performance with the advantage of few control parameters is used to optimize and assign the particular settings for structural parameters of SVR. Afterward, the simulation study on identifying a simplified dynamic model for a large container ship verifies the effectiveness of the optimized identification method at the same time inspires special considerations on further simplification of the initially simplified dynamic model. Finally, the further simplified dynamic model is validated through not only the simulation study on a container ship but also the experimental study on an unmanned surface vessel so-called I-Nav-II vessel. Either simulation study results or experimental study results demonstrate a valid model in a simple form for describing the dynamics of different types’ ships and also validate the performance of the proposed parameter estimation method.     

Unscented Kalman Filter trained neural network control design for ship autopilot with experimental and numerical approaches

In the recent decades, the application and research of unmanned surface vessels are experiencing considerable growth, which have caused the demands of intelligent autopilots to grow along with the ever-growing requirements. In this study, the design of an autopilot based on Unscented Kalman Filter (UKF) trained Radial Basis Function Neural Networks (RBFNN) was presented. In particular, in order to provide satisfactory control performance for surface vessels with random external disturbances, the modified UKF was utilised as the weights training mechanism for the RBFNN based controller. The configurations of the newly developed free running scaled model, as well as the online signal processing method, were introduced to enable the experimental studies. The experimental and numerical tests were carried out through using the physical scaled model and corresponding mathematical model to validate the capability of the designed control system under various sailing conditions. The results indicated that the UKF RBFNN based autopilot satisfied the functionalities of course keeping, course changing and trajectory tracking only using the rudder as the actuator. It was concluded that the developed control scheme was effective to track the desired states and robust against unpredictable external disturbances. Moreover, in comparison with Back-Propagation (BP) RBFNN and Proportional-Derivative (PD) based autopilots, the UKF RBFNN based autopilot has the comparable capability in the aspects of providing smooth and effective control laws.     

一种基于Tikhonov正则化的改进多面函数拟合法

多面函数拟合法的平滑系数取值问题一直没有得到很好的解决,为此,提出一种基于Tikhonov正则化的改进多面函数拟合法。该方法引入正则化替代平滑系数,根据泛化误差极小化原则确定正则化系数,规避了平滑系数的不确定性,并去除了原方法核函数个数的约束条件。通过GPS水平速度场拟合的实例对改进方法进行验证,并与原方法的结果进行比较。结果表明,改进方法拟合效果稳定,拟合精度和泛化能力较原方法均有明显提高。     

Experimental investigation of single blade and propeller loads by free running model test. Straight ahead sailing

The understanding and the accurate assessment of propeller loads in realistic operative scenario, both design and off-design conditions, is of paramount importance to design low emission and comfortable ships, fulfilling the requirements of structural integrity of the propulsion system, safety and continuity of operations at sea. To this purpose, a deeper characterization of the propeller functioning, in terms of averaged and fluctuating loads, can be attained by means of the quantification of the single blade loads. In this work, a novel set up that allows to monitor the loads developed by a single blade was implemented on a free running, self propelled maneuvering model with the aim to investigate in details the hydrodynamic interactions between the spatially non-homogeneous and time-variant wake of the hull and the propeller and a complete characterization of its performance. This preliminary work introduces the experimental setup and provides a preliminary overview of the results relative to straight ahead motion.     

海洋主航道对全球集装箱运输网络的影响分析

马六甲海峡、苏伊士运河、巴拿马运河三大主航道在全球集装箱海洋运输中发挥着核心作用。本文基于全球集装箱运输船舶AIS轨迹数据构建了无向加权网络,采用网络平均度、聚类系数、平均最短路径长度等指标,从地理空间的视角,度量了全球集装箱海洋运输对三大航道的依赖性。结果表明：① 海上主航道受阻对不同区域的影响程度存在显著性差异,对国家中转功能及可达性的影响以航道为中心向外呈距离衰减效应;② 集装箱海运网络对航道的依赖性由高到低依次为马六甲海峡、苏伊士运河、巴拿马运河;③ 从区域角度看,东南亚、中东及地中海等区域国家对航道的依赖性远高于其他国家;④ 三大航道受阻导致集装箱海运网络结构特征发生变化,对海运大国中转功能及可达性产生中等级别影响,绝大部分海运国家的变幅在中等及以下级别。研究成果对全球集装箱运输网络重点航线保护及航线优化具有参考价值。