Multi-innovation auto-constructed least squares identification for 4 DOF ship manoeuvring modelling with full-scale trial data

This research is concerned with the problem of 4 degrees of freedom (DOF) ship manoeuvring identification modelling with the full-scale trial data. To avoid the multi-innovation matrix inversion in the conventional multi-innovation least squares (MILS) algorithm, a new transformed multi-innovation least squares (TMILS) algorithm is first developed by virtue of the coupling identification concept. And much effort is made to guarantee the uniformly ultimate convergence. Furthermore, the auto-constructed TMILS scheme is derived for the ship manoeuvring motion identification by combination with a statistic index. Comparing with the existing results, the proposed scheme has the significant computational advantage and is able to estimate the model structure. The illustrative examples demonstrate the effectiveness of the proposed algorithm, especially including the identification application with full-scale trial data.     

Comment on “Nonlinear optimal tracking control with application to super-tankers for autopilot design” by T. Çimen and S.P. Banks

A recent paper by Çimen and Banks [2004. Nonlinear optimal tracking control with application to super-tankers for autopilot design. Automatica, 40(11), 1845–1863] on optimal control system design for oil tanker propulsion and heading highlighted the importance of accurately representing the dynamics of such a vessel. Results presented in that paper are based on a simulation model that provides unrealistic results for an oil tanker of the size considered. Therefore, the results obtained from the simulated ship control problem are not representative of the physical system being considered. In this communication an alternative, more realistic model is presented and discussed with reference to the original publications that define the ship model dynamics.     

三峡永久船闸工程混凝土表面缺陷处理技术

三峡永久船闸混凝土缺陷处理是严格按照标准要求进行的，处理前的混凝土缺陷素描是其中的一个重要组成部分，对查清缺陷的数量、分布、性质起到了重要作用。在此基础上制定的处理原则及分区，使混凝土缺陷处理工作做到了有的放矢、重点突出。在处理过程中采用了大量的新工艺、新材料，施工质量良好。     

Seawater Ozonation of Bacillus subtilis Spores: Implications for the Use of Ozone in Ballast Water Treatment

The potential of ozone for disinfection of ships’ ballast water was investigated using Bacillus subtilis spores as an indicator. The effects of pH, presence of iron, and bacterial strain on disinfection efficacy in seawater, under simulated ballast conditions, were investigated. Ozone dosages of 9 mg/L (pH 7) and 14 mg/L (pH 8.2) and 24 h contact achieved a 4-log inactivation with the various oxidant residuals formed. Iron surface at a ratio to water of 9 m²/m³ impaired the oxidant residuals and the disinfection of spores. Different strains of B. subtilis resulted in different CT values. Ozone does not seem to be a good choice for the control of spore-forming organisms in ballast water, but may be suitable for the control of other species.     

船舶柴油机主控装置

本文详细介绍了一种船舶柴油机主控装置的功能，结构、工作原理以及软件设计等，经现场调试和海上实验，主控装置完全满足设计和应用的要求。     

船用力反馈两级电液比例阀的设计研究

根据船舶操舵仪及舵机系统的工作要求，分析其液压控制元件的应用情况，研究设计力反馈两级电液比例阀。     

深浅水中KVLCC船体横荡运动水动力数值计算

通过求解非定常RANS方程,选取SST k-ω湍流模型,采用全六面体网格进行离散,在忽略自由面兴波影响的情况下,对KVLCC1裸船体在深水和浅水中的PMM试验纯横荡运动粘性流场进行了数值模拟,计算了作用在船体上的水动力和力矩;通过将计算结果与现有的试验数据对比,验证了该文方法的有效性.在此基础上,根据水动力和力矩计算结果,计算得到了船舶横荡运动线性水动力导数.     

基于Visual Basic的铺排船液压监控系统的设计与实现

分析铺排船液压系统的特点。基于Visual Basic开发了上位机监控系统,将液压系统的工作状态实时呈现在上位机上,对该软件的程序设计做了说明。该监控系统对于提高铺排作业效率,提升系统的稳定性有重要意义。     

Ship detection based on multi-scale weighted fusion

Ship surveillance plays an important role in ensuring the safety of maritime transportation and navigation. Due to the influence of factors such as waves and special weather, the existing detection methods still cannot balance the accuracy, speed and the parameters of the model in the changeable and complex marine environment. To solve this problem, this paper proposes an improved real-time method based on YOLOv5, which has few parameters and achieves high detection accuracy with little memory and computation cost. Collaborative Attention (CA) mechanism is added to the network structure, which enables the model to more accurately locate and identify target regions. We also design a Spatial Pyramid Pooling module (SPP) and a weighted pyramid network called Bidirectional Feature Pyramid Network (BiFPN) based on the characteristics of the ships to better fuse feature information. Transformer encoder is introduced to capture long-distance dependencies and preserve global and local features to the greatest extent. Furthermore, the ability of our proposed structure to localize objects at each stage is improved through integrating the output of multiple modules. The experimental results show that, the comprehensive performance of this method is better than the existing technology in ship detection on different evaluation criteria.     

Design, analysis and experimental validation of a robust nonlinear path following controller for marine surface vessels

The problem of path following for marine surface vessels using the rudder angle is addressed in this paper. A four-degree-of-freedom nonlinear surface vessel model, together with the Serret-Frenet equations, is introduced to describe the ship dynamics and path following error dynamics. While similar models have been used and reported in the literature for path following control algorithm development, the novelty of the approach presented in this work lies in the following aspects. (a) The back-stepping nonlinear controller design is based on feedback dominance, instead of feedback linearization and nonlinearity cancelation; (b) additional design parameters are employed in the Lyapunov function that lead to simplification of the controller in the design procedure and normalization of different variables in the Lyapunov function to improve the controller performance; (c) relying on feedback dominance and the introduction of the additional parameters in the Lyapunov function, the resulting controller is almost linear, with very benign nonlinearities allowing for analysis and evaluation; and (d) the performance of the nonlinear controller, in terms of path following, is analyzed for robustness in the presence of model uncertainties. The simulation results are presented to verify and illustrate the analytic development and the effectiveness of the resulting control against rudder saturation and rate limits, and delays in the control execution, as well as measurement noises. Furthermore, the control design is validated by experimental results conducted in a tank using a model ship.