A state-of-the-art review is presented of mathematical manoeuvring models for surface ships and parameter estimation methods that have been used to build mathematical manoeuvring models for surface ships. In the first...A state-of-the-art review is presented of mathematical manoeuvring models for surface ships and parameter estimation methods that have been used to build mathematical manoeuvring models for surface ships. In the first part, the classical manoeuvring models, such as the Abkowitz model, MMG, Nomoto and their revised versions, are revisited and the model structure with the hydrodynamic coefficients is also presented.Then, manoeuvring tests, including both the scaled model tests and sea trials, are introduced with the fact that the test data is critically important to obtain reliable results using parameter estimation methods. In the last part, selected papers published in journals and international conferences are reviewed and the statistical analysis of the manoeuvring models, test data, system identification methods and environmental disturbances used in the paper is presented.展开更多
Based on support vector machines, three modeling methods, i.e., white-box modeling, grey-box modeling and black-box modeling of ship manoeuvring motion in 4 degrees of freedom are investigated. With the whole-ship mat...Based on support vector machines, three modeling methods, i.e., white-box modeling, grey-box modeling and black-box modeling of ship manoeuvring motion in 4 degrees of freedom are investigated. With the whole-ship mathematical model for ship manoeuvring motion, in which the hydrodynamic coefficients are obtained from roll planar motion mechanism test, some zigzag tests and turning circle manoeuvres are simulated. In the white-box modeling and grey-box modeling, the training data taken every 5 s from the simulated 20°/20° zigzag test are used, while in the black-box modeling, the training data taken every 5 s from the simulated 15°/15°, 20°/20° zigzag tests and 15°, 25° turning manoeuvres are used; and the trained support vector machines are used to predict the whole 20°/20° zigzag test. Comparisons between the simulated and predicted 20°/20° zigzag tests show good predictive ability of the proposed methods. Besides, all mathematical models obtained by the proposed modeling methods are used to predict the 10°/10° zigzag test and 35° turning circle manoeuvre, and the predicted results are compared with those of simulation tests to demonstrate the good generalization performance of the mathematical models. Finally, the proposed modeling methods are analyzed and compared with each other in aspects of application conditions, prediction accuracy and computation speed. The appropriate modeling method can be chosen according to the intended use of the mathematical models and the available data needed for system identification.展开更多
The S-type test is simulated based on a ship manoeuvring mathematical model of 4 degrees of freedom(4-DOF);simultaneously,sensitivity analysis of the hydrodynamic coefficients in the mathematical model is implemented ...The S-type test is simulated based on a ship manoeuvring mathematical model of 4 degrees of freedom(4-DOF);simultaneously,sensitivity analysis of the hydrodynamic coefficients in the mathematical model is implemented by using an indirect method.The mathematical model is simplified by omitting the coefficients of smaller sensitivity according to the results of sensitivity analysis.The 10°/10° zigzag test and 35° turning circle manoeuvre are simulated with the original and the simplified mathematical models.The comparison of the simulation results shows the effectiveness of the sensitivity analysis and the validity of the simplified model.展开更多
This paper presents a multiple robots formation manoeuvring and its collision avoidance strategy. The direction priority sequential selection algorithm is employed to achieve the raw path, and a new algorithm is then ...This paper presents a multiple robots formation manoeuvring and its collision avoidance strategy. The direction priority sequential selection algorithm is employed to achieve the raw path, and a new algorithm is then proposed to calculate the turning-compliant waypoints supporting the multi-robot formation manoeuvre. The collision avoidance strategy based on the formation control is presented to translate the collision avoidance problem into the stability problem of the formation. The extension-decomposition-aggregation scheme is next applied to solve the formation control problem and subsequently achieve the collision avoidance during the formation manoeuvre. Simulation study finally shows that the collision avoidance problem can be conveniently solved if the stability of the constructed formation including unidentified objects can be satisfied.展开更多
A ship manoeuvring problem is solved using an algorithm built on fuzzy logic.The manoeuvring model for a design ship is coded in C++and the results are presented here.A bulk carrier is assumed as design ship for a new...A ship manoeuvring problem is solved using an algorithm built on fuzzy logic.The manoeuvring model for a design ship is coded in C++and the results are presented here.A bulk carrier is assumed as design ship for a newly setting up harbor along the east coast of India.The harbor mouth is 25 km away from the deep water zone.The approach channel is straight along the 22 km length.Laterally restricted and shallow waters are considered and their influences on hydrodynamic derivatives are discussed.Some sample problems are solved.Trajectories,ship heading,rudder angle,velocities and accelerations,of the moving vessel,are calculated and presented for clarity.The developed code is robust in the sense that any designer or user can easily interact with various input parameters to verify the outputs and their suitability for the design ship meant for a particular water front location.The results are validated using another algorithm built on PID which is discussed in brief.展开更多
Based on the ε - support vector regression, three modelling methods for the ship manoeuvring motion, i.e., the white-box modelling, the grey-box modelling and the black-box modelling, are investigated. The 10°/1...Based on the ε - support vector regression, three modelling methods for the ship manoeuvring motion, i.e., the white-box modelling, the grey-box modelling and the black-box modelling, are investigated. The 10°/10°, 20°/20° zigzag tests and the 35° turning circle manoeuvre are simulated. Part of the simulation data for the 20°/20° zigzag test are used to train the support vectors, and the trained support vector machine is used to predict the whole 20° / 20° zigzag test. Comparison between the simula- ted and predicted 20° / 20° zigzag test shows a good predictive ability of the three modelling methods. Then all mathematical models obtained by the modelling methods are used to predict the 10°/10° zigzag test and 35° turning circle manoeuvre, and the predicted results are compared with those of simulation tests to demonstrate the good generalization performance of the mathematical models. Finally, the modelling methods are analyzed and compared with each other in terms of the application conditions, the prediction accuracy and the computation speed. An appropriate modelling method can be chosen according to the intended use of the mathematical models and the available data for the system identification.展开更多
By analyzing the data of longitudinal speed, transverse speed and rudder angle etc. in the simulated 10°/10°zigzag test, the hydrodynamic derivatives in the Abkowitz model for ship manoeuvring motion are ide...By analyzing the data of longitudinal speed, transverse speed and rudder angle etc. in the simulated 10°/10°zigzag test, the hydrodynamic derivatives in the Abkowitz model for ship manoeuvring motion are identified by using e-Support Vector Regression （ε -SVR）. To damp the extent of parameter drift, a series of random numbers are added into the training samples to reconstruct the training samples. The identification results of the hydrodynamic derivatives are compared with the Planar Motion Mechanism （PMM） test results to verify the identification method. By using the identified Abkowitz model, 20°/20° zigzag test is numerically simulated. The simulated results are compared with those obtained by using the Abkowitz model where the hydrodynamic derivatives are obtained from PMM tests. The agreement is satisfactory, which shows that the regressive Abkowitz model has a good generalization performance.展开更多
This paper presents numerical predictions of ship manoeuvring motions with the help of computational fluid dynamics （CFD） techniques. A program applying the modular concept proposed by the Japanese ship manoeuvring ...This paper presents numerical predictions of ship manoeuvring motions with the help of computational fluid dynamics （CFD） techniques. A program applying the modular concept proposed by the Japanese ship manoeuvring mathematical modelling group （MMG） to simulate the standard manoeuvring motions of ships has been initially developed for 3 degrees of freedom manoeu- vring motions in deep water with regression formulae to derive the hydrodynamic derivatives of the vessels. For higher accuracy, several CFD generated derivatives had been substituted to replace the empirical ones. This allows for the prediction of the maneuve- rability of a vessel in a variety of scenarios such as shallow water with expected good results in practice, which may be significantly more time-consuming if performed using a fully CFD approach. The MOERI KVLCC2 tanker vessel was selected as the sample ship for prediction. Model scale aligned and oblique resistance and Planar Motion Mechanism （PMM） simulations were carried out using the commercial CFD software StarCCM＋. The PMM simulations included pure sway and pure yaw to obtain the linear manoeuvring derivatives required by the computational model of the program. Simulations of the standard free running manoeuvers were carried out on the vessel in deep water and compared with published results available for validation. Finally, simulations in shallow water were also presented based on the CFD results from existing publications and compared with model test results. The challenges of using a coupled CFD approach in this manner are outlined and discussed.展开更多
In this paper, a numerical method based on a coupling between a mathematical model of nonlinear transient ship manoeuvring motion in the horizontal plane and Mathematical Programming （MP） techniques is proposed. The...In this paper, a numerical method based on a coupling between a mathematical model of nonlinear transient ship manoeuvring motion in the horizontal plane and Mathematical Programming （MP） techniques is proposed. The aim of the proposed procedure is an efficient estimation of optimal ship hydrodynamic parameters in a dynamic model at the early design stage. The proposed procedure has been validated through turning circle and zigzag manoeuvres based on experimental data of sea trials of the 190 000- dwt oil tanker. Comparisons between experimental and computed data show a good agreement of overall tendency in manoeuvring traiectories.展开更多
At present,momentous changes not seen in a century are accelerating across the world.Our world,our times and the history are changing in ways like never before."International competition and frictions are intensi...At present,momentous changes not seen in a century are accelerating across the world.Our world,our times and the history are changing in ways like never before."International competition and frictions are intensifying,geopolitical manoeuvring has grown more pronounced,and trust and cooperation in the international community are being undermined"China,as a responsible major country.展开更多
Currently,the International Maritime Organization(IMO)has approved and implemented the assessment requirement for Minimum Propulsion Power(MPP)of ships in adverse sea conditions.The assessment method and relevant infl...Currently,the International Maritime Organization(IMO)has approved and implemented the assessment requirement for Minimum Propulsion Power(MPP)of ships in adverse sea conditions.The assessment method and relevant influence factors will have a vital impact on ship's design and operation.On the other hand,MPP is essentially a criterion for manoeuvring safety at actual seas.However,the practical assessment methods adopted in IMO guidelines do not directly and accurately account for ship's coursekeeping ability in severe seas.A time-domain comprehensive method with supplementary course-keeping ability criteria has been proposed in the authors'preliminary research.Based on an updated mathematical model and criteria,this paper presents more detailed elaborations,results and discussions on the time-domain method,including the comparative analyses with a power line method and two steady-state equilibrium methods based on IMO guidelines and draft.Discussions on the influences of key factors,involving criterion conditions and calculation parameters,are also presented.The results indicate that different methods exhibit varying advantages and complexity in MPP assessment,thus constituting a multi-level assessment framework for MPP.In particular,the time-domain comprehensive assessment has a higher accuracy with more realistic description of manoeuvre behaviors,capable of offering a solution for the ships that cannot meet other assessments,or for the assessment requiring additional course-keeping ability.Furthermore,an expanded range of wave direction sets a stricter but potentially necessary requirement,while using the self-propulsion factors at low speeds can eliminate the unnecessary conservation of assessment result caused by those at design speed.展开更多
1 The grandfather was choking on a mouthful of food,unable to breathe and unable to cough.The grandson,recalling the important lesson learned during the 8-13 Project organized by the Italian Red Cross⁃Poggi⁃Sermide Co...1 The grandfather was choking on a mouthful of food,unable to breathe and unable to cough.The grandson,recalling the important lesson learned during the 8-13 Project organized by the Italian Red Cross⁃Poggi⁃Sermide Committee,suggested performing the Heimlich manoeuvre(海姆立克急救法)on the elderly man.展开更多
Humanoid robots exhibit structures and movements akin to those of humans,enabling them to assist or substitute for humans in various operations without necessitating alterations to their typical environment and tools....Humanoid robots exhibit structures and movements akin to those of humans,enabling them to assist or substitute for humans in various operations without necessitating alterations to their typical environment and tools.Sustaining bal-ance amidst disturbances constitutes a fundamental capability for humanoid robots.Consequently,adopting efficacious strategies to manage instability and mitigate injuries resulting from falls assumes paramount importance in advancing the widespread adoption of humanoid robotics.This paper presents a comprehensive overview of the ongoing development of strategies for coping with falls in humanoid robots.It systematically reviews and discusses three critical facets:fall state detection,preventive actions against falls,and post-fall protection measures.The paper undertakes a thorough classifica-tion of existing coping methodologies across different stages of falls,analyzes the merits and drawbacks of each approach,and outlines the evolving trajectory of solutions for addressing fall-related challenges across distinct stages.Finally,the paper provides a succinct summary and future prospects for the current fall coping strategies tailored for humanoid robots.展开更多
The precise characterization of hypersonic glide vehicle(HGV) maneuver laws in complex flight scenarios still faces challenges. Non-stationary changes in flight state due to abrupt changes in maneuver modes place high...The precise characterization of hypersonic glide vehicle(HGV) maneuver laws in complex flight scenarios still faces challenges. Non-stationary changes in flight state due to abrupt changes in maneuver modes place high demands on the accuracy of modeling methods. To address this issue, a novel maneuver laws modeling and analysis method based on higher order multi-resolution dynamic mode decomposition(HMDMD) is proposed in this work. A joint time-space-frequency decomposition of the vehicle's state sequence in the complex flight scenario is achieved with the higher order Koopman assumption and standard multi-resolution dynamic mode decomposition, and an approximate dynamic model is established. The maneuver laws can be reconstructed and analyzed with extracted multi-scale spatiotemporal modes with clear physical meaning. Based on the dynamic model of HGV, two flight scenarios are established with constant angle of attack and complex maneuver laws, respectively. Simulation results demonstrate that the maneuver laws obtained using the HMDMD method are highly consistent with those derived from the real dynamic model, the modeling accuracy is better than other common modeling methods, and the method has strong interpretability.展开更多
BACKGROUND Hepatectomy triggers complex metabolic changes as the liver adapts to the loss of functional mass and initiates regeneration.These changes impact carbohydrate,lipid,and protein metabolism,as well as energy ...BACKGROUND Hepatectomy triggers complex metabolic changes as the liver adapts to the loss of functional mass and initiates regeneration.These changes impact carbohydrate,lipid,and protein metabolism,as well as energy and oxygen dynamics.A deeper understanding of these shifts is essential for improving perioperative management and enhancing long-term outcomes.AIM To review and synthesise the current understanding of metabolic changes following hepatectomy and explore their implications for perioperative care,postoperative recovery,and long-term patient outcomes.METHODS A narrative review was conducted using PubMed,Cochrane,and Scopus databases to identify relevant human studies published up to December 2024.Search terms included“hepatectomy”,“liver resection”,“metabolic changes”,and related phrases.Studies focusing on metabolic adaptations—specifically changes in glucose,lipid,protein metabolism,and energy consumption—were included.RESULTS Hepatectomy induces a shift toward gluconeogenesis and transient insulin resistance,increased lipid oxidation,amino acid imbalance,and a heightened inflammatory response,especially during ischaemia-reperfusion injury.These changes vary with the extent of resection and the presence of underlying liver disease.Novel insights include the role of the physiologic Pringle manoeuvre(a pharmacologic alternative to mechanical clamping)and metabolomic biomarkers for assessing surgical risk and liver regeneration.CONCLUSION Understanding the metabolic adaptations following hepatectomy provides an opportunity to optimise perioperative care strategies such as nutrition,glucose and lipid management,and mitigation of ischaemia-reperfusion injury.Integrating these insights may enhance surgical outcomes,particularly in patients with hepatocellular carcinoma or non-alcoholic fatty liver disease.展开更多
This study presents an optimisation-based approach for determining controller gains in ship path-following under varying sea states,wave,and wind directions.The dynamic Line of Sight approach is used to regulate the r...This study presents an optimisation-based approach for determining controller gains in ship path-following under varying sea states,wave,and wind directions.The dynamic Line of Sight approach is used to regulate the rudder angle and guide the Esso Osaka ship along the desired path.Gains are optimised using a genetic algorithm and a comprehensive cost function.The analysis covers a range of wave attack directions and sea states to evaluate the controller performance.Results demonstrate effective convergence to the desired path,although a steady-state error persists.Heading and rudder angle performance analyses show successful convergence and dynamic adjustments of the rudder angle to compensate for deviations.The findings underscore the influence of wave and wind conditions on ship performance and highlight the need for precise gain tuning.This research contributes insights into optimising and evaluating path-following controllers for ship navigation.展开更多
AIM： To evaluate the protective effects of preconditioning by α-lipoic acid （LA） in patients undergoing hepatic resection under inflow occlusion of the liver. METHODS： Twenty-four patients undergoing liver resect...AIM： To evaluate the protective effects of preconditioning by α-lipoic acid （LA） in patients undergoing hepatic resection under inflow occlusion of the liver. METHODS： Twenty-four patients undergoing liver resection for various reasons either received 600 mg LA or NaCI 15 min before transection performed under inflow occlusion of the liver. Blood samples and liver wedge biopsy samples were obtained after opening of the abdomen immediately after inflow occlusion of the liver, and 30 min after the end of inflow occlusion of the liver. RESULTS： Serum levels of aspartate transferase and alanine transferase were reduced at all time points in patients who received LA in comparison to those who received NaCL. This was accompanied by reduced histomorphological features of oncosis. We observed TUNEL-positive hepatocytes in the livers of the untreated patients, especially after 30 min of ischemia. LA attenuated this increase of TUNEL-positive hepatocytes. Under preconditioning with LA, ATP content was significantly enhanced after 30 min of ischemia and after 30 min of reperfusion. CONCLUSION： This is the first report on the potential for LA reducing ischemia/reperfusion injury （IRI） of the liver in humans who were undergoing liver surgery. Beside its simple and rapid application, side effects did not occur. LA might therefore represent a new strategy against hepatic IRI in humans.展开更多
This paper proposes a parity recognition of blade number and manoeuvre intention classification algorithm of rotor target based on the convolutional neural network(CNN) using micro Doppler features. Firstly, the time-...This paper proposes a parity recognition of blade number and manoeuvre intention classification algorithm of rotor target based on the convolutional neural network(CNN) using micro Doppler features. Firstly, the time-frequency spectrograms are acquired from the radar echo by the short-time Fourier transform.Secondly, based on the obtained spectrograms, a seven-layer CNN architecture is built to recognize the blade-number parity and classify the manoeuvre intention of the rotor target. The constructed architecture contains a leaky rectified linear unit and a dropout layer to accelerate the convergence of the architecture and avoid over-fitting. Finally, the spectrograms of the datasets are divided into three different ratios, i.e., 20%, 33% and 50%,and the cross validation is used to verify the effectiveness of the constructed CNN architecture. Simulation results show that, on the one hand, as the ratio of training data increases, the recognition accuracy of parity and manoeuvre intention is improved at the same signal-to-noise ratio(SNR);on the other hand, the proposed algorithm also has a strong robustness: the accuracy can still reach 90.72% with an SNR of – 6 dB.展开更多
The general principle of utilizing the BGK equation to simulate a macroscopic gas flow is illustrated. Two typical examples, i.e., a low-speed axisymmetric submerged jet and the Prandtl-Meyer expansion to a vacuum, ar...The general principle of utilizing the BGK equation to simulate a macroscopic gas flow is illustrated. Two typical examples, i.e., a low-speed axisymmetric submerged jet and the Prandtl-Meyer expansion to a vacuum, are presented for validating the feasibility and accuracy of the BGK-equation simulation in continuum and non-continuum flow regimes. This approach is then used to simulate the exhaust plume formed by a small manoeuvre thruster of an artificial satellite in the outer space. The plume impingement on a flat surface perpendicular to the nozzle axis is also simulated by the same method. In the latter case the impingement force acting on the flat surface is calculated. When the flow reaches to the steady state the calculated impingement force is reasonably compared with the theoretical value of the nozzle thrust.展开更多
基金the Strategic Research Plan of the Centre for Marine Technology and Ocean Engineeringfinanced by the Portuguese Foundation for Science and Technology (Fundacao para a Ciência e Tecnologia-FCT) under contract UIDB/UIDP/00134/2020。
文摘A state-of-the-art review is presented of mathematical manoeuvring models for surface ships and parameter estimation methods that have been used to build mathematical manoeuvring models for surface ships. In the first part, the classical manoeuvring models, such as the Abkowitz model, MMG, Nomoto and their revised versions, are revisited and the model structure with the hydrodynamic coefficients is also presented.Then, manoeuvring tests, including both the scaled model tests and sea trials, are introduced with the fact that the test data is critically important to obtain reliable results using parameter estimation methods. In the last part, selected papers published in journals and international conferences are reviewed and the statistical analysis of the manoeuvring models, test data, system identification methods and environmental disturbances used in the paper is presented.
基金financially supported by the National Natural Science Foundation of China(Grant No.51279106)the Special Research Fund for the Doctoral Program of Higher Education of China(Grant No.20110073110009)
文摘Based on support vector machines, three modeling methods, i.e., white-box modeling, grey-box modeling and black-box modeling of ship manoeuvring motion in 4 degrees of freedom are investigated. With the whole-ship mathematical model for ship manoeuvring motion, in which the hydrodynamic coefficients are obtained from roll planar motion mechanism test, some zigzag tests and turning circle manoeuvres are simulated. In the white-box modeling and grey-box modeling, the training data taken every 5 s from the simulated 20°/20° zigzag test are used, while in the black-box modeling, the training data taken every 5 s from the simulated 15°/15°, 20°/20° zigzag tests and 15°, 25° turning manoeuvres are used; and the trained support vector machines are used to predict the whole 20°/20° zigzag test. Comparisons between the simulated and predicted 20°/20° zigzag tests show good predictive ability of the proposed methods. Besides, all mathematical models obtained by the proposed modeling methods are used to predict the 10°/10° zigzag test and 35° turning circle manoeuvre, and the predicted results are compared with those of simulation tests to demonstrate the good generalization performance of the mathematical models. Finally, the proposed modeling methods are analyzed and compared with each other in aspects of application conditions, prediction accuracy and computation speed. The appropriate modeling method can be chosen according to the intended use of the mathematical models and the available data needed for system identification.
基金the National Natural Science Foundation of China(No.51279106)the Special Research Fund for the Doctoral Program of Higher Education of China(No.20110073110009)
文摘The S-type test is simulated based on a ship manoeuvring mathematical model of 4 degrees of freedom(4-DOF);simultaneously,sensitivity analysis of the hydrodynamic coefficients in the mathematical model is implemented by using an indirect method.The mathematical model is simplified by omitting the coefficients of smaller sensitivity according to the results of sensitivity analysis.The 10°/10° zigzag test and 35° turning circle manoeuvre are simulated with the original and the simplified mathematical models.The comparison of the simulation results shows the effectiveness of the sensitivity analysis and the validity of the simplified model.
基金supported by the EPSRC under UK-China Science Bridge(No.EP/G042594/1)Shanghai Municipal Commission of Economy and Informatization under Shanghai Industry-University-Research Collaboration(No.CXY-2013-71)+1 种基金the Science and Technology Commission of Shanghai Municipality under"Yangfan Program"(No.14YF1408600)National Natural Science Foundation of China(No.61403244)
文摘This paper presents a multiple robots formation manoeuvring and its collision avoidance strategy. The direction priority sequential selection algorithm is employed to achieve the raw path, and a new algorithm is then proposed to calculate the turning-compliant waypoints supporting the multi-robot formation manoeuvre. The collision avoidance strategy based on the formation control is presented to translate the collision avoidance problem into the stability problem of the formation. The extension-decomposition-aggregation scheme is next applied to solve the formation control problem and subsequently achieve the collision avoidance during the formation manoeuvre. Simulation study finally shows that the collision avoidance problem can be conveniently solved if the stability of the constructed formation including unidentified objects can be satisfied.
文摘A ship manoeuvring problem is solved using an algorithm built on fuzzy logic.The manoeuvring model for a design ship is coded in C++and the results are presented here.A bulk carrier is assumed as design ship for a newly setting up harbor along the east coast of India.The harbor mouth is 25 km away from the deep water zone.The approach channel is straight along the 22 km length.Laterally restricted and shallow waters are considered and their influences on hydrodynamic derivatives are discussed.Some sample problems are solved.Trajectories,ship heading,rudder angle,velocities and accelerations,of the moving vessel,are calculated and presented for clarity.The developed code is robust in the sense that any designer or user can easily interact with various input parameters to verify the outputs and their suitability for the design ship meant for a particular water front location.The results are validated using another algorithm built on PID which is discussed in brief.
基金Project supported by the National Natural Science Foundation of China(Grant No.51279106)the Special Research Fund for the Doctoral Program of Higher Education of China(Grant No.20110073110009)
文摘Based on the ε - support vector regression, three modelling methods for the ship manoeuvring motion, i.e., the white-box modelling, the grey-box modelling and the black-box modelling, are investigated. The 10°/10°, 20°/20° zigzag tests and the 35° turning circle manoeuvre are simulated. Part of the simulation data for the 20°/20° zigzag test are used to train the support vectors, and the trained support vector machine is used to predict the whole 20° / 20° zigzag test. Comparison between the simula- ted and predicted 20° / 20° zigzag test shows a good predictive ability of the three modelling methods. Then all mathematical models obtained by the modelling methods are used to predict the 10°/10° zigzag test and 35° turning circle manoeuvre, and the predicted results are compared with those of simulation tests to demonstrate the good generalization performance of the mathematical models. Finally, the modelling methods are analyzed and compared with each other in terms of the application conditions, the prediction accuracy and the computation speed. An appropriate modelling method can be chosen according to the intended use of the mathematical models and the available data for the system identification.
基金supported by the National Natural Science Foundation of China (Grant Nos.50979060,51079031)the Foundation of National Science and Technology Key Laboratory of Hydrodynamics (Grant No.9140C2201091001)
文摘By analyzing the data of longitudinal speed, transverse speed and rudder angle etc. in the simulated 10°/10°zigzag test, the hydrodynamic derivatives in the Abkowitz model for ship manoeuvring motion are identified by using e-Support Vector Regression （ε -SVR）. To damp the extent of parameter drift, a series of random numbers are added into the training samples to reconstruct the training samples. The identification results of the hydrodynamic derivatives are compared with the Planar Motion Mechanism （PMM） test results to verify the identification method. By using the identified Abkowitz model, 20°/20° zigzag test is numerically simulated. The simulated results are compared with those obtained by using the Abkowitz model where the hydrodynamic derivatives are obtained from PMM tests. The agreement is satisfactory, which shows that the regressive Abkowitz model has a good generalization performance.
基金Funded FP7 Framework Project SHOPERA (Energy Efficient Safe Ship Operation) (Grant No. 605221 under the theme SST.2013.4-1)Results were obtained using the EPSRC funded ARCHIE-West High Performance Computer (www.archie-west.ac.uk).EPSRC (Grant No. EP/K000586/1)
文摘This paper presents numerical predictions of ship manoeuvring motions with the help of computational fluid dynamics （CFD） techniques. A program applying the modular concept proposed by the Japanese ship manoeuvring mathematical modelling group （MMG） to simulate the standard manoeuvring motions of ships has been initially developed for 3 degrees of freedom manoeu- vring motions in deep water with regression formulae to derive the hydrodynamic derivatives of the vessels. For higher accuracy, several CFD generated derivatives had been substituted to replace the empirical ones. This allows for the prediction of the maneuve- rability of a vessel in a variety of scenarios such as shallow water with expected good results in practice, which may be significantly more time-consuming if performed using a fully CFD approach. The MOERI KVLCC2 tanker vessel was selected as the sample ship for prediction. Model scale aligned and oblique resistance and Planar Motion Mechanism （PMM） simulations were carried out using the commercial CFD software StarCCM＋. The PMM simulations included pure sway and pure yaw to obtain the linear manoeuvring derivatives required by the computational model of the program. Simulations of the standard free running manoeuvers were carried out on the vessel in deep water and compared with published results available for validation. Finally, simulations in shallow water were also presented based on the CFD results from existing publications and compared with model test results. The challenges of using a coupled CFD approach in this manner are outlined and discussed.
文摘In this paper, a numerical method based on a coupling between a mathematical model of nonlinear transient ship manoeuvring motion in the horizontal plane and Mathematical Programming （MP） techniques is proposed. The aim of the proposed procedure is an efficient estimation of optimal ship hydrodynamic parameters in a dynamic model at the early design stage. The proposed procedure has been validated through turning circle and zigzag manoeuvres based on experimental data of sea trials of the 190 000- dwt oil tanker. Comparisons between experimental and computed data show a good agreement of overall tendency in manoeuvring traiectories.
文摘At present,momentous changes not seen in a century are accelerating across the world.Our world,our times and the history are changing in ways like never before."International competition and frictions are intensifying,geopolitical manoeuvring has grown more pronounced,and trust and cooperation in the international community are being undermined"China,as a responsible major country.
文摘Currently,the International Maritime Organization(IMO)has approved and implemented the assessment requirement for Minimum Propulsion Power(MPP)of ships in adverse sea conditions.The assessment method and relevant influence factors will have a vital impact on ship's design and operation.On the other hand,MPP is essentially a criterion for manoeuvring safety at actual seas.However,the practical assessment methods adopted in IMO guidelines do not directly and accurately account for ship's coursekeeping ability in severe seas.A time-domain comprehensive method with supplementary course-keeping ability criteria has been proposed in the authors'preliminary research.Based on an updated mathematical model and criteria,this paper presents more detailed elaborations,results and discussions on the time-domain method,including the comparative analyses with a power line method and two steady-state equilibrium methods based on IMO guidelines and draft.Discussions on the influences of key factors,involving criterion conditions and calculation parameters,are also presented.The results indicate that different methods exhibit varying advantages and complexity in MPP assessment,thus constituting a multi-level assessment framework for MPP.In particular,the time-domain comprehensive assessment has a higher accuracy with more realistic description of manoeuvre behaviors,capable of offering a solution for the ships that cannot meet other assessments,or for the assessment requiring additional course-keeping ability.Furthermore,an expanded range of wave direction sets a stricter but potentially necessary requirement,while using the self-propulsion factors at low speeds can eliminate the unnecessary conservation of assessment result caused by those at design speed.
文摘1 The grandfather was choking on a mouthful of food,unable to breathe and unable to cough.The grandson,recalling the important lesson learned during the 8-13 Project organized by the Italian Red Cross⁃Poggi⁃Sermide Committee,suggested performing the Heimlich manoeuvre(海姆立克急救法)on the elderly man.
基金supported by the key research and development project of Science and Technology Department of Jilin Province(No.20230201102GX)the Natural Science Foundation of Chongqing(No.CSTB2022NSCQ-MSX0278)the 2023 college students innovation and entrepreneurship training plan(202310183105).
文摘Humanoid robots exhibit structures and movements akin to those of humans,enabling them to assist or substitute for humans in various operations without necessitating alterations to their typical environment and tools.Sustaining bal-ance amidst disturbances constitutes a fundamental capability for humanoid robots.Consequently,adopting efficacious strategies to manage instability and mitigate injuries resulting from falls assumes paramount importance in advancing the widespread adoption of humanoid robotics.This paper presents a comprehensive overview of the ongoing development of strategies for coping with falls in humanoid robots.It systematically reviews and discusses three critical facets:fall state detection,preventive actions against falls,and post-fall protection measures.The paper undertakes a thorough classifica-tion of existing coping methodologies across different stages of falls,analyzes the merits and drawbacks of each approach,and outlines the evolving trajectory of solutions for addressing fall-related challenges across distinct stages.Finally,the paper provides a succinct summary and future prospects for the current fall coping strategies tailored for humanoid robots.
基金supported by the National Natural Science Foundation of China (Grant No. 12302056)the Postdoctoral Fellowship Program of CPSF:GZC20233445。
文摘The precise characterization of hypersonic glide vehicle(HGV) maneuver laws in complex flight scenarios still faces challenges. Non-stationary changes in flight state due to abrupt changes in maneuver modes place high demands on the accuracy of modeling methods. To address this issue, a novel maneuver laws modeling and analysis method based on higher order multi-resolution dynamic mode decomposition(HMDMD) is proposed in this work. A joint time-space-frequency decomposition of the vehicle's state sequence in the complex flight scenario is achieved with the higher order Koopman assumption and standard multi-resolution dynamic mode decomposition, and an approximate dynamic model is established. The maneuver laws can be reconstructed and analyzed with extracted multi-scale spatiotemporal modes with clear physical meaning. Based on the dynamic model of HGV, two flight scenarios are established with constant angle of attack and complex maneuver laws, respectively. Simulation results demonstrate that the maneuver laws obtained using the HMDMD method are highly consistent with those derived from the real dynamic model, the modeling accuracy is better than other common modeling methods, and the method has strong interpretability.
文摘BACKGROUND Hepatectomy triggers complex metabolic changes as the liver adapts to the loss of functional mass and initiates regeneration.These changes impact carbohydrate,lipid,and protein metabolism,as well as energy and oxygen dynamics.A deeper understanding of these shifts is essential for improving perioperative management and enhancing long-term outcomes.AIM To review and synthesise the current understanding of metabolic changes following hepatectomy and explore their implications for perioperative care,postoperative recovery,and long-term patient outcomes.METHODS A narrative review was conducted using PubMed,Cochrane,and Scopus databases to identify relevant human studies published up to December 2024.Search terms included“hepatectomy”,“liver resection”,“metabolic changes”,and related phrases.Studies focusing on metabolic adaptations—specifically changes in glucose,lipid,protein metabolism,and energy consumption—were included.RESULTS Hepatectomy induces a shift toward gluconeogenesis and transient insulin resistance,increased lipid oxidation,amino acid imbalance,and a heightened inflammatory response,especially during ischaemia-reperfusion injury.These changes vary with the extent of resection and the presence of underlying liver disease.Novel insights include the role of the physiologic Pringle manoeuvre(a pharmacologic alternative to mechanical clamping)and metabolomic biomarkers for assessing surgical risk and liver regeneration.CONCLUSION Understanding the metabolic adaptations following hepatectomy provides an opportunity to optimise perioperative care strategies such as nutrition,glucose and lipid management,and mitigation of ischaemia-reperfusion injury.Integrating these insights may enhance surgical outcomes,particularly in patients with hepatocellular carcinoma or non-alcoholic fatty liver disease.
基金financially supported by the Portuguese Foundation for Science and Technology(Fundação para a Ciência e Tecnologia-FCT)the Strategic Research Plan of the Centre for Marine Technology and Ocean Engineering(Grant No.UIDB/UIDP/00134/2020)funded the first author for his doctoral fellowship(Grant No.2023.03496.BD).
文摘This study presents an optimisation-based approach for determining controller gains in ship path-following under varying sea states,wave,and wind directions.The dynamic Line of Sight approach is used to regulate the rudder angle and guide the Esso Osaka ship along the desired path.Gains are optimised using a genetic algorithm and a comprehensive cost function.The analysis covers a range of wave attack directions and sea states to evaluate the controller performance.Results demonstrate effective convergence to the desired path,although a steady-state error persists.Heading and rudder angle performance analyses show successful convergence and dynamic adjustments of the rudder angle to compensate for deviations.The findings underscore the influence of wave and wind conditions on ship performance and highlight the need for precise gain tuning.This research contributes insights into optimising and evaluating path-following controllers for ship navigation.
文摘AIM： To evaluate the protective effects of preconditioning by α-lipoic acid （LA） in patients undergoing hepatic resection under inflow occlusion of the liver. METHODS： Twenty-four patients undergoing liver resection for various reasons either received 600 mg LA or NaCI 15 min before transection performed under inflow occlusion of the liver. Blood samples and liver wedge biopsy samples were obtained after opening of the abdomen immediately after inflow occlusion of the liver, and 30 min after the end of inflow occlusion of the liver. RESULTS： Serum levels of aspartate transferase and alanine transferase were reduced at all time points in patients who received LA in comparison to those who received NaCL. This was accompanied by reduced histomorphological features of oncosis. We observed TUNEL-positive hepatocytes in the livers of the untreated patients, especially after 30 min of ischemia. LA attenuated this increase of TUNEL-positive hepatocytes. Under preconditioning with LA, ATP content was significantly enhanced after 30 min of ischemia and after 30 min of reperfusion. CONCLUSION： This is the first report on the potential for LA reducing ischemia/reperfusion injury （IRI） of the liver in humans who were undergoing liver surgery. Beside its simple and rapid application, side effects did not occur. LA might therefore represent a new strategy against hepatic IRI in humans.
基金supported by the National Natural Science Foundation of China (61901514)the Young Talent Program of Air Force Early Warning Academy (TJRC425311G11)。
文摘This paper proposes a parity recognition of blade number and manoeuvre intention classification algorithm of rotor target based on the convolutional neural network(CNN) using micro Doppler features. Firstly, the time-frequency spectrograms are acquired from the radar echo by the short-time Fourier transform.Secondly, based on the obtained spectrograms, a seven-layer CNN architecture is built to recognize the blade-number parity and classify the manoeuvre intention of the rotor target. The constructed architecture contains a leaky rectified linear unit and a dropout layer to accelerate the convergence of the architecture and avoid over-fitting. Finally, the spectrograms of the datasets are divided into three different ratios, i.e., 20%, 33% and 50%,and the cross validation is used to verify the effectiveness of the constructed CNN architecture. Simulation results show that, on the one hand, as the ratio of training data increases, the recognition accuracy of parity and manoeuvre intention is improved at the same signal-to-noise ratio(SNR);on the other hand, the proposed algorithm also has a strong robustness: the accuracy can still reach 90.72% with an SNR of – 6 dB.
基金The project supported by Beijing Institute of Spacecraft Overall Design
文摘The general principle of utilizing the BGK equation to simulate a macroscopic gas flow is illustrated. Two typical examples, i.e., a low-speed axisymmetric submerged jet and the Prandtl-Meyer expansion to a vacuum, are presented for validating the feasibility and accuracy of the BGK-equation simulation in continuum and non-continuum flow regimes. This approach is then used to simulate the exhaust plume formed by a small manoeuvre thruster of an artificial satellite in the outer space. The plume impingement on a flat surface perpendicular to the nozzle axis is also simulated by the same method. In the latter case the impingement force acting on the flat surface is calculated. When the flow reaches to the steady state the calculated impingement force is reasonably compared with the theoretical value of the nozzle thrust.
