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Method for collision avoidance based on deep reinforcement learning with Path–Speed control for an autonomous ship 基于深度强化学习的自动驾驶船舶路径速度控制防撞方法
IF 2.2 3区 工程技术 Q1 Engineering Pub Date : 2023-12-01 DOI: 10.1016/j.ijnaoe.2023.100579
Do-Hyun Chun, Myung-Il Roh, Hye-Won Lee, Donghun Yu
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引用次数: 0
A study on the matching problem of engine, propeller, and ship hull under actual service conditions 发动机、螺旋桨和船体在实际使用条件下的匹配问题研究
IF 2.2 3区 工程技术 Q1 Engineering Pub Date : 2023-01-01 DOI: 10.1016/j.ijnaoe.2023.100538
Thai Gia Tran , Hyun Cheol Kim

In ship design, the matching of engine, propeller, and hull is an analytical process to establish the optimal operating mode so that the engine works safely with full power and the lowest fuel consumption, and a ship reaches desired speed. In theory, the operating process of the engine, hull, and propeller is usually expressed by their characteristics, and the matching problem is solved by finding the intersection of these characteristics. The problem here is that the above characteristics are determined under design conditions, corresponding to the standard technical conditions of the engine, hull, and propeller, however, all of these will be changed under actual service conditions, leading to a change in the position of the defined design match points and thereby greatly affect the safety and performance of the ships. This paper presents a new approach to determining the actual characteristics of the engine, hull, and propeller and how to use them to solve the matching problem under service conditions. This study was verified and validated on three study ships and was also applied to solve the matching problem of the Glory Star tanker. All the obtained results are in good agreement with the published real experimental data for this ship with a power loss of 21.5% under current service conditions, including 6.5% due to changes in propeller characteristics by changing technical conditions of propeller and hull surface, 6.3% due to engine deterioration, and 8.7% due to the engine - propeller mismatch after 5 years of operation.

在船舶设计中,发动机、螺旋桨和船体的匹配是建立最佳工作模式的分析过程,目的是使发动机以最大的功率和最低的油耗安全工作,使船舶达到理想的航速。理论上,发动机、船体、螺旋桨的工作过程通常用它们的特性来表示,匹配问题通过寻找这些特性的交集来解决。这里的问题是,上述特性是在设计条件下确定的,对应的是发动机、船体和螺旋桨的标准技术条件,但在实际服役条件下,这些特性都会发生变化,导致确定的设计匹配点的位置发生变化,从而极大地影响船舶的安全和性能。本文提出了一种确定发动机、船体和螺旋桨实际特性的新方法,并利用它们来解决服役条件下的匹配问题。该研究在三艘研究船上进行了验证和验证,并应用于解决荣耀之星油轮的匹配问题。所得结果与已公布的该船实际试验数据吻合较好,该船在现有服役条件下的功率损失为21.5%,其中,由于改变螺旋桨和船体表面技术条件导致螺旋桨特性变化导致的功率损失为6.5%,发动机劣化导致的功率损失为6.3%,运行5年后发动机-螺旋桨失配导致的功率损失为8.7%。
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引用次数: 0
A case study for 3D scanning-based quantitative quality control during key stages of composite small craft production 基于三维扫描的复合材料小工艺生产关键阶段定量质量控制案例研究
IF 2.2 3区 工程技术 Q1 Engineering Pub Date : 2023-01-01 DOI: 10.1016/j.ijnaoe.2023.100534
Dong-Kun Lee , Bon-Yeong Park

Composite small crafts are manufactured in a job-shop system that prioritizes delivery times and creates various small-scale products using flexible equipment and worker operations. The process involves layering composite materials onto a mold to form the product through molding. Three intermediate stages must be completed before the final product, including mock-up, mold, and small craft. The stability and performance of the small craft rely on the accuracy of the mock-up and mold production. However, repeated molding can cause deformation and worker skill level affects product quality, leading to inconsistent results. This study aimed to improve the quality control of composite small crafts in leisure boat shipyards. We propose developing a high-precision digital shape model using 3D scanning of intermediate products such as the ship body frame, finished mold, and shaped hull of the FRP small craft to enable quantitative quality control and identify shape deviations.

复合小型工艺品是在作业车间系统中制造的,该系统优先考虑交货时间,并使用灵活的设备和工人操作创造各种小型产品。该工艺包括将复合材料分层到模具上,通过成型形成产品。在最终产品之前必须完成三个中间阶段,包括模型,模具和小工艺。小型工艺的稳定性和性能依赖于模型和模具制作的准确性。然而,重复成型会造成变形,工人的技能水平影响产品质量,导致结果不一致。本研究旨在改善休闲船坞复合小型艇的品质控制。我们建议开发一个高精度的数字形状模型,使用3D扫描中间产品,如船体框架、成品模具和玻璃钢小船的成型船体,以实现定量质量控制和识别形状偏差。
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引用次数: 0
Potential energy savings of air lubrication technology on merchant ships 商船空气润滑技术的节能潜力
IF 2.2 3区 工程技术 Q1 Engineering Pub Date : 2023-01-01 DOI: 10.1016/j.ijnaoe.2023.100530
Young-Rong Kim, Sverre Steen

As the reduction of greenhouse gas emissions has become an important issue, measures and devices to reduce energy consumption are in increasing demand. In this study, the potential energy saving due to the application of air lubrication technology in merchant ships is analyzed. We propose a simplified empirical model, covering three different air lubrication technologies, based on the experimental results and assumptions taken in the existing studies. The bottom surface area covered with air is important for the efficiency of the air lubrication system, according to the sensitivity analysis. From the global fleet analysis, net-percentage power saving varies according to the operational profile as well as the technology. Net-percentage power savings of 2–5% from air bubble, 8–14% from air layer, and 16–22% from air cavity technology were obtained assuming calm-water conditions. The methodology can be adopted in early design stage and fleet-wide analyses of various energy-saving measures.

随着减少温室气体排放成为一个重要的问题,减少能源消耗的措施和设备的需求越来越大。本文对空气润滑技术在商船上的应用所带来的节能潜力进行了分析。基于实验结果和现有研究的假设,我们提出了一个简化的经验模型,涵盖了三种不同的空气润滑技术。根据灵敏度分析,空气覆盖的底表面积对空气润滑系统的效率有重要影响。从全球车队的分析来看,净节能百分比根据运营概况和技术而有所不同。假设静水条件下,气泡技术的净节电率为2-5%,空气层技术为8-14%,空腔技术为16-22%。该方法可用于各种节能措施的早期设计阶段和全船范围的分析。
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引用次数: 0
Development of automatic gain-tuning algorithm for heading control using free-running test data 基于自由运行试验数据的航向控制增益自动调谐算法的开发
IF 2.2 3区 工程技术 Q1 Engineering Pub Date : 2023-01-01 DOI: 10.1016/j.ijnaoe.2023.100517
Jung-Hyeon Kim , Su-Rim Kim , Hyun-Jae Jo , Chan Young Yeo , Dong Jin Yeo , Kunhang Yun , Jeonghong Park , Jong-Yong Park

This study proposes an automatic gain-tuning algorithm for ships. The proposed algorithm is designed to tune the gains of the ship controller automatically, rather than using trial and error. The forward speed and steering models were derived by linearizing and simplifying the 3-degrees of freedom (DOF) nonlinear equation of motion of the ship. The initial control gains were calculated using an error dynamics model constructed by combining the steering and system models of the controller. The maneuvering simulations and sensitivity analysis of the control performance at various control gains were performed for gain-tuning. System identification was conducted based on derived dynamics models and free-running test data. The tests verified that the gain-tuning algorithm corrects the gains more accurately and rapidly than trial and error. In addition, the algorithm reduced overshoot by 85% compared to the initial control gains.

本文提出了一种船舶自动增益调谐算法。提出的算法是为了自动调整船舶控制器的增益,而不是使用试错法。通过对船舶三自由度非线性运动方程进行线性化和简化,得到了船舶前向航速和转向模型。结合控制器的转向模型和系统模型建立误差动力学模型,计算初始控制增益。为了进行增益整定,进行了不同控制增益下的机动仿真和控制性能灵敏度分析。基于导出的动力学模型和自由运行试验数据进行了系统辨识。实验证明,增益调谐算法比试错法更准确、更快速地校正增益。此外,与初始控制增益相比,该算法减少了85%的超调。
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引用次数: 0
Streamlined semi-automatic data processing framework for ship performance analysis 船舶性能分析的流线型半自动数据处理框架
IF 2.2 3区 工程技术 Q1 Engineering Pub Date : 2023-01-01 DOI: 10.1016/j.ijnaoe.2023.100550
Prateek Gupta , Young-Rong Kim , Sverre Steen , Adil Rasheed

The hydrodynamic performance of a sea-going ship can be analyzed using data from different sources, like onboard recorded in-service data, AIS data, and noon reports. Each of these sources is known to have its inherent problems. The current work highlights the most prominent issues, explained with examples from actual datasets. A streamlined semi-automatic approach to processing the data is finally outlined, which can be used to prepare a dataset for ship performance analysis. Typical data processing steps like interpolating metocean data, deriving additional features, estimating resistance components, data cleaning, and outlier detection are arranged in the best possible manner not only to streamline the data processing but also to obtain reliable results. A semi-automatic implementation of the data processing framework, with limited user intervention, is used to process the datasets here and present the example plots for various data processing steps, proving the effectiveness of the proposed approach.

海船的水动力性能可以使用来自不同来源的数据进行分析,例如船上记录的在役数据、AIS数据和中午报告。每一种来源都有其固有的问题。当前的工作突出了最突出的问题,并用实际数据集的示例进行了解释。最后概述了一种简化的半自动数据处理方法,可用于准备船舶性能分析的数据集。典型的数据处理步骤,如插值气象海洋数据,获得额外的特征,估计阻力成分,数据清洗和异常值检测,都以最好的方式安排,不仅简化了数据处理,而且获得了可靠的结果。数据处理框架的半自动实现,在有限的用户干预下,用于处理数据集,并为各种数据处理步骤提供样例图,证明了所提出方法的有效性。
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引用次数: 0
Prediction of cavitation dynamics and cavitation erosion around a three-dimensional twisted hydrofoil with an LES method 三维扭曲水翼空化动力学及空化侵蚀的LES预测
IF 2.2 3区 工程技术 Q1 Engineering Pub Date : 2023-01-01 DOI: 10.1016/j.ijnaoe.2023.100536
Pengpeng He , Ziru Li , Qian Liu , Xiaowang Zhang , Wei He

The Large Eddy Simulation (LES) method coupled with a Schnerr and Sauer cavitation model was adopted to simulate the unsteady cavitating flow around a Delft Twist 11 (Twist11) hydrofoil. We proposed a novel aggressiveness indicator to predict the risk of cavitation erosion on the hydrofoil surface by utilizing LES simulations as input. The proposed aggressiveness indicator introduces the time-averaged pressure, the hypotheses of Nohmi et al. and the concept of the power exponent into the energy balance approach. The results show that the current numerical method integrally reproduces the evolution of the cloud cavity observed in the cavitation tunnel. The cavitation erosion risk predicted by the aggressiveness indicator e1n=5 agrees well with the erosion pattern obtained from the paint test. The predicted erosion risk regions are located in the “hoof” positions (region 2 and region 3) of the horse-shoe-shaped cloudy cavity and the positions (region 1) near the cavity closure line.

采用大涡模拟(LES)方法,结合Schnerr和Sauer空化模型,模拟了Delft Twist11 (Twist11)水翼的非定常空化流动。以LES模拟为输入,提出了一种新的侵蚀性指标来预测水翼表面的空化侵蚀风险。所提出的侵略性指标将时间平均压力、Nohmi等人的假设以及功率指数的概念引入能量平衡方法。结果表明,目前的数值方法完整地再现了在空化隧道中观测到的云腔的演化过程。侵蚀性指标⟨e1⟩n=5 '预测的空化侵蚀风险与从油漆测试中获得的侵蚀模式非常吻合。预测侵蚀风险区域位于马蹄形浑浊空腔的“蹄”位置(2区和3区)和空腔闭合线附近的位置(1区)。
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引用次数: 1
Experimental study on wave motion of partial air cushion supported catamaran 部分气垫双体船波浪运动的实验研究
IF 2.2 3区 工程技术 Q1 Engineering Pub Date : 2023-01-01 DOI: 10.1016/j.ijnaoe.2023.100525
Yang Jinglei , Sun Hanbing , Li Xiaowen , Wu Defeng

To study the performance of partial air cushion-supported catamaran (PACSCAT), which is sailing with a flexible air seal in waves, this paper uses the model tests, and research the motion characteristics of PACSCAT at different wavelengths, by monitoring the boundaries of heave, pitch, acceleration, air cushion pressure. Firstly this paper introduces the test situation of PACSCAT in the towing tank and introduces the test method, equipment, and test conditions. Second, this paper extracts the test data, analyzes the features of heave, pitch, acceleration, and air cushion pressure, and studies their linear and nonlinear changes in regular waves. Thirdly this paper analyzes the nonlinear air leakage flow of the bow of PACSCAT in detail under the test conditions and studies the internal and external free liquid surface under different conditions.

为了研究采用柔性气密封的部分气垫支撑双体船(PACSCAT)在波浪中航行的性能,采用模型试验,通过监测PACSCAT在不同波长下的升沉、俯仰、加速度、气垫压力边界,研究了PACSCAT在不同波长下的运动特性。本文首先介绍了PACSCAT在拖曳舱中的测试情况,介绍了测试方法、设备和测试条件。其次,提取试验数据,分析升沉、俯仰、加速度和气垫压力的特征,研究它们在规则波中的线性和非线性变化。第三,详细分析了PACSCAT艏部在试验条件下的非线性漏风流动,研究了不同条件下的内外自由液面。
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引用次数: 0
Experimental study on the propulsion performance of a partially submerged propeller 部分淹没螺旋桨推进性能的实验研究
IF 2.2 3区 工程技术 Q1 Engineering Pub Date : 2023-01-01 DOI: 10.1016/j.ijnaoe.2023.100516
Jeongsoo Ha , Jongyeol Park , Gyukpo Park , Jaehun Kim , Jaeheon Kim , Jeonghwa Seo , Shin Hyung Rhee

The present study concerns an open water performance of a partially submerged propeller. To investigate the free surface effects on the propulsion performance, the force and moment were measured, and the ventilation phenomena were visualized with respect to submergence ratios and advance coefficients. The thrust loss in heavy load conditions due to ventilation at the suction side of the propeller blade was observed. The extent of the ring-shaped ventilation phenomena increased as the advance coefficients decreased, resulting in thrust loss. Using the underwater camera and the fast Fourier transform results of the thrust, the ventilation phenomena were classified into five types. Also, the shaft excitation force of the propeller was analyzed. The shaft-bearing load was approximately 100% greater than the propeller weight in the ballast draft condition. A larger load was applied to the shaft due to the movement of the thrust eccentricity near the free surface.

本文研究了部分浸没螺旋桨在开放水域的性能。为了研究自由表面对推进性能的影响,测量了力和力矩,并将通风现象与淹没比和推进系数进行了可视化。观察了大载荷条件下螺旋桨叶片吸力侧通风引起的推力损失。环形通风现象的程度随着推进系数的减小而增大,导致推力损失。利用水下摄像机和推力的快速傅里叶变换结果,将通风现象分为五种类型。并对螺旋桨轴向激振力进行了分析。在压载吃水条件下,轴轴承载荷大约比螺旋桨重量大100%。由于推力偏心距在自由表面附近的运动,对轴施加了较大的载荷。
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引用次数: 1
Wave height measurement scheme using wave detector based on convolutional neural network and PPM calculator with ocean wave images 基于卷积神经网络的检波器和PPM计算器的海浪图像波高测量方案
IF 2.2 3区 工程技术 Q1 Engineering Pub Date : 2023-01-01 DOI: 10.1016/j.ijnaoe.2023.100542
Il-Kyu Hwang , Minkyu Lee , Junsub Han , Jeeun Choi

The measurement of wave height is essential for weather analysis, safe navigation of ships, and ship design. This study proposes a low-cost and direct method for measuring wave height using ocean wave images. The proposed scheme comprises a Wave Detector based on Convolutional Neural Networks that takes two-dimensional ocean images as input, and a PPM Calculator that measures the size of an object in the image. The study explains the configuration and implementation of the Wave Detector and the basic principle of the PPM surface generating method for the PPM Calculator, with support from ground experiments. The proposed scheme is validated using two types of wave height measurement sensors and three types of real ocean images for the Wave Detector, as well as two rounds of ground experiments for the PPM Calculator.

The results show that the wave height values measured by the proposed scheme are highly consistent with the values from the measurement sensors.

波浪高度的测量对于天气分析、船舶安全航行和船舶设计是必不可少的。本研究提出了一种低成本、直接的利用海浪图像测量浪高的方法。该方案包括一个基于卷积神经网络的波浪探测器,以二维海洋图像为输入,以及一个PPM计算器,测量图像中物体的大小。本文以地面实验为依托,阐述了测波仪的结构与实现,以及PPM计算器的PPM曲面生成方法的基本原理。利用两种波高测量传感器和三种真实海洋图像对该方案进行了验证,并对PPM计算器进行了两轮地面实验。结果表明,该方案测得的波高值与测量传感器测得的波高值高度一致。
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引用次数: 0
期刊
International Journal of Naval Architecture and Ocean Engineering
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