Large errors of low-cost MEMS inertial measurement unit (MIMU) lead to huge navigation errors, even wrong navigation information. An integrated navigation system for unmanned vessel is proposed. It consists of a low-cost MIMU and Doppler velocity sonar (DVS). This paper presents an integrated navigation method, to improve the performance of navigation system. The integrated navigation system is tested using simulation and semi-physical simulation experiments, whose results show that attitude, velocity and position accuracy has improved awfully, giving exactly accurate navigation results. By means of the combination of low-cost MIMU and DVS, the proposed system is able to overcome fast drift problems of the low cost IMU.
During the loading operation of a ship loader in bulk terminal, in order to bring bulk cargo, such as coal and ore, precisely into every corner of the cabin and not to raise dust at the same time, the slip barrel mechanism usually is placed fully inside the ship cabin near the cargo as close as possible. However, if too close, it will increase the risk of collision between slip barrel and cargo, which poses a security risk to loading operation.
This article proposes an anti-collision method for slip barrel in the process of automatic ship loading in bulk terminal. This method can accurately position the cargo of cabin which is blocked by slip barrel and shovel, and provide a reliable guarantee for the automatic loading operation. Firstly, this method use an array of laser radar mounted on the maintenance platforms to perceive the collision objects around the slip barrel, including the cargo and cabin. Meanwhile, it provides a compensation algorithm to reduce the effect of anti-collision recognition brought by dust and various obstacles during the operation. According to the calculated effective distance between the cargo and slip barrel, the automatic control system of ship loading can adjust the loading operation on a real-time basis. In the end, this article analyze and illustrate the reliability and validity of this method by the case of the application in automatic ship loading system in Tianjin coal terminal.
In order to discuss the simulation model of the ship transmission line and the state of the transmission line, an early fault model is built according to the evolution principle of the short circuit fault of the transmission line and combining with the fault characteristics of the early fault. A small distributed ship transmission line system is built in MATLAB/ Simulink. Then, combined with the constructed fault module, the original short circuit module, and the load module, the various states (normal state, early fault state, severe early fault state, short circuit state) of the ship transmission line are stimulated, and the features of voltage signal in each state is analysed. It is concluded that, due to the normal operation of the ship transmission line system, the variation characteristics of the flow signal and voltage signal caused by the sudden load mutation, that is, the sudden load and the sudden increase load, are very similar to the changes caused by the early fault. Therefore, in order to find a more accurate early fault detection method, the state is divided into normal state, sudden load state, sudden increase and sudden decrease load state.
Conceptual Design and Performance Analysis of an Exhaust Gas Waste Heat Recovery System for a 10000TEU Container Ship
According to operation characteristics of the main engine 9K98ME-C7, a combined turbines-exhaust gas waste heat recovery system is proposed to recover waste heat and increase system energy efficiency. Thermodynamic models based on the first thermodynamic law and the second thermodynamic law are formulated. The superheated steam yield, the total electric power yield, the first thermodynamic law efficiency, the exergy efficiency at different exhaust gas boiler working pressure, and the variation of the exergy efficiency under different feed water temperature and different steam turbine back pressure are analyzed. Thermodynamic results indicate that the most appropriate exhaust gas boiler pressure is 0.8MPa for studied main engine and the total thermal efficiency with combined turbines arrangement has climbed up to 53.8% from 48.5%.
This article proposes a method of locating and recognizing lockholes in shipping container corner castings. This method converts the original image of the containers captured by a camera into the HSV (Hue, Saturation, Value) color space. To reduce the influence of the surface color of the containers and lights from the environment on the locating and recognizing algorithm, most noisy points of the image are filtered by binarization and a morphology opening operation to make the features of the containers clearer in the image. Thus, the container body can be separated from the total image. Then, the position and size of the corner castings are defined through calculation based on the international standard of the shipping container size. Lastly, by using this method, we can locate the corner casting in the image by using the General Hough Transform fitting algorithm onto ellipses.
Yaodan Chi, Bin Li, Xiaotian Yang, Tianhao Wang, Kaiyu Yang and Yinhan Gao
Crosstalk in wiring harness has been studied extensively for its importance in the naval ships electromagnetic compatibility field. An effective and high-efficiency method is proposed in this paper for analyzing Statistical Characteristics of crosstalk in wiring harness with random variation of position based on Polynomial Chaos Expansion (PCE). A typical 14-cable wiring harness was simulated as the object of research. Distance among interfering cable, affected cable and GND is synthesized and analyzed in both frequency domain and time domain. The model of naval ships wiring harness distribution parameter was established by utilizing Legendre orthogonal polynomials as basis functions along with prediction model of statistical characters. Detailed mean value, mean square error, probability density function and reasonable varying range of crosstalk in naval ships wiring harness are described in both time domain and frequency domain. Numerical experiment proves that the method proposed in this paper, not only has good consistency with the MC method can be applied in the naval ships EMC research field to provide theoretical support for guaranteeing safety, but also has better time-efficiency than the MC method. Therefore, the Polynomial Chaos Expansion method.
Pengfei Huang, Yang Liu, Zhixiu Du, Qilong Chen and Jinhai Chen
The ship’s pilot can obtain the ship auxiliary information through the navigation system, when berthing system can display the parameters such as traverse speed and distance of the ship. But most of the system data show that there are insufficient precision. Taking the CORS system to obtain the location information, data Calculation of Berthing System based on Polar Coordinate Algorithm, this paper puts forward a solution to the “dead point” of the berthing and aiding system, which has a certain reference value for the design of the ship berthing assistance system.
The hybrid structures show excellent performance on vibration reduction for ship, aircraft and spacecraft designs. Meanwhile, the topology optimization is widely used for structure vibration reduction and weight control. The design of hybrid structures considering simultaneous materials selection and topology optimization are big challenges in theoretical study and engineering applications. In this paper, according to the proposed laminate component method (LCM) and solid isotropic microstructure with penalty (SIMP) method, the mathematical formulations are presented for concurrent materials selection and topology optimizations of hybrid structures. Thickness distributions of the plies in laminate components are defined as materials selection design variables by LCM method. Relative densities of elements in the components are defined as topology design variables by SIMP method. Design examples of hybrid 3-bar truss structures and hybrid floating raft with vibration reduction requirements verified the effectiveness of the presented optimization models.
The paper determined the volume ratio of the main hull and side hull and their position characteristic parameter of operation and maintenance trimaran. Numerical simulation technology was used to do the analysis and calculation of trimarans which have different volume ratio of the main and side hull, and on this basis, the paper tried different positions of main and side hull, finally got the trimaran with optimum resistance performance and the chart of trimaran resistance estimation, so as to provide a new way in the selection of feature parameter of offshore wind farm maintenance trimaran and its resistance estimation.
With the implementation and expansion of international sulfur emission control areas, effectively promoted the marine low sulfur diesel fuel (MLSDF) used in marine diesel engines. In this study, a large low-speed, two-stroke, cross-head, common rail, electronic fuel injection marine diesel engine (B&W 6S35ME-B9) was used for the study. According to diesel engine’s propulsion characteristics, experiments were launched respectively at 25%, 50%, 75%, 100% load working conditions with marine low sulfur diesel fuel to analyze the fuel consumption, combustion characteristics and emissions (NOx, CO2, CO, HC) characteristics. The results showed that: Marine diesel engine usually took fuel injection after top dead center to ensure their safety control NOx emission. From 25% to 75% load working condition, engine’s combustion timing gradually moved forward and the inflection points of pressure curve after top dead center also followed forward. While it is necessary to control pressure and reduce NOx emission by delaying fuel injection timing at 100% load. Engine’s in-cylinder pressure, temperature, and cumulative heat release were increased with load increasing. Engine’s CO2 and HC emissions were significantly reduced from 25% to 75% load, while they were increased slightly at 100% load. Moreover, the fuel consumption rate had a similar variation and the lowest was only 178 g/kW·h at 75% load of the test engine with MLSDF. HC or CO emissions at four tests’ working conditions were below 1.23 g/kW·h and the maximum difference was 0.2 or 0.4 g/kW·h respectively, which meant that combustion efficiency of the test engine with MLSDF is good. Although the proportion of NOx in exhaust gas increased with engine’s load increasing, but NOx emissions were always between 12.5 and 13.0 g/kW·h, which was less than 14.4 g/kW·h. Thus, the test engine had good emissions performance with MLSDF, which could meet current emission requirements of the International Maritime Organization.