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Wyszukujesz frazę "Liu, H.- N." wg kryterium: Autor


Wyświetlanie 1-3 z 3
Tytuł:
Ship Course Following and Course Keeping in Restricted Waters Based on Model Predictive Control
Autorzy:
Liu, H.
Ma, N.
Gu, X. C.
Powiązania:
https://bibliotekanauki.pl/articles/116264.pdf
Data publikacji:
2018
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
Ship Movement, Multiple-Input Multiple-Output (MIMO)
Very Large Crude Carrier (VLCC)
Model Predictive Control (MPC)
Linear Quadratic Regulator (LQR)
course
restricted waters
safety at sea
Opis:
Ship navigation safety in restricted water areas is of great concern to crew members, because ships sailing in close proximity to banks are significantly affected by the so-called ship-bank interaction. The purpose of this paper is to apply the optimal control theory to help helmsmen adjust ships’ course and maintain the target course in restricted waters. To achieve this objective, the motion of a very large crude carrier (VLCC) close to a bank is modeled with the linear equations of manoeuvring and the influence of bank effect on the ship hydrodynamic force is considered in the model. State-space framework is cast in a Multiple-Input Multiple-Output (MIMO) system, where the offset-free model predictive control (MPC) is designed for course following and the linear quadratic regulator (LQR) is used for course keeping. Simulation results show that the control methods effectively work in ship course following and course keeping with varying ship-bank distances and water depths. The advantage of adopting speed variation as the second control input is obvious.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2018, 12, 2; 305-312
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Numerical study of hydrodynamic derivatives and course stability under ship-bank interaction
Autorzy:
Liu, H.
Ma, N.
Gu, X. C.
Powiązania:
https://bibliotekanauki.pl/articles/116925.pdf
Data publikacji:
2018
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
safety at sea
ship-bank interaction
Reynolds-Averaged Navier-Stokes (RANS)
hydrodynamic derivatives
hydrodynamics
Planar Motion Mechanism (PMM)
Circulating Water Channel (CWC)
User Defined Functions (UDF)
Opis:
Since ship-bank interaction affects the manoeuvrability of a ship navigating close to a bank, the determination of hydrodynamic derivatives is of great importance to assess the ship manoeuvrability. To obtain the hydrodynamic derivatives of the KVLCC2 model ship with different water depths and ship-bank distances, the simulation of PMM tests are carried out using an unsteady Reynolds-Averaged Navier–Stokes (RANS) based solver. Hybrid dynamic mesh technique is proposed to realize the simulation of pure yaw tests in confined water. Studies on the grid convergence and time-step-size convergence are firstly performed. Hydrodynamic derivatives for the ship in different water depths and ship-bank distances are compared. The course stability is investigated based on time-domain simulations and eigenvalue analysis, and the results show that the ship-bank interaction and shallow water effect have a remarkable influence on the course stability.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2018, 12, 4; 747-753
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Kinematic Analysis of 6-DOF Arms for H20 Mobile Robots and Labware Manipulation for Transportation in Life Science Labs
Autorzy:
Ali, M. M.
Liu, H.
Stoll, N.
Thurow, K.
Powiązania:
https://bibliotekanauki.pl/articles/384603.pdf
Data publikacji:
2016
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
kinematic analysis 6-DOF robotic arm
validation of kinematic solution
labware localization
labware manipulation
Kinect sensor
Opis:
This paper presents the kinematic analysis of the H20 humanoid mobile robot. The kinematic analysis for the robot arms is essential to achieve accurate grasping and placing tasks for object transportation. The H20 robot has dual arms with 6 revolute joints with 6-DOF. For each arm, the forward kinematics is derived and the closed-form solution for the inverse kinematic problem with different cases of singularities is found. A reverse decoupling mechanism method is used to solve the inverse kinematic problem analytically by viewing the arm kinematic chain in reverse order. The kinematics solution is validated using MATLAB with robotics toolbox. A decision method is used to determine the optimal solution within multiple solutions of inverse kinematic depending on the joints’ limits and minimum joints motion. The workspace analysis of the arm is found and simulated. Finally, a verification process was performed on the real H20 arms by applying blind and vision based labware manipulation strategies to achieve the transportation tasks in real life science laboratories.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2016, 10, 4; 40-52
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
    Wyświetlanie 1-3 z 3

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