OBLIQUE TOWING TEST AND MANEUVER SIMULATION AT LOW SPEED AND LARGE DRIFT ANGLE FOR DEEP SEA OPEN-FRAMED REMOTELY OPERATED VEHICLE

This article presents the newly designed oblique towing test in the horizontal plane for the scaled model of 4 500 m deep sea open-framed Remotely Operated Vehicle （ROV）,which is being researched and developed by Shanghai Jiao Tong University.Accurate hydrodynamics coefficients measurement is significant for the maneuverability and control system design.The scaled model of ROV was constructed by 1：1.6.Hydrodynamics tests of large drift angle were conducted through Large Amplitude Horizontal Planar Motion Mechanism （LAHPMM） under low speed.Multiple regression method is adopted to process the test data and obtain the related hydrodynamic coefficients.Simulations were designed for the horizontal plane motion of large drift angle to verify the coefficients calculated.And the results show that the data can satisfy with the design requirements of the ROV developed.

Rapid post-earthquake safety assessment of low-rise reinforced concrete structures

Many countries throughout the world have experienced large earthquakes,which cause building damage or collapse.After such earthquakes,structures must be inspected rapidly to judge whether they are safe to reoccupy.To facilitate the inspection process,the authors previously developed a rapid building safety assessment system using sparse acceleration measurements for steel framed buildings.The proposed system modeled nonlinearity in the measurement data using a calibrated simplified lumped-mass model and convolutional neural networks(CNNs),based on which the buildinglevel damage index was estimated rapidly after earthquakes.The proposed system was validated for a nonlinear 3D numerical model of a five-story steel building,and later for a large-scale specimen of an 18-story building in Japan tested on the E-Defense shaking table.However,the applicability of the safety assessment system for reinforced concrete(RC)structures with complex hysteretic material nonlinearity has yet to be explored;the previous approach based on a simplified lumpedmass model with a Bouc-Wen hysteretic model does not accurately represent the inherent nonlinear behavior and resulting damage states of RC structures.This study extends the rapid building safety assessment system to low-rise RC moment resisting frame structures representing typical residential apartments in Japan.First,a safety classification for RC structures based on a damage index consistent with the current state of practice is defined.Then,a 3D nonlinear numerical model of a two-story moment frame structure is created.A simplified lumped-mass nonlinear model is developed and calibrated using the 3D model,incorporating the Takeda degradation model for the RC material nonlinearity.This model is used to simulate the seismic response and associated damage sensitive features(DSF)for random ground motion.The resulting database of responses is used to train a convolutional neural network(CNN)that performs rapid safety assessment.The developed system is validated using the 3D nonlinear analysis model subjected to historical earthquakes.The results indicate the applicability of the proposed system for RC structures following seismic events.

Dynamic Modeling and Investigation of Maneuver Characteristics of A Deep-Sea Manned Submarine Vehicle

A deep-sea Manned Submarine Vehicle （MSV） is usually required to move at a low forward speed and a low rotational speed when it executes investigation tasks. In this condition, the motion is in large drift angles, and the maneuverability hydrodynamic forces cannot be expressed properly in the conventional mathematical model of submersible motion. In this paper, firstly, a general equation of MSV with six-freedom motion is presented, and the numerical simulation of descent/ascent motion and helix motion is conducted to reveal the general maneuver characteristics of MSV. Secondly, according to the data of captive model tests of large drift angles of MSV, the regression analysis of position hydrodynamic forces and rotation hydrodynamic forces is carried out, and the results of regression analysis of maneuverability hydrody- namic characteristics are analyzed to reveal the special maneuver characteristics. Thirdly, a special new mathematical model of MSV with the whole range of drift angles motion is presented, which can be used to predict hydrodynamic performance of motion in the 0° - 180° range of drift angles. The results are applied to the design of maneuverability hydrodynamic forces, development of control system and simulator of a practical MSV.

A Feasibility Study on a New Trimaran PCC in Medium Speed——Performance in Still Water and Strong Wind

In the present paper,a new trimaran Pure Car Carrier(PCC) is proposed and a feasibility study on the ship is carried out.In this study,first,the effective horse power(EHP)/car of the PCC running in still water is predicted.By comparing the predicted EHP/car with that of a conventional mono-hull PCC,it is found that the trimaran PCC is superior to the conventional mono-hull PCC at rather higher speed.As ship speed increases,the reduction of the resistance of the trimaran is bigger.It is also found that at common service speed of PCCs,the EHP/car of a small PCC is lower than that of a conventional PCC.Secondly,the optimal L/B of a main-hull of the trimaran PCC in still water is determined.The optimal L/B of the main-hull varies with ship speed and size because the wave resistance decreases but the frictional resistance increases as L/B of the hull increases.As ship size increases,the optimal L/B of the main-hull of the trimaran PCC decreases.Finally,the increase of the resistance of PCCs running in strong wind is predicted.The results show that drift angle and speed reduction of the trimaran PCC are much smaller than the conventional mono-hull PCC because of large side force created by three demi-hulls.

Image Motion Compensation of Off-Axis TMA Three-Line ArrayAerospace Mapping Cameras

To enhance the image motion compensation accuracy of off-axis three-mirror anastigmatic( TMA)three-line array aerospace mapping cameras,a new method of image motion velocity field modeling is proposed in this paper. Firstly,based on the imaging principle of mapping cameras,an analytical expression of image motion velocity of off-axis TMA three-line array aerospace mapping cameras is deduced from different coordinate systems we established and the attitude dynamics principle. Then,the case of a three-line array mapping camera is studied,in which the simulation of the focal plane image motion velocity fields of the forward-view camera,the nadir-view camera and the backward-view camera are carried out,and the optimization schemes for image motion velocity matching and drift angle matching are formulated according the simulation results. Finally,this method is verified with a dynamic imaging experimental system. The results are indicative of that when image motion compensation for nadir-view camera is conducted using the proposed image motion velocity field model,the line pair of target images at Nyquist frequency is clear and distinguishable. Under the constraint that modulation transfer function( MTF) reduces by 5%,when the horizontal frequencies of the forward-view camera and the backward-view camera are adjusted uniformly according to the proposed image motion velocity matching scheme,the time delay integration( TDI) stages reach 6 at most. When the TDI stages are more than 6,the three groups of camera will independently undergo horizontal frequency adjustment. However, when the proposed drift angle matching scheme is adopted for uniform drift angle adjustment,the number of TDI stages will not exceed 81. The experimental results have demonstrated the validity and accuracy of the proposed image motion velocity field model and matching optimization scheme,providing reliable basis for on-orbit image motion compensation of aerospace mapping cameras.

Attitude Guidance Algorithms for Agile Satellite Dynamic Imaging

Dynamic imaging modes are increasingly crucial for agile satellites to perform complicated Earth observation tasks.In this study,a direct guidance algorithm is developed to calculate the reference attitude and velocity for dynamic imaging mode from target geolocation information while considering the constraints on both the satellite camera boresight axis and the image motion vector.The two slew angles are determined directly,and no rotation around the boresight or reference vector is required.The proposed approach employs a direct solution instead of the iterative process to obtain the reference attitude,which releases the onboard control system from the intensive computational load.To illustrate the performance of the proposed guidance algorithms,numerical simulation results are presented.