This paper focuses on the problem of control law optimization for marine vessels working in a dynamical positioning （DP） regime. The approach proposed here is based on the use of a special unified multipurpose contr...This paper focuses on the problem of control law optimization for marine vessels working in a dynamical positioning （DP） regime. The approach proposed here is based on the use of a special unified multipurpose control law structure constructed on the basis of nonlinear asymptotic observers, that allows the decoupling of a synthesis into simpler particular optimization problems. The primary reason for the observers is to restore deficient information concerning the unmeasured velocities of the vessel. Using a number of separate items in addition to the observers, it is possible to achieve desirable dynamical features of the closed loop connection. The most important feature is the so-called dynamical corrector, and this paper is therefore devoted to solving its optimal synthesis in marine vessels controlled by DP systems under the action of sea wave disturbances. The problem involves the need for minimal intensity of the control action determined by high frequency sea wave components. A specialized approach for designing the dynamical corrector is proposed and the applicability and effectiveness of the approach are illustrated using a practical example of underwater DP system synthesis.展开更多
At present, Chinese labor relations operate under a unitary model of legal regulation in which labor law is applied to workers ＂as a whole, with everyone treated equally.＂ This causes a number of problems. In realit...At present, Chinese labor relations operate under a unitary model of legal regulation in which labor law is applied to workers ＂as a whole, with everyone treated equally.＂ This causes a number of problems. In reality, due to constantly changing modes of employment and the flexibility of workers＇ ＂affiliation,＂ forms of employment are highly diverse. In addition to regular employees, there are also ＂quasi-employees＂ （employee-like persons） whose affiliation is quite weak, and other special employees. This necessitates the updating of the legislative thinking behind labor laws, While holding fast to the assumption that workers are a vulnerable group, we should review the differences between different types of employee and draw up the corresponding regulations on the basis of specific situations. Where legislative technique is concerned, we should do away with the traditional one-size- fits-all legislative model in favor of a dedicated model that targets particular types of subject and particular circumstances. We should abandon the traditional old-fashioned model in which ＂all labor law provisions apply＂ or ＂no labor law provisions apply＂ and categorize employees in such a way as to provide special rules for quasi-employees, special employees and employees of special employers. The legal regulation of labor relations should be based on categorization and differential treatment.展开更多
基金Partially Supported by the Russian Foundation for Basic Research(RFBR) under Research Project No.14-07-00083a
文摘This paper focuses on the problem of control law optimization for marine vessels working in a dynamical positioning （DP） regime. The approach proposed here is based on the use of a special unified multipurpose control law structure constructed on the basis of nonlinear asymptotic observers, that allows the decoupling of a synthesis into simpler particular optimization problems. The primary reason for the observers is to restore deficient information concerning the unmeasured velocities of the vessel. Using a number of separate items in addition to the observers, it is possible to achieve desirable dynamical features of the closed loop connection. The most important feature is the so-called dynamical corrector, and this paper is therefore devoted to solving its optimal synthesis in marine vessels controlled by DP systems under the action of sea wave disturbances. The problem involves the need for minimal intensity of the control action determined by high frequency sea wave components. A specialized approach for designing the dynamical corrector is proposed and the applicability and effectiveness of the approach are illustrated using a practical example of underwater DP system synthesis.
文摘At present, Chinese labor relations operate under a unitary model of legal regulation in which labor law is applied to workers ＂as a whole, with everyone treated equally.＂ This causes a number of problems. In reality, due to constantly changing modes of employment and the flexibility of workers＇ ＂affiliation,＂ forms of employment are highly diverse. In addition to regular employees, there are also ＂quasi-employees＂ （employee-like persons） whose affiliation is quite weak, and other special employees. This necessitates the updating of the legislative thinking behind labor laws, While holding fast to the assumption that workers are a vulnerable group, we should review the differences between different types of employee and draw up the corresponding regulations on the basis of specific situations. Where legislative technique is concerned, we should do away with the traditional one-size- fits-all legislative model in favor of a dedicated model that targets particular types of subject and particular circumstances. We should abandon the traditional old-fashioned model in which ＂all labor law provisions apply＂ or ＂no labor law provisions apply＂ and categorize employees in such a way as to provide special rules for quasi-employees, special employees and employees of special employers. The legal regulation of labor relations should be based on categorization and differential treatment.
