SHIP-1 is an SH2 domain containing inositol-5-phosphatase that appears to be a negative regulator of hematopoiesis. To the potential effects of SHIP-1 on MMP2 secretion and migration of cancer cells, three murine SHIP...SHIP-1 is an SH2 domain containing inositol-5-phosphatase that appears to be a negative regulator of hematopoiesis. To the potential effects of SHIP-1 on MMP2 secretion and migration of cancer cells, three murine SHIP-1 mutants were made： △SH2-SHIP-1, △Ptase-SHIP-1, △Cter-SHIP-1. These mutant forms were subcloned as well as the wild type （WT） of murine SHIP-1 cDNA were subcloned into pcDNA3 expression vector, then transfected into and overexpressed SHIP-1 and its mutants in a Src-transformed 3Y1 cellline （SR3Y1）. The results showed that overexpression of wild type of SHIP-1 does not affect the MMP2 secretion in both SR3Y1 and 3Y1 cells, but can induce MMP9 secretion, while either WT SHIP-1, the SH2 domain, phosphatase domain, or C terminus deletion mutants could significantly block the MMP2 and MMP9 secretion in SR3Y1 cells and suppress cell invasion ability. The results confirmed SHIP-1 as a negative regulator for cell migration and invasion in transformed cells, and implied that it may function through each of its three domains.展开更多
AIM To explore the mechanism by which microRNA-155 (miR-155) regulates the pathogenesis of experimental colitis. METHODS A luciferase assay was performed to confirm the binding of miR-155 to the SHIP-1 3'-UTR. MiR...AIM To explore the mechanism by which microRNA-155 (miR-155) regulates the pathogenesis of experimental colitis. METHODS A luciferase assay was performed to confirm the binding of miR-155 to the SHIP-1 3'-UTR. MiR-155 mimics, negative controls and SHIP-1 expression/knockdown vectors were established and then utilized in gain-and loss-of-function studies performed in raw264.7 cells and primary bone marrow-derived macrophages (BMDMs). Thereafter, dextran sulfate sodium (DSS)-induced colitis mouse model with or without antagomiR-155 treatment was established, and the levels of miR-155 and SHIP-1, as well as the pro-inflammatory capabilities, were measured by western blot, quantitative polymerase chain reaction, and immunohistochemistry. RESULTS MiR-155 directly bound to the 3'-UTR of SHIP-1 mRNA and induced a significant decrease in SHIP-1 expression in both raw264.7 cells and primary BMDMs. MiR-155 markedly promoted cell proliferation and proinflammatory secretions including IL-6, TNF-alpha, IL-1 beta, and IFN-gamma, whereas these effects could be reversed by the restoration of SHIP-1 expression. In vivo studies showed that antagomiR-155 administration could alleviate DSS-induced intestinal inflammation in Balb/c mice. Moreover, significantly increased SHIP-1 expression, as well as decreased Akt activation and in-flammatory response, were observed in the antagomiR-155-treated mice. CONCLUSION MiR-155 promotes experimental colitis by repressing SHIP-1 expression. Thus, the inhibition of miR-155 might be a promising strategy for therapy.展开更多
A numerical study of ship-to-ship interaction forces is performed using a commercial CFD code,and the results are compared with experimental data and with the results of a panel method analysis.Two ship models have be...A numerical study of ship-to-ship interaction forces is performed using a commercial CFD code,and the results are compared with experimental data and with the results of a panel method analysis.Two ship models have been used in the interaction forces analysis:a tug and a tanker,advancing parallel to each other with different lateral distances and two different values of the fluid depth.Computations are carried out with four different flow models:inviscid and viscous flow with the free surface modeled as a rigid wall and inviscid and viscous flow with the deformable free surface.A fair agreement was obtained with available experimental data and results obtained by panel method.The influence of viscosity in the computations is found to be comparatively weak,while the wavemaking effects may be important,at small magnitude of the horizontal clearance.展开更多
The simulation of the whole ship-bridge collision process can be effectively carried out by nonlinear dynamic finite element method. Based on the simple description of the theory, a scenario of a 40000 DWT oil tanker ...The simulation of the whole ship-bridge collision process can be effectively carried out by nonlinear dynamic finite element method. Based on the simple description of the theory, a scenario of a 40000 DWT oil tanker colliding with a bridge across the Yangtze River is designed for simulation. The technology of structure modeling and the determination of related parameters are introduced. The deformation of the bulb bow, the history,of collision force change, the exchange of collision energy and the stress distribution. of the bridge pier-are described in detail, which: are of great value to bridge design and bridge pier damage estimation. mechanical characters in the process of ship-bridge collision are described. More accurate results can be produced by finite element method than that by empirical formulas and simplified analytical methods.展开更多
Contact nonlinear theory was researched. Contact problem was transformed into optimization problem containing Lagrange multiplier, and unsymmetrical stiffness matrix was transformed into symmetrical stiffness matrix. ...Contact nonlinear theory was researched. Contact problem was transformed into optimization problem containing Lagrange multiplier, and unsymmetrical stiffness matrix was transformed into symmetrical stiffness matrix. A finite element analysis （FEA） model defining more than 300 contact pairs for long nut-short screw locking mechanism of a large-scale vertical gear-rack typed ship-lift was built. Using augmented Lagrange method and symmetry algorithm of contact element stiffness, the FEA model was analyzed, and the contact stress of contact interfaces and the von Mises stress of key parts were obtained. The results show that the design of the locking mechanism meets the requirement of engineering, and this method is effective for solving large stole nonlinear contact pairs.展开更多
A new equation is proposed for the design of armor units on protected river banks under the combined action of ship-induced waves and river flow.Existing observed field and experimental data in the literature have bee...A new equation is proposed for the design of armor units on protected river banks under the combined action of ship-induced waves and river flow.Existing observed field and experimental data in the literature have been examined and a valuable database has been developed.Different conditions,including the river water depth,flow velocity,river bank slope,Froude number,wave height,wave period,and wave obliquity have been considered.Results from an empirical equation (Bhowmik,1978) that only considers the maximum wave height and river bank slope have been compared with the results calculated by the newly developed equation.Calculated results have also been verified against field data.Results show that not only the maximum wave height and river bank slope but also the water depth,flow velocity,wave length,wave obliquity,and wave period are important parameters for predicting the mean diameter of the armor units,highlighting the multivariate behavior of protecting the river bank in the presence of ship-induced waves and river flow velocity.展开更多
In ship-borne radar, because of the influence of interference factors such as the correlation of background array noise and the coherence of targets and so on, the performance of high-resolution algorithms such as MUS...In ship-borne radar, because of the influence of interference factors such as the correlation of background array noise and the coherence of targets and so on, the performance of high-resolution algorithms such as MUSIC is degraded. In this document by pre-whitening of background array color noise, de-correlation of coherent targets, compensation of amplitude-phase mismatch, pre-whitened-constrained-MUSIC algorithm in ship-borne radar effectively resolutes ship target and first-order sea echo. Furthermore, the algorithm performance is compared with other algorithms, result shows that pre-whitened-constrained-MUSIC can be applied effectively in high-resolution processing in ship-borne radar.展开更多
The general structure of ship-borne helicopter landing forecast system is presented, and a novel ship motion prediction model based on minor component analysis (MCA) is built up to improve the forecast effectiveness. ...The general structure of ship-borne helicopter landing forecast system is presented, and a novel ship motion prediction model based on minor component analysis (MCA) is built up to improve the forecast effectiveness. To validate the feasibility of this landing forecast system, time series for the roll, pitch and heave are generated by simulation and then forecasted based on MCA. Simulation results show that ship-borne helicopters can land safely in higher sea condition while carrying on rescue or replenishment tasks at sea in terms of the landing forecast system.展开更多
Based on the Chinese 19th National Antarctic Research Expedition,we carried out ship-based Antarctic sea-ice observa-tion on icebreaker Xue Long using Antarctic sea-ice process and climate (ASPeCt) criteria during aus...Based on the Chinese 19th National Antarctic Research Expedition,we carried out ship-based Antarctic sea-ice observa-tion on icebreaker Xue Long using Antarctic sea-ice process and climate (ASPeCt) criteria during austral summer.Sea-ice distribution data were obtained along nearly 6,500 km of the ship’s track.The measurement parameters included sea-ice thickness,sea-ice concentration,snow thickness,and floe size.Analysis showed the presence of the large spatial varia-tions of the observed sea-ice characteristics.Sea-ice concentration varied between 0 and 80 percent and reached its peak value in Weddell Sea because of the specific dynamical process affecting in summer sea-ice melting.There are large areas of open water along the study section.Sea ice and the upper snow thickness of the section varied between 10 cm and 210 cm and 2 cm and 80 cm,respectively,and each reaches its peak values near Amery ice shelf.The floe size varied from less than 10 cm and the maximum of more than 2,000 km along the section.展开更多
At present, more and more offshore wind farms have been built anti ntnnerous projects are on the drawing tables. Therefore, the study on the safety of collision between ships and offshore wind turbines （OWT） is of g...At present, more and more offshore wind farms have been built anti ntnnerous projects are on the drawing tables. Therefore, the study on the safety of collision between ships and offshore wind turbines （OWT） is of great practical signifieance. The present study takes the advantage of the famous LS-DYNA explicit code to simulate the dynamic proeess of the collision between a typical 3MW offshore wind turbine model with monopile fi）undation and a simplified 2000t-class ship model. In the simulation, the added mass effect of the ship, contact nonlinearity of collision, material nonlinearity of steel and aluminum foam and adaptive mesh tectmique for large structure deformation have been taken into considera- tion. Proposed is a crashworthy device for OWF of new conceptual steel sphere shell-cireular ring aluminum foam pad, and the good pe.rfurmanee of the device under the conditions of ship-OWT front impact and side impact has been verified from the views of theoretical analysis and numerical results. The new crashworthy device can effectively smooth the contact force and reduce the top structure dynamic response, using its own structure plastic deformation to absorb most of the ship collision enerty. As a result, the main structure of the OWF and the inside key electric control equipments can be saved by scarifying the structural plastic deformation of new sphere crashworthy device. What is more, the sphere configuratiun design of the crashworthy device can effectively guide the ship to run away from the main OWT structure and reduce the damage of the ship and OWT to some degree during side impact.展开更多
Nowadays, shipping industry which is the backbone of economic development has affiliated to ship maintenance and repair industry. This industry provides technical maintenance services to ships in a way to enable them ...Nowadays, shipping industry which is the backbone of economic development has affiliated to ship maintenance and repair industry. This industry provides technical maintenance services to ships in a way to enable them to meet the requirements and regulations of the International Maritime Organization and maintaining the vessels at high technical standard & continual seaworthiness condition. Maintaining the minimum requirement of classification societies on the ships is solely taken place with repairs. The research method is an applied study in sake of aim and a descriptive study in sake of nature. This research has been conducted to examine causes and factors contributed to failures repairing in dry docks in the country;using the obtained results, an approach has been presented to reduce obstacles existing in country and reach to standard international levels. The problems include lack of suitable strategy, lack of government support, governmental facet of the structure of this sector, cumbersome laws, customs problems, lack of specialized workshops, low levels of technology and lack of new technology etc. Thus, by taking amendment to the cumbersome rules, taking advantage of industry and modern technology experts, increasing productivity and competitiveness, centralizing active domestic and foreign workshops at private sector, facilitating timely supply of parts and accessories, using research and development sector, increasing quality, reducing costs and repair time, selecting secure industrial- trade partner and etc. can pave the way in this context.展开更多
The variation in microstructures and the mechanical properties of a Copper-bearing high strength ship-hull steel at different aging temperature was studied.The peak strength was obtained at the aging temperature of 4...The variation in microstructures and the mechanical properties of a Copper-bearing high strength ship-hull steel at different aging temperature was studied.The peak strength was obtained at the aging temperature of 450 ℃,which was attribute to the plentiful Cu precipitates and a bit of Nb(C,N).In the over-aged condition,both the partial recovery of matrix and the coarsening of Cu particles (10-60 nm) caused the loss of the yield strength (YS) and the improvement of toughness.The increase of the ultimate tensile strength (UTS) at aging temperature above 660℃ due to the formation of alloy-rich island structure transformed from the austenite phase upon cooling,and complied with the mixture law.The copper-bearing ship steel can exhibit an excellent combination of high strength and toughness while aging at 660 ℃ for 2 hours (UTS-818 MPa,YS-745 MPa,Akv-161 J at-40℃).展开更多
This paper proposes a novel nonlinear energy-based coupling control for an underactuated offshore ship-mounted crane,which guarantees both precise trolley positioning and payload swing suppressing performances under e...This paper proposes a novel nonlinear energy-based coupling control for an underactuated offshore ship-mounted crane,which guarantees both precise trolley positioning and payload swing suppressing performances under external sea wave disturbance. In addition to having such typical nonlinear underactuated property, as it is well known, an offshore ship-mounted crane also suffers from much unexpected persistent disturbances induced by sea waves or currents, which, essentially different from an overhead crane fixed on land, cause much difficulty in modeling and controller design. Inspired by the desire to achieve appropriate control performance against those challenging factors, in this paper, through carefully analyzing the inherent mechanism of the nonlinear dynamics, we first construct a new composite signal to enhance the coupling behavior of the trolley motion as well as the payload swing in the presence of ship′s roll motion disturbance. Based on which, an energy-based coupling control law is presented to achieve asymptotic stability of the crane control system′s equilibrium point. Without any linearization of the complex nonlinear dynamics, unlike traditional feedback controllers, the proposed control law takes a much simpler structure independent of the system parameters. To support the theoretical derivations and to further verify the actual control performance, Lyapunov-based mathematical analysis as well as numerical simulation/experimental results are carried out, which clarify the feasibility and superior performance of the proposed method over complicated disturbances.展开更多
基金the Sasagawa Medical Fellowship from Japan-Sino Medical Association with funds from the Nippon Foundation.
文摘SHIP-1 is an SH2 domain containing inositol-5-phosphatase that appears to be a negative regulator of hematopoiesis. To the potential effects of SHIP-1 on MMP2 secretion and migration of cancer cells, three murine SHIP-1 mutants were made： △SH2-SHIP-1, △Ptase-SHIP-1, △Cter-SHIP-1. These mutant forms were subcloned as well as the wild type （WT） of murine SHIP-1 cDNA were subcloned into pcDNA3 expression vector, then transfected into and overexpressed SHIP-1 and its mutants in a Src-transformed 3Y1 cellline （SR3Y1）. The results showed that overexpression of wild type of SHIP-1 does not affect the MMP2 secretion in both SR3Y1 and 3Y1 cells, but can induce MMP9 secretion, while either WT SHIP-1, the SH2 domain, phosphatase domain, or C terminus deletion mutants could significantly block the MMP2 and MMP9 secretion in SR3Y1 cells and suppress cell invasion ability. The results confirmed SHIP-1 as a negative regulator for cell migration and invasion in transformed cells, and implied that it may function through each of its three domains.
文摘AIM To explore the mechanism by which microRNA-155 (miR-155) regulates the pathogenesis of experimental colitis. METHODS A luciferase assay was performed to confirm the binding of miR-155 to the SHIP-1 3'-UTR. MiR-155 mimics, negative controls and SHIP-1 expression/knockdown vectors were established and then utilized in gain-and loss-of-function studies performed in raw264.7 cells and primary bone marrow-derived macrophages (BMDMs). Thereafter, dextran sulfate sodium (DSS)-induced colitis mouse model with or without antagomiR-155 treatment was established, and the levels of miR-155 and SHIP-1, as well as the pro-inflammatory capabilities, were measured by western blot, quantitative polymerase chain reaction, and immunohistochemistry. RESULTS MiR-155 directly bound to the 3'-UTR of SHIP-1 mRNA and induced a significant decrease in SHIP-1 expression in both raw264.7 cells and primary BMDMs. MiR-155 markedly promoted cell proliferation and proinflammatory secretions including IL-6, TNF-alpha, IL-1 beta, and IFN-gamma, whereas these effects could be reversed by the restoration of SHIP-1 expression. In vivo studies showed that antagomiR-155 administration could alleviate DSS-induced intestinal inflammation in Balb/c mice. Moreover, significantly increased SHIP-1 expression, as well as decreased Akt activation and in-flammatory response, were observed in the antagomiR-155-treated mice. CONCLUSION MiR-155 promotes experimental colitis by repressing SHIP-1 expression. Thus, the inhibition of miR-155 might be a promising strategy for therapy.
基金the project PTDC/EMSTRA/5628/2014 "Maneuvering and moored ships in ports-physical and numerical modeling,"funded by the Portuguese Foundation for Science and Technology(FCT)financed by FCT under contract number SFRH/BD/67070/2009
文摘A numerical study of ship-to-ship interaction forces is performed using a commercial CFD code,and the results are compared with experimental data and with the results of a panel method analysis.Two ship models have been used in the interaction forces analysis:a tug and a tanker,advancing parallel to each other with different lateral distances and two different values of the fluid depth.Computations are carried out with four different flow models:inviscid and viscous flow with the free surface modeled as a rigid wall and inviscid and viscous flow with the deformable free surface.A fair agreement was obtained with available experimental data and results obtained by panel method.The influence of viscosity in the computations is found to be comparatively weak,while the wavemaking effects may be important,at small magnitude of the horizontal clearance.
文摘The simulation of the whole ship-bridge collision process can be effectively carried out by nonlinear dynamic finite element method. Based on the simple description of the theory, a scenario of a 40000 DWT oil tanker colliding with a bridge across the Yangtze River is designed for simulation. The technology of structure modeling and the determination of related parameters are introduced. The deformation of the bulb bow, the history,of collision force change, the exchange of collision energy and the stress distribution. of the bridge pier-are described in detail, which: are of great value to bridge design and bridge pier damage estimation. mechanical characters in the process of ship-bridge collision are described. More accurate results can be produced by finite element method than that by empirical formulas and simplified analytical methods.
基金Supported by the Key Research Project of StatePower Corporation (SPKJ 0l6-06)the Key Scientific ResearchProject of Hubei Province ( 2004AC101D31)
文摘Contact nonlinear theory was researched. Contact problem was transformed into optimization problem containing Lagrange multiplier, and unsymmetrical stiffness matrix was transformed into symmetrical stiffness matrix. A finite element analysis （FEA） model defining more than 300 contact pairs for long nut-short screw locking mechanism of a large-scale vertical gear-rack typed ship-lift was built. Using augmented Lagrange method and symmetry algorithm of contact element stiffness, the FEA model was analyzed, and the contact stress of contact interfaces and the von Mises stress of key parts were obtained. The results show that the design of the locking mechanism meets the requirement of engineering, and this method is effective for solving large stole nonlinear contact pairs.
文摘A new equation is proposed for the design of armor units on protected river banks under the combined action of ship-induced waves and river flow.Existing observed field and experimental data in the literature have been examined and a valuable database has been developed.Different conditions,including the river water depth,flow velocity,river bank slope,Froude number,wave height,wave period,and wave obliquity have been considered.Results from an empirical equation (Bhowmik,1978) that only considers the maximum wave height and river bank slope have been compared with the results calculated by the newly developed equation.Calculated results have also been verified against field data.Results show that not only the maximum wave height and river bank slope but also the water depth,flow velocity,wave length,wave obliquity,and wave period are important parameters for predicting the mean diameter of the armor units,highlighting the multivariate behavior of protecting the river bank in the presence of ship-induced waves and river flow velocity.
文摘In ship-borne radar, because of the influence of interference factors such as the correlation of background array noise and the coherence of targets and so on, the performance of high-resolution algorithms such as MUSIC is degraded. In this document by pre-whitening of background array color noise, de-correlation of coherent targets, compensation of amplitude-phase mismatch, pre-whitened-constrained-MUSIC algorithm in ship-borne radar effectively resolutes ship target and first-order sea echo. Furthermore, the algorithm performance is compared with other algorithms, result shows that pre-whitened-constrained-MUSIC can be applied effectively in high-resolution processing in ship-borne radar.
文摘The general structure of ship-borne helicopter landing forecast system is presented, and a novel ship motion prediction model based on minor component analysis (MCA) is built up to improve the forecast effectiveness. To validate the feasibility of this landing forecast system, time series for the roll, pitch and heave are generated by simulation and then forecasted based on MCA. Simulation results show that ship-borne helicopters can land safely in higher sea condition while carrying on rescue or replenishment tasks at sea in terms of the landing forecast system.
基金Funding for this study has been provided by Natural Science Foundation of China under contract No.40271026China Postdoctoral Science Foundation under contract No.20060400210+1 种基金China National Society Commonweal Research Project under contract No.2001DLA50040-03the support of K.C.Wong Education Foundation,Hong Kong
文摘Based on the Chinese 19th National Antarctic Research Expedition,we carried out ship-based Antarctic sea-ice observa-tion on icebreaker Xue Long using Antarctic sea-ice process and climate (ASPeCt) criteria during austral summer.Sea-ice distribution data were obtained along nearly 6,500 km of the ship’s track.The measurement parameters included sea-ice thickness,sea-ice concentration,snow thickness,and floe size.Analysis showed the presence of the large spatial varia-tions of the observed sea-ice characteristics.Sea-ice concentration varied between 0 and 80 percent and reached its peak value in Weddell Sea because of the specific dynamical process affecting in summer sea-ice melting.There are large areas of open water along the study section.Sea ice and the upper snow thickness of the section varied between 10 cm and 210 cm and 2 cm and 80 cm,respectively,and each reaches its peak values near Amery ice shelf.The floe size varied from less than 10 cm and the maximum of more than 2,000 km along the section.
基金supported by the National Natural Science Foundation of China(Grant No.50538020)the National Science and Technology Planning(Grant No.2006BAJ03B00)
文摘At present, more and more offshore wind farms have been built anti ntnnerous projects are on the drawing tables. Therefore, the study on the safety of collision between ships and offshore wind turbines （OWT） is of great practical signifieance. The present study takes the advantage of the famous LS-DYNA explicit code to simulate the dynamic proeess of the collision between a typical 3MW offshore wind turbine model with monopile fi）undation and a simplified 2000t-class ship model. In the simulation, the added mass effect of the ship, contact nonlinearity of collision, material nonlinearity of steel and aluminum foam and adaptive mesh tectmique for large structure deformation have been taken into considera- tion. Proposed is a crashworthy device for OWF of new conceptual steel sphere shell-cireular ring aluminum foam pad, and the good pe.rfurmanee of the device under the conditions of ship-OWT front impact and side impact has been verified from the views of theoretical analysis and numerical results. The new crashworthy device can effectively smooth the contact force and reduce the top structure dynamic response, using its own structure plastic deformation to absorb most of the ship collision enerty. As a result, the main structure of the OWF and the inside key electric control equipments can be saved by scarifying the structural plastic deformation of new sphere crashworthy device. What is more, the sphere configuratiun design of the crashworthy device can effectively guide the ship to run away from the main OWT structure and reduce the damage of the ship and OWT to some degree during side impact.
文摘Nowadays, shipping industry which is the backbone of economic development has affiliated to ship maintenance and repair industry. This industry provides technical maintenance services to ships in a way to enable them to meet the requirements and regulations of the International Maritime Organization and maintaining the vessels at high technical standard & continual seaworthiness condition. Maintaining the minimum requirement of classification societies on the ships is solely taken place with repairs. The research method is an applied study in sake of aim and a descriptive study in sake of nature. This research has been conducted to examine causes and factors contributed to failures repairing in dry docks in the country;using the obtained results, an approach has been presented to reduce obstacles existing in country and reach to standard international levels. The problems include lack of suitable strategy, lack of government support, governmental facet of the structure of this sector, cumbersome laws, customs problems, lack of specialized workshops, low levels of technology and lack of new technology etc. Thus, by taking amendment to the cumbersome rules, taking advantage of industry and modern technology experts, increasing productivity and competitiveness, centralizing active domestic and foreign workshops at private sector, facilitating timely supply of parts and accessories, using research and development sector, increasing quality, reducing costs and repair time, selecting secure industrial- trade partner and etc. can pave the way in this context.
文摘The variation in microstructures and the mechanical properties of a Copper-bearing high strength ship-hull steel at different aging temperature was studied.The peak strength was obtained at the aging temperature of 450 ℃,which was attribute to the plentiful Cu precipitates and a bit of Nb(C,N).In the over-aged condition,both the partial recovery of matrix and the coarsening of Cu particles (10-60 nm) caused the loss of the yield strength (YS) and the improvement of toughness.The increase of the ultimate tensile strength (UTS) at aging temperature above 660℃ due to the formation of alloy-rich island structure transformed from the austenite phase upon cooling,and complied with the mixture law.The copper-bearing ship steel can exhibit an excellent combination of high strength and toughness while aging at 660 ℃ for 2 hours (UTS-818 MPa,YS-745 MPa,Akv-161 J at-40℃).
基金supported by National Natural Science Foundation of China (No. 11372144)National Science Fund for Distinguished Young Scholars of China (No. 61325017)National Science Foundation of Tianjin
文摘This paper proposes a novel nonlinear energy-based coupling control for an underactuated offshore ship-mounted crane,which guarantees both precise trolley positioning and payload swing suppressing performances under external sea wave disturbance. In addition to having such typical nonlinear underactuated property, as it is well known, an offshore ship-mounted crane also suffers from much unexpected persistent disturbances induced by sea waves or currents, which, essentially different from an overhead crane fixed on land, cause much difficulty in modeling and controller design. Inspired by the desire to achieve appropriate control performance against those challenging factors, in this paper, through carefully analyzing the inherent mechanism of the nonlinear dynamics, we first construct a new composite signal to enhance the coupling behavior of the trolley motion as well as the payload swing in the presence of ship′s roll motion disturbance. Based on which, an energy-based coupling control law is presented to achieve asymptotic stability of the crane control system′s equilibrium point. Without any linearization of the complex nonlinear dynamics, unlike traditional feedback controllers, the proposed control law takes a much simpler structure independent of the system parameters. To support the theoretical derivations and to further verify the actual control performance, Lyapunov-based mathematical analysis as well as numerical simulation/experimental results are carried out, which clarify the feasibility and superior performance of the proposed method over complicated disturbances.
