Background: The Occupational Safety and Health Council(OSHC) is committed to improve the safety performance of the high risk construction industry.In the past three years,about 40% of the fatal accidents in the constr...Background: The Occupational Safety and Health Council(OSHC) is committed to improve the safety performance of the high risk construction industry.In the past three years,about 40% of the fatal accidents in the construction industry were related to Renovation,Maintenance,Alteration and Addition(RMAA).Due to the poor safety record,some of the RMAA contractors have difficulty in obtaining the Employees' Compensation Insurance(ECI) cover in the market,or if they could obtain the ECI,the premium rate would be exceedingly high.In view of this,the OSHC,the Labour Department jointly launched"OSH Star Enterprise-Pilot Scheme on Safety Accreditation for the RMAA Industry",which prompts the industry to take practicable safety measures to improve the safety of working environment and reduce occupational injuries.The program also helps the stakeholders and insurers to identify safety-conscious contractors and thereby provide them with a favourable premium rate under the Employees' Compensation Insurance Residual Scheme(ECIRS).Objectives: The OSHC launches the Pilot Scheme to improve the safety performance of the RMAA industry through providing safety training,subsidizing enterprise to purchase safety equipment and providing safety audit.We also use financial incentive to encourage RMAA enterprises to join the Pilot Scheme-for those who are accredited as "OSH Star Enterprise"could receive a premium discount from the ERIRS when obtaining the ECI.The scheme also differentiates those safety-conscious and law-abiding enterprises from the poor performers,which helps the industry and public identifying the RMAA contractors who pay attention to work safety.Methods: The Pilot Scheme targets RMAA enterprises that employ less than 50 employees in Hong Kong.A three-pronged approach is used to improve the safety performance of the RMAA industry: the Pilot Scheme provides(1) financial support for the RMAA contractors to buy a transportable temporary anchor device and full body safety harness and its anchor system;(2) safety training on RMAA work safety and safety & health supervisor course;and(3) safety audit.Results: Enterprises that successfully pass the safety audit and satisfied the Scheme requirements will be accredited as"OSH Star Enterprise",which will be valid for two years.These enterprises can also be upgraded to"OSH Gold Star Enterprise"based on their continuous improvement in safety performance.OSHC will set up a register of OSH-accredited enterprises in RMAA works for reference of the public to facilitate their choosing of accredited contractors.The Employees' Compensation Insurance Residual Scheme Bureau will provide privileged premium rate for enterprises with OSH accreditation."OSH Star Enterprise"could enjoy 40% discounts when joining their insurance scheme.For example,a skilled worker's annual premium can be reduced by about HK $ 36,000.While,the "OSH Gold Star Enterprise"could enjoy 50% discounts when joining their insurance scheme,which means a skilled worker's annual premium can be reduced up to HK $ 45,000.Achievements: This Pilot Scheme offers practical assistance as well as attractive financial incentives for the RMAA industry to improve their safety performance.The Employees'Compensation Insurance Residual Scheme provides premium discounts for enterprises that have a good safety record.It provides incentive for RMAA contractors to actively participate in the Pilot Scheme.The Scheme demonstrates that by providing a safe working environment and appropriate personal protective equipment to workers,the enterprise not only helps to reduce the accident rate of the industry but also receive an economic return.The Pilot Scheme bridges stakeholders of RMAA industry,the government and the insurance industry creating an "all-win"situation.This partnership approach to prevent injuries and accidents in the construction industry could be an effective model for other industries.展开更多
针对无人水下机器人(unmanned underwater vehicle,UUV)工作中存在的执行器故障,在系统不确定性与外界干扰下,提出一种基于有限时间扰动观测器(finite time disturbance observer,FTDO),并结合改进模型的自适应鲁棒容错控制方法。一方面...针对无人水下机器人(unmanned underwater vehicle,UUV)工作中存在的执行器故障,在系统不确定性与外界干扰下,提出一种基于有限时间扰动观测器(finite time disturbance observer,FTDO),并结合改进模型的自适应鲁棒容错控制方法。一方面,FTDO能在有限时间内对外界环境干扰进行估计;另一方面利用滑模控制加上径向基神经网络(radial basis function neyral network,RBF)的万能逼近特性,建立带有执行器故障的输入补偿;其中改进模型的引入解决了系统不确定性导致的输入饱和,提高了稳定性与鲁棒性;其次采用一种新型的双幂趋近律使滑模量在更短时间收敛到稳态误差界内;仿真与水池实验结果表明了所提方法相对于滑模控制有着更好的容错效果。展开更多
为实现移动机器人在复杂动态障碍物环境中的避障,提出一种改进的快速随机扩展树(rapidly-exploring random tree,RRT^(*))与动态窗口法(dynamic window approach,DWA)相融合的动态路径规划方法。基于已知环境信息,利用改进RRT^(*)算法...为实现移动机器人在复杂动态障碍物环境中的避障,提出一种改进的快速随机扩展树(rapidly-exploring random tree,RRT^(*))与动态窗口法(dynamic window approach,DWA)相融合的动态路径规划方法。基于已知环境信息,利用改进RRT^(*)算法生成全局最优安全路径。通过消除RRT^(*)算法产生的危险节点,来确保全局路径的安全性;使用贪婪算法去除路径中的冗余节点,以缩短全局路径的长度。利用DWA算法跟踪改进RRT^(*)算法规划的最优路径。当全局路径上出现静态障碍物时,通过二次调整DWA算法评价函数的权重来避开障碍物并及时回归原路线;当环境中出现移动障碍物时,通过提前检测危险距离并转向加速的方式安全驶离该区域。仿真结果表明:该算法在复杂动态环境中运行时间短、路径成本小,与障碍物始终保持安全距离,确保在安全避开动态障碍物的同时,跟踪最优路径。展开更多
文摘Background: The Occupational Safety and Health Council(OSHC) is committed to improve the safety performance of the high risk construction industry.In the past three years,about 40% of the fatal accidents in the construction industry were related to Renovation,Maintenance,Alteration and Addition(RMAA).Due to the poor safety record,some of the RMAA contractors have difficulty in obtaining the Employees' Compensation Insurance(ECI) cover in the market,or if they could obtain the ECI,the premium rate would be exceedingly high.In view of this,the OSHC,the Labour Department jointly launched"OSH Star Enterprise-Pilot Scheme on Safety Accreditation for the RMAA Industry",which prompts the industry to take practicable safety measures to improve the safety of working environment and reduce occupational injuries.The program also helps the stakeholders and insurers to identify safety-conscious contractors and thereby provide them with a favourable premium rate under the Employees' Compensation Insurance Residual Scheme(ECIRS).Objectives: The OSHC launches the Pilot Scheme to improve the safety performance of the RMAA industry through providing safety training,subsidizing enterprise to purchase safety equipment and providing safety audit.We also use financial incentive to encourage RMAA enterprises to join the Pilot Scheme-for those who are accredited as "OSH Star Enterprise"could receive a premium discount from the ERIRS when obtaining the ECI.The scheme also differentiates those safety-conscious and law-abiding enterprises from the poor performers,which helps the industry and public identifying the RMAA contractors who pay attention to work safety.Methods: The Pilot Scheme targets RMAA enterprises that employ less than 50 employees in Hong Kong.A three-pronged approach is used to improve the safety performance of the RMAA industry: the Pilot Scheme provides(1) financial support for the RMAA contractors to buy a transportable temporary anchor device and full body safety harness and its anchor system;(2) safety training on RMAA work safety and safety & health supervisor course;and(3) safety audit.Results: Enterprises that successfully pass the safety audit and satisfied the Scheme requirements will be accredited as"OSH Star Enterprise",which will be valid for two years.These enterprises can also be upgraded to"OSH Gold Star Enterprise"based on their continuous improvement in safety performance.OSHC will set up a register of OSH-accredited enterprises in RMAA works for reference of the public to facilitate their choosing of accredited contractors.The Employees' Compensation Insurance Residual Scheme Bureau will provide privileged premium rate for enterprises with OSH accreditation."OSH Star Enterprise"could enjoy 40% discounts when joining their insurance scheme.For example,a skilled worker's annual premium can be reduced by about HK $ 36,000.While,the "OSH Gold Star Enterprise"could enjoy 50% discounts when joining their insurance scheme,which means a skilled worker's annual premium can be reduced up to HK $ 45,000.Achievements: This Pilot Scheme offers practical assistance as well as attractive financial incentives for the RMAA industry to improve their safety performance.The Employees'Compensation Insurance Residual Scheme provides premium discounts for enterprises that have a good safety record.It provides incentive for RMAA contractors to actively participate in the Pilot Scheme.The Scheme demonstrates that by providing a safe working environment and appropriate personal protective equipment to workers,the enterprise not only helps to reduce the accident rate of the industry but also receive an economic return.The Pilot Scheme bridges stakeholders of RMAA industry,the government and the insurance industry creating an "all-win"situation.This partnership approach to prevent injuries and accidents in the construction industry could be an effective model for other industries.
文摘针对无人水下机器人(unmanned underwater vehicle,UUV)工作中存在的执行器故障,在系统不确定性与外界干扰下,提出一种基于有限时间扰动观测器(finite time disturbance observer,FTDO),并结合改进模型的自适应鲁棒容错控制方法。一方面,FTDO能在有限时间内对外界环境干扰进行估计;另一方面利用滑模控制加上径向基神经网络(radial basis function neyral network,RBF)的万能逼近特性,建立带有执行器故障的输入补偿;其中改进模型的引入解决了系统不确定性导致的输入饱和,提高了稳定性与鲁棒性;其次采用一种新型的双幂趋近律使滑模量在更短时间收敛到稳态误差界内;仿真与水池实验结果表明了所提方法相对于滑模控制有着更好的容错效果。
文摘为实现移动机器人在复杂动态障碍物环境中的避障,提出一种改进的快速随机扩展树(rapidly-exploring random tree,RRT^(*))与动态窗口法(dynamic window approach,DWA)相融合的动态路径规划方法。基于已知环境信息,利用改进RRT^(*)算法生成全局最优安全路径。通过消除RRT^(*)算法产生的危险节点,来确保全局路径的安全性;使用贪婪算法去除路径中的冗余节点,以缩短全局路径的长度。利用DWA算法跟踪改进RRT^(*)算法规划的最优路径。当全局路径上出现静态障碍物时,通过二次调整DWA算法评价函数的权重来避开障碍物并及时回归原路线;当环境中出现移动障碍物时,通过提前检测危险距离并转向加速的方式安全驶离该区域。仿真结果表明:该算法在复杂动态环境中运行时间短、路径成本小,与障碍物始终保持安全距离,确保在安全避开动态障碍物的同时,跟踪最优路径。
