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A ship course controller is designed for Norrbin nonlinear ship mathematical model with matching uncertainty. Combining the backstepping algorithm with the nonlinear damping algorithm to design controller, the nonlinear damping is used to cancel the uncertainty. The integral item is introduced in the design to improve the performance of the controller. Now, general ships can only use the electric gyrocompass to measure the course angle, but they have no equipments to measure the angular velocity, so in this article another ship course controller of output feedback is designed for Norrbin nonlinear ship, firstly the angular velocity is estimated by the observer and then the ship course controller is designed.

本文基于含有匹配不确定项的Norrbin非线性船舶数学模型，将backstepping算法和非线性阻尼算法相结合设计船舶航向控制器，利用非线性阻尼来抵消系统的不确定项，同时为了更好地改善系统的性能，在设计过程中引入了积分项；由于目前一般船舶只有电罗经用于测量船舶的航向角，还没有测量船舶航向角速度的设备，因此，针对Norrbin非线性船舶模型设计了一种输出反馈控制器，首先利用观测器对船舶航向角速度进行估计，然后再设计船舶航向控制器。

Deviation or delay in prosecuting the voyage contemplated by the policy is excusedWhere arthorised by any special term in the policy ;or Where caused by circumstances beyond the control of the master and his employer;or Where reasonably necessary in order to ply with an express or implied warranty;or Where reasonably necessary for the safety of the ship or subject-matter insured; or For the purpose of saving human life, or aiding a ship in distress where human life may be in danger; or Where reasonably necessary for the purpose of obtaining medical or surgical aid for any person on board the ship;or Where caused by the barratrous conduct of the master or crew, if barratry be one of the perils insured against

（1）船舶在进行保险单预期的航次中，下述绕航或延迟可允许：保险单中任何特别条款授权许可者，或船长和其雇员不能控制的情况造成的；或为遵循明示或默示保证所合理必须的；或为船舶和保险标的的安全所合理必要的；或为了救助人命或为援助有人命危险的遇难船舶；或为船上任何人员及时得到内、外科治疗所合理必要的；或如果&船长、船员恶意损害被保险人利益的行为&系承保风险，由于该恶意行为造成的。（2）一旦允许绕航或迟延的原因停止作用，船舶必须合理尽速地回复原航线并继续其航程。

1Deviation or delay in prosecuting the voyage contemplated by the policy is excusedWhere authorized by any special term in the policy; orWhere caused by circumstances beyond the control of the mast er and his employer; orWhere reasonably necessary in order to comply with an expres s or implied warranty; orWhere reasonably necessary for the safety of the ship or sub ject-matter insured; orFor the purpose of saving human life, or aiding a ship in di stress where human life may be in danger; or Where reasonably necessary for the purpose of obtaining med ical or surgical aid for any person on board the ship orWhere caused by the barratrous conduct of the master or crew , if barratry be one of the perils insured against.

1船舶在完成保险单载明的航程中，下述绕航或延迟是许可的：保险单中特殊条款授权者；船长或其雇员不能控制的情况造成的；为遵循明示或默示保证所合理必要的；为船舶或保险标的的安全所合理必要的；为救助人命或为救护有人命危险的遇难船舶；为船上任何人员合理地及时得到内，外科治疗所合理必要的；如果&船长，船员欺诈恶行&是承保风险，由于船长或船员的欺诈恶行造成的。

Damage done to a ship and cargo, or either of them, by water or otherwise, including damage by beaching or scuttling a burning ship, in extinguishing a fire on board the ship, shall be made good as general average; except that no compensation shall be made for damage by smoke however caused or by heat of the fire.

为了扑灭船上火灾，因水或其他原因使船舶、货物遭受损坏，包括将着火船舶搁浅或凿沉所造成的损坏，均应作为共同海损受到补偿。但由于烟熏或因火引起热烤所造成的损坏除外。

Damage done to a ship and cargo, or either of them, by water or otherwise, including damage by beaching or scuttling a burning ship, in extinguishing a fire on board the ship, shall be allowed as general average; except that no allowance shall be made for damage by smoke however caused or by heat of the fire.

为了扑灭船上火灾，因水或其他原因使船舶、货物遭受损坏，包括将着火船舶搁浅或凿沉所造成的损坏，均应作为共同海损受到补偿。但由于烟熏或因火引起热烤所造成的损坏除外。

Damage done to a ship and cargo, or either of them, by water or otherwise, including damage by beaching or scuttling a burning ship, in extinguishing a fire on board the ship, shall be made good as general average; except that no compensation shall be made for damage by smoke or heat however caused .

为了扑灭船上火灾，因水或其他原因使船舶、货物遭受损坏，包括将着火船舶搁浅或凿沉所造成的损坏，均应作为共同海损受到补偿。但由于烟熏或因火引起热烤所造成的损坏除外。

Damage done to a ship and cargo, or either of them, by water or otherwise, including damage by beaching or scuttling a burning ship, in extinguishing a fire on board the ship, shall be made good as general average; except that no compensation shall be made for damage by smoke or heat however caused.

为了扑灭船上火灾，因水或其他原因使船舶、货物遭受损坏，包括将着火船舶搁浅或凿沉所造成的损坏，均应作为共同海损受到补偿。但烟熏或热烤所造成的损坏除外。

Damage done to a ship and cargo, or either of them, by water or otherwise, including damage by beaching or scuttling a burning ship, in extinguishing a fire on board the ship, shall be made good as general average; except that no compensation shall be made for damage by smoke however caused or by heat of the fire .

为共同安全作出牺牲或其后果和为了共同安全进行抛弃而开舱或打洞以致进水，造成船舶、货物的损坏，应作为共同海损受到补偿。

A combined berth possess of functions of 70,OOODWT international trade bulk coal ship loading and 100,OOODWT international trade bulk ore ship unloading, which length is within the need of ship berthing tie length by measures of making loader and unloader in one set and a reversing belt conveyor system. In a relative low investment, the imminence problem, faced by LIANYUNGANG port, of how to deal with the reverse flow direction bulk international trade coal and ore handled in high handling efficiency, huge transport ship and relatively low individual freight volume may be solved.

本文运用&装卸船设备合一&的设想，在连云港港10万吨级散货泊位系统改造工程中，将7万吨级的外贸煤炭装船泊位和10万吨级的矿石卸船泊位合二为一，并通过采用装卸船二用机和可双向运行的皮带机输送系统，使泊位的长度保持在10万吨级船型带缆所需的要求之内，宽度也不增加，以较低的投资解决了港口迫切需要解决的外贸煤炭和矿石二个运输船型较大、流向相反的货种的高效率装卸船问题。

Received by, or on behalf of, the Master of the vessel named overpage, from the Shipper named overpage, the goods or packages said to contain goods described overpage (weight, quality, quantity, contents and value being those declared by shippers and being unknown to Carrier) in apparent good order and condition, unless otherwise indicated in this bill of lading, To Be Transported subject to all the terms of this bill of lading with liberty to proceed via any port or ports within the scope of the voyage described herein to the Port of Discharge from Ship named overpage, or as near thereto as the ship can safely get and leave, always afloat at all stages and conditions of water and weather, and there To Be Delivered at the end of ship's tackle (where the Carrier's responsibility shall cease), Or, from said port of discharge, To Be Trans-shipped by the Carrier as forwarding agent for the shipper and/or consignee to the Destination of the Goods named overpage for delivery to the said consignee or holder of this bill of lading, subject always to the

上述船舶的船长或其代理人从上述发货人处收到上述货物，或装有上述货物的包装(重量、质量、数量、内容和价值为发货人所申报，承运人一概不知)，除了本提单另有说明的外，货物表面状况良好，货物将按本提单的条款规定由上述船舶进行运输，途经本提单规定航线内的港口而达卸货港，或到达船只能平安抵达与离开的附近港口，不管水域和天气情况如何，始终保持路货在途，在卸货港，船吊下交货，或，由承运人以发货人和／或货运代理人的身份，将其转运到上述货物的目的地，交与上述收货人或本提单的持有人，但必须遵循

And Pharaoh spoke to Joseph, saying, Your father and your brothers have come to you.

47：5 法老对约瑟说，你父亲和你弟兄们到你这里来了。

Additionally, the approximate flattening of surface strip using lines linking midpoints on perpendicular lines between geodesic curves and the unconditional extreme value method are discussed.

提出了用测地线方程、曲面上两点间短程线来计算膜结构曲面测地线的方法，同时，采用测地线间垂线的中点连线和用无约束极值法进行空间条状曲面近似展开的分析。