Article(id=1208052617842889319, tenantId=1146029695717560320, journalId=1146123222451335185, issueId=1208052403727864410, articleNumber=1671-1807(2025)12-0267-08, orderNo=null, doi=null, pmid=null, cstr=null, oa=null, hot=null, price=null, onlineType=0, articleFormat=0, articleType=null, articleTypeStr=research-article, receivedDate=1733500800000, receivedDateStr=2024-12-07, revisedDate=null, revisedDateStr=null, acceptedDate=null, acceptedDateStr=null, onlineDate=1765951788625, onlineDateStr=2025-12-17, pubDate=1750780800000, pubDateStr=2025-06-25, doiRegisterDate=null, doiRegisterDateStr=null, onlineIssueDate=1765951788625, onlineIssueDateStr=2025-12-17, onlineJustAcceptDate=null, onlineJustAcceptDateStr=null, onlineFirstDate=null, onlineFirstDateStr=null, sourceXml=null, magXml=null, createTime=1765951788625, creator=13701087609, updateTime=1765951788625, updator=13701087609, issue=Issue{id=1208052403727864410, tenantId=1146029695717560320, journalId=1146123222451335185, year='2025', volume='25', issue='12', pageStart='1', pageEnd='400', issueExtLink='null', onlineDate='null', pubDate='null', beforeIssueId=null, nextIssueId=null, price=null, status=1, issueComplete=1, articleOrder=1, issueType=-1, specialIssue=null, createTime=1765951737577, creator=13701087609, updateTime=1765951864175, updator=13701087609, preIssue=null, nextIssue=null, ext={EN=IssueExt(id=1208052934781281080, tenantId=1146029695717560320, journalId=1146123222451335185, issueId=1208052403727864410, language=EN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=), CN=IssueExt(id=1208052934781281081, tenantId=1146029695717560320, journalId=1146123222451335185, issueId=1208052403727864410, language=CN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=)}, issueFiles=null}, startPage=267, endPage=274, ext={EN=ArticleExt(id=1208052618316845699, articleId=1208052617842889319, tenantId=1146029695717560320, journalId=1146123222451335185, language=EN, title=Accident Risk Assessment of LNG Reservoir Area Based on Improved Bayesian Model, columnId=1151877663716159826, journalTitle=Science Technology and Industry, columnName=Enterprise Application, runingTitle=null, highlight=null, articleAbstract=
Abnormal events involving potential safety hazards and near misses are used as early warnings and signs for the escalation of minor accidents to major accidents, which can be used to establish accident models to identify source events and correct unsafe factors in the protection system. Tailored to the process characteristics and accident features of liquefied natural gas(LNG) storage areas, the system hazard identification, prediction and prevention(SHIPP) model was improved, and a novel risk assessment modeling method integrating fault trees, Bayesian networks, and the A-star algorithm was proposed. Firstly, based on expert experience and abnormal events in the accident alarm database, a safety barrier model and fault tree were established. Then, following the chain rule, the fault tree was mapped to a Bayesian network. Finally, the improved A-star algorithm was integrated to determine the accident occurrence pathways. Research based on the LNG accident alarm database indicates that this method, compared to the traditional SHIPP model, can achieve dynamic forward risk assessment and quantify the conditional probabilities between accidents, as well as simulate the accident occurrence process when safety barriers fail in reverse. The research results can provide reasonable design and decision-making for the system safety and risk avoidance of LNG storage areas.
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安全隐患、未遂事故等异常事件是小事故升级为重大事故的早期预警,可用来建立事故模型识别源头事件及纠正保护系统中的不安全因素。结合液化天然气(LNG)库区的工艺特点和事故特征,对系统危害辨识、预测及预防(system hazard identification, prediction and prevention,SHIPP)模型改进,提出一种将故障树、贝叶斯网络与A-star算法融合的风险评估建模方法。首先依托专家经验,结合事故报警数据库中的异常事件建立安全屏障模型和故障树;然后遵循链式法则将故障树映射为贝叶斯网络;最后与改进的 A-star 算法融合确定事故发生途径。基于LNG事故报警数据库的研究表明,该方法相较于传统的SHIPP模型,可以实现动态前向风险评估并量化事故之间的条件概率,反向模拟安全屏障失效时的事故发生过程。研究成果可为LNG库区的系统安全、风险规避提供合理设计及决策。
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王晓光(1997—),女,山东省济宁人,硕士,助教,研究方向为工业智能控制。
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王晓光(1997—),女,山东省济宁人,硕士,助教,研究方向为工业智能控制。
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41(2): 165-176., articleTitle=安全屏障对储油罐区池火灾多米诺效应概率的影响, refAbstract=null)], funds=[Fund(id=1208083804003082336, tenantId=1146029695717560320, journalId=1146123222451335185, articleId=1208052617842889319, awardId=null, language=CN, fundingSource=山东城市服务职业学院院级科研基金课题资助, fundOrder=null, country=null)], companyList=[AuthorCompany(id=1208083795123741340, tenantId=1146029695717560320, journalId=1146123222451335185, articleId=1208052617842889319, xref=null, ext=[AuthorCompanyExt(id=1208083795132129950, tenantId=1146029695717560320, journalId=1146123222451335185, articleId=1208052617842889319, companyId=1208083795123741340, language=EN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=Shandong City Service Technician College, Yantai 264000, Shandong, China), AuthorCompanyExt(id=1208083795144712865, tenantId=1146029695717560320, journalId=1146123222451335185, articleId=1208052617842889319, companyId=1208083795123741340, language=CN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=山东城市服务职业学院智能制造学院, 山东 烟台 264000)])], figs=[ArticleFig(id=1208083797489329005, tenantId=1146029695717560320, journalId=1146123222451335185, articleId=1208052617842889319, language=EN, label=null, caption=null, figureFileSmall=FacdAHAhmHX10F/YmUaXEg==, figureFileBig=5ONaosX31BNNYHzc5GsRIg==, tableContent=null), ArticleFig(id=1208083797619352442, tenantId=1146029695717560320, journalId=1146123222451335185, articleId=1208052617842889319, language=CN, label=图1, caption=
SHIPP模型框架, figureFileSmall=FacdAHAhmHX10F/YmUaXEg==, figureFileBig=5ONaosX31BNNYHzc5GsRIg==, tableContent=null), ArticleFig(id=1208083797778736008, tenantId=1146029695717560320, journalId=1146123222451335185, articleId=1208052617842889319, language=EN, label=null, caption=null, figureFileSmall=xcVkYq5f0DBG7mZ6lddH8Q==, figureFileBig=PrDGakfv1aHfaWzI92NRHg==, tableContent=null), ArticleFig(id=1208083797900370835, tenantId=1146029695717560320, journalId=1146123222451335185, articleId=1208052617842889319, language=CN, label=图2, caption=
某企业LNG库区事件树结构框架, figureFileSmall=xcVkYq5f0DBG7mZ6lddH8Q==, figureFileBig=PrDGakfv1aHfaWzI92NRHg==, tableContent=null), ArticleFig(id=1208083798038782880, tenantId=1146029695717560320, journalId=1146123222451335185, articleId=1208052617842889319, language=EN, label=null, caption=null, figureFileSmall=8Y5j63is8pyT/UP3JVxJrA==, figureFileBig=/bEhTDW6TwFZgGKwD2wVkQ==, tableContent=null), ArticleFig(id=1208083799234159529, tenantId=1146029695717560320, journalId=1146123222451335185, articleId=1208052617842889319, language=CN, label=图3, caption=
某LNG库区释放预防安全屏障失效故障树, figureFileSmall=8Y5j63is8pyT/UP3JVxJrA==, figureFileBig=/bEhTDW6TwFZgGKwD2wVkQ==, tableContent=null), ArticleFig(id=1208083799305462700, tenantId=1146029695717560320, journalId=1146123222451335185, articleId=1208052617842889319, language=EN, label=null, caption=null, figureFileSmall=8BQsvBk4q25lswSGrqLVaQ==, figureFileBig=9X8zqTWE83+KgapPJF8pUg==, tableContent=null), ArticleFig(id=1208083799485817783, tenantId=1146029695717560320, journalId=1146123222451335185, articleId=1208052617842889319, language=CN, label=图4, caption=
某LNG库区扩散预防安全屏障失效故障树, figureFileSmall=8BQsvBk4q25lswSGrqLVaQ==, figureFileBig=9X8zqTWE83+KgapPJF8pUg==, tableContent=null), ArticleFig(id=1208083799603258299, tenantId=1146029695717560320, journalId=1146123222451335185, articleId=1208052617842889319, language=EN, label=null, caption=null, figureFileSmall=6dX0+A6g0LOQYmwRTrEDAA==, figureFileBig=Qb5mz7p9tTeQ7bsfjbxGsA==, tableContent=null), ArticleFig(id=1208083799703921605, tenantId=1146029695717560320, journalId=1146123222451335185, articleId=1208052617842889319, language=CN, label=图5, caption=
某LNG库区点火预防安全屏障失效故障树, figureFileSmall=6dX0+A6g0LOQYmwRTrEDAA==, figureFileBig=Qb5mz7p9tTeQ7bsfjbxGsA==, tableContent=null), ArticleFig(id=1208083799884276688, tenantId=1146029695717560320, journalId=1146123222451335185, articleId=1208052617842889319, language=EN, label=null, caption=null, figureFileSmall=w2BQmjODGF/0dpclogel2w==, figureFileBig=EoxOycWAOZuT7XtakrOzaw==, tableContent=null), ArticleFig(id=1208083800014300120, tenantId=1146029695717560320, journalId=1146123222451335185, articleId=1208052617842889319, language=CN, label=图6, caption=
故障树转贝叶斯网络示意图, figureFileSmall=w2BQmjODGF/0dpclogel2w==, figureFileBig=EoxOycWAOZuT7XtakrOzaw==, tableContent=null), ArticleFig(id=1208083800207238108, tenantId=1146029695717560320, journalId=1146123222451335185, articleId=1208052617842889319, language=EN, label=null, caption=null, figureFileSmall=Qc7Ij1RimEtr1EUuejEecg==, figureFileBig=4zdK3c7XCBUJyf5pbHTpKA==, tableContent=null), ArticleFig(id=1208083800337261541, tenantId=1146029695717560320, journalId=1146123222451335185, articleId=1208052617842889319, language=CN, label=图7, caption=
释放预防安全屏障故障树贝叶斯网络示意图, figureFileSmall=Qc7Ij1RimEtr1EUuejEecg==, figureFileBig=4zdK3c7XCBUJyf5pbHTpKA==, tableContent=null), ArticleFig(id=1208083800425341928, tenantId=1146029695717560320, journalId=1146123222451335185, articleId=1208052617842889319, language=EN, label=null, caption=null, figureFileSmall=VCnrqef2+AsChZqibVlWPw==, figureFileBig=u+F3ypoQLB6ldtEi5kLLAA==, tableContent=null), ArticleFig(id=1208083800588919796, tenantId=1146029695717560320, journalId=1146123222451335185, articleId=1208052617842889319, language=CN, label=图8, caption=
点火预防安全屏障故障树贝叶斯网络前向动态更新示意图, figureFileSmall=VCnrqef2+AsChZqibVlWPw==, figureFileBig=u+F3ypoQLB6ldtEi5kLLAA==, tableContent=null), ArticleFig(id=1208083800706360315, tenantId=1146029695717560320, journalId=1146123222451335185, articleId=1208052617842889319, language=EN, label=null, caption=null, figureFileSmall=g66NWr3IUahr/vc6Oif6eA==, figureFileBig=7syEpWRxbyV/JCNGSJbQPA==, tableContent=null), ArticleFig(id=1208083800848965638, tenantId=1146029695717560320, journalId=1146123222451335185, articleId=1208052617842889319, language=CN, label=图9, caption=
某LNG库区各类型事故发生后验概率变化趋势, figureFileSmall=g66NWr3IUahr/vc6Oif6eA==, figureFileBig=7syEpWRxbyV/JCNGSJbQPA==, tableContent=null), ArticleFig(id=1208083800937046027, tenantId=1146029695717560320, journalId=1146123222451335185, articleId=1208052617842889319, language=EN, label=null, caption=null, figureFileSmall=qY1p9OEL4GWVWoO0DNtFSw==, figureFileBig=4uMwbKr/zCg8ojUT5WGynQ==, tableContent=null), ArticleFig(id=1208083801058680849, tenantId=1146029695717560320, journalId=1146123222451335185, articleId=1208052617842889319, language=CN, label=图10, caption=
某LNG库区各类型事故发生后验概率变化趋势, figureFileSmall=qY1p9OEL4GWVWoO0DNtFSw==, figureFileBig=4uMwbKr/zCg8ojUT5WGynQ==, tableContent=null), ArticleFig(id=1208083801218064406, tenantId=1146029695717560320, journalId=1146123222451335185, articleId=1208052617842889319, language=EN, label=null, caption=null, figureFileSmall=null, figureFileBig=null, tableContent=
| 序号 | 基本事件 | 关键概率 | 序号 | 基本事件 | 关键概率 |
| 1 | 开启隔离阀门失败 | 0.058 | 16 | 报警器锈蚀 | 0.026 |
| 2 | 施工场地未拉警戒线 | 0.024 | 17 | 未做除尘处理 | 0.015 |
| 3 | 无安全操作手册 | 0.040 | 18 | 管道腐蚀 | 0.011 |
| 4 | 无工作许可证 | 0.010 | 19 | 管道堵塞 | 0.013 |
| 5 | 防爆管道未封堵 | 0.100 | 20 | 配电设备失效 | 0.069 |
| 6 | 传感器失效 | 0.024 | 21 | 电线断开 | 0.001 |
| 7 | 保护系统失效 | 0.020 | 22 | 设备静电 | 0.026 |
| 8 | 阀门定位传感器故障 | 0.090 | 23 | 检查方法不规范 | 0.090 |
| 9 | 阀门定位控制系统故障 | 0.150 | 24 | 未发现腐蚀故障 | 0.100 |
| 10 | 阀门未定期维修 | 0.150 | 25 | 检查计划延迟 | 0.050 |
| 11 | 维修未检查到故障 | 0.015 | 26 | 固定不稳 | 0.077 |
| 12 | 维修超出工作要求 | 0.050 | 27 | 未起作用 | 0.047 |
| 13 | 施工不合格 | 0.010 | 28 | 未检测到泄露区域 | 0.050 |
| 14 | 检查标准不合格 | 0.025 | 29 | 未发现焊缝退化 | 0.066 |
| 15 | 检测器故障 | 0.025 | 30 | 未执行焊缝检查 | 0.050 |
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某LNG库区释放预防安全屏障故障树基本事件及先验概率
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| 序号 | 基本事件 | 关键概率 | 序号 | 基本事件 | 关键概率 |
| 1 | 开启隔离阀门失败 | 0.058 | 16 | 报警器锈蚀 | 0.026 |
| 2 | 施工场地未拉警戒线 | 0.024 | 17 | 未做除尘处理 | 0.015 |
| 3 | 无安全操作手册 | 0.040 | 18 | 管道腐蚀 | 0.011 |
| 4 | 无工作许可证 | 0.010 | 19 | 管道堵塞 | 0.013 |
| 5 | 防爆管道未封堵 | 0.100 | 20 | 配电设备失效 | 0.069 |
| 6 | 传感器失效 | 0.024 | 21 | 电线断开 | 0.001 |
| 7 | 保护系统失效 | 0.020 | 22 | 设备静电 | 0.026 |
| 8 | 阀门定位传感器故障 | 0.090 | 23 | 检查方法不规范 | 0.090 |
| 9 | 阀门定位控制系统故障 | 0.150 | 24 | 未发现腐蚀故障 | 0.100 |
| 10 | 阀门未定期维修 | 0.150 | 25 | 检查计划延迟 | 0.050 |
| 11 | 维修未检查到故障 | 0.015 | 26 | 固定不稳 | 0.077 |
| 12 | 维修超出工作要求 | 0.050 | 27 | 未起作用 | 0.047 |
| 13 | 施工不合格 | 0.010 | 28 | 未检测到泄露区域 | 0.050 |
| 14 | 检查标准不合格 | 0.025 | 29 | 未发现焊缝退化 | 0.066 |
| 15 | 检测器故障 | 0.025 | 30 | 未执行焊缝检查 | 0.050 |
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| 序号 | 基本事件 | 关键概率 | 序号 | 基本事件 | 关键概率 |
| 1 | 气体检测传感器故障 | 0.128 | 12 | 紧急停机控制器故障 | 0.250 |
| 2 | 气体检测控制器故障 | 0.001 | 13 | 阀门延时响应 | 0.050 |
| 3 | 气体探测报警故障 | 0.020 | 14 | 未按要求关闭阀门 | 0.130 |
| 4 | 检测器覆盖不足 | 0.050 | 15 | 物理屏障失效 | 0.010 |
| 5 | 长时间延误检查 | 0.010 | 16 | 物理屏障性能不足 | 0.010 |
| 6 | 手动检测轻微释放故障 | 0.050 | 17 | 气体惰化失效 | 0.050 |
| 7 | 未进行人工检查 | 0.050 | 18 | 气体惰化不足 | 0.080 |
| 8 | 操作员反应不及时 | 0.010 | 19 | 排水系统失效 | 0.080 |
| 9 | 操作员意识不足 | 0.040 | 20 | 被动屏障失效 | 0.040 |
| 10 | 操作员应急反应不规范 | 0.050 | 21 | 通风不足 | 0.067 |
| 11 | 紧急停车传感器故障 | 0.024 | 22 | 空气流通稀释失败 | 0.040 |
), ArticleFig(id=1208083801570385963, tenantId=1146029695717560320, journalId=1146123222451335185, articleId=1208052617842889319, language=CN, label=表2, caption=
某LNG库区扩散预防安全屏障故障树基本事件及先验概率
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| 序号 | 基本事件 | 关键概率 | 序号 | 基本事件 | 关键概率 |
| 1 | 气体检测传感器故障 | 0.128 | 12 | 紧急停机控制器故障 | 0.250 |
| 2 | 气体检测控制器故障 | 0.001 | 13 | 阀门延时响应 | 0.050 |
| 3 | 气体探测报警故障 | 0.020 | 14 | 未按要求关闭阀门 | 0.130 |
| 4 | 检测器覆盖不足 | 0.050 | 15 | 物理屏障失效 | 0.010 |
| 5 | 长时间延误检查 | 0.010 | 16 | 物理屏障性能不足 | 0.010 |
| 6 | 手动检测轻微释放故障 | 0.050 | 17 | 气体惰化失效 | 0.050 |
| 7 | 未进行人工检查 | 0.050 | 18 | 气体惰化不足 | 0.080 |
| 8 | 操作员反应不及时 | 0.010 | 19 | 排水系统失效 | 0.080 |
| 9 | 操作员意识不足 | 0.040 | 20 | 被动屏障失效 | 0.040 |
| 10 | 操作员应急反应不规范 | 0.050 | 21 | 通风不足 | 0.067 |
| 11 | 紧急停车传感器故障 | 0.024 | 22 | 空气流通稀释失败 | 0.040 |
), ArticleFig(id=1208083801675243567, tenantId=1146029695717560320, journalId=1146123222451335185, articleId=1208052617842889319, language=EN, label=null, caption=null, figureFileSmall=null, figureFileBig=null, tableContent=
| 序号 | 基本事件 | 关键概率 | 序号 | 基本事件 | 关键概率 |
| 1 | 高温作业许可证未签发 | 0.033 | 10 | 燃烧器屏蔽失败 | 0.010 |
| 2 | 无规范工作标准 | 0.067 | 11 | 燃烧器未跳闸 | 0.044 |
| 3 | 未授权进行高温风险评估 | 0.100 | 12 | 火焰探测器检测失败 | 0.056 |
| 4 | 外部监督失败 | 0.083 | 13 | 火焰探测器故障 | 0.050 |
| 5 | 操作员培训不足 | 0.100 | 14 | 火焰检测器覆盖不足 | 0.070 |
| 6 | 未授权操作 | 0.040 | 15 | 安检员未检测到火源 | 0.050 |
| 7 | 未遵守工作要求 | 0.045 | 16 | 燃油管路绝缘失效 | 0.010 |
| 8 | 无工作许可证操作 | 0.010 | 17 | 燃烧器绝缘失效 | 0.010 |
| 9 | 防热层失效 | 0.067 | | | |
), ArticleFig(id=1208083801801072694, tenantId=1146029695717560320, journalId=1146123222451335185, articleId=1208052617842889319, language=CN, label=表3, caption=
某LNG库区点火预防安全屏障故障树基本事件及先验概率
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| 序号 | 基本事件 | 关键概率 | 序号 | 基本事件 | 关键概率 |
| 1 | 高温作业许可证未签发 | 0.033 | 10 | 燃烧器屏蔽失败 | 0.010 |
| 2 | 无规范工作标准 | 0.067 | 11 | 燃烧器未跳闸 | 0.044 |
| 3 | 未授权进行高温风险评估 | 0.100 | 12 | 火焰探测器检测失败 | 0.056 |
| 4 | 外部监督失败 | 0.083 | 13 | 火焰探测器故障 | 0.050 |
| 5 | 操作员培训不足 | 0.100 | 14 | 火焰检测器覆盖不足 | 0.070 |
| 6 | 未授权操作 | 0.040 | 15 | 安检员未检测到火源 | 0.050 |
| 7 | 未遵守工作要求 | 0.045 | 16 | 燃油管路绝缘失效 | 0.010 |
| 8 | 无工作许可证操作 | 0.010 | 17 | 燃烧器绝缘失效 | 0.010 |
| 9 | 防热层失效 | 0.067 | | | |
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| 月份 | 安全偏离 | 未遂事故 | 轻微事故 | 一般事故 |
| 1 | 5 | 4 | 2 | 1 |
| 2 | 9 | 10 | 4 | 1 |
| 3 | 14 | 17 | 6 | 2 |
| 4 | 32 | 61 | 18 | 10 |
| 5 | 37 | 79 | 23 | 12 |
| 6 | 40 | 88 | 24 | 13 |
| 7 | 44 | 94 | 24 | 14 |
| 8 | 48 | 101 | 27 | 15 |
| 9 | 51 | 111 | 30 | 16 |
| 10 | 53 | 114 | 32 | 18 |
| 11 | 55 | 116 | 33 | 21 |
| 12 | 58 | 119 | 36 | 24 |
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训练样本集
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| 月份 | 安全偏离 | 未遂事故 | 轻微事故 | 一般事故 |
| 1 | 5 | 4 | 2 | 1 |
| 2 | 9 | 10 | 4 | 1 |
| 3 | 14 | 17 | 6 | 2 |
| 4 | 32 | 61 | 18 | 10 |
| 5 | 37 | 79 | 23 | 12 |
| 6 | 40 | 88 | 24 | 13 |
| 7 | 44 | 94 | 24 | 14 |
| 8 | 48 | 101 | 27 | 15 |
| 9 | 51 | 111 | 30 | 16 |
| 10 | 53 | 114 | 32 | 18 |
| 11 | 55 | 116 | 33 | 21 |
| 12 | 58 | 119 | 36 | 24 |
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| 月份 | 释放预防 安全屏障 | 扩散预防 安全屏障 | 点火预防 安全屏障 |
| 1 | 0.583/0.062 8 | 0.429/0.040 5 | 0.333/0.021 2 |
| 2 | 0.625/0.073 9 | 0.333/0.027 3 | 0.200/0.010 7 |
| 3 | 0.641/0.078 8 | 0.32/0.025 8 | 0.250/0.014 3 |
| 4 | 0.736/0.117 8 | 0.315/0.025 2 | 0.357/0.023 5 |
| 5 | 0.755/0.128 6 | 0.307/0.024 3 | 0.343/0.022 2 |
| 6 | 0.758/0.130 4 | 0.296/0.023 1 | 0.351/0.022 9 |
| 7 | 0.750/0.125 6 | 0.288/0.022 2 | 0.368/0.024 7 |
| 8 | 0.749/0.125 0 | 0.294/0.022 9 | 0.357/0.023 5 |
| 9 | 0.755/0.128 6 | 0.293/0.022 8 | 0.348/0.022 6 |
| 10 | 0.756/0.129 2 | 0.305/0.024 1 | 0.360/0.023 8 |
| 11 | 0.756/0.129 2 | 0.318/0.025 5 | 0.389/0.026 9 |
| 12 | 0.755/0.128 6 | 0.335/0.027 5 | 0.400/0.028 1 |
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各安全屏障失效似然概率及后验概率
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| 月份 | 释放预防 安全屏障 | 扩散预防 安全屏障 | 点火预防 安全屏障 |
| 1 | 0.583/0.062 8 | 0.429/0.040 5 | 0.333/0.021 2 |
| 2 | 0.625/0.073 9 | 0.333/0.027 3 | 0.200/0.010 7 |
| 3 | 0.641/0.078 8 | 0.32/0.025 8 | 0.250/0.014 3 |
| 4 | 0.736/0.117 8 | 0.315/0.025 2 | 0.357/0.023 5 |
| 5 | 0.755/0.128 6 | 0.307/0.024 3 | 0.343/0.022 2 |
| 6 | 0.758/0.130 4 | 0.296/0.023 1 | 0.351/0.022 9 |
| 7 | 0.750/0.125 6 | 0.288/0.022 2 | 0.368/0.024 7 |
| 8 | 0.749/0.125 0 | 0.294/0.022 9 | 0.357/0.023 5 |
| 9 | 0.755/0.128 6 | 0.293/0.022 8 | 0.348/0.022 6 |
| 10 | 0.756/0.129 2 | 0.305/0.024 1 | 0.360/0.023 8 |
| 11 | 0.756/0.129 2 | 0.318/0.025 5 | 0.389/0.026 9 |
| 12 | 0.755/0.128 6 | 0.335/0.027 5 | 0.400/0.028 1 |
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| 步骤 | OPEN表 | CLOSED表 | 父节点 |
| 1 | T3 | 空 | 空 |
| 2 | I3,I4,I6,I7 | T3 | T3 |
| 3 | I3,I6,I4,I7 | T3 | T3 |
| 4 | I6,I4,I7 | T3,I3 | I3 |
| 5 | I1,X4,I2 | T3,I3 | I3 |
| 6 | X4,I1,I2 | T3,I3 | I3 |
| 7 | I1,I2 | T3,I3,X4 | I3 |
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A-star事故过程搜索步骤
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| 步骤 | OPEN表 | CLOSED表 | 父节点 |
| 1 | T3 | 空 | 空 |
| 2 | I3,I4,I6,I7 | T3 | T3 |
| 3 | I3,I6,I4,I7 | T3 | T3 |
| 4 | I6,I4,I7 | T3,I3 | I3 |
| 5 | I1,X4,I2 | T3,I3 | I3 |
| 6 | X4,I1,I2 | T3,I3 | I3 |
| 7 | I1,I2 | T3,I3,X4 | I3 |
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