Radar-based collision avoidance for unmanned surface vehicles     

庄佳园  张磊  赵士奇  曹建  王博  孙寒冰 《中国海洋工程》2016,30(6):867-883

Unmanned surface vehicles (USVs) have become a focus of research because of their extensive applications. To ensure safety and reliability and to perform complex tasks autonomously, USVs are required to possess accurate perception of the environment and effective collision avoidance capabilities. To achieve these, investigation into realtime marine radar target detection and autonomous collision avoidance technologies is required, aiming at solving the problems of noise jamming, uneven brightness, target loss, and blind areas in marine radar images. These technologies should also satisfy the requirements of real-time and reliability related to high navigation speeds of USVs. Therefore, this study developed an embedded collision avoidance system based on the marine radar, investigated a highly real-time target detection method which contains adaptive smoothing algorithm and robust segmentation algorithm, developed a stable and reliable dynamic local environment model to ensure the safety of USV navigation, and constructed a collision avoidance algorithm based on velocity obstacle (V-obstacle) which adjusts the USV’s heading and speed in real-time. Sea trials results in multi-obstacle avoidance firstly demonstrate the effectiveness and efficiency of the proposed avoidance system, and then verify its great adaptability and relative stability when a USV sailing in a real and complex marine environment. The obtained results will improve the intelligent level of USV and guarantee the safety of USV independent sailing.  相似文献   

Paratacamite from Gypsum Veins in Sandstones of the Kuqa Basin,Xinjiang, China: Implications for a New Epigenetic Cu Enrichment Mechanism          下载免费PDF全文

Yangtong Cao  Chenglin Liu  Pengcheng Jiao  Chunlian Wang 《Resource Geology》2016,66(2):114-126

The Kuqa Basin filled with Paleogene evaporite series is located in the northeast of the Tarim Basin, Xinjiang, China. It is famous for sandstone‐hosted Cu deposits formed by synsedimentary processes. However, our recent studies reveal that there has been another Cu mineralization mechanism in this basin. Field investigations show that there is a close relationship among faults, salt domes, and brine. Cu deposits are mainly located in two east–west‐trending anticlinal belts in the basin, adjacent to salt domes in the belts. Cu minerals in gypsum veins of the Jidike and Kangcun formations have been investigated by SEM, EDS, and X‐ray diffraction methods. The occurrence of paratacamite in gypsum veins has been reported to coexist with glauberite and halite in the joint planes of sandstones. In addition, it occurs accompanying residual crystal salt encrustation in limestone fractures, or in sandstones in dendritic form. These features indicate that the surface‐Cu enrichment in the Kuqa Basin might have originated from Cu‐bearing brine in the underlying evaporite units, which migrated upward along fractures. In addition, the presence of H₂S in the east–west fault belt in the Kuqa Basin, and the discovery of surface sulfur, calcium carbonate, and covellite, suggest thermochemical sulfate reduction near salt domes in the deeper parts of the rock units. This process resulted in the generation of reduced brine and provided a favorable environment for Cu enrichment. Therefore, the surface‐Cu mineralization near salt domes is interpreted to be the result of Cu‐bearing brine migrating upward to the surface along faults (or joints) following the intrusion of deep salt domes. The geological evidence indicates the presence of reducing brine and Cu‐bearing brine near the salt dome in the deeper rocks of the Kuqa Basin, thus making the intrusive contact zone of the salt dome a favorable site for the epigenetic enrichment of Cu. Our study demonstrates that Cu enrichment in the Kuqa Basin resulted not only from synsedimentary deposition but also through epigenetic enrichment associated with salt dome intrusion and brine‐rich fluids.  相似文献   

Non-capacity transport of non-uniform bed load sediment in alluvial rivers     

Zhi-xian Cao  Peng Hu  Gareth Pender  Huai-han Liu 《山地科学学报》2016,13(3):377-396

Rivers often witness non-uniform bed load sediment transport. For a long time, non-uniform bed load transport has been assumed to be at capacity regime determined exclusively by local flow. Yet whether the capacity assumption for non-uniform bed load transport is justified remains poorly understood. Here, the relative time scale of non-uniform bed load transport is evaluated and non-capacity and capacity models are compared for both aggradation and degradation cases with observed data. As characterized by its relative time scale, the adaptation of non-uniform bed load to capacity regime should be fulfilled quickly. However, changes in the flow and sediment inputs from upstream or tributaries hinder the adaptation. Also, the adaptation to capacity regime is size dependent, the finer the sediment size the slower the adaptation is, and vice versa. It is shown that the capacity model may entail considerable errors compared to the non-capacity model. For modelling of non-uniform bed load, noncapacity modelling is recommended, in which the temporal and spatial scales required for adaptation are explicitly appreciated.  相似文献   

Determination of internal controls for quantitative gene expression of Isochrysis zhangjiangensis at nitrogen stress condition     

Shuang Wu  Jiannan Zhou  Xupeng Cao  Song Xue 《中国海洋大学学报(英文版)》2016,15(1):137-144

  相似文献   

Identification of light-harvesting chlorophyll a/b-binding protein genes of Zostera marina L. and their expression under different environmental conditions     

Fanna Kong  Yang Zhou  Peipei Sun  Min Cao  Hong Li  Yunxiang Mao 《中国海洋大学学报(英文版)》2016,15(1):152-162

  相似文献   

Antialgal and antilarval activities of bioactive compounds extracted from the marine dinoflagellate <Emphasis Type="Italic">Amphidinium carterae</Emphasis>     

Xianyu Kong  Xiurong Han  Min Gao  Rongguo Su  Ke Wang  Xuzhao Li  Wei Lu 《中国海洋大学学报(英文版)》2016,15(6):1014-1020

With the global ban on the application of organotin-based marine coatings by the International Maritime Organization, the development of environmentally friendly, low-toxic and nontoxic antifouling compounds for marine industries has become an urgent need. Marine microorganisms have been considered as a potential source of natural antifoulants. In this study, the antifouling potential of marine dinoflagellate Amphidinium carterae, the toxic and red-tide microalgae, was investigated. We performed a series of operations to extract the bioactive substances from Amphidinium carterae and tested their antialgal and antilarval activities. The crude extract of Amphidinium carterae showed significant antialgal activity and the EC₅₀ value against Skeletonema costatum was 55.4 μg mL^?1. After purification, the isolated bioactive substances (the organic extract C) exhibited much higher antialgal and antilarval activities with EC₅₀ of 12.9 μg mL^?1 against Skeletonema costatum and LC₅₀ of 15.1 μg mL^?1 against Amphibalanus amphitrite larvae. Subsequently, IR, Q-TOFMS, and GC-MS were utilized for the structural elucidation of the bioactive compounds, and a series of unsaturated and saturated 16- to 22-carbon fatty acids were detected. The data suggested the bioactive compounds isolated from Amphidinium carterae exhibited a significant inhibiting effect against the diatom Skeletonema costatum and Amphibalanus amphitrite larvae, and could be substitutes for persistent, toxic antifouling compounds.  相似文献   

黄铁矿ReOs法测年在胶东金矿中的应用初探          下载免费PDF全文

李洪奎  耿科  禚传源  梁太涛  张玉波 《山东国土资源》2016,32(4):1-6

该次工作为黄铁矿Re-Os法测年在胶东金矿中的首次应用。在大尹格庄金矿中获得了由3件黄铁矿样品组成的(144.8±1.8)Ma等时线年龄,暗示着大尹格庄金矿区可能存在一期晚侏罗世的Au成矿事件。通过对大尹格庄、夏甸、土堆金矿黄铁矿Re-Os同位素年代学的研究,表明黄铁矿的Re-Os同位素特征在胶东金矿中具有一定的复杂性。该文总结了影响黄铁矿Re-Os同位素测年结果的因素,认为在利用该方法进行金矿床定年时,应当将不同期次黄铁矿分别送样,适当拉大采样间距,并尽可能降低实验测试误差,以期获得更精确可靠的年龄。  相似文献   

Quantitative assessment on the influence of rainfall on landslides in Jianshi County of Qing River Basin,China     

Ningtao Wang  Tingting Shi  Yiyong Li  Zhipeng Lian  Peng Ke 《Environmental Earth Sciences》2016,75(3):241

  相似文献   

Soil and water conservation in mining area based on ground surface subsidence control: development of a high-water swelling material and its application in backfilling mining     

Ailong Wang  Liqiang Ma  Zhongwei Wang  Dongsheng Zhang  Ke Li  Yao Zhang  Xingjun Yi 《Environmental Earth Sciences》2016,75(9):779

  相似文献   

Determining sources of mine water based on hydraulic characteristics analysis of a fault system     

Mei Yao  Peigui Liu  Manting Shang  Yuezan Tao  Chao Lei  Lugan Cao 《Environmental Earth Sciences》2016,75(10):858

  相似文献