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   

<Emphasis Type="Italic">H-M</Emphasis> bearing capacity of a modified suction caisson determined by using load-/displacement-controlled methods     

张雨坤  高玉峰  李大勇 《中国海洋工程》2016,30(6):926-941

This paper presents a series of monotonically combined lateral loading tests to investigate the bearing capacity of the MSCs (modified suction caissons) in the saturated marine fine sand. The lateral loads were applied under load- and displacement-controlled methods at the loading eccentricity ratios of 1.5, 2.0 and 2.5. Results show that, in the displacement-controlled test, the deflection-softening behavior of load-deflection curves for MSCs was observed, and the softening degree of the load-deflection response increased with the increasing external skirt length or the decreasing loading eccentricity. It was also found that the rotation center of the MSC at failure determined by the load-controlled method is slightly lower than that by the displacement-controlled method. The calculated MSC capacity based on the rotation center position in serviceability limit state is relatively conservative, compared with the calculated capacity based on the rotation center position in the ultimate limit state. In the limit state, the passive earth pressures opposite the loading direction under load- and displacement-controlled methods decrease by 46% and 74% corresponding to peak values, respectively; however, the passive earth pressures in the loading direction at failure only decrease by approximately 3% and 7%, compared with their peak values.  相似文献   

Retardation of angular velocity of a rotating star due to mass loss     

Lin-Sen Li 《Astronomy Reports》2016,60(9):853-856

Variations of angular velocity of a rotating star on the upper main sequence due to mass loss driven by various mechanisms, like radiation, corpuscule ejection, and stellar wind, are examined. Expressions for the variations of angular velocity are derived by considering a model of a rotating star. The theoretical results show that the angular velocity decreaseswith time due tomass loss. The obtained results are applied to a hot fast-rotating star V1182 Aql (O9 V) and to Y Cyg (B0 V).  相似文献   

Study of Influence of Regional Geodynamic Background on Strata Behaviors in China's Tongxin Mine          下载免费PDF全文

Ying Chen  Hongwei Zhang  Bin Yu  Zhijie Zhu  Wenda Wu  Yunpeng Li 《Resource Geology》2016,66(1):1-11

Strata behaviors are mainly affected by regional geodynamic background. The influence of rock mass stress and energy distribution on strata behaviors in the Tongxin mine is studied in terms of regional tectonic movement, seismic activity and tectonic stress field. The results show that the extrusion lifting movement of Kouquan fault adjacent to the Tongxin mine results in the stress concentration in the rock of the Carboniferous coal bed and accumulation of a large amount of elastic energy and forms structural background of Tongxin mine. Due to various seismic activities in the mine area, the strain energy is known to reach much higher levels, up to 0.5×10⁸ J^1/2. Since the stratigraphic structure is sensitive to the mining operation, the strain energy could cause strong strata behaviors. A special geological structure model of the Tongxin mine is established based on the geodynamic division method. The distribution of regional structure stress field is determined by the rock mass stress analysis system. Based on this model, Tongxin mine is divided into five areas with high stress, eight areas with low stress and eight areas with gradient stress. The strong strata behaviors mostly occur in high stress areas. These results could provide guidance to predict the strength of regional or mine pressure and control strata behavior in different areas.  相似文献   

A Tribute to Thomas M. Church: Exploring Chemical Oceanography in the Coastal Zone—The History and Future     

Gregory A. Cutter  David J. Burdige 《Aquatic Geochemistry》2016,22(4):271-274

  相似文献   

The Air-Coastal Sea Chemical Exchange: A Case Study on the New Jersey Coast     

Yuan Gao  Pami Mukherjee  Rafael Jusino-Atresino 《Aquatic Geochemistry》2016,22(4):275-289

The coastal marine atmosphere adjacent to large urban and industrial centers is in general strongly impacted by pollution emissions, resulting in high loading of pollutants in the ambient air. Among the airborne substances are certain trace elements from a variety of emission sources that can serve as micronutrients to marine organisms in coastal waters. High concentrations of such elements in coastal air can result in enhanced air-to-sea deposition fluxes to coastal waters. They could also be transported over the open ocean, affecting the composition of the remote marine atmosphere and then ocean ecosystems. To provide better understanding of the extent of air-to-sea deposition processes on the New Jersey coast, a heavily polluted coastal region on the US East Coast, a synthesis of observation data was carried out for selected trace elements, including Fe, Cd, Cr and Cu, derived from measurements of both size-segregated and bulk aerosol particles, as well as precipitation around the New Jersey coast. The atmospheric input of Hg was also estimated based on measurement data. Results indicated that the total deposition fluxes of most trace elements were higher in Northern coastal NJ compared to Southern coastal NJ, reflecting the differences in the source strengths of these element emissions between the two coastal regions. Dry deposition processes were more significant for common dust-derived elements, particularly Fe and Al, compared with their wet deposition fluxes. However, the processes of precipitation scavenging appeared to be more important for the elements that were often enriched in fine particles including Zn, Cu, Pb and Ni. The removal of Hg from the ambient air was overwhelmingly dominated by atmospheric wet deposition. In the future, atmospheric measurements at more sites on the NJ coast should be performed simultaneously to reduce the spatial and temporal uncertainties associated with atmospheric deposition fluxes estimated in this study.  相似文献   

Marine Chemistry in the Coastal Environment: Principles,Perspective and Prospectus   总被引：1，自引：1，他引：0  

Thomas M. Church 《Aquatic Geochemistry》2016,22(4):375-389

Marine chemistry of the coastal environment starts with principles of rock weathering that use carbonic acid to mobilize elements, only some of which comprise the majority of sea salt. The principle reason is reverse weathering, extensively represented in coastal waters, and returns most elements to newly formed colloids or minerals while recycling carbon dioxide to the atmosphere. This includes the deeper ocean expanse of sediment diagenesis, plus hydrothermal plumes and attendant low-temperature basalt alteration. Within the estuarine and extended shelf regimes, both conservative and non-conservative processes can be distinguished and modeled to determine proportions of weathered elements transmitted to the sea or consumed by reverse weathering. Conceptually, the steady-state processes that lead to the composition of seawater can be viewed as heterogeneous equilibria between dissolved constituents and solid mineral products taking hundreds of millennia. However, initial processes in the estuarine and coastal environment are characterized by shorter term scavenging associated with inorganic and organic colloids. These recycle both carbon and trace elements on timescales commensurate with estuarine flushing and coastal exchange with the ocean. The natural uranium and thorium decay series provide powerful tools for quantifying the rates of estuarine processes, including those within groundwater and the subterranean estuary. In the future, new mass spectrometric and nuclear magnetic resonance techniques will help to define the molecular nature of newly formed estuarine colloids as has been done for dissolved organic matter. As the coastal environment undergoes the forces of climate change in the form of warming and sea level rise, future research should address how these will impact chemistry of the coastal environment as a net source or sink of carbon dioxide and associated organic material.  相似文献   

Hierarchical simulation of aquifer heterogeneity: implications of different simulation settings on solute-transport modeling     

Alessandro Comunian  Leonardo De Micheli  Claudio Lazzati  Fabrizio Felletti  Francesca Giacobbo  Mauro Giudici  Riccardo Bersezio 《Hydrogeology Journal》2016,24(2):319-334

The fine-scale heterogeneity of porous media affects the large-scale transport of solutes and contaminants in groundwater and it can be reproduced by means of several geostatistical simulation tools. However, including the available geological information in these tools is often cumbersome. A hierarchical simulation procedure based on a binary tree is proposed and tested on two real-world blocks of alluvial sediments, of a few cubic meters volume, that represent small-scale aquifer analogs. The procedure is implemented using the sequential indicator simulation, but it is so general that it can be adapted to various geostatistical simulation tools, improving their capability to incorporate geological information, i.e., the sedimentological and architectural characterization of heterogeneity. When compared with a standard sequential indicator approach on bi-dimensional simulations, in terms of proportions and connectivity indicators, the proposed procedure yields reliable results, closer to the reference observations. Different ensembles of three-dimensional simulations based on different hierarchical sequences are used to perform numerical experiments of conservative solute transport and to obtain ensembles of equivalent pore velocity and dispersion coefficient at the scale length of the blocks (meter). Their statistics are used to estimate the impact of the variability of the transport properties of the simulated blocks on contaminant transport modeled on bigger domains (hectometer). This is investigated with a one-dimensional transport modeling based on the Kolmogorov-Dmitriev theory of branching stochastic processes. Applying the proposed approach with diverse binary trees and different simulation settings provides a great flexibility, which is revealed by the differences in the breakthrough curves.  相似文献   

The hydrogeology of the military inundation at the 1914–1918 Yser front (Belgium)     

Alexander Vandenbohede 《Hydrogeology Journal》2016,24(2):521-534

Protection against flooding by the sea, drainage of rainwater and integrated management of groundwater and surface-water resources are key issues in low-lying coastal areas. However, under exceptional circumstances, knowledge to keep coastal areas dry and habitable can be used otherwise. Inundation for military purposes is such an example. The hydrogeology of the inundation at the Yser River, Belgium, during the Great War is studied. The inundation started in October 1914 to stop the German advance and lasted until 1918. A water balance and groundwater model are combined to derive the water balance before and during the inundation and to study the impact on the groundwater system. It is concluded that a number of hydrogeological factors contributed to the effectiveness of the inundation. Most importantly, the low-permeability subsoil facilitated loss of inundation water mainly by evaporation. Further, the normal water management strategy of the area (aimed at evacuating excess water towards the sea) was reversed to keep water between the opposing armies. However, the duration of the inundation meant a reorganization of the drainage of areas not inundated; truly an exercise in integrated water management.  相似文献   

Impacts of a large Sahelian city on groundwater hydrodynamics and quality: example of Niamey (Niger)     

Aïssata B. Hassane  Christian Leduc  Guillaume Favreau  Barbara A. Bekins  Thomas Margueron 《Hydrogeology Journal》2016,24(2):407-423

The management of groundwater resources is very important in the semiarid Sahel region, which is experiencing rapid urban development. Impacts of urbanization on groundwater resources were investigated in the unconfined aquifer of the Continental Terminal beneath the city of Niamey, Niger, using water level and chemical data. Hydrodynamic and chemical changes are best described by a combination of factors including the historical development of the city, current land use, water-table depth and topography. Seasonal groundwater recharge occurs with high spatial variability, as indicated by water-level monitoring in all wells, but there was no interannual trend over the 5-year study period. Groundwater salinity shows high spatial variability and a minor rising trend. The highest salinity is in the old city centre, with Na–NO₃ dominant, and it increases seasonally with recharge. Salinity is much lower and more variable in the suburbs (Ca–HCO₃, Ca–NO₃, and Na–NO₃ dominant). Nitrate is the main ionic contaminant and is seasonally or permanently above the international guidelines for drinking water quality in 36 % of sampled wells, with a peak value of 112 mg L^?1 NO₃–N (8 meq L^?1). Comparison of urban and rural sites indicates a long-term increase in groundwater recharge and nitrate enrichment in the urban area with serious implications for groundwater management in the region.  相似文献