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Ship hulls, as well as bridges, port dock pilings, dams, and various underwater structures need to be inspected for periodic maintenance. Additionally, there is a critical need to provide protection against sabotage activities, and to establish effective countermeasures against illegal smuggling activities. Unmanned underwater vehicles are suitable platforms for the development of automated inspection systems, but require integration with appropriate sensor technologies. This paper describes a vision system for automated ship-hull inspection, based on computing the necessary information for positioning, navigation, and mapping of the hull from stereo images. Binocular cues are critical in resolving a number of complex visual artifacts that hamper monocular vision in shallow-water conditions. Furthermore, they simplify the estimation of vehicle pose and motion, which is fundamental for successful automatic operation. The system has been implemented on a commercial remotely operated vehicle (ROV), and tested in pool and dock tests. Results from various trials are presented to demonstrate the system capabilities 相似文献
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The potential mineralization and immobilization of soil nitrogen (N), phosphorus (P) and sulfur (S) are relatively high in natural ecosystems. This study was conducted to investigate the changes in essential plant macronutrients; N, P, and S status in response to different soil depth in rangeland ecosystems in vitro. The net nutrient mineralization was measured during 90 days at different depths (0–15, 15–30, 30–45 and 45–60 cm), using kinetic models to estimate the release rate. The net ammonification and mineralization of P and S were described using parabolic diffusion equation, while the power function equation was used to describe the net nitrification. The results indicated that the amount of released ammonium (NH4 +) decreased with time and depth and the rates of net ammonification were negative in all samples. Conversely, nitrification increased with time and depth and the rates were all positive. The net mineralization for both P and S reduced with time. The concentration of mineralized SO4 2? increased with depth like nitrate (NO3 ?). Accumulation of SO4 2? and NO3 ? in subsurface soils and NH4 + and P at surface horizons can increase the potential of their loss by leaching or volatilization. 相似文献
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Prediction of global stability in room and pillar coal mines 总被引：1，自引：0，他引：1
Global stability is a necessary prerequisite for safe retreat mining and one of the crucial and complex problems in room and pillar mining, so its prediction plays an important role in the safety of retreat mining and the reduction of pillar failure risk. In this study, we have tried to develop predictive models for anticipating global stability. For this purpose, two of the most popular techniques, logistic regression analysis and fuzzy logic, were taken into account and a predictive model was constructed based on each. For training and testing of these models, a database including 80 retreat mining case histories from 18 room and pillar coal mines, located in West Virginia State, USA, was used. The models predict global stability based on the major contributing parameters of pillar stability. It was found that both models can be used to predict the global stability, but the comparison of two models, in terms of statistical performance indices, shows that the fuzzy logic model provides better results than the logistic regression. These models can be applied to identify the susceptibility of pillar failure in panels of coal mines, and this may help to reduce the casualties resulting from pillar instability. Finally, the sensitivity analysis was performed on database to determine the most important parameters on global stability. The results revealed that the pillar width is the most important parameter, whereas the depth of cover is the least important one. 相似文献
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China Ocean Engineering - Conventional design of pier structures is based on the assumption of fully rigid joints. In practice, the real connections are semi-rigid that cause changes in dynamic... 相似文献
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Rock reinforcement systems, such as resin-grouted rock bolts, display complex creep behavior because both grouting materials and bolts show time-dependent behavior. In this paper, only the time-dependent behavior of grouting material was investigated, in which creep tests of grouting material was conducted in triaxial compression apparatus at room temperature. The test specimens were provided from the Araldite epoxy resin used in rock reinforcement. We attempt to predict long-term creep parameter using triaxial creep tests and to define time-dependent characteristics of the bounding material. In short-term creep tests, three different axial and confining stress levels were applied in steps to each specimen. The transient creep for all the stress levels were described by power function which fit properly to time–strain curves. The maximum difference between the proposed model and experimental long-term creep strain was less than 7.1 %. It was observed that the creep rate of a grouting material specimen directly depends on the deviator of stress (i.e., σ1–σ3). 相似文献
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Application of Fuzzy Set Theory to Rock Engineering Classification Systems: An Illustration of the Rock Mass Excavability Index 总被引：1，自引：0，他引：1
Jafar Khademi Hamidi Kourosh Shahriar Bahram Rezai Hadi Bejari 《Rock Mechanics and Rock Engineering》2010,43(3):335-350
The characterization of rock masses is one of the integral aspects of rock engineering. Over the years, many classification
systems have been developed for characterization and design purposes in mining and civil engineering practices. However, the
strength and weak points of such rating-based classifications have always been questionable. Such classification systems assign
quantifiable values to predefined classified geotechnical parameters of rock mass. This results in subjective uncertainties,
leading to the misuse of such classifications in practical applications. Fuzzy set theory is an effective tool to overcome
such uncertainties by using membership functions and an inference system. This study illustrates the potential application
of fuzzy set theory in assisting engineers in the rock engineering decision processes for which subjectivity plays an important
role. So, the basic principles of fuzzy set theory are described and then it was applied to rock mass excavability (RME) classification
to verify the applicability of fuzzy rock engineering classifications. It was concluded that fuzzy set theory has an acceptable
reliability to be employed for all rock engineering classification systems. 相似文献
19.
Here Rydberg matter is proposed as a candidate for the missing dark matter or dark baryonic matter in the Universe. Spectroscopic and other experimental studies give valuable information on the properties of Rydberg matter, especially its very weak interaction with light caused by the very small overlap with low states, and because of the necessary two-electron transitions even for disturbed matter. Recently, the unidentified infrared (UIR) bands have been shown to agree well with calculations and experiments on Rydberg matter. This is the reason for the present, somewhat speculative, proposal that dark matter has, at least partially, the form of Rydberg matter. The UIR bands have also been observed directly in emission from Rydberg matter in the laboratory. The unique space-filling properties of Rydberg matter are described: a hydrogen atom in this matter occupies a volume 5×1012 times larger than in its ground state or in a hydrogen molecule. 相似文献
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Studying the stress redistribution around the longwall mining panel using passive seismic velocity tomography and geostatistical estimation 总被引：3，自引：0，他引：3
Navid Hosseini Kazem Oraee Kourosh Shahriar Kamran Goshtasbi 《Arabian Journal of Geosciences》2013,6(5):1407-1416
Generally, knowledge of stress redistribution around the longwall panel causes a better understanding of the mechanisms that lead to ground failure, especially to rockbursts. In this paper, passive seismic velocity tomography is used to demonstrate the state of stress around the longwall mining panel. The mining-induced microseismic events were recorded by mounting an array of receivers on the surface, above the active panel. To determine the location of seismic events and execute the process of tomography, double-difference method is employed as a local earthquake tomography. Since passive sources are used, the ray coverage is insufficient to achieve the quality images required. The wave velocity is assumed to be the regionalized variable and it is therefore estimated in a denser network, by using geostatistical estimation method. Subsequently, the three-dimensional images of wave velocity are created and are sliced into the coal seam. These images clearly illustrate the stressed zones that they are appropriately in compliance with the theoretical models. Such compliance is particularly apparent in the front abutment pressure and the side abutment pressure near the tailgate entry. Movements of the stressed zones along the advancing face are also evident. The research conclusion proves that the combined method, based on double-difference tomography and geostatistical estimation, can potentially be used to monitor stress changes around the longwall mining panel continuously. Such observation could lead to substantial improvement in both productivity and safety of mining operations. 相似文献