基于海洋机器人的科学观测与实验系统研究现状与展望          下载免费PDF全文

卢晓亭  俞建成  孙朝阳  王旭 《海洋技术学报》2023,(4):107-120

海洋机器人具有观测范围大、作业灵活、机动性好、可控性强等突出优点,在海洋科学观测与海洋科学实验中发挥了重要作用,促进了物理海洋和海洋生物地球化学的发展。为阐明海洋机器人在海洋科学观测和实验中的应用情况,以水下滑翔机、自主水下机器人（Autonomous Underwater Vehicle,AUV）和无人帆船3种典型的观测型海洋机器人为例介绍了海洋机器人在海洋科学观测中的应用现状;以原位采样与固定、原位培养与分析海洋机器人为例介绍了海洋机器人在海洋科学实验中的应用现状;最后结合未来海洋科学研究需求,从需求牵引的角度对基于机器人的科学观测与实验系统的发展趋势进行了展望。  相似文献   

拖曳式多参数剖面测量系统水动力与控制性能研究述评   总被引：12，自引：1，他引：11  

吴家鸣  叶家玮李宁 《海洋工程》2004,22(1):111-120

综述了拖曳式多参数剖面测量系统水动力学研究的最新进展。对拖曳缆绳、拖曳体以及将两者耦合起来所构成的整个系统水动力及控制理论进行述评,分析了各种理论的优缺点从中简要地描述了拖曳式多参数剖面测量系统水动力研究的发展概要。  相似文献   

地热盖层中井温梯度与地温梯度的关系及应用          下载免费PDF全文

胡玉禄  王卿  胡红文  何国幸  方庆海  高赞东 《山东国土资源》2004,20(3):37-39

在曲阜市地热地质普查中发现了井温梯度与地温梯度的关系，从理论与实际勘探工作中充分说明和验证了地热盖层地温与井温梯度差的客观存在规律。井温梯度同比于地温梯度，井温梯度与地温梯度存在一固定差值，地温梯度与井温梯度之差为2.6℃／hm。  相似文献   

THE APPLICATION OF MINIATURE UNMANNED AERIAL VEHICLE IN 25 NOVEMBER 2016 ARKETAO M_W6.6 EARTHQUAKE          下载免费PDF全文

FU Bo  LI Zhi-qiang  CHEN Jie  FAN Xi-wei  LI Xiao-li  LI Tao  YAO Yuan  LIU Yao-hui 《地震地质》2018,40(3):672-684

In order to complete the field investigation to the 25 November 2016 Arketao M_W6.6 earthquake, ultra-low altitude remote-sensing data were obtained from miniature unmanned aerial vehicle. The surface rupture surveying has important significance for earthquake research. This paper selects the macro-epicenter of Arketao as the study area. The pictures were obtained with DJI Phantom 3 professional input into the software, the Digital Elevation Model (DEM), Digital Orthophoto Map (DOM) were acquired based on photogrammetry method using the overlapped optical remote-sensing images of UAV. Using these data, we can identify surface ruptures that have vertical dislocation. We selected six feature points and drew the elevation profile. In the elevation profile map, we chose smooth part of the surface rupture sides and obtained the trend line. A stable point in the surface rupture was selected and the abscissa of the point was taken into the equation of two straight lines. Then subtracting the results of the two equations, we can get the vertical dislocation of the surface rupture. On this basis, we chose six feature points and determined their vertical dislocation, which are between 4.4cm and 10.4cm. What's more, taking Bulungkou Xiang in Xinjiang Uygur Autonomous Region for example, we speculated some surface ruptures that have vertical dislocation. It can provide a new method for identifying surface rupture in the field. In addition, we get DEM data of the Bulunkou area where ambient conditions are very poor, by using miniature unmanned aerial vehicle and taking 255 photos. Putting those photos into the EasyUAV software, we got the area digital elevation of 2cm resolution. Comparing these data with RTK data, we summarized some practical problems and solutions in the practical operation and evaluated the accuracy of miniature unmanned aerial vehicle data. The Pearson Correlation Coefficient is 0.996 6. In terms of absolute elevation, the average result of UAV and RTK differs by 156.96m. In terms of relative elevation, the average result of UAV and RTK differs by 9.74m. Compared with the previous test of Pishan County, there is a notable divergence in the results. It shows that the data accuracy will be affected to some extent in the cold weather in high elevations. The specific impact needs further exploration.  相似文献   

车辆荷载作用下山西路基重塑黄土的动力特性研究   总被引：2，自引：0，他引：2       下载免费PDF全文

马林  张军  刘亚明 《地震工程学报》2018,40(1):101-104

针对车辆荷载对山西高速公路路基土体影响研究不足的现状,从试验角度出发,研究车辆荷载水平、波形、干密度和围压对路基土体的动力特性响应。研究表明:路基土体的体变随波形比的增大而增大,随车辆荷载的增大而增大;路基土体的动弹性模量随干密度的增大而增大,随围压的增大而增大,阻尼比随围压的增大而减小。  相似文献   

突发地震灾害中无人驾驶救援车伺服控制系统研究          下载免费PDF全文

岳光  潘玉田 《地震工程学报》2018,40(6):1366-1371

针对当前采用PID控制器控制无人驾驶救援车伺服系统时存在的轨迹跟踪精度不高,误差控制性能较差,灵活性、平稳性和安全性能不佳等问题,提出并设计基于BP神经网络整定PID控制器的无人驾驶救援车伺服控制系统,建立突发地震灾害中无人驾驶救援车伺服控制系统驱动模型,并以此模型作为被控对象;根据系统期望输出值与实际输出值构成的控制偏差获得PID控制规律,并通过调节PID控制器控制参数实现系统控制,在此基础上,采用BP神经网络通过对无人驾驶救援车伺服控制系统性能的学习,构建基于BP神经网络整定的PID控制器,并采用梯度下降法修正控制器加权系数,通过在线调整BP神经网络加权系数即可实现控制器的自适应调整,控制突发地震灾害中无人驾驶救援车实施救援。实验结果表明,设计的基于BP神经网络整定PID控制器的无人驾驶救援车伺服系统可有效提高轨迹跟踪精度,具有较好的灵活性,且能够保证驾驶员的安全和车辆平稳行驶。  相似文献   

车载自组网可信节点与可信路由分析及实现     

邓钧忆  刘衍珩  王健 《武汉大学学报(信息科学版)》2010,(5)

将可信赖平台模块(TPM)芯片引入车载自组织网VANET,提出了一种有效保护地理位置信息路由协议GPSR(贪婪周边无状态路由协议)的可信安全机制,从而能够防止恶意篡改路由协议和邻居位置信息表的行为。在NS2.30下对网络真实场景进行了模拟,证实此可信安全路由协议模型是正确的、有效的和合理的。  相似文献   

地震力对高架桥梁轨道车辆影响之动态模型     

董永财  杨长春 《世界地震工程》2005,21(2):70-74

将轨道车辆系统仿真成由车厢、转向架及轮轴所组成。车厢与转向架间有次悬吊系统,转向架与轮轴间则有主悬吊系统。数学模型之推导将考虑车辆横向、垂向、翻滚(roll)及摇摆(yaw)方向之运动,将车辆仿真成三维具16个自由度之系统。本研究将探讨行驶高架桥梁之轨道车辆受地震激振时,建立轨道车辆与高架桥相互耦合之动态数学模型。  相似文献   

Impact of three-dimensional attitude variations of an unmanned aerial vehicle magnetometry system on magnetic data quality     

Callum A. Walter  A. Braun  G. Fotopoulos 《Geophysical Prospecting》2019,67(2):465-479

Optically pumped vapour magnetometers have an orientation dependency in measuring the scalar component of the ambient magnetic field which leads to challenges for integration with mobile platforms. Quantifying the three-dimensional attitude variations (yaw, pitch and roll) of an optically pumped vapour magnetometer, while in-flight and suspended underneath a rotary unmanned aerial vehicle, aids in the successful development of reliable, high-resolution unmanned aerial vehicle magnetometry surveys. This study investigates the in-flight three-dimensional attitude characteristics of a GEM Systems Inc. GSMP-35U potassium vapour magnetometer suspended 3 m underneath a Dà-Jiāng Innovations S900 multi-rotor unmanned aerial vehicle. A series of unmanned aerial vehicle-borne attitude surveys quantified the three-dimensional attitude variations that a simulated magnetometer payload experienced while freely (or semi-rigidly) suspended underneath the unmanned aerial vehicle in fair weather. Analysis of the compiled yaw, pitch and roll data resulted in the design of a specialized semi-rigid magnetometer mount, implemented to limit magnetometer rotation about the yaw axis. A subsequent unmanned aerial vehicle-borne magnetic survey applying this specialized mount resulted in more than 99% of gathered GSMP-35U magnetic data being within industry standards. Overall, this study validates that maintaining magnetometer attitude variations within quantified limits (±5° yaw, ±10° pitch and roll) during flight can yield reliable, continuous and high-resolution unmanned aerial vehicle-borne magnetic measurements.  相似文献   

基于无人机倾斜摄影的强震区公路高位危岩崩塌形成机制及稳定性评价   总被引：1，自引：0，他引：1       下载免费PDF全文

陈宙翔  叶咸  张文波  郭彪  方留杨 《地震工程学报》2019,41(1):257-267,273

强震区公路高位危岩崩塌具有极高隐蔽性和危害性,传统的接触式勘察方法难以有效调查震后位于公路两侧高陡斜坡体上的危岩崩塌体。提出一种基于无人机的倾斜摄影测量技术,该技术采用无人机超低空采集高位危岩体的高清影像数据,构建三维空间模型,从而提取危岩体特征参数,为危岩体稳定性分析提供数据支撑。利用无人机对某高速公路危岩崩塌地质灾害路段进行调查,对无人机倾斜摄影测量成果进行分析,明确调查区19处危岩崩塌体特征和崩塌成因机制,在此基础上评价典型崩塌体稳定性。并且使用RocFall软件模拟分析典型危岩体崩落运动轨迹,研究高位危岩崩塌对公路的危险性。研究成果对强震区山区公路高位危岩崩塌勘察、稳定性评价工作具有重要的参考价值。  相似文献