面向ARV的视觉辅助水下对接方法研究     

魏志祥  吴超 《海洋工程》2021,39(1):91-99,152

针对水下机器人作业过程中的近距离引导水下对接问题,以自治缆控水下机器人(ARV)为研究对象,为实现快速、高精度的水下对接,设计了基于反射光源识别的单目视觉辅助水下对接方法。通过在对接口布置反光带并将其作为目标图像,设计了图像处理和特征点提取的算法,经过图像特征信息的分析处理,优化算法的时间复杂度,提高了特征点提取的准确率和识别效率。最后设计了传统的引导灯方案与反光带方案的对比试验,验证算法的可行性,证明在水下环境下识别反射光源的方法极大提升了位置估计的准确率,同时在计算速度上也有显著提高,弥补了传统水下对接方法中精度不足或计算量大的缺陷,更好地满足了ARV水下对接的需求,能为潜水器实现水下自主对接提供参考依据。  相似文献   

新疆伽师MS6.4地震前地磁日变化异常分析     

艾萨·伊斯马伊力  冯志生  毛志强  孙昭杰  邱大琼 《内陆地震》2020,(1):79-86

以新疆伽师M S6.4地震为案例,利用地磁日变化异常分析方法,对中国地磁台网所记录的地磁观测资料进行分析,结果显示:1、离震中最近的喀什台震前59 d和39 d出现一组逐日比高值异常,排除干扰,且地磁日变形态也出现明显的畸变,异常集中于震中附近台站,震中位于异常阈值线附近;2、震前,新疆及周边地区出现地磁垂直分量日变化幅度的极小值时间在空间上出现地磁低点位移现象,低点时间分界线横穿南天山西段,呈现近EW走向分布,分界线两侧低点时间相差超过2 h,发震日期为异常发生后的38(41±4)d,震中位于低点位移分界线附近;3、地磁逐日比和低点位移异常的发生时间和空间分布可能与伽师M S6.4地震的孕育和发生有非常高的关联性。该研究进一步推广和检验了地磁日变化异常分析方法在地震预报方面的应用。  相似文献   

1986-2017年太湖出、入湖水量变化分析     

季海萍  吴浩云  吴娟 《湖泊科学》2019,31(6):1525-1533

作为流域内水资源调蓄和调度的中枢,太湖的出、入湖水量格局随着一系列工程、非工程措施的实施已然改变.基于1986-2017年近30年的环湖出、入湖水量资料,采用Mann-Kendall趋势检验法、突变检验法和滑动t检验法,对环湖及地区出、入湖水量变化进行了定性、定量研究,并讨论了产生变化的可能原因.结果表明:1986-2017年,环湖年入湖水量增加趋势显著,在20世纪90年代后期突变增加,年出湖水量增加趋势显著,在21世纪初后期突变增加;多年平均年入湖总量突变后较突变前增加了29.66亿m3,多年平均年出湖总量增加了18.63亿m3;江苏入湖水量增长率、增长贡献率分别为53%和84%,出湖水量增长率、增长贡献率分别为31%和48%;浙江入湖水量增长率、增长贡献率无明显改变,出湖水量增长率、增长贡献率分别为26%和31%;望虞河出入湖增长率最大,但增长贡献率不大;太浦河出湖增长率、增长贡献率无明显变化;出、入湖水量的变化抬升了太湖年平均水位和年最低水位,对年最高水位影响较小;水利工程调度对出、入湖水量的影响逐渐占据主导作用.  相似文献   

Dynamic behavior of a smart device on a surface subjected to earthquake motion          下载免费PDF全文

Yunsu Na  Sherif El-Tawil  Ahmed Ibrahim  Ahmed Eltawil 《地震工程与结构动力学》2018,47(9):1905-1920

This paper leverages concepts from an existing model to simulate the planar response of a smart device subjected to friction forces induced by an underlying moving plane. An interpolation technique is used to enhance detection of transition points (between sticking and sliding states), which must be accurately identified because of the frequency of their occurrence during seismic motion. The behavior of a smart device on an unconstrained table or desk, which is itself on a moving floor, is introduced and discussed. After validation of the results using experimental data, the revised model is used to study the sliding potential of smart devices on a surface during strong seismic events. Sliding spectra associated with selected ground motions are presented and extended to incorporate the effect of vertical accelerations with the purpose of assessing their influence. It is shown that vertical accelerations have a minimal effect on the sliding behavior of smart devices and that a “probability of exceeding the slip limit” curve can be developed to relate the probability of sticking to a demand parameter that represents the ground motion.  相似文献   

近200 a来云南阳宗海摇蚊群落多样性及稳定性变化   总被引：1，自引：1，他引：0  

郑文秀  王荣  张恩楼  曹艳敏  孔德平 《湖泊科学》2018,30(3):847-856

云南省拥有丰富的生物多样性,其生态系统稳定性对于发挥生态系统服务功能十分重要,但近几十年以来的人类活动以及气候变化带来的干扰削弱了该区域的生态系统功能.本文以阳宗海为研究对象,探讨了1820s—2006年间人类活动背景下摇蚊群落多样性和稳定性的变化过程,并进一步探讨阳宗海摇蚊群落多样性与稳定性之间的关系.利用沉积物中的营养指标(总有机碳(TOC)含量、总氮(TN)含量和TOC/TN摩尔比)及摇蚊分别重建了湖泊营养变化及摇蚊群落物种丰富度、均匀度、相似度和稳定性(ar1),利用PCA第1轴代表摇蚊群落以检测突变点.研究发现摇蚊群落组成与湖泊营养变化有较好的一致性,二者在1990年左右发生突变,物种丰富度、均匀度和相似度指数分别在1950s、1990s初以及1970s初升高,说明摇蚊群落组成逐渐多样化,种属分布更加均匀.通过检测发现摇蚊群落稳定性在1960s初开始降低,比湖泊系统突变提前30 a左右.摇蚊群落的物种丰富度、均匀度以及稳定性指标伴随着湖泊外源营养物质输入比例增加而升高,群落多样性与稳定性之间的相关性分析表明群落稳定性随物种丰富度的升高而降低.  相似文献   

基于机载LiDAR点云数据构建复杂山区高精度DEM方法研究     

龚明杰 《测绘与空间地理信息》2022,45(1):198-199

为解决大范围复杂山区DEM生产困难的问题,提出利用机载LiDAR点云数据构建DEM.本文对机载LiDAR数据处理流程及其在复杂山区的具体应用进行分析,主要利用LiDAR数据处理软件对点云数据进行内业DEM生产并编辑最终得到符合项目要求的数字高程模型数据,结果证明该方法可行.  相似文献   

四川地震应急准备与处置要点分析   总被引：1，自引：1，他引：0  

范开红  周志华  陈维锋 《震灾防御技术》2017,12(4):956-965

本文结合四川省域内的地震活动、自然地理环境、社会经济条件3方面因素把四川省划分为东部盆地及盆缘地区、西部高山高原和川西南山地3个地震应急分区,分析各区域地震应急准备与处置的主要背景要素,总结并给出了四川各区域地震应急准备与处置要点。依据各区域地震应急准备与处置要点开展地震应急准备与处置相关工作,可使其具有针对性,有利于增强四川地区应对地震灾害的能力。  相似文献   

BDS/GLONASS非组合精密单点定位模型与算法          下载免费PDF全文

刘腾  袁运斌  张宝成 《地球物理学报》2017,60(4):1347-1358

在GPS非组合精密单点定位(PPP)模型的基础上,针对BDS和GLONASS系统各自的特点,分别提出了适用于BDS和GLONASS系统的非组合PPP模型,并在此基础上构建了BDS/GLONASS联合处理的函数模型.新模型中考虑了BDS系统GEO卫星伪距长周期多路径效应引起的系统性偏差(BDS GEO Multipath Bias,BGMB),将其作为参数进行估计;另外,新模型中还考虑了GLONASS系统伪距频间偏差(inter-frequency-biase,IFB),将其参数化为卫星频率号的线性函数,并通过参数重组得到了满秩的函数模型和可估参数的形式.选取了2015年年积日200~230共一个月的11个MGEX跟踪站数据来验证新模型与算法的正确性和有效性,结果表明:将BDS系统伪距BGMB当作参数估计能够显著提高BDS单系统非组合PPP的收敛速度,并能减小伪距残差;通过线性函数来模型化GLONASS伪距IFB能够显著提高GLONASS单系统PPP的收敛速度,并能在一定程度上减小伪距残差;1个月BDS/GLONASS非组合PPP定位误差RMS在北、东、高三个方向分别为6.9 mm、9.1 mm和19.3 mm,表明提出的BDS/GLONASS非组合PPP模型与算法具有良好的定位性能.  相似文献   

Field observations of the vertical distribution of sand transport characteristics over fine,medium and coarse sand surfaces          下载免费PDF全文

ZhengCai Zhang  ZhiBao Dong  GuangQiang Qian 《地球表面变化过程与地形》2017,42(6):889-902

The vertical distribution of sand transport characteristics is an important issue in aeolian research. Surface characteristics affect sand transport processes, but their effects are not yet fully understood. To provide more data on this subject, we observed sand transport in 16 field experiments above surfaces covered by fine, medium and coarse sand. The sand transport rate over relatively coarser‐grained medium and coarse surfaces could be expressed as a Gaussian peak function: q _z = a + b exp (?0.5[(|z – C _h|)/d ]^e), where q _z is the measured sediment transport at height z above the bed and a , b , C _h, d , and e are regression coefficients. The measured sand transport flux peak values (H _h) were linearly related to C _h, and both values were significantly related to the mean surface grain size. However, for the relatively finer‐grained medium and fine sand surfaces, the sediment transport could be expressed as an exponential function. The cumulative sand transport below 0.1 m was directly related to the mean surface grain size, and the relationship could be expressed as the following exponential function: C _z = f + g exp –M _z/i , where C _z is the cumulative sand transport at height z above the bed, M _z is the mean grain size and f , g , and i are regression coefficients. Above 0.1 m, there were no significant relationships between the cumulative sand transport and the mean surface grain size. The mean grain size decreased with increasing height below the peak height and then increased with increasing height. The surface grain size distribution and proportions of the particles in different grain size categories controlled the mean grain size as a function of height. The observed changes in the sand transport rate and grain size with height will provide support for sand disaster mitigation, numerical modelling and studies of dune formation. Copyright © 2016 John Wiley & Sons, Ltd.  相似文献   

Subaerial gravel size measurement using topographic data derived from a UAV‐SfM approach          下载免费PDF全文

Amy S. Woodget  Robbie Austrums 《地球表面变化过程与地形》2017,42(9):1434-1443

Accurate and reliable methods for quantifying grain size are important for river science, management and in various other sedimentological settings. Remote sensing offers methods of quantifying grain size, typically providing; (a) coarse outputs (c. 1 m) at the catchment scale where individual grains are at subpixel level, or; (b) fine resolution outputs (c. 1 mm) at the patch scale. Recently, approaches using unmanned aerial vehicles (UAVs) have started to fill the gap between these scales, providing hyperspatial resolution data (< 10 cm) over reaches a few hundred metres in length, where individual grains are at suprapixel level. This ‘mesoscale’ is critical to habitat assessments. Most existing UAV‐based approaches use two‐dimensional (2D) textural variables to predict grain size. Validation of results is largely absent however, despite significant differences in platform stability and image quality obtained by manned aircraft versus UAVs. Here, we provide the first quantitative assessment of the accuracy and precision of grain size estimates produced from a 2D image texture approach. Furthermore, we present a new method which predicts subaerial gravel size using three‐dimensional (3D) topographic data derived from UAV imagery. Data is collected from a small gravel‐bed river in Cumbria, UK. Results indicate that our new topographic method gives more accurate measures of grain size (mean residual error ‐0.0001 m). Better results for the image texture method may be precluded by our choice of texture measure, the scale of analysis or the effects of image blur resulting from an inadequate camera gimbal. We suggest that at our scale of assessment, grain size is more strongly related to 3D variation in elevation than to the 2D textural patterns expressed within the imagery. With on‐going improvements, our novel method has potential as the first grain size quantification approach where a trade‐off between coverage and resolution is not necessary or inherent. Copyright © 2017 John Wiley & Sons, Ltd.  相似文献