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

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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

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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

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Aqueous geochemistry and its influence on the partitioning of arsenic between aquifer sediments and groundwater: a case study in the northwest of the Hetao Basin   总被引：1，自引：0，他引：1  

Ping Ni  Huaming Guo  Yongsheng Cao  Yongfeng Jia  Yuxiao Jiang  Di Zhang 《Environmental Earth Sciences》2016,75(4):356

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Statistical meso-damage model for quasi-brittle rocks to account for damage tolerance principle     

Heng Zhao  Chao Zhang  Wen-gui Cao  Ming-hua Zhao 《Environmental Earth Sciences》2016,75(10):862

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Analysis of phosphorus import characteristics of the upstream input rivers of Three Gorges Reservoir     

Chaonan Han  Binghui Zheng  Yanwen Qin  Yingqun Ma  Wei Cao  Chenchen Yang  Zhichao Liu 《Environmental Earth Sciences》2016,75(12):1024

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Relationships among volcanic and hydrothermal activity and faults from the Shunnan 3-D well zone in the Tadong Area (Tarim Basin,China)     

Li KunBai  Lv HaiTao  Pu RenHai  Cao ZiCheng 《Arabian Journal of Geosciences》2016,9(17):692

Tarim Basin distributed widely two stages of Permian volcanic rocks. However, the location and timing of these rocks pinching out and the relationship between Ordovician carbonate hydrothermal reservoirs and fault activity remain unclear. The Shunnan (Shunnan here in after referred to as SN) 1 3-D well zone in the eastern Tarim Basin contains volcanic rocks, and the Ordovician layer contains a hydrothermal reservoir. This paper describes the lithology, stage, volcanic rock distribution, crater position and deposition pinch-out line of volcanic rocks based on drilling and 3-D seismic data. The Permian strata in the well zone contain only one stage of Kupkuciman Formation basalt and tuff, the Kaipeleicike Formation contains terrigenous clastic rock and the adjacent volcanic rocks of wells SN2 and GL (Gulong here in after referred to as GL) 2 exhibit an absence of deposition. Although the craters are distributed on both sides of the NNW faults that cross well SN4, their positions are also controlled by the intersection of earlier NEE and NW faults and later NNE faults. Furthermore, the Ordovician strata in the SN1 well zone developed abundant tubular high-amplitude anomalies and tabular high-amplitude anomalies via hydrothermal corrosion, and the anomaly distributions are similar to the positions of the craters, which are controlled by the intersection of multi-group faults and the density of the faults.  相似文献