Closed-loop randomized kinodynamic path planning for an autonomous underwater vehicle     

《Applied Ocean Research》2019

A randomized kinodynamic path planning algorithm based on the incremental sampling-based method is proposed here as the state-of-the-art in this field applicable in an autonomous underwater vehicle. Designing a feasible path for this vehicle from an initial position and velocity to a target position and velocity in three-dimensional spaces by considering the kinematic constraints such as obstacles avoidance and dynamic constraints such as hard bounds and non-holonomic characteristic of AUV are the main motivation of this research. For this purpose, a closed-loop rapidly-exploring random tree (CL-RRT) algorithm is presented. This CL-RRT consists of three tightly coupled components: a RRT algorithm, three fuzzy proportional-derivative controllers for heading and diving control and a six degree-of-freedom nonlinear AUV model. The branches of CL-RRT are expanded in the configuration space by considering the kinodynamic constraints of AUV. The feasibility of each branch and random offspring vertex in the CL-RRT is checked against the mentioned constraints of AUV. Next, if the planned branch is feasible by the AUV, then the control signals and related vertex are recorded through the path planner to design the final path. This proposed algorithm is implemented on a single board computer (SBC) through the xPC Target and then four test-cases are designed in 3D space. The results of the processor-in-the-loop tests are compared by the conventional RRT and indicate that the proposed CL-RRT not only in a rapid manner plans an initial path, but also the planned path is feasible by the AUV.  相似文献   

浙江省三疣梭子蟹产量波动及潜在影响因素分析     

胡荧斌  徐美佳  王天姿  何毓钦  王迎宾 《海洋科学》2019,43(2):69-73

依据2000—2015年浙江省三疣梭子蟹(Portunustrituberculatus)渔获量的数据,以及影响渔获量的因素(管理类因素、环境类因素和营养关系类因素等共11个因子),使用广义加性模型(GAM)对各类因素对三疣梭子蟹渔获量的影响进行了分析。结果显示,赤潮面积、捕捞努力量和放流数量对三疣梭子蟹渔获量影响显著(P0.01)。3个因子的累积解释比率达98.3%,其中,赤潮的解释比率最大,达到47.2%,捕捞努力量的解释比率为37.8%,放流数量的解释比率为13.3%。三疣梭子蟹渔获量随着赤潮面积增加有所减少,随着捕捞努力量的加大有迅速增加的趋势,与放流尾数呈现正相关趋势。三疣梭子蟹渔获量的波动受诸多因素的影响。今后需开展更深入的研究,找到可能影响三疣梭子蟹渔获量的其他关键因素。  相似文献   

非连续变形分析中块体大转动问题研究     

巩师林  凌道盛  胡成宝  钮家军 《岩土力学》2020,41(11):3810-3822

原有非连续变形分析（DDA）采用一阶近似后的位移增量表达式更新块体构形，推导相关子矩阵，且对不同时步计算出的应变增量直接叠加，当模拟的块体发生大转动时往往会产生较大误差。为考虑块体转动与变形的耦合作用，引入先变形、后转动的块体位移增量表达式。重新推导了惯性力子矩阵，将块体转动时的离心力与科氏力加到荷载矩阵中。计算时对应变分量及其相关变量进行坐标变换与修正，并采用新引入的位移增量表达式计算块体顶点位移，进行后接触修正与更新块体构形。数值算例表明，改进后的程序能够消除转动带来的误差，自动考虑了块体转动时离心力和科氏力引起的变形，应变计算精度更高。改进方法克服了块体体积自由膨胀、应变场畸变等问题，给出了合理的块体应变。  相似文献   

基于PSR-WSVM模型的边坡位移预测     

李建新  刘小生  肖钢  周文  刘仁志 《大地测量与地球动力学》2020,40(6):577-580

为建立高精度的边坡位移预测模型，采用相空间重构（PSR）将边坡位移时间序列数据转换为多维数据，同时构造小波核函数改进的支持向量机模型，建立PSR-WSVM模型并应用于边坡位移预测。将PSR-WSVM模型预测结果与传统支持向量机（SVM）模型、小波支持向量机（WSVM）模型和基于相空间重构的支持向量机（PSR-SVM）模型预测结果进行对比，通过平均绝对误差（MAE）、平均绝对误差百分比（MAPE）和均方根误差（RMSE）3个精度评价指标验证PSR-WSVM模型的可行性。工程实例结果表明，PSR-WSVM模型预测结果的3个精度评价指标都优于另外3种模型，边坡位移预测的精度明显提升。  相似文献   

Turbulence Diffusion and Energy Spectrum Analysis of Large-scale Current Sheets in Flares     

《Chinese Astronomy and Astrophysics》2021,45(4):470-493

Magnetic reconnection (MR) is one of the most important physical processes for many dynamical phenomena in the universe. Magnetohydrodynamical (MHD) simulation is an effective way to study the MR process and the physical pictures related to the MR. With different parameter setups, we investigate the influences of the Magnetic Reynolds number and spatial resolution on the reconnection rate, numerical dissipation, and energy spectrum distribution in the MHD simulation. We have found that the magnetic Reynolds number $R_m$ has definite impact on the reconnection rate and energy spectrum distribution. The characteristic time for entering into the non-linear phase will be earlier as the Reynolds number increases. When it comes to the tearing phase, the reconnection rate will increase rapidly. On the other hand, the magnetic Reynolds number affects significantly the Kolmogorov microscopic scale $l_{\mathit{ko}}$, which becomes smaller as $R_m$ increases. An extra dissipation is defined as the combined effect of the numerical diffusion and turbulence dissipation. It is shown that the extra dissipation is dominated by the numerical diffusion before the tearing mode instability takes place. After the instability develops, the extra dissipation rises vastly, which indicates that turbulence caused by the instability can enhance the diffusion obviously. Furthermore, the energy spectrum analysis indicates that $l_{\mathit{ko}}$ of the large-scale current sheet may appear at a macroscopic MHD scale very possibly.  相似文献   

连续台风时期香港区域的水汽变化分析     

周苏娅  闻德保  梅登奎 《大地测量与地球动力学》2020,40(1):82-86

利用香港卫星定位参考站网GNSS观测数据,提取强热带风暴"塔拉斯"与热带风暴"洛克"影响期间各测站天顶方向对流层延迟,反演香港区域大气可降水量;根据香港区域49个天文台气象站提供的实测降雨量数据,分析大气可降水量与实际降雨量的相关性,以及两次台风对香港区域水汽时空分布的不同影响。结果表明,大气可降水量在台风影响前期均上升,在大量降雨后回落,但在连续台风的间歇期间,仍高于台风来临前的水平;水汽累积是大量降雨的前提条件,当水汽累积量相近时,水汽累积时长与累积降雨量呈正相关;台风期间大气可降水量值超过65 mm的区域面积与台风等级相关,台风路径对局部水汽分布有一定的影响。  相似文献   

Tree species identification within an extensive forest area with diverse management regimes using airborne hyperspectral data     

《International Journal of Applied Earth Observation and Geoinformation》2020

Information on tree species composition is crucial in forest management and can be obtained using remote sensing. While the topic has been addressed frequently over the last years, the remote sensing-based identification of tree species across wide and complex forest areas is still sparse in the literature. Our study presents a tree species classification of a large fraction of the Białowieża Forest in Poland covering 62 000 ha and being subject to diverse management regimes. Key objectives were to obtain an accurate tree species map and to examine if the prevalent management strategy influences the classification results. Tree species classification was conducted based on airborne hyperspectral HySpex data. We applied an iterative Support Vector Machine classification and obtained a thematic map of 7 individual tree species (birch, oak, hornbeam, lime, alder, pine, spruce) and an additional class containing other broadleaves. Generally, the more heterogeneous the area was, the more errors we observed in the classification results. Managed forests were classified more accurately than reserves. Our findings indicate that mapping dominant tree species with airborne hyperspectral data can be accomplished also over large areas and that forest management and its effects on forest structure has an influence on classification accuracies and should be actively considered when progressing towards operational mapping of tree species composition.  相似文献   

基于MATLAB的铁路路基沉降预测优化方法     

刘鹏鹏  李仲勤 《北京测绘》2020,(4):580-583

高速铁路路基的工后沉降严重影响着行车安全。在已有的预测模型中,所采用的初始数据往往不能满足等时间周期采集,而且还会伴随着一系列不可避免的观测误差,模型本身的误差累计,不能进行长期预测。文中利用最小二乘原理对初始值进行拟合改进,采用Lagrange插值方法将非等间隔序列转为等间隔序列,并基于新陈更替GM(1,1)模型利用MATLAB建立沉降预测模型;在此基础上,提出对模型残差进行GM改正以提高模型精度的方法。研究表明,通过对初始值序列改正后的模型具有较好的适应性,优化改进后的模型预测误差小,预测精度优于新陈更替GM(1,1)模型。  相似文献   

复杂地形景区三维导览图的设计与实现     

吴思锴  李百寿  郭家豪  李雪  张卫平 《北京测绘》2020,(1):38-43

为满足复杂地形景区对三维地图导览的需求,构建更为清晰的三维地图模型,提供良好的三维导览地图设计方案显得尤为重要。为了更好地与卫星影像进行贴合,DEM数据的采样密度要与卫星影像的分辨率一致。本文通过对比当下常用的四种空间插值方法的适用范围与运用特点,设置相关阈值及权重,直观比较了四种插值方法产生的插值结果,选择更适合复杂景区DEM插值的插值方法并对其进行精度提升,以此得到符合精度要求的DEM数据。最后利用相应地区的卫星影像进行地图投影及影像贴图,两种数据结合构建复杂景区的三维地图模型,给游客带来更为精确直观的定位信息和空间要素信息。  相似文献   

基于SPE与SPATT的水体中麻痹性贝类毒素检测方法构建与应用   总被引：1，自引：0，他引：1  

张亚亚  闫国旺  吴海燕  谭志军  张志华  江涛  李玉 《海洋与湖沼》2020,51(2):298-306

为实现麻痹性贝类毒素(paralytic shellfish poisoning,PSP)的实时监控与提前预警,本研究构建了基于固相萃取技术(solid phase extraction,SPE)与固相吸附毒素跟踪技术(solid phase adsorption toxin tracking,SPATT)的水体中PSP检测方法,重点优化了吸附材料及前处理方法,评价了回收率、检出限等指标,并将方法应用于2019年春季秦皇岛山海关海域PSP消长过程的监测中,比较评估了两种方法的监控预警效果。结果表明:SPE方法选用ENVI-Carb 500mg/6mL固相萃取柱,过样体积为50mL,13种PSP组分的平均回收率为82.2%±10.0%、检出限为4.0-20.0ng/L;SPATT方法选用SP207大孔吸附树脂,洗脱时间为静置Id最佳,整体回收率约为9.2%;在实际应用中,结合产毒藻密度及贻贝富集毒素含量的变化,发现SPE方法的检测结果可实时表征海域PSP风险状况,对于贻贝中PSP的预警效果也显著优于SAPTT方法,后者不仅因监控方式相对滞后一个监测周期,且灵敏度及准确性均较差。对于秦皇岛海域,当SPE方法检测结果达到100ng STX eq/L时,该海域贻贝中PSP残留将具有潜在的食用安全风险,跟踪过程表明这一阈值可提前两周预警贻贝富集毒素含量超出我国限量标准(800μg STX eq/kg),这对于强化风险警示并制定防范措施具有积极作用。  相似文献