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   

A novel spatial index using spatial analyses and hierarchical fuzzy expert system for obtaining green TOD: a case study in Tehran city     

Hamid Motieyan  Mohammad Saadi Mesgari 《国际地球制图》2019,34(1):1-22

Sustainable development is a vital and challenging factor for managing urban growth smartly. This factor contains three main components, namely economic growth, ecological protection and social justice. Green Transit-Oriented Development (GTOD) is a consummate planning approach in line with those components. Implementation of GTOD in an urban area is underpinned by its quantification. Therefore, a quantitative spatial index based on several indicators related to TOD and Green urbanism concepts should be developed. In this study, Geo-spatial Information Science and hierarchical fuzzy inference system (HFIS) were employed to calculate the indicators and aggregate them, respectively. In order to showcase the feasibility of the proposed method, it was implemented in a case study area in the City of Tehran, Iran. The result of this method is an integrated spatial GTOD index, which measures the neighbourhoods’ GTOD levels. These measurements specify weaknesses and strengths of neighbourhoods’ factors. Therefore, this index helps decision-makers to plan neighbourhoods based on land use and public transit views. Additionally, the HFIS method helps decision-makers to consider criteria and indicators with their inherent uncertainties and aggregate them with much fewer rules. For evaluating the results, the developed GTOD index was assessed with municipal action planning and attraction maps. According to the outcomes of the assessment, it is concluded that the proposed method is adequately robust and efficient for smart and sustainable urban planning.  相似文献   

基于模糊逻辑的大气云粒子相态反演和效果分析   总被引：4，自引：1，他引：3  

王德旺  刘黎平  宗蓉  黄宁立  谢潇  欧建军  郭巍  勾亚斌 《气象》2015,41(2):171-181

为了探究8mm云雷达探测到的大气云粒子相态特征,根据Shupe总结得到云雷达探测参量:反射率因子、Doppler径向速度、线性退偏振比以及温度在不同相态水凝物对应的云雷达产品特征阈值,采用不对称T型的隶属函数,成员函数包括:反射率因子、线性退偏振比、径向速度以及垂直温度廓线,反演出的粒子相态包括:雪、冰晶、混合相态、液水、毛毛雨、雨等6种。通过联合分析中国气象科学研究院灾害天气国家重点实验室的偏振云雷达探测资料和GTS1型探空仪温度数据,结果表明;通过模糊逻辑法对云雷达探测的参量反演出的大气粒子相态结果与探空实时数据一致性较好,对现阶段常规天气预报参考、人工影响天气作业指挥以及效果评估来说具有较好指导性。  相似文献   

Modelling Short‐Scale Variability and Uncertainty During Mineral Resource Estimation Using a Novel Fuzzy Estimation Technique     

Khan Muhammad  Hylke J. Glass 《Geostandards and Geoanalytical Research》2011,35(3):369-385

For mineral resource assessment, techniques based on fuzzy logic are attractive because they are capable of incorporating uncertainty associated with measured variables and can also quantify the uncertainty of the estimated grade, tonnage etc. The fuzzy grade estimation model is independent of the distribution of data, avoiding assumptions and constraints made during advanced geostatistical simulation, e.g., the turning bands method. Initially, fuzzy modelling classifies the data using all the component variables in the data set. We adopt a novel approach by taking into account the spatial irregularity of mineralisation patterns using the Gustafson–Kessel classification algorithm. The uncertainty at the point of estimation was derived through antecedent memberships in the input space (i.e., spatial coordinates) and transformed onto the output space (i.e., grades) through consequent membership at the point of estimation. Rather than probabilistic confidence intervals, this uncertainty was expressed in terms of fuzzy memberships, which indicated the occurrence of mixtures of different mineralogical phases at the point of estimation. Data from different sources (other than grades) could also be utilised during estimation. Application of the proposed technique on a real data set gave results that were comparable to those obtained from a turning bands simulation.  相似文献   

A simplified approach to design fuzzy logic controller for an underwater vehicle   总被引：1，自引：0，他引：1  

K. Ishaque  S.S. Abdullah  S.M. Ayob  Z. Salam 《Ocean Engineering》2011,38(1):271-284

Fuzzy logic controller (FLC) performance is greatly dependent on its inference rules. In most cases, the more rules being applied to an FLC, the accuracy of the control action is enhanced. Nevertheless, a large set of rules requires more computation time. As a result, an FLC implementation requires fast and high performance processors. This paper describes a simplified control scheme to design a fuzzy logic controller (FLC) for an underwater vehicle namely, deep submergence rescue vehicle (DSRV). The proposed method, known as the single input fuzzy logic controller (SIFLC), reduces the conventional two-input FLC (CFLC) to a single input FLC. The SIFLC offers significant reduction in rule inferences and simplifies the tuning process of control parameters. The performance of the proposed controller is validated via simulation by using the marine systems simulator (MSS) on the Matlab/Simulink^® platform. During simulation, the DSRV is subjected to ocean wave disturbances. The results indicate that the SIFLC, Mamdani and Sugeno type CFLC give identical response to the same input sets. However, an SIFLC requires very minimum tuning effort and its execution time is in the orders of two magnitudes less than CFLC.  相似文献   

变值配置函数空间整体编码族的2维对称性     

郑智捷 《成都信息工程学院学报》2011,(6):579-589

研究0-1多元变量的逻辑函数及其整体配置函数空间变值编码表示特性。根据对称特性,系统地定义一批整体编码结构:邵雍-Leibniz码、广义码、文王码、伏羲码和共轭码。展示变值向量配置函数空间规模以及函数群集的状态空间组织结构。对各类编码系列的可区分数目,给出计算公式。2维变值展示框架展现在变值配置函数空间中不同编码族具有的内蕴对称特性。分层结构编码配置函数空间和2维展现描述体系,为基于东方逻辑传统的现代逻辑架构:变值逻辑体系,利用高维分析工具探讨0-1序列非线性超复杂逻辑变换开辟道路。  相似文献   

日照茶树种植区典型茶园的土壤肥力状况评价   总被引：1，自引：0，他引：1       下载免费PDF全文

王茂香  张祖陆  王学  张伦  代杰瑞 《山东国土资源》2011,27(7):29-33

通过野外采样和室内测定,以日照茶树种植区3个典型茶园为研究对象,每个茶园分别取鸠坑、黄山群体、福鼎大白各3个品种,最终取得9种茶样生长地的土样,研究分析土样的pH,有机质,全N,P,K,有效N,P,K等指标的土壤养分含量状况,并以此为评价指标,运用模糊综合评判法,对3个茶园的土壤肥力质量进行了综合评价。结果表明,茶园肥力综合水平为北垛春>碧波山庄>北叶青;茶园土壤总体上,pH值较适中,有机质含量很缺乏,全N含量偏低,全P含量中等,全K含量较高,有效N含量很缺乏,有效P含量非常丰富,有效K含量中等,并据此提出了关于该地区3个典型茶园今后合理施肥的一些建议。  相似文献   

Managing expert-information uncertainties for assessing collapse susceptibility of abandoned underground structures     

Aude Nachbaur  Jérémy Rohmer 《Engineering Geology》2011,(3):166

Assessing the collapse susceptibility of abandoned cavities at a regional scale is associated with large uncertainties that are mainly related to the very nature of the phenomena, but also to the difficulty in collecting exhaustive information at such a scale on often “forgotten” structures. In this context, the expert's role is essential, because he is able to synthesize the information resulting from the inventory and from the commonly imprecise, if not vague, criteria on the basis of his experience and his knowledge of the geological, historical, economic regional context.In this article, we propose mathematical tools for representing and processing this information in order to give flexibility to this step and manage the uncertainty inherent in the expert's information. The first tool, based on the weight of evidence theory, is for managing the uncertainty due to the heterogeneous spatial distribution of the data, whereas the second tool, based on the fuzzy set theory, is for managing the imprecision and incompleteness of available data, which hinder the definition of the class boundaries of the quantitative decision criteria. Based on an appropriate representation of the uncertainty sources (related to the input data and to the expert diagnostic), we then propose a methodology that integrates the uncertainty in the final output of the collapse susceptibility assessment and provides a confidence indicator useful within the decision-making process. The proposed methodology is applied to the Arras territory in the North of France, where abandoned chalk pits (dating back to the Roman ages) and war saps located in the vicinity of the First World War front lines (i.e. covered trenches), raise both difficulties for urban planning.  相似文献   

近断层地震动作用下桥梁结构的组合隔震分析     

郭红锋  宁响亮  谭平  庾光忠  唐璐  刘军 《地震工程与工程振动》2011,31(5):172-177

为改善近断层地震动作用下隔震桥梁结构的抗震性能,基于Benchmark结构振动控制问题,研究附加黏滞阻尼器、磁流变(MR)阻尼器的组合隔震策略.非线性动力分析过程中,优化了黏滞阻尼器的阻尼系数和速度指数,并设计了分散模糊控制器来确定施加给磁流变阻尼器的电压.研究结果表明:采用黏滞阻尼器和磁流变阻尼器可提高隔震桥梁结构在...  相似文献   

A study of supervised classification accuracy in fuzzy topological methods     

Wenzhong Shi  Kimfung Liu  Hua Zhang 《International Journal of Applied Earth Observation and Geoinformation》2011

The multiple classifier system (MCS) is an effective automatic classification method, useful in connection with remote sensing analysis techniques. Combining MSC with induced fuzzy topology enables a decomposition of image classes. This fuzzy topological MCS then provides a new and improved approach to classification. The basic classification methods discussed in this paper include maximum likelihood classification (MLC), minimum distance classification (MIND) and Mahalanobis distance classification (MAH).  相似文献