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   

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   

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   

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   

Evaluating coastal scenery using fuzzy logic: Application at selected sites in Western Black Sea coastal region of Turkey   总被引：1，自引：0，他引：1  

Ay?en Ergin  Fatma ?ahin 《Ocean Engineering》2010,37(7):583-591

Coastal areas of the world are under treat due to the conflicting requirements of functions such as habitation and/or recreation, which affect the strategic asset of coastal scenery itself. Coastal managers, together with planners, need coastal landscape inventories, where the quality of coastal scenery is a part of the inventory. In order to provide an evidence-based approach for sound coastal management decisions, [Ergin et al., 2004] and [Ergin et al., 2006] developed a novel technique ‘coastal scenic evaluation’ (CSE), which addresses the evaluation of coastal scenery. The CSE technique utilizes fuzzy logic to derive values obtained from a checklist of 26 physical and human parameters. The methodology enables the calculation of an evaluation index (D), which categorizes the scenic values of coastal sites into five distinct classes. Using this technique, coastal scenic evaluations were carried out at 34 selected sites on the Western Black Sea coast of Turkey. Based on the calculated D values, a five-class differentiation was obtained for the selected sites, to provide baseline information for any envisaged subsequent management plans for these areas.  相似文献   

疏浚物倾倒区海水水质级别的模糊综合评价     

刘现明  徐恒振 《海岸工程》1995,14(2):33-37

应用模糊综合评价方法对大连臭水套海域疏浚物预选倾倒区的水质状况进行了评价，得到了有益的结论。  相似文献   

Expanded adaptive fuzzy sliding mode controller using expert knowledge and fuzzy basis function expansion for UFV depth control     

Hyun-Sik Kim  Yong-Ku Shin   《Ocean Engineering》2007,34(8-9):1080-1088

Generally, the underwater flight vehicle (UFV) depth control system operates with the following problems: it is a multi-input multi-output (MIMO) system, it requires robustness, a continuous control input, and further, it has the speed dependency of controller parameters. To solve these problems, an expanded adaptive fuzzy sliding mode controller (EAFSMC), which is based on the decomposition method designed by using an expert knowledge and the decoupled sub-controllers and composition method designed by using the fuzzy basis function expansions (FBFEs), is proposed. To verify the performance of the EAFSMC, the depth control of UFV in various operating conditions is performed. Simulation results show that the EAFSMC solves all problems experienced in the UFV depth control system online.  相似文献   

废弃海洋桩基平台拆除方案的系统决策研究   总被引：2，自引：0，他引：2  

阎宏生  郭海涛  韩圣章 《海洋技术学报》2004,23(4):81-84,95

海洋平台拆除是一项复杂的、受多种因素制约的、涉及许多技术领域的综合性系统工程。采取适当的拆除方案是工程安全、经济、环保地进行的基础和保证。针对这一问题，文章对拆除方案的评估进行了系统的研究，从环境、工艺、安全、经济、工期的角度建立了拆除方案评估指标体系，并综合运用群决策层次分析理论和模糊数学理论对拆除方案进行系统的评估。经实例验证，所建立的评估指标体系，可科学、公正、快捷地对方案进行评估，为决策者提供科学的决策基础。  相似文献