车辆碾压作用下戈壁地表起尘浓度   总被引：1，自引：1，他引：0  

孟小楠  严平  王振亭  董苗  王勇 《中国沙漠》2019,39(1):80-87

通过野外观测车辆碾压作用下戈壁地表PM₁₀释放浓度，探讨其主要影响因素。针对戈壁区砾石、砂砾、砂质和砂土4种路面类型，应用TSI粉尘仪多次重复观测车辆碾压产生的PM₁₀浓度，进而阐明碾压次数、车速和地表水分等因素对起尘浓度的影响。结果表明：4种路面的平均起尘浓度依次为5.339、9.089、16.944、50.251 mg·m^-3，是自然状态下的5~50倍；起尘浓度随碾压次数增多而增大，其中砂土路情况下的增长最显著；随土层厚度的增大呈现出幂函数的增长趋势；降雨后路面起尘浓度显著减小，且降雨量会影响降雨后起尘浓度的变化趋势。最后提出了针对性的建议和措施以减弱车辆碾压导致的戈壁地表起尘。  相似文献   

海底观测网发展现状及趋势研究     

陈建冬  张达  王潇  潘筱屹  王策男  张自丽  葛辉良 《海洋技术学报》2019,38(6):95-103

文中详细研究了当前世界上最典型的海底观测网的建设发展规模、形式、设备类型以及我国海底观测网的发展现状,并对国内外海底观测网的发展趋势进行总结。对日本、加拿大、美国及欧洲的海底观测网进行了设备级研究,对我国台湾地区、东海、南海的海底观测网现状进行了研究,并讨论了国外先进观测网对我国的海底观测网建设的借鉴意义。文中总结出海底观测网发展的整体趋势为:单节点网络加速验证新型设备及传感器的水下能力;区域尺度网络用于加速多学科发展并提升灾害预警能力;而浮标平台网络作为补充,铺设在远海区域以降低阶段建设成本。  相似文献   

URANS investigation of the interaction between the free surface and a shallowly submerged underwater vehicle at steady drift     

《Applied Ocean Research》2019

An axisymmetric underwater vehicle (UV) at a steady drift angle experiences the complex three-dimensional crossflow separation. This separation arises from the unfavorable circumferential pressure gradient developed from the windward side toward the leeward side. As is well known, the separated flow in the leeward side gives rise to the formation of a pair of vortices, which affects considerably the forces and moments acting on the UV. In this regard, the main purpose of the present study is to evaluate the role of the leeward vortical flow structure in the hydrodynamic behavior of a shallowly submerged UV at a moderate drift angle traveling beneath the free surface. Accordingly, the static drift tests are performed on the SUBOFF UV model using URANS equations coupled with a Reynolds stress turbulence model. The simulations are carried out in the commercial code STARCCM+ at a constant advance velocity based on Froude number equal to F_n = 0.512 over submergence depths and drift angles ranging from h = 1.1D to h = ∞ and from β = 0 to β = 18.11°, respectively. The validation of the numerical model is partially conducted by using the existing experimental data of the forces and moment acting on the totally submerged bare hull model. Significant interaction between the low-pressure region created by the leeward vortical flow structure and the free surface is observed. As a result of this interaction, the leeward vortical flow structure appears to be largely responsible for the behavior of the forces and moments exerted on a shallowly submerged UV at steady drift.  相似文献   

Experimental Study of a Command Governor Adaptive Depth Controller for an Unmanned Underwater Vehicle     

《Applied Ocean Research》2019

Unmanned Underwater Vehicles (UUVs) are increasingly being used in advanced applications that require them to operate in tandem with human divers and around underwater infrastructure and other vehicles. These applications require precise control of the UUVs which is challenging due to the non-linear and time varying nature of the hydrodynamic forces, presence of external disturbances, uncertainties and unexpected changes that can occur within the UUV’s operating environment. Adaptive control has been identified as a promising solution to achieve desired control within such dynamic environments. Nevertheless, adaptive control in its basic form, such as Model Reference Adaptive Control (MRAC) has a trade-off between the adaptation rate and transient performance. Even though, higher adaptation rates produce better performance they can lead to instabilities and actuator fatigue due to high frequency oscillations in the control signal. Command Governor Adaptive Control (CGAC) is a possible solution to achieve better transient performance at low adaptation rates. In this study CGAC has been experimentally validated for depth control of a UUV, which is a unique challenge due to the unavailability of full state measurement and a greater thrust requirement. These in turn leads to additional noise from state estimation, time-delays from input noise filters, higher energy expenditure and susceptibility to saturation. Experimental results show that CGAC is more robust against noise and time-delays and has lower energy expenditure and thruster saturation. In addition, CGAC offers better tracking, disturbance rejection and tolerance to partial thruster failure compared to the MRAC.  相似文献   

利用BDS与无人船进行污染源分析及处理     

姜沣珊  岳中杨  程俊颖  赵泽阳 《测绘通报》2020,(2):155-159

在大数据的背景下，充分利用北斗卫星导航系统（BDS）的定位功能，以无人船作为用户端，在水质数据采集和污染源位置的问题中积极探索新的实践方案，迅速、准确地找到污染源，减少河流污染物污染的时间，且无人船上装有净化模块，在发现污染时可作简易处理。在无人船上安装水质分析仪，水质分析仪的传输模块中安装经给防水处理的北斗卫星定位芯片和WiFi数据传输器，进而对河流的污染物种类及浓度进行分析，并采用大数据的计算方法，计算出污染源位置，向云平台反映污染源位置分析结果与污染物处理方法。通过BDS，将数据按照位置区域划分，并将能到达污染源的最短路径发送到处理人的移动设备上。本文通过对基于BDS定位的水质污染监测可视化系统进行分析，以期迅速找出污染源，减少水质污染现象的发生。  相似文献   

基于分布式控制力矩陀螺的水下航行器轨迹跟踪控制   总被引：2，自引：0，他引：2  

黄道敏  徐瑞昆  唐国元  冯雷  刘智  徐国华 《海洋工程》2018,36(6):69-76

基于控制力矩陀螺群(CMGs)的水下航行器具有低速或零速机动的能力。采用基于分布式CMGs的水下航行器方案,并研究其水平面的轨迹跟踪控制问题。通过全局微分同胚变换将非完全对称的动力学模型解耦成标准欠驱动控制模型,并根据简化的模型构建其轨迹跟踪的误差动力学模型,将轨迹跟踪控制问题转化为误差模型镇定问题。基于一种分流神经元模型和反步法设计了系统的轨迹跟踪控制律,该控制器不需要对任何虚拟控制输入进行求导计算,且能确保跟踪误差的最终一致有界性。仿真结果表明该控制器能够实现在不依赖动力学参数先验知识的情况下对光滑轨迹的有效跟踪。  相似文献   

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   

High‐resolution bathymetric mapping reveals subaqueous glacial landforms in the Arctic alpine lake Tarfala,Sweden     

Nina Kirchner  Riko Noormets  Jakob Kuttenkeuler  Elias Strandell Erstorp  Erik Schytt Holmlund  Gunhild Rosqvist  Per Holmlund  Marika Wennbom  Torbjrn Karlin 《第四纪科学杂志》2019,34(6):452-462

In Arctic alpine regions, glacio‐lacustrine environments respond sensitively to variations in climate conditions, impacting, for example,glacier extent and rendering former ice‐contact lakes into ice distal lakes and vice versa. Lakefloors may hold morphological records of past glacier extent, but remoteness and long periods of ice cover on such lakes make acquisition of high‐resolution bathymetric datasets challenging. Lake Tarfala and Kebnepakte Glacier, located in the Kebnekaise mountains, northern Sweden, comprise a small, dynamic glacio‐lacustrine system holding a climate archive that is not well studied. Using an autonomous surface vessel, a high‐resolution bathymetric dataset for Lake Tarfala was acquired in 2016, from which previously undiscovered end moraines and a potential grounding line feature were identified. For Kebnepakte Glacier, structure‐from‐motion photogrammetry was used to reconstruct its shape from photographs taken in 1910 and 1945. Combining these methods connects the glacial landform record identified at the lakefloor with the centennial‐scale dynamic behaviour of Kebnepakte Glacier. During its maximum 20^th century extent, attained c. 1910, Kebnepakte Glacier reached far into Lake Tarfala, but had retreated onto land by 1945, at an average of 7.9 m year^–1. Copyright © 2019 John Wiley & Sons, Ltd.  相似文献   

空地技术结合地形图测图方法研究     

方秋生  王宵雷  刘如飞  马新江 《测绘与空间地理信息》2020,(3):37-40

车载移动测量系统可以快速、高精度地对测区进行三维激光扫描,但是因地物遮挡、视角限制,使得点云数据存在缺失;无人机航测具有高效率、高灵活性和低成本等优势,但是稳定性差,受天气影像严重,易导致影像不清晰或精度低。无人机航测技术可以弥补车载移动测量技术的采集盲区,后者可以发挥高精度的优点,二者技术联合应用,将极大提高测绘精度及生产效率。本文以某小区为例,进行了相关方法实验,对建筑物顶部或植被茂密处等扫描盲区,采用无人机航测补测,通过高精度激光点云对航摄影像进行纠正匹配,综合利用激光点云与航摄影像进行大比例尺测图。  相似文献   

北极冰下水声通信中改进的最小均方/四次方直接自适应均衡器     

田亚男  韩笑  殷敬伟  陈红霞  刘清宇 《海洋学报(英文版)》2020,39(9):133-139

本文提出了一种适用于北极冰下水声通信的最小均方/四次方直接自适应均衡器（LMS/F-DAE）。它能处理基带复信号，与LMS相比，具有更好的均衡效果。考虑到均衡器的稀疏特性，在其代价函数中加入自适应范数（AN）作为约束。它能根据均衡器系数的大小自适应变化：对于小系数，此约束项存在以加快收敛速度；对于大系数，此约束项不存在以减小均衡误差。利用第九次中国北极科学考察得到的实验数据验证AN-LMS/F-DAE的性能。结果表明，与传统的LMS/F-DAE相比，AN-LMS/F-DAE能提升均衡器的稀疏性且均衡性能更优。  相似文献