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   

突发地震灾害中无人驾驶救援车伺服控制系统研究          下载免费PDF全文

岳光  潘玉田 《地震工程学报》2018,40(6):1366-1371

针对当前采用PID控制器控制无人驾驶救援车伺服系统时存在的轨迹跟踪精度不高，误差控制性能较差，灵活性、平稳性和安全性能不佳等问题，提出并设计基于BP神经网络整定PID控制器的无人驾驶救援车伺服控制系统，建立突发地震灾害中无人驾驶救援车伺服控制系统驱动模型，并以此模型作为被控对象；根据系统期望输出值与实际输出值构成的控制偏差获得PID控制规律，并通过调节PID控制器控制参数实现系统控制，在此基础上，采用BP神经网络通过对无人驾驶救援车伺服控制系统性能的学习，构建基于BP神经网络整定的PID控制器，并采用梯度下降法修正控制器加权系数，通过在线调整BP神经网络加权系数即可实现控制器的自适应调整，控制突发地震灾害中无人驾驶救援车实施救援。实验结果表明，设计的基于BP神经网络整定PID控制器的无人驾驶救援车伺服系统可有效提高轨迹跟踪精度，具有较好的灵活性，且能够保证驾驶员的安全和车辆平稳行驶。  相似文献   

车辆荷载作用下山西路基重塑黄土的动力特性研究   总被引：2，自引：0，他引：2       下载免费PDF全文

马林  张军  刘亚明 《地震工程学报》2018,40(1):101-104

针对车辆荷载对山西高速公路路基土体影响研究不足的现状,从试验角度出发,研究车辆荷载水平、波形、干密度和围压对路基土体的动力特性响应。研究表明:路基土体的体变随波形比的增大而增大,随车辆荷载的增大而增大;路基土体的动弹性模量随干密度的增大而增大,随围压的增大而增大,阻尼比随围压的增大而减小。  相似文献   

Coordinative similitude law considering fluid‐structure interaction for underwater shaking table tests     

Zhong‐Xian Li  Kun Wu  Yundong Shi  Ning Li  Yang Ding 《地震工程与结构动力学》2018,47(11):2315-2332

Generally, when a model is made of the same material as the prototype in shaking table tests, the equivalent material density of the scaled model is greater than that of the prototype because mass is added to the model to satisfy similitude criteria. When the water environment is modeled in underwater shaking table tests, however, it is difficult to change the density of water. The differences in the density similitude ratios of specimen materials and water can affect the similitude ratios of the hydrodynamic and wave forces with those of other forces. To solve this problem, a coordinative similitude law is proposed for underwater shaking table tests by adjusting the width of the upstream face of the model or the wave height in the model test to match the similitude ratios of hydrodynamic and wave forces with those of other forces. The designs of the similitude relations were investigated for earthquake excitation, wave excitation, and combined earthquake and wave excitation conditions. Series of numerical simulations and underwater shaking table tests were performed to validate the proposed coordinative similitude law through a comparison of coordinative model and conventional model designed based on the coordinative similitude law and traditional artificial mass simulation, respectively. The results show that the relative error was less than 10% for the coordinative model, whereas it reached 80% for the conventional model. The coordinative similitude law can better reproduce the dynamic responses of the prototype, and thus, this similitude law can be used in underwater shaking table tests.  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   

THE APPLICATION OF MINIATURE UNMANNED AERIAL VEHICLE IN 25 NOVEMBER 2016 ARKETAO M_W6.6 EARTHQUAKE     

FU Bo  LI Zhi-qiang  CHEN Jie  FAN Xi-wei  LI Xiao-li  LI Tao  YAO Yuan  LIU Yao-hui 《地震地质》2018,40(3):672-684

In order to complete the field investigation to the 25 November 2016 Arketao M_W6.6 earthquake, ultra-low altitude remote-sensing data were obtained from miniature unmanned aerial vehicle. The surface rupture surveying has important significance for earthquake research. This paper selects the macro-epicenter of Arketao as the study area. The pictures were obtained with DJI Phantom 3 professional input into the software, the Digital Elevation Model (DEM), Digital Orthophoto Map (DOM) were acquired based on photogrammetry method using the overlapped optical remote-sensing images of UAV. Using these data, we can identify surface ruptures that have vertical dislocation. We selected six feature points and drew the elevation profile. In the elevation profile map, we chose smooth part of the surface rupture sides and obtained the trend line. A stable point in the surface rupture was selected and the abscissa of the point was taken into the equation of two straight lines. Then subtracting the results of the two equations, we can get the vertical dislocation of the surface rupture. On this basis, we chose six feature points and determined their vertical dislocation, which are between 4.4cm and 10.4cm. What's more, taking Bulungkou Xiang in Xinjiang Uygur Autonomous Region for example, we speculated some surface ruptures that have vertical dislocation. It can provide a new method for identifying surface rupture in the field. In addition, we get DEM data of the Bulunkou area where ambient conditions are very poor, by using miniature unmanned aerial vehicle and taking 255 photos. Putting those photos into the EasyUAV software, we got the area digital elevation of 2cm resolution. Comparing these data with RTK data, we summarized some practical problems and solutions in the practical operation and evaluated the accuracy of miniature unmanned aerial vehicle data. The Pearson Correlation Coefficient is 0.996 6. In terms of absolute elevation, the average result of UAV and RTK differs by 156.96m. In terms of relative elevation, the average result of UAV and RTK differs by 9.74m. Compared with the previous test of Pishan County, there is a notable divergence in the results. It shows that the data accuracy will be affected to some extent in the cold weather in high elevations. The specific impact needs further exploration.  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