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101.
Unmanned surface vehicles (USVs) have become a focus of research because of their extensive applications. To ensure safety and reliability and to perform complex tasks autonomously, USVs are required to possess accurate perception of the environment and effective collision avoidance capabilities. To achieve these, investigation into realtime marine radar target detection and autonomous collision avoidance technologies is required, aiming at solving the problems of noise jamming, uneven brightness, target loss, and blind areas in marine radar images. These technologies should also satisfy the requirements of real-time and reliability related to high navigation speeds of USVs. Therefore, this study developed an embedded collision avoidance system based on the marine radar, investigated a highly real-time target detection method which contains adaptive smoothing algorithm and robust segmentation algorithm, developed a stable and reliable dynamic local environment model to ensure the safety of USV navigation, and constructed a collision avoidance algorithm based on velocity obstacle (V-obstacle) which adjusts the USV’s heading and speed in real-time. Sea trials results in multi-obstacle avoidance firstly demonstrate the effectiveness and efficiency of the proposed avoidance system, and then verify its great adaptability and relative stability when a USV sailing in a real and complex marine environment. The obtained results will improve the intelligent level of USV and guarantee the safety of USV independent sailing. 相似文献
102.
Paratacamite from Gypsum Veins in Sandstones of the Kuqa Basin,Xinjiang, China: Implications for a New Epigenetic Cu Enrichment Mechanism 下载免费PDF全文
The Kuqa Basin filled with Paleogene evaporite series is located in the northeast of the Tarim Basin, Xinjiang, China. It is famous for sandstone‐hosted Cu deposits formed by synsedimentary processes. However, our recent studies reveal that there has been another Cu mineralization mechanism in this basin. Field investigations show that there is a close relationship among faults, salt domes, and brine. Cu deposits are mainly located in two east–west‐trending anticlinal belts in the basin, adjacent to salt domes in the belts. Cu minerals in gypsum veins of the Jidike and Kangcun formations have been investigated by SEM, EDS, and X‐ray diffraction methods. The occurrence of paratacamite in gypsum veins has been reported to coexist with glauberite and halite in the joint planes of sandstones. In addition, it occurs accompanying residual crystal salt encrustation in limestone fractures, or in sandstones in dendritic form. These features indicate that the surface‐Cu enrichment in the Kuqa Basin might have originated from Cu‐bearing brine in the underlying evaporite units, which migrated upward along fractures. In addition, the presence of H2S in the east–west fault belt in the Kuqa Basin, and the discovery of surface sulfur, calcium carbonate, and covellite, suggest thermochemical sulfate reduction near salt domes in the deeper parts of the rock units. This process resulted in the generation of reduced brine and provided a favorable environment for Cu enrichment. Therefore, the surface‐Cu mineralization near salt domes is interpreted to be the result of Cu‐bearing brine migrating upward to the surface along faults (or joints) following the intrusion of deep salt domes. The geological evidence indicates the presence of reducing brine and Cu‐bearing brine near the salt dome in the deeper rocks of the Kuqa Basin, thus making the intrusive contact zone of the salt dome a favorable site for the epigenetic enrichment of Cu. Our study demonstrates that Cu enrichment in the Kuqa Basin resulted not only from synsedimentary deposition but also through epigenetic enrichment associated with salt dome intrusion and brine‐rich fluids. 相似文献
103.
Rivers often witness non-uniform bed load sediment transport. For a long time, non-uniform bed load transport has been assumed to be at capacity regime determined exclusively by local flow. Yet whether the capacity assumption for non-uniform bed load transport is justified remains poorly understood. Here, the relative time scale of non-uniform bed load transport is evaluated and non-capacity and capacity models are compared for both aggradation and degradation cases with observed data. As characterized by its relative time scale, the adaptation of non-uniform bed load to capacity regime should be fulfilled quickly. However, changes in the flow and sediment inputs from upstream or tributaries hinder the adaptation. Also, the adaptation to capacity regime is size dependent, the finer the sediment size the slower the adaptation is, and vice versa. It is shown that the capacity model may entail considerable errors compared to the non-capacity model. For modelling of non-uniform bed load, noncapacity modelling is recommended, in which the temporal and spatial scales required for adaptation are explicitly appreciated. 相似文献
104.
The objective of this study was to examine the effect of benzo[a]pyrene(Ba P) on the detoxification and antioxidant systems of two microalgae,Isochrysis zhanjiangensis and Platymonas subcordiformis.In our study,these two algae were exposed to Ba P for 4 days at three different concentrations including 0.5 μg~(L-1)(low),3 μg~(L-1)(mid) and 18 μg~(L-1)(high).The activity of detoxification enzymes,ethoxyresorufin O-deethylase(EROD) and glutathione S-transferase(GST) increased in P.subcordiformis in all Ba P-treated groups.In I.zhanjiangensis,the activity of these two enzymes increased at the beginning of exposure,and then decreased in the groups treated with mid-and high Ba P.The activity of antioxidant enzyme superoxide dismutase(SOD) increased in I.zhanjiangensis in all Ba P-treated groups,and then decreased in high Ba P-treated group,while no significant change was observed in P.subcordiformis.The activity of antioxidant enzyme catalase(CAT) increased in I.zhanjiangensis and P.subcordiformis in all Ba Ptreated groups.The content of malondialdehyde(MDA) in Isochrysis zhanjiangensis increased first,and then decreased in high Ba P-treated group,while no change occurred in P.subcordiformis.These results demonstrated that Ba P significantly influenced the activity of detoxifying and antioxidant enzymes in microalgae.The metabolic related enzymes(EROD,GST and CAT) may serve as sensitive biomarkers of measuring the contamination level of Ba P in marine water. 相似文献
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