Radar-based collision avoidance for unmanned surface vehicles

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.     

Molybdenum Mass Fractions and Isotopic Compositions of International Geological Reference Materials

The double‐spike method with multi‐collector inductively coupled plasma‐mass spectrometry was used to measure the Mo mass fractions and isotopic compositions of a set of geological reference materials including the mineral molybdenite, seawater, coral, as well as igneous and sedimentary rocks. The long‐term reproducibility of the Mo isotopic measurements, based on two‐year analyses of NIST SRM 3134 reference solutions and seawater samples, was ≤ 0.07‰ (two standard deviations, 2s, n = 167) for δ^98/95Mo. Accuracy was evaluated by analyses of Atlantic seawater, which yielded a mean δ^98/95Mo of 2.03 ± 0.06‰ (2s, n = 30, relative to NIST SRM 3134 = 0‰) and mass fraction of 0.0104 ± 0.0006 μg g^?1 (2s, n = 30), which is indistinguishable from seawater samples taken world‐wide and measured in other laboratories. The comprehensive data set presented in this study serves as a reference for quality assurance and interlaboratory comparison of high‐precision Mo mass fractions and isotopic compositions.     

平度市新河铁矿地质特征及找矿远景

平度市新河铁矿处于莱州-安丘铁成矿带中部,矿床赋存于古元古代粉子山群小宋组二段含铁岩系中,属沉积变质型铁矿床。通过地质勘查,矿区内圈定3个铁矿体。该文以此为基础,对矿床地质特征及矿区找矿远景进行浅析,以利于矿山下一步找矿工作的开展。     

基于Neuman井流理论确定玄武岩潜水含水层渗透系数的应用——以吉林靖宇煤矿为例

全面分析研究区玄武岩潜水含水层水文地质条件的基础上,对稳定流和非稳定理论确定潜水含水层渗透系数的优缺点进行了对比,认为非稳定井流公式确定玄武岩潜水含水层渗透系数是合理的。Aquifer Test软件基于Neuman井流理论配线法求参原理,运用计算机完成了自动求参,避免了人工配线的不足。该文根据吉林靖宇煤矿研究区玄武岩潜水含水层非稳定流抽水试验,分别用Aquifer Test软件和稳定井流公式进行了求参,并对比分析得出:玄武岩含水层弹性释水作用影响时间较长,利用Neuman潜水井流公式求参可靠,且更逼近现实;用Aquifer Test软件实现了自动求参,具有操作简单规范、可比性好的优点。     

新疆东准乌须克劳格岩体LA-ICP-MS锆石U-Pb年龄、Hf同位素特征及其地质意义

新疆东准噶尔琼河坝地区近年来找矿获得重大突破,发现了一系列重要的矿产,这些矿产基本上围绕该地区出露面积最大的乌须克劳格岩体分布。该岩体组成比较复杂,主要岩性为二长花岗岩和花岗闪长岩。采用LA-ICP-MS技术测得花岗闪长岩和二长花岗岩锆石~(206)Pb/~(238)U年龄分别为428.9±1.9Ma和427.2±1.7Ma,被解释为岩石的结晶年龄。2类岩石都属于过铝质-钙碱性系列花岗岩,具有较高的铝、钙含量,K_2O/Na_2O值普遍偏低,介于0.15~0.40之间;稀土元素配分曲线呈现右倾特征,稀土元素总量较低,轻稀土元素相对富集,负Eu异常不明显;在微量元素原始地幔标准化蛛网图上,高场强元素Th、Nb、Ta、P、Ti等相对亏损,大离子亲石元素Rb、Ba、U、K、Sr等相对富集,具有高Ba、Sr含量和高(La/Yb)_N、Sr/Y值,显示出高Ba-Sr花岗岩的特征;同时岩体具有高正ε_(Hf)(t)值和年轻的模式年龄。这些地球化学和同位素特征表明,晚志留世乌须克劳格岩体是大陆边缘弧环境下大洋板片熔融的产物。     

天水盆地新近纪伸展构造——来自沉积与构造变形方面的证据

天水盆地位于青藏高原东北缘高海拔挤压隆升区与鄂尔多斯低海拔伸展区的过渡部位,新构造活动强烈。然而,新构造活动对天水盆地的影响尚不清楚。通过对盆地的沉积环境、构造沉降、构造变形等方面的研究,结果显示:1盆地由风成堆积、洪积扇、河湖相与湖泊相沉积组成,代表沉积中心的河湖相与湖泊相沿控盆断裂(西秦岭北缘断裂、西和断裂与礼县-罗家堡断裂)分布;2盆地经历了16~14Ma、9.2~7.4Ma和3.6~2.6Ma三次加速沉降期;3控盆断裂在同沉积期为正断层。沉积中心沿断裂分布、快速沉降事件及生长正断层表明,天水盆地至少在中新世晚期受控于走滑伸展构造,记录了青藏高原向北东方向的构造挤出作用。