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.     

Effects of size and strain rate on the mechanical behaviors of rock specimens under uniaxial compression

Size and strain rate are two key factors that dramatically influence the estimation of rock mechanical behaviors. To better understand the effects of size and strain rate on measured rocks, rock specimens with six different sizes were tested at six different strain rates under uniaxial compression using the MTS 815 Rock Mechanics Test System. Having determined that the size and strain rate significantly affect the peak strain, peak stress, elastic modulus, acoustic emission (AE), and failure pattern of the rock specimens, the relation was established between the strength and the size and strain rate of red sandstone. And the variation was revealed among the size and strain rate, the AE, and the failure pattern. It turned out that the peak stress was negatively correlated with the rock size and was positively correlated with the strain rate. When the length to diameter ratio (L/D) of the rock specimen was less than 2.0, the AE appeared mildly. The AE quantities gradually increased before the peak stress, and then sharply decreased after the peak stress. The failure pattern of the rock specimen was relatively complicated, with a fracture plane appearing along the axial direction. Conical failure type was also presented. When the L/D ratio of the specimen was greater than 2.0, the AE characteristics of red sandstone showed the radical model. There were relatively few AE rings before the peak stress. But the AE rings increased suddenly and dramatically during the peak stress. The rock specimens primarily failed with a single shear plane. Moreover, with an increase in the strain rate, the AE activities were enhanced and the AE quantities increased. When the strain rate of the rock specimen was less than 5.0?×?10^?4/s, the rock specimen failed with a shear or tensile-shear pattern. And when the strain rate was greater than 5.0?×?10^?4/s, the rock specimen tended to fail in a conical pattern.     

Palaeoproterozoic granitic magmatism in the northern segment of the Jiao-Liao-Ji Belt: implications for orogenesis along the Eastern Block of the North China Craton

As the northern segment of the Jiao-Liao-Ji Belt (JLJB), the Palaeoproterozoic Liaoji Belt is a key region for deciphering the formation and evolution of the North China Craton (NCC). In this study, we present the geochronology, geochemical, and isotopic studies on the monzogranitic gneiss, which is one of the major lithotectonic elements of the Liaoji Belt. LA-ICP-MS zircon U–Pb dating reveals that the studied monzogranitic gneisses were formed in the period of 2213–2178 Ma. They are in tectonic contact with the Palaeoproterozoic volcano-sedimentary rocks in the field. The monzogranitic gneisses belong to the high-K calc-alkaline series, and are metaluminous to peraluminous. They have 10,000 Ga/Al ratios of 2.63–3.14 with an average of 2.90, and are thus classified as aluminous A-type granites. Their ε_Nd(t) values vary from ?3.4 to +2.5, indicating heterogeneous source region. The monzogranitic gneisses are characterized by enrichment in LREE and LILE (e.g. Rb, Ba, Th, and K) and depletion in HREE and HFSE (such as Nb, Ta, and Ti), and are typical to magmatism in active continental margins formed in a subduction-related tectonic setting. Taking into account their A-type affinity and regional geological data, we suggest that the monzogranitic gneisses were most probably generated in a local extensional back-arc environment during subduction.     

Regional hazard prediction of rock bursts using microseismic energy attenuation tomography in deep mining

Rock burst prediction is a worldwide challenge that we have long tried to overcome. This study tentatively proposed a method to regionally predict rock burst hazards using microseismic energy attenuation. To verify the feasibility of the proposal, first, the mechanism of microseismic energy propagation and attenuation in rock medium was explored, and dominant attenuation characteristics of microseismic waves were analyzed. Second, a spatial attenuation model of microseismic energy was established, and the average energy attenuation coefficient for each wave path was defined. A 3D seismic energy attenuation inversion algorithm was put forward, and the corresponding computation matrix was developed. Third, a continuous microseismic field investigation was carried out in a deep coal mine. Seismic energy attenuation coefficient was confirmed using the calibrated focus position and energy determination. Based on data discretization processing, energy attenuation inversion and tomography, potential rock burst hazard regions were strictly zoned in mining areas. Finally, regional prediction results obtained from the microseismic energy attenuation were compared with the direct measurement results obtained from the classical drilling dust method to verify the reliability of proposed approach. It turns out that rock burst hazard regions predicted by the microseismic energy attenuation agreed well with the objective hazardous situations. Seismic energy attenuation coefficient is a significant evaluation factor that directly mirrors the inelastic performance of rock medium. Energy attenuation coefficient threshold used for determining the rock burst hazard regions was 3.0 km^?1. Reliability of the seismic energy attenuation inversion and tomography was closely related to the spatial distribution of microseisms in a localized region. The optimum spatial density of microseisms was 0.2 m^?3. Regional rock burst prediction using microseismic energy attenuation is an effective approach for revealing potential hazardous regions in deep mining conditions. This approach improves the pertinence of geological hazard prevention and provides a beforehand reference for targeted hazard management.     

四川巴塘县茶洛地区温泉及间歇喷泉水化学特征和成因分析

温泉的水化学和成因研究对地热资源的开发利用有重要意义。四川巴塘县茶洛温泉的分布受茶洛—松多断层带的控制,沿北东—南西向的河流两岸出露,附近出露三叠系灰岩、砾岩和燕山期花岗岩。在温泉区出露有近20个泉眼,对其中10个泉眼进行采样测试。受出露点冷水混入的影响,东北部的两个泉眼温度为45~51 ℃,中西部地区的泉眼温度为77~89 ℃,部分为沸泉泉眼;各泉眼流量为0.01~1.8 L/s;pH值为6.1~8.1,矿化度为0.39~1.06 g/L,F^-含量为15~22 mg/L,偏硅酸含量为69~356 mg/L。泉水主要阳离子为Na⁺、K⁺和Ca²⁺,主要阴离子为 {\mathrm{CO}}_3^{2-}、 {\mathrm{HCO}}_3^{-}、Cl^-和 {\mathrm{SO}}_4^{2-},水化学类型为HCO₃-Na型。氢氧同位素数据表明,研究区地下热水来源于大气降水,补给高程约为4 400~4 800 m,补给区年均气温在-10 ℃左右。利用SiO₂温标估算茶洛温泉热储层温度约为150~200 ℃,热水循环深度约为2 810~3 480 m。茶洛温泉为大气降水入渗后在地下深循环过程中被大地热流加热,再沿断层带在河谷涌出地表而形成的温泉。在河流西北岸分布有灰岩,地下水溶蚀形成空洞,来自浅处的冷水和来自深部的热水在空洞中混合并被加热至沸点,导致热水间歇性上升喷出地面,形成间歇喷泉。     

二连盆地额仁淖尔凹陷下白垩统湖相云质岩优质储层特征及控制因素

二连盆地多个凹陷的下白垩统均发育一套湖相白云岩.它不仅是一个重要的地层对比标志层,还是一套有效的储集层.这套储层孔隙结构复杂,非均质性强.寻找优质储层是油气勘探的关键.研究以二连额仁淖尔凹陷的下白垩统湖相云质岩为研究对象,研究了云质岩储层的储层特征和成因.本次研究采用岩心观察、岩石学、扫描电镜(SEM)、X射线衍射、稳...     

Application of transparent soil model tests to study the soil-rock interfacial sliding mechanism

When transparent soil technology is used to study the displacement of a slope, the internal deformation of the slope can be visualized. We studied the sliding mechanism of the soil-rock slope by using transparent soil technology and considering the influence of the rock mass Barton joint roughness coefficient, angle of the soil mass, angle of the rock mass and soil thickness factors on slope stability. We obtained the deformation characteristics of the soil and rock slope with particle image velocimetry and the laser speckle technique. The test analysis shows that the slope sliding can be divided into three parts: displacements at the top, the middle, and the bottom of the slope; the decrease in the rock mass Barton joint roughness coefficient, and the increase in soil thickness, angles of the rock mass and soil mass lead to larger sliding displacements. Furthermore, we analyzed the different angles between the rock mass and soil thickness. The test result shows that the displacement of slope increases with larger angle of the rock mass. Conclusively, all these results can help to explain the soil-rock interfacial sliding mechanism.     

应用Hydrolight模式研究含油水体辐射传输特性的关键技术

辐射传输模式Hydrolight在国际水色遥感研究领域已被广泛用于解决水体光学的各种问题,也是进行石油类污染水体辐射传输特性研究的有效模型。结合Hydrolight模式的机理、应用现状及含油水体的特点,提出了将该模式应用于光学特性复杂的石油污染水体辐射传输特性研究时需要解决的关键技术,包括测定石油污染水体吸收系数和散射系数、建立石油污染吸收和散射特性随波长和深度变化的参数化模型、确定油物质的吸附后悬浮颗粒物体散射函数模型等方面。依据2018年8月和2016年8月分别在辽宁大连港和辽宁盘锦辽河油田等区域测定的含油水体数据,讨论了这些关键技术的解决方案。