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.     

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.     

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。     

基于拉格朗日拟序结构的吕宋海峡表层水交换研究

黑潮通过吕宋海峡入侵南海呈现明显的瞬态特征。以往的研究通常将黑潮在吕宋海峡附近的流态分为几种不同类型。本文基于表层地转流计算得到的有限时间李雅普诺夫指数场（FTLE）,展示了拉格朗日视角下的吕宋海峡上层水交换特征。从FTLE场提取的拉格朗日拟序结构（LCSs）很好地识别了吕宋海峡附近的典型流态和旋涡活动。此外,这些LCSs还揭示了吕宋海峡周围复杂的输运路径和流体域,这些特征得到了卫星跟踪浮标轨迹的验证,且从流速场中是无法直接识别的。FTLE场显示,吕宋海峡附近表层水体的输运形态主要可分为四类。其中,黑潮直接向北流动的“跨越”形态和顺时针旋转的“流套”形态的发生频次明显高于直接进入南海的黑潮分支“渗入”形态和南海水流出至太平洋的“外流”形态。本文还进一步分析了黑潮在吕宋海峡处的涡旋脱落事件,突出强调了LCSs在评估涡旋输运方面的重要性。反气旋涡旋的脱落个例表明,这些涡旋主要源自黑潮“流套”,涡旋脱落之前可有效地俘获黑潮水。LCS所指示的输运通道信息有助于预测最终被反气旋涡所挟卷水体在上游的位置。而在气旋涡的形成过程中,LCS的分布特征表明,大部分气旋涡并未与黑潮水的输运路径相连通。因此,气旋涡对从太平洋到南海的上层水交换的贡献较小。     

Major contribution to carbon neutrality by China’s geosciences and geological technologies

In the context of global climate change, geosciences provide an important geological solution to achieve the goal of carbon neutrality, China’s geosciences and geological technologies can play an important role in solving the problem of carbon neutrality. This paper discusses the main problems, opportunities, and challenges that can be solved by the participation of geosciences in carbon neutrality, as well as China’s response to them. The main scientific problems involved and the geological work carried out mainly fall into three categories: (1) Carbon emission reduction technology (natural gas hydrate, geothermal, hot dry rock, nuclear energy, hydropower, wind energy, solar energy, hydrogen energy); (2) carbon sequestration technology (carbon capture and storage, underground space utilization); (3) key minerals needed to support carbon neutralization (raw materials for energy transformation, carbon reduction technology). Therefore, geosciences and geological technologies are needed: First, actively participate in the development of green energy such as natural gas, geothermal energy, hydropower, hot dry rock, and key energy minerals, and develop exploration and exploitation technologies such as geothermal energy and natural gas; the second is to do a good job in geological support for new energy site selection, carry out an in-depth study on geotechnical feasibility and mitigation measures, and form the basis of relevant economic decisions to reduce costs and prevent geological disasters; the third is to develop and coordinate relevant departments of geosciences, organize and carry out strategic research on natural resources, carry out theoretical system research on global climate change and other issues under the guidance of earth system science theory, and coordinate frontier scientific information and advanced technological tools of various disciplines. The goal of carbon neutrality provides new opportunities and challenges for geosciences research. In the future, it is necessary to provide theoretical and technical support from various aspects, enhance the ability of climate adaptation, and support the realization of the goal of carbon peaking and carbon neutrality.     

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.     

玉溪市中心城区建设用地集约利用空间差异研究

为科学地分析城市土地集约利用在空间上的分布规律及趋势,以玉溪市中心城区为研究区域,在玉溪市中心城区建设用地集约利用评价的基础上,通过空间相关分析的方法揭示了中心城区建设用地集约度的空间分布特征。结果表明:玉溪市中心城区集约利用度呈现出由城市中心逐渐向外递减的趋势,土地集约利用水平在一定程度上存在集聚效应;从全域空间分析看,各功能区土地利用集约度空间分布在整体上具有较好的正相关性,居住功能区相关性最强,其他功能区最弱;从局部空间的角度来看,集约度的分布既存在空间聚集性又存在空间异质性。