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.     

ANALYSIS OF SURFACE SINK OF EXPLORATION VACANCY IN GOLD MINING AREA OF ZHAOYUAN CTIY BASED ON RS AND GIS

1 IN T R O D U C T IO NZhaoyuan C ity, located in northeast of ShandongProvince,iscalled "G old C ity"and itisone ofim portantgold production bases in C hina.The exploitation ofthegold broughtoutthe extensive vacantareas,leading tolarge-scale ground subsi…     

南美Oriente盆地北部海绿石砂岩油藏特征及成藏规律

南美厄瓜多尔Oriente盆地斜坡带发育的白垩系Napo组高伽马特征的UT海绿石砂岩段是成熟探区新发现的隐蔽含油层段。本文分析了海绿石砂岩储层的矿物组成、孔隙结构、成岩作用、物性特点,并结合烃源岩评价与石油空间分布探讨海绿石砂岩油藏的成藏特征。海绿石粘土矿物以颗粒形式存在,与石英共同构成海绿石砂岩的颗粒组分,海绿石砂岩的孔隙结构具有双峰特征,束缚水含量高,属于中-低孔、中-低渗储层类型,孔隙类型主要是剩余粒间孔。海绿石砂岩储层中石英次生加大属Ⅱ级,长石碎屑颗粒发生溶蚀作用,含铁碳酸盐类胶结物发育,结合泥岩低的I/S混层比和高的最高峰温值T_max,指示海绿石砂岩层段属于中成岩阶段A期的产物。与海绿石砂岩油藏紧邻的大面积分布的Ⅱ₁腐泥型成熟烃源岩就是缓翼斜坡带的生烃中心,大面积连续发育的海绿石砂岩与之构成优越的源储组合,有利于上生下储式成藏。海绿石砂岩油藏表现为近源性、成藏晚期性等特点,规模发育的海绿石砂岩储层得以成藏的主要运聚机制是体积流和扩散流运聚机制。这对盆地其它油区同类油藏的发现具有重要的借鉴意义。     

Origin of Baotoudong syenites in North China Craton: Petrological,mineralogical and geochemical evidence

Baotoudong syenite pluton is located to the east of Baotou City, Inner Mongolia, the westernmost part of the Triassic alkaline magmatic belt along the northern margin of the North China Craton(NCC). Zircon U-Pb age, petrological, mineralogical and geochemical data of the pluton were obtained in this paper, to constrain its origin and mantle source characteristics. The pluton is composed of nepheline-clinopyroxene syenite and alkali-feldspar syenite, with zircon U-Pb age of 214.7±1.1 Ma. Diopside(cores)-aegirine-augite(rims), biotite, orthoclase and nepheline are the major minerals. The Baotoudong syenites have high contents of rare earth elements(REE), and are characterized by enrichment in light rare earth elements(LREE) and large ion lithophile elements(LILE; e.g., Rb, Ba, Sr), depletion in heavy rare earth elements(HREE) and high field strength elements(HFSE). They show enriched Sr-Nd isotopic compositions with initial ~87Sr/~86Sr ranging from 0.7061 to 0.7067 and ε_Nd(t) values from –9.0 to –11.2. Mineralogy, petrology and geochemical studies show that the parental magma of the syenites is SiO_2-undersaturated potassic-ultrapotassic, and is characterized by high contents of Ca O, Fe_2O_3, K_2O, Na_2O and fluid compositions(H_2O), and by high temperature and high oxygen fugacity. The syenites were originated from a phlogopite-rich, enriched lithospheric mantle source in garnet-stable area(80 km). The occurrence of the Baotoudong syenites, together with many other ultrapotassic, alkaline complexes of similar ages on the northern margin of the NCC in Late Triassic implies that the lithospheric mantle beneath the northern margin of the NCC was previously metasomatized by melts/fluids from the subducted, altered paleo-Mongolian oceanic crust, and the northern margin of the craton has entered into an extensively extensional regime as a destructive continental margin in Late Triassic.     

Financing rapid community reconstruction after catastrophic disaster: lessons from the 2008 Wenchuan earthquake in China

Catastrophic disasters can change the course of urban development and challenge the long-run sustainability of cities and regions. How to rapidly reconstruct communities impaired by catastrophic disaster is a world-wide challenge. The reconstruction after the 2008 Wenchuan earthquake in China was an unusual case of very rapid reconstruction after a catastrophic disaster. Over US$147 billion was invested to rebuild the damaged areas within 3 years. The reconstruction was not simply building back what was destroyed, but was used as an opportunity to advance national goals for urbanization, rural transformation, and poverty reduction. In this article, we review how the reconstruction was planned, budgeted, and financed in the sociopolitical context of 2008 China. Particularly, we discuss two innovative programs, namely pair assistance and land-based financing. Despite the unique circumstances of China, lessons can be learned to speed up post-disaster reconstruction and urban development in other countries. Conversely, this case illustrates that a narrow focus on physical reconstruction may overlook broader economic and social issues.

     

上海数字强震观测网

上海市数字强震观测网是我国第1个具有一定规模的数字强震观测网，是上海市“九五”期间建设完成的，它由3部分组成；地面观测网，结构观测网和深井强震观测系统，每一部分都有不同的功能和目的，本文详细介绍该强震网的整个概况。功能及取得的部分观测成果。     

遵义市太阳能资源分布推算及其利用评估

为了给遵义市太阳能资源利用提供科学依据,该文根据行业标准《太阳能资源评估方法》,整理了遵义气象台30a的太阳辐射观测资料,建立了两种回归模式,分别推算了各县市、各乡镇的太阳总辐射,分析了全市太阳总辐射的时空分布特征,评估了太阳辐射的利用价值,并提出了太阳能利用的对策建议。     

北半球月平均环流异常垂直结构的综合分析

本文用一种时空综合的经验正交函数分析方法,对北半球100、500和700hPa三层月平均高度距平场进行展开,得到了不仅能反映各层高度距平场本身的空间结构分布特征,而且能同时反映各层高层距平场之间有机联系的特征向量场.分析结果表明:北半球月平均环流异常在垂直方向上具有明显的相当正压性结构特征.     

卫星气象资料在地面观测中的应用

测报是预报的基础，测报的质量直接关系到天气预报是否准确。目前PC-VSAT小站均配备到了县级观测站，因此，各地观测站都能通过小站接受到气象卫星下发的丰富的气象信息，如高空、地面常规资料，FY-2C卫星云图，欧洲中心、日本数值中心的数值预报产品，T213数值预报产品等。如果观测员能有效利用这些资料，在每次观测前对影响本地区的天气系统进行跟踪了解，将会大大提高测报技术质量。     

自我决定论下的高中地理探究活动设计——以"火星基地应该是什么样子"为例

与传统地理课堂相比,基于自我决定论(SDT)的课堂教学更加重视学生的心理健康以及内部学习动机的培养。本研究以2019年人教版高中地理必修一“火星基地应该是什么样子”为例,基于自我决定论的自主、能力、关系三个心理需要的视角,进行探究活动的设计,将理论具体落实到地理教学过程的各个环节,建立起基于自我决定论的地理教学路径与框架。