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.     

<Emphasis Type="Italic">H-M</Emphasis> bearing capacity of a modified suction caisson determined by using load-/displacement-controlled methods

This paper presents a series of monotonically combined lateral loading tests to investigate the bearing capacity of the MSCs (modified suction caissons) in the saturated marine fine sand. The lateral loads were applied under load- and displacement-controlled methods at the loading eccentricity ratios of 1.5, 2.0 and 2.5. Results show that, in the displacement-controlled test, the deflection-softening behavior of load-deflection curves for MSCs was observed, and the softening degree of the load-deflection response increased with the increasing external skirt length or the decreasing loading eccentricity. It was also found that the rotation center of the MSC at failure determined by the load-controlled method is slightly lower than that by the displacement-controlled method. The calculated MSC capacity based on the rotation center position in serviceability limit state is relatively conservative, compared with the calculated capacity based on the rotation center position in the ultimate limit state. In the limit state, the passive earth pressures opposite the loading direction under load- and displacement-controlled methods decrease by 46% and 74% corresponding to peak values, respectively; however, the passive earth pressures in the loading direction at failure only decrease by approximately 3% and 7%, compared with their peak values.     

Trend and dynamic cause of sediment particle size on the adjacent continental shelf of the Yangtze Estuary

Based on the measured data in recent 20 years, the variation trends of the median grain size of the surface sediment, the sand-silt boundary and the mud area on the adjacent continental shelf of the Yangtze Estuary were analyzed in depth, and the effects of natural mechanism and human activities were discussed. The results show that:(1) In recent years(2006-2013), the median grain size of sediment and the distribution pattern of grouped sediments in the adjacent continental shelf area to the Yangtze Estuary have presented no obvious change compared with those before 2006;(2) The median diameter of the surface sediment in the continental shelf area displayed a coarsening trend with the decrease of sediment discharge from the basin and the drop in suspended sediment concentration in the shore area;(3) In 2004-2007, the sand-silt boundary in the north part(31°30′N) of the continental shelf area presented no significant changes, while that in the south part(31°30′S) moved inwards; In 2008-2013, both the sand-silt boundaries in the north and south parts of the continental shelf area moved inwards, mainly due to the fact that in the dry season, a relatively enhanced hydrodynamic force of the tides was generated in the Yangtze River, as well as a decreased suspended sediment concentration and a flow along the banks in North Jiangsu;(4) The mud area where the maximum deposition rate is found in the Yangtze Estuary, tends to shrink due to the drop in sediment discharge from the basin, and the decrease in suspended sediment concentration in the shore area and erosion in the delta. Moreover, it tended to shift to the south at the same time because the implement of the training works on the deep-water channel of the North Passage changed the split ratio between the North and South Passages with an increase in the power of the discharged runoff in the South Passage.     

Effects of Mudstone Particle Content on Shear Strength of a Crushed Sandstone–Mudstone Particle Mixture

The present study focuses on the shear strength, deformation, and particle crushing of sand which is mixed by crushed sandstone and mudstone particles. Two triaxial tests—one for unsaturated specimens and the other for saturated specimens—were performed, along with sieve analysis tests. Results obtained from the triaxial tests indicate that, with the increment of the mudstone particle content by weight, the angle of internal friction decreases, the cohesion increases and then decreases, and both the initial angle of shearing resistance at the atmospheric pressure and decremental angle increase and then decrease. Compared to the unsaturated specimens, the deviator stress or normalized deviator stress of the saturated specimens at the same axial stress may decrease due to the wetting action. Thus, the shear strength of the tested materials may be reduced by the wetting action. Results of sieve analysis tests indicate that the mixing of some mudstone particles into the sandstone particle mixture may reduce the amount of particle crushing, but the wetting action may increase the amount. The amount of the crushed particle may arrive at a minimum of 40% of mudstone particle content by weight.     

Study on Longitudinal Deformation Profile of Rock Mass in a Subsea Tunnel

During tunnel excavation, the deformation of surrounding rock due to the unloading of rock mass will vary with time. However, the measured displacement of surrounding rock is only a part of the actual longitudinal deformation profile. There is a need to analyze the longitudinal deformation profile to identify the deformation state and evaluate the stability of surrounding rock mass. In the present article, the variation of pre-deformation of surrounding rock due to excavation was analyzed, and the release coefficient was obtained from the measured results. For the Qingdao subsea tunnel, the measured crown settlement of surrounding rock was analyzed using the regression analysis method, and the longitudinal deformation profile of rock mass was simulated using the numerical calculation method. Moreover, based on the conditions of the subsea tunnel, a solid-fluid coupling model test was carried out to check the reliability of the numerical calculation results. The results of the model test were consistent with the numerical calculation results.     

The Sediment Source and Transport Trends around the Abandoned Yellow River Delta,China

Sediment source and transport trends are influenced by various hydrodynamic factors, and thus play important roles in sedimentary evolution and coastal stability. To examine sediment transport trends around the abandoned Yellow River delta promontory and its erosion mechanism, we employ empirical orthogonal function (EOF) analysis to study sedimentary characteristics and transport trends of the abandoned Yellow River delta in northern Jiangsu Province, China. The results showed that: (1) the main sediment source in the abandoned Yellow River delta is the submarine coastal slope and both sides of the abandoned Yellow River Delta; (2) the main hydrodynamics controlling sediment transport is the current that runs along the shore, coupled with waves, especially southward currents; (3) the sediment of the study area was redistributed under hydrodynamics; coarse sediments were eroded and broadly transported to the south. Therefore, it is concluded that the sediment sources and transport have important influence on coastal evolution: the sediment source area shows mass loss of deposits and erosion; deposits in the submarine coastal slope provide the source and were continuously eroded to provide materials to other places as a sediment source.     

Effect of Groundwater Fluctuations on Pore Pressures and Earth Pressures on Coastal Excavation Retaining Walls

Pore water and earth pressures acting on retaining structures are investigated using an efficient coastal double-layered excavation model to determine offshore excavation responses to groundwater fluctuations outside foundation pits. Total pore water pressure includes excess pore water pressure (due to groundwater fluctuations) and steady pore water pressure (due to steady seepage) determined using one-dimensional consolidation theory of double-layered soil and one-dimensional steady-state flow theory, respectively. Rankine's active and passive earth pressures are obtained from pore water pressure. This method is applicable to arbitrary groundwater fluctuation conditions. How physical parameters affect pore water pressure is numerically investigated using examples, demonstrating the method's practicality for calculating pore water and earth pressures.     

Assessing the Measurement Consistency Between the Jason-2/AMR and SARAL/AltiKa/DFMR Microwave Radiometers Using Simultaneous Nadir Observations

SARAL/AltiKa has a Dual Frequency Microwave Radiometer (DFMR), and Jason-2 has an Advanced Microwave Radiometer (AMR). Both microwave radiometer sensors include a 23.8 GHz primary water sensing channel. The measurement consistencies between DFMR and AMR are important for establishing a consistent altimetry data set between SARAL/AltiKa and Jason-2 in order to accurately assess sea level rise in a long-term time series. This study investigates the measurement consistency in the 23.8 GHz channel between DFMR and AMR at the Simultaneous Nadir Overpasses (SNO's) between the two satellites and also at coldest ocean brightness temperature locations. Preliminary results show that while both instruments show no significant trends over the one year since the launch of SARAL, a consistent relative bias of 2.88 K (DFMR higher than AMR) with a standard deviation of 0.98 K is observed. The relative bias at the lowest brightness temperature from the SNO method (-3.82 K) is consistent with that calculated from coldest ocean method (-3.74 K). The relative bias exhibits strong latitude (and scene temperature) dependency, changing from -3.82 K at high latitudes to -0.92 K near the equator. There also exists an asymmetry between the northern and southern hemisphere. The relative bias increases toward the lower end of brightness temperature.     

倾向性评分匹配法评估手术联合术中放疗在肝癌治疗中的安全性及有效性

目的 倾向性评分匹配法（Propensity Score Matching,PSM）评估手术联合术中放疗治疗原发性肝癌的安全性及疗效。方法 收集2009~2012年于笔者医院肝胆外科行手术联合术中放疗（intraoperative electron radiotherapy,IOERT）的18例原发性肝癌（primary liver cancer,PLC）患者的临床资料,其中16例经术后病理证实为肝细胞癌（hepatocellular carcinoma,HCC）,2例为肝内胆管细胞癌（intrahepatic cholangiocarcinomas,ICC）;采用倾向性评分匹配方法,按照1∶2比例从同期行单纯手术的原发性肝癌患者中筛选出36例做为对照组（32例HCC,4例ICC）,比较两组患者术中及术后并发症发生情况及HCC患者术后早期（2年内）复发率。结果 所有患者均获随访,随访率100%。两组患者术中出血量、术后3个月内肝功能、凝血功能、血常规及术后住院天数的比较,差异均无统计学意义（P>0.05）,仅在手术时长方面,联合IOERT组长于单纯手术组（P=0.000）。此外,联合IOERT组术后出现1例急性肾功能衰竭和1例胸腔积液,单纯手术组术后出现1例肝创面出血。在疗效方面,以两组48例HCC患者为研究对象,联合IOERT组的HCC患者为16例,其中6例在2年内复发,早期复发率为37.5%;单纯手术组的HCC患者为32例,20例在2年内复发,早期复发率为62.5%,两组早期复发率的比较,差异无统计学意义（P=0.101）。结论 手术联合术中放疗治疗原发性肝癌安全可行,尽管联合放疗组早期复发率低于单纯手术组,但差异并无统计学意义。     

近几十年来西北江三角洲网河区顶点的河相关系

据西北江三角洲网河区顶点马口、三水两水文站1959－1988年的实测大断面、流量、流速和水位资料，采用Leopold的水力几何形态关系建立断面河相关系，探讨两水文观测断面的河相关系特征、年际变化及河相关系的差异。河相关系表明，西北江三角洲的断面水力几何形态指数β1值相对较小，而β3值相对较大，代表了珠江特有的丰水少沙河流的河相关系。