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.     

High-resolution simulation of upper-ocean submesoscale variability in the South China Sea: Spatial and seasonal dynamical regimes

Submesoscale processes in marginal seas usually have complex generating mechanisms, highly dependent on the local background flow and forcing. This numerical study investigates the spatial and seasonal differences of submesoscale activities in the upper ocean of the South China Sea (SCS) and the different dynamical regimes for sub-regions. The spatial and seasonal variations of vertical vorticity, horizontal convergence, lateral buoyancy gradient, and strain rate are analyzed to compare the submesoscale phenomenon within four sub-regions, the northern region near the Luzon Strait (R1), the middle ocean basin (R2), the western SCS (R3), and the southern SCS (R4). The results suggest that the SCS submesoscale processes are highly heterogeneous in space, with different seasonalities in each sub-region. The submesoscale activities in the northern sub-regions (R1, R2) are active in winter but weak in summer, while there appears an almost seasonal anti-phase in the western region (R3) compared to R1 and R2. Interestingly, no clear seasonality of submesoscale features is shown in the southern region (R4). Further analysis of Ertel potential vorticity reveals different generating mechanisms of submesoscale processes in different sub-regions. Correlation analyses also show the vertical extent of vertical velocity and the role of monsoon in generating submesoscale activities in the upper ocean of sub-regions. All these results suggest that the sub-regions have different regimes for submesoscale processes, e.g., Kuroshio intrusion (R1), monsoon modulation (R2), frontal effects (R3), topography wakes (R4).     

基于遥感数据和表层声速的全海深声速剖面反演

海洋声速剖面严重影响着水下声传播特性,近实时地获取声速剖面对水下声通信、水下定位、鱼群探测等都有重要意义。单经验正交函数回归（single Empirical Orthogonal Function regression,sEOF-r）方法通过建立声速剖面的经验正交系数与海面遥感数据之间的线性回归关系来反演声速剖面。但是,海洋是一个复杂的动力系统,声速与海面遥感数据并不是简单的线性关系,因此,本文基于Argo历史网格数据,通过自组织映射（Self-Organizing Map,SOM）生成海平面高度异常（Sea Level Anomaly,SLA）、海表面温度（Sea Surface Temperature,SST）等海表遥感数据以及表层声速仪测量的表层声速与声速剖面异常之间的非线性映射;然后利用近实时的海表遥感数据和表层声速反演三维海洋声速场。声速剖面反演的结果表明,在多源信息融合的优势下,本文方法的反演性能最稳定且精度最高,声速剖面的平均反演精度比经典sEOF-r方法提高约2 m/s,比未考虑表层声速的经典SOM方法提高约1 m/s。     

Self-Weight Penetration Characteristics of the Suction Foundation with Different Diameters in Sand

During the self-weight penetration process of the suction foundation on the dense sand seabed, due to the shallow penetration depth, the excess seepage seawater from the outside to the inside of the foundation may cause the negative pressure penetration process failure. Increasing the self-weight penetration depth has become an important problem for the safe construction of the suction foundation. The new suction anchor foundation has been proposed, and the self-weight penetration characteristics of the traditional suction foundation and the new suction anchor foundation are studied and compared through laboratory experiments and analysis. For the above two foundation types, by considering five foundation diameters and two bottom shapes, 20 models are tested with the same penetration energy. The effects of different foundation diameters on the penetration depth, the soil plug characteristics, and the surrounding sand layer are studied. The results show that the penetration depth of the new suction foundation is smaller than that of the traditional suction foundation. With the same penetration energy, the penetration depth of the suction foundation becomes shallower as the diameter increases. The smaller the diameter of the suction foundation, the more likely it is to be fully plugged, and the smaller the height of the soil plug will be. In the stage of self-weight penetration, the impact cavity appears around the foundation, which may affect the stability of the suction foundation.

     

Numerical Simulation of Icing on Nrel 5-MW Reference Offshore Wind Turbine Blades Under Different Icing Conditions

Offshore wind energy resources are operational in cold regions, while offshore wind turbines will face the threat of icing. Therefore, it is necessary to study icing of offshore wind turbines under different icing conditions. In this study, icing sensitivity of offshore wind turbine blades are performed using a combination of FLUENT and FENSAP-ICE software, and the effects of liquid water content (LWC), medium volume diameter (MVD), wind speed and air temperature on blade icing shape are analyzed by two types of ice, namely rime ice and glaze ice. The results show that the increase of LWC and MVD will increase the amount of ice that forms on the blade surface for either glaze ice or rime ice, and an increase of MVD will expand the adhesion surface between ice and blade. Before reaching the rated wind speed of 11.4 m/s, it does not directly affect the icing shape. However, after reaching the rated wind speed, the attack angle of the incoming flow decreases obviously, and the amount of ice increases markedly. When the ambient air temperature meets the icing conditions of glaze ice (i.e., −5°C to 0°C), the lower the temperature, the more glaze ice freezes, whereas air temperature has no impact on the icing of rime ice. Compared with onshore wind turbines, offshore wind turbines might face extreme meteorological conditions, and the wind speed has no impact on the amount of ice that forms on the blade surface for most wind speeds

     

贵州平坝榜上煤矿矿山环境影响分区研究

为准确划定矿山环境影响范围,有效地开展矿山环境保护与综合治理,促进矿山可持续发展,本文在详细分析贵州平坝榜上煤矿矿山环境现状存在问题的基础上,运用采掘活动过程中的安全开采深度、移动角、边界角和地下水均衡原理等理论．系统地分析和计算了榜上煤矿矿山环境影响的几类不同范围：利用上山移动角确定地质灾害危险性大区,采用边界角确定井下开采影响范围,运用“大井法”圈出疏排水影响范围。依据矿山环境问题类型影响程度．相应地划分为严重区、较严重区和较轻区等3类,并给出具体量化指标。     

一类全局最优化问题的动态隧道方法

研究了连续变量函数的全局最优化问题 ,给出了动态隧道方法。该动态隧道方法由局部搜索和动态隧道 2个阶段构成。在局部搜索阶段用了动态系统方法。对全局最优化问题的实例进行了数值实验 ,数值结果表明了该方法的稳健性和有效性。     

高精度新方法测量计算船舶磁场分布

将高精度质子磁探仪和位场变换理论用于测量计算船舶磁场，以研究其在海洋中的分布。由质子磁探仪实测海面上１０ｍ处磁场的模（船的磁场与地磁场矢量的和的绝对值），用位场变换理论计算出船的磁场三个分量在水面和水下的分布；并采用一系列有效措施，提高计算速度和结果的精度。将该方法和磁球理论严格解比较，在ｚ＝０面上误差小于０．１％，在ｚ＝－２０ｍ面上误差小于１％；还给出船的磁场强度在船的纵横向的分布曲线和平面立体     

中晚全新世以来闽江口水下三角洲物质来源及古环境演变

通过对闽江口南侧柱状样沉积物开展高分辨率的粒度、粘土矿物分析及AMS¹⁴C测年,揭示了中晚全新世以来闽江口水下三角洲物质来源及古环境演变。中全新世(7 ka BP—4 ka BP)高海平面时期,梅花水道可能是闽江口南侧陆源物质输运的主要通道,沉积了以砂为主[(58.6±8.7)%]的沉积物,平均粒径为(3.76±0.49)φ,为较高能的沉积环境。期间,增强的浙闽沿岸流携带更多的长江物质沉积到闽江口,导致沉积物中蒙脱石含量增多。然而,到晚全新世(3 ka BP)海平面略有下降,梅花水道衰退,闽江口南侧的水动力条件减弱,形成以粉砂为主[(58.1±4.4)%]的沉积物,平均粒径为(6.30±0.32)φ。晚全新世浙闽沿岸流有所减弱,闽江口沉积物中的蒙脱石含量明显减少,而来自闽江的高岭石含量增加。     

Kohonen网络与BP网络的集成应用研究

本文介绍了 Kohonen神经网络对输入数据进行聚类方法在卷烟配方中的应用 ,提出了从核心样本动态搜索 BP网络训练样本的新探索 ,摒弃了过去 BP算法中训练样本固定不变 ,互不相交的方法 ,实现了 BP网络和 Kohonen网络动态无缝集成。