Closed-loop randomized kinodynamic path planning for an autonomous underwater vehicle

A randomized kinodynamic path planning algorithm based on the incremental sampling-based method is proposed here as the state-of-the-art in this field applicable in an autonomous underwater vehicle. Designing a feasible path for this vehicle from an initial position and velocity to a target position and velocity in three-dimensional spaces by considering the kinematic constraints such as obstacles avoidance and dynamic constraints such as hard bounds and non-holonomic characteristic of AUV are the main motivation of this research. For this purpose, a closed-loop rapidly-exploring random tree (CL-RRT) algorithm is presented. This CL-RRT consists of three tightly coupled components: a RRT algorithm, three fuzzy proportional-derivative controllers for heading and diving control and a six degree-of-freedom nonlinear AUV model. The branches of CL-RRT are expanded in the configuration space by considering the kinodynamic constraints of AUV. The feasibility of each branch and random offspring vertex in the CL-RRT is checked against the mentioned constraints of AUV. Next, if the planned branch is feasible by the AUV, then the control signals and related vertex are recorded through the path planner to design the final path. This proposed algorithm is implemented on a single board computer (SBC) through the xPC Target and then four test-cases are designed in 3D space. The results of the processor-in-the-loop tests are compared by the conventional RRT and indicate that the proposed CL-RRT not only in a rapid manner plans an initial path, but also the planned path is feasible by the AUV.     

A novel spatial index using spatial analyses and hierarchical fuzzy expert system for obtaining green TOD: a case study in Tehran city

Sustainable development is a vital and challenging factor for managing urban growth smartly. This factor contains three main components, namely economic growth, ecological protection and social justice. Green Transit-Oriented Development (GTOD) is a consummate planning approach in line with those components. Implementation of GTOD in an urban area is underpinned by its quantification. Therefore, a quantitative spatial index based on several indicators related to TOD and Green urbanism concepts should be developed. In this study, Geo-spatial Information Science and hierarchical fuzzy inference system (HFIS) were employed to calculate the indicators and aggregate them, respectively. In order to showcase the feasibility of the proposed method, it was implemented in a case study area in the City of Tehran, Iran. The result of this method is an integrated spatial GTOD index, which measures the neighbourhoods’ GTOD levels. These measurements specify weaknesses and strengths of neighbourhoods’ factors. Therefore, this index helps decision-makers to plan neighbourhoods based on land use and public transit views. Additionally, the HFIS method helps decision-makers to consider criteria and indicators with their inherent uncertainties and aggregate them with much fewer rules. For evaluating the results, the developed GTOD index was assessed with municipal action planning and attraction maps. According to the outcomes of the assessment, it is concluded that the proposed method is adequately robust and efficient for smart and sustainable urban planning.     

渤海湾表层沉积硅藻组合

分析了渤海湾潮间带4条长度为2~3 km的测线的14个站位的表层沉积硅藻,结合前人在浅海区(低潮线以下至水深约30 m处)15个站位的表层沉积硅藻资料,发现并统计了分属于21属的46种硅藻。应用对应分析方法,将渤海湾潮间带及浅海区表层沉积硅藻初步划分为3个组合。其中,组合Ⅰ为条纹—柱状小环藻-圆筛藻组合,分布在以泥质为主的潮间带区;组合Ⅱ为双眉藻-曲壳藻组合,分布在砂质为主的潮间带区;组合Ⅲ为条纹—柱状小环藻-菱形藻-圆筛藻-具槽直链藻组合,分布在浅海区。从潮间带向浅海区,随水深的增加,呈现出条纹—柱状小环藻数量减少、具槽直链藻数量增加的趋势。     

石崆山Ⅱ段岩质高边坡稳定性的工程地质系统分析研究

岩质高边坡稳定性的分析评价涉及工程地质学、岩体力学、计算科学等多学科交汇的问题,是一较为复杂的系统工程问题。在系统分析岩质高边坡赋存的地质背景和环境条件的基础上,采用系统分析评价、综合集成的方法应是研究分析和解决该问题的有效和最佳方法。针对漳龙高速公路石崆山Ⅱ段岩质高边坡工程,在系统分析边坡工程地质特性的基础上,采用赤平极射投影法和有限单元(FEM)法等,进行综合评价和系统分析,获得的稳定性结论,已正常运营使用若干年,反映了系统分析,综合评价方法是成功和有效的。它表明,综合评价、系统分析应是岩质高边坡稳定性评价分析的重要途径;它的综合内容和集成方式及其完善与工程实用性,有待进一步深入的研究和工程实践的运用及其经验的积累。     

海湾扇贝产卵的有效积温

于１９８７－１９９２年,先后５次进行海湾贝人工促熟产卵试验,扇贝均取自大连市长海县海区,为人工养殖越冬的成贝,每次试验所用扇贝个体数量为６０００－６２００个。用数理统计方法分别拟合５次试验中水温与时间的线性关系Ｆ（Ｘ）,并根据产卵时间Ｘｓ和性腺发育生物学零度７．８℃,计算产卵时水量Ｆ（Ｘｓ）和达到性腺发育生物学零度的时间Ｘ７．８。最后用积温公式分别计算有效积温值,并对试验结果进行统计分析。结果表明     

同步改正法平均海面传递应用于海南岛礁测绘的探讨

同步改正法因其特点和优势被广泛应用于平均海面传递,文中从平均海面的理论定义和实际计算两方面出发,对同步改正平均海面传递法原理进行了论述。利用海南岛周边的长期验潮站数据,按单站传递和多站组网传递分别分析了同步改正平均海面传递的规律。结果表明,单站传递同步观测10 d能满足岛礁测绘对垂直基准面精度的要求,采用多站组网传递能较明显地减少同步时长较短时的极限误差。当采用多站组网平均海面传递同步观测5 d,其极限误差可达10 cm以内,建议在同步观测时间有限时采用该方法。结合海南岛验潮站和岛礁分布情况,同步改正平均海面传递法应用于海南岛礁测绘是可行的。     

Evaluating coastal scenery using fuzzy logic: Application at selected sites in Western Black Sea coastal region of Turkey

Coastal areas of the world are under treat due to the conflicting requirements of functions such as habitation and/or recreation, which affect the strategic asset of coastal scenery itself. Coastal managers, together with planners, need coastal landscape inventories, where the quality of coastal scenery is a part of the inventory. In order to provide an evidence-based approach for sound coastal management decisions, [Ergin et al., 2004] and [Ergin et al., 2006] developed a novel technique ‘coastal scenic evaluation’ (CSE), which addresses the evaluation of coastal scenery. The CSE technique utilizes fuzzy logic to derive values obtained from a checklist of 26 physical and human parameters. The methodology enables the calculation of an evaluation index (D), which categorizes the scenic values of coastal sites into five distinct classes. Using this technique, coastal scenic evaluations were carried out at 34 selected sites on the Western Black Sea coast of Turkey. Based on the calculated D values, a five-class differentiation was obtained for the selected sites, to provide baseline information for any envisaged subsequent management plans for these areas.     

Pipe laying simulation with an active reel drive

Dynamic and quasi-static models for analysis of a pipe lay spread are presented in the paper. Depending on the type of a pipe, spooling it on a big drum (reel) may cause plastic deformations. When the pipe is reeled out at sea, again it undergoes plastic deformations. In order to model such a nonlinear behaviour, a model, which includes both elasto-plastic material characteristics and large deformations, is required. Discretisation of the pipe is performed by means of the Rigid Finite Element Method (RFEM), which allows us to study static and dynamic problems, taking into account required properties of the model. Different sea conditions are simulated and analysed. It is shown how operational conditions can limit the ability of laying operation by a dedicated vessel, due to an unstable system response. The second part of the paper presents an upgrade of a passive reel drive by application of an active drive. In the model used for control applications, the pipe is modelled by a neural network. This allows us to perform a real-time calculations. In this fast-response calculation model, nonlinear aspects of the system are taken into account. The improvements in a pipe laying vessel performance are presented by some results of numerical simulations. The conclusions are also formulated.     

Mapping the farming-pastoral ecotones in China

Conventional farming-pastoral ecotones methods of delineating were not quantitative and could not fully show their spatial distribution. The present paper attempts to develop quantitative methods for mapping farming-pastoral ecotones in China. Nine indicators, related to temperature, precipitation and altitude aspects, were selected to quantify ecological susceptibility of vegetation （crops and forage）. Methods of analytic hierarchy process （AHP） and expert score ranking combined with fuzzy set theory were applied to assign the weight for each indicator and to define the membership functions. The geographic information system （GIS） was used to manage the spatial database and conduct the spatial analysis. According to the spatial calculation of evaluation model integrated with GIS, the ecological susceptibility of vegetation （crops and forage） was mapped. Three different zones, pastoral area, farming-pastoral ecotones and farming area, were classified by spatial cluster analysis and the maximum likelihood classification for the numeric map of vegetation ecological susceptibility by GIS. This map was validated by the economic statistical result based on the ratio of the output value from animal husbandry in total output value of agriculture by the National Bureau of Statistics in China, indicating that the mapping of the farming-pastoral ecotones may be accepted.     

Alternative Fuzzy Cluster segmentation of remote sensing images based on Adaptive Genetic Algorithm

Remote sensing image segmentation is the basis of image understanding and analysis. However, the precision and the speed of segmentation can not meet the need of image analysis, due to strong uncertainty and rich texture details of remote sensing images. We proposed a new segmentation method based on Adaptive Genetic Algorithm (AGA) and Alternative Fuzzy C-Means (AFCM). Segmentation thresholds were identified by AGA. Then the image was segmented by AFCM. The results indicate that the precision and the speed of segmentation have been greatly increased, and the accuracy of threshold selection is much higher compared with traditional Otsu and Fuzzy C-Means (FCM) segmentation methods. The segmentation results also show that multi-thresholds segmentation has been achieved by combining AGA with AFCM.