基于双幂次滑模的多机器人编队控制

本文研究了基于领航跟随法的多机器人系统编队控制问题.首先,基于队形约束,给出跟随者期望的轨迹,将编队问题转化为单个跟随者的轨迹跟踪问题.在此基础上,基于双幂次滑模趋近律,设计了跟随者的线速度和角速度控制器,保证了跟踪误差能够快速收敛到零,从而保证了编队队形的稳定.最后,通过仿真验证了所提方法的有效性.     

社会交换视角中的权力、信任对居民参与旅游发展的影响效应分析——以北京前门社区为例

从社会交换视角探讨社区权力、社区信任对居民参与旅游程度的影响效应具有重要意义。以北京前门社区为例,通过建立数据模型,检验了社区中的权力、社区居民信任对旅游社区居民参与程度的影响效应。研究表明:社会交换过程中的社区权力和社区信任是影响旅游社区参与的重要因素。社区权力对社区信任和社区参与旅游程度有直接显著的正向影响效应,社会交换中的旅游收益感知与旅游成本感知通过对居民参与旅游程度产生间接的影响效应。而社区信任与旅游收益感知之间存在双向影响效应,将直接与间接地影响居民参与旅游程度。     

Leaching behavior of lignite fly ash with shake and column tests

The maximum concentration of the majority of the trace metals in the leachates from shake and column test of lignite fly ash (LFA) was within the prescribed limits; however, total dissolved solids, total hardness, cations and anions (except K⁺), being above the prescribed limits, may lead to the increase in the hardness and salinity in the soil on the disposal of LFA. Present generation of huge amount of fly ash from thermal power plants (TPPs) is a big challenge concerning contamination of soil, crop produce and surface and ground water bodies due to the presence of some of the toxic trace metals in it. The leaching behavior of alkaline LFA (pH, 10.94), from TPP of Neyveli Lignite Corporation (NLC), India, was investigated by shake and column tests using water and sodium acetate buffer. The leaching of trace metals from LFA was governed by their concentrations, association with the ash particles, leaching duration and pH of the leachate (most influencing parameter). The leaching of metals followed the order: buffer column > aqueous column > aqueous shake > buffer shake test.     

A disk-corona model for the low/hard state of black hole X-ray binaries

A disk-corona model for fitting the low/hard（LH）state of the associated steady jet in black hole X-ray binaries（BHXBs）is proposed based on the large-scale magnetic field configuration that arises from the coexistence of the Blandford-Znajek（BZ）and Blandford-Payne（BP）processes,where the magnetic field configuration for the BP process is determined by the requirement of energy conversion from Poynting energy flux into kinetic energy flux in the jet.It is found that corona current is crucial to guarantee the consistency of the jet launching from the accretion disk.The relative importance of the BZ and BP processes in powering jets from black hole accretion disks is discussed,and the LH state of several BHXBs is fitted based on our model.In addition,we suggest that magnetic field configuration can be regarded as the second parameter for governing the state transition of BHXBs.     

新冠肺炎疫情对佘山与大洋山地震台背景噪声的影响

人类的生产生活产生的振动会以高频地震波的形式被地震台站所记录。2020年1月,新冠肺炎疫情爆发,为了应对此次疫情,各地政府分别启动应急响应,国内地震记录出现最长、最突出的人为地震降噪期。各地震台站背景噪声显著下降,在人口稠密及工业发达地区尤为明显。同时,静噪期为探测地下地震源的微弱信号提供了可能。静噪期内,佘山地震台2 Hz频点背景噪声功率谱密度值比平时降低10 dB,而大洋山地震台10 Hz频点背景噪声功率谱密度值较平时降低约5 dB;佘山地震台2—10 Hz以及大洋山地震台10 Hz以上频率的背景噪声受静噪期影响明显。结合地震台站所处位置分析,疫情期间佘山地震台附近人口流出较多,2—10 Hz频率的背景噪声变化明显;大洋山地震台背景噪声则受工厂、轮渡、高速汽车等影响较大,f ≥10 Hz的背景噪声变化显著,而频率在2—10 Hz则无明显变化,表明该台人口总数趋于平稳。地震噪声和人类活动之间的相关性表明,地震学研究可以提供实时人口动态估计。     

高分辨率遥感影像在核电站厂址普选中的应用初探

国家核电正处于新的发展时期,核电站厂址普选正在全国范围内展开。本文针对目前核电站厂址普选过程中所采用方式方法,探讨了一种利用高分辨率遥感影像进行核电站厂址普选的方法,并简要分析了这种方法的可行性及优点。     

基于摄影测量技术的电力线高程测量方法

本文从摄影测量原理出发,结合电力线高程测量的特点,分析了利用一般摄影测量方法测量电力线所存在的问题,以及电力线的摄影几何,提出了一种基于铅垂线约束的电力线高程测量方法,并通过模拟实验证明了该方法的有效性与正确性。     

Agricultural drought assessment at disaggregated level using AWiFS/WiFS data of Indian Remote Sensing satellites

Spatial differences in drought proneness and intensity of drought caused by differences in cropping patterns and crop growing environments within a district indicate the need for agricultural drought assessment at disaggregated level. The objective of this study is to use moderate resolution satellite images for detailed assessment of the agricultural drought situation at different administrative units (blocks) within a district. Monthly time composite NDVI images derived from moderate resolution AWiFS (60 m) and WiFS (180 m) images from Indian Remote Sensing satellites were analysed along with ground data on rainfall and crop sown areas for the kharif seasons (June – November) of 2002 (drought year), 2004 (early season drought) and 2005 (good monsoon year). The impact of the 2002 meteorological drought on crop area in different blocks of the district was assessed. The amplitude of crop condition variability in a severe drought year (2002) and a good year (2005) was used to map the degree of vulnerability of different blocks in the district to agricultural drought. The impact of early season deficit rainfall in 2004 on the agricultural situation and subsequent recovery of the agricultural situation was clearly shown. Agricultural drought assessment at disaggregated level using moderate resolution images is useful for prioritizing the problem areas within a district to undertake, in season drought management plans, such as alternate cropping strategies, as well as for end of the season drought relief management actions. The availability of ground data on rainfall, cropping pattern, crop calendar, irrigation, soil type etc., is very crucial in order to interpret the seasonal NDVI patterns at disaggregated level for drought assessment. The SWIR band of AWiFS sensor is a potential data source for assessing surface drought at the beginning of the season.     

Spatial prediction of landslide susceptibility by combining evidential belief function,logistic regression and logistic model tree

Abstract

In this study, we introduced novel hybrid of evidence believe function (EBF) with logistic regression (EBF-LR) and logistic model tree (EBF-LMT) for landslide susceptibility modelling. Fourteen conditioning factors were selected, including slope aspect, elevation, slope angle, profile curvature, plan curvature, topographic wetness index (TWI), stream sediment transport index (STI), stream power index (SPI), distance to rivers, distance to faults, distance to roads, lithology, normalized difference vegetation index (NDVI), and land use. The importance of factors was assessed using correlation attribute evaluation method. Finally, the performance of three models was evaluated using the area under the curve (AUC). The validation process indicated that the EBF-LMT model acquired the highest AUC for the training (84.7%) and validation (76.5%) datasets, followed by EBF-LR and EBF models. Our result also confirmed that combination of a decision tree-logistic regression-based algorithm with a bivariate statistical model lead to enhance the prediction power of individual landslide models.     

Comparative analysis of nonparametric change-point detectors commonly used in hydrology

ABSTRACT

Several commonly-used nonparametric change-point detection methods are analysed in terms of power, ability and accuracy of the estimated change-point location. The analysis is performed with synthetic data for different sample sizes, two types of change and different magnitudes of change. The methods studied are the Pettitt method, a method based on the Cramér von Mises (CvM) two-sample test statistic and a variant of the CUSUM method. The methods differ considerably in behaviour. For all methods the spread of estimated change-point location increases significantly for points near one of the ends of the sample. Series of annual maximum runoff for four stations on the Yangtze River in China are used to examine the performance of the methods on real data. It was found that the CvM-based test gave the best results, but all three methods suffer from bias and low detection rates for change points near the ends of the series.