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.     

基于SAPSO-ELM的瓦斯涌出量分源预测及应用

为了提高瓦斯涌出量预测精度,针对瓦斯涌出量影响因素的多重相关性、复杂性等问题,结合主成分分析法和分源预测理论,对开采层、邻近层、采空区的瓦斯涌出量数据分别进行主成分分析降维,得到预测指标。针对极限学习机(ELM)存在的输入权值矩阵与隐含层阈值随机生成的问题,利用模拟退火粒子群算法(SAPSO)对极限学习机的参数寻优,将新疆某煤矿回采工作面瓦斯涌出量及影响因素作为SAPSO-ELM模型的输入进行训练,再利用训练好的SAPSO-ELM模型对陕西某煤矿回采工作面的瓦斯涌出量进行验证预测,并对比原始ELM模型的预测结果。结果表明,SAPSO-ELM模型的平均相对误差为3.45%,ELM模型的平均相对误差为8.81%,与ELM模型相比,SAPSO-ELM模型预测精度及效率均优于原始ELM模型。分源预测理论和主成分分析法的结合有效解决了多因素间的多重相关性并降低了预测模型的复杂度,SAPSO-ELM预测模型实现了瓦斯涌出量的快速精准预测,对预防瓦斯事故发生和保障煤矿安全高效开采具有较好的指导作用。     

石灰改良膨胀土力学性质的研究

膨胀(?)主要是由强亲水性粘土矿物蒙脱石和伊利石组成的,是具有膨胀性、多裂隙性和超固结性的高塑性粘性土。在铁路施工中,膨胀土不能直接作为路基填土,必需进行改良。通过室内试验的方法来讨论石灰改良膨胀土的力学性质在各种影响因素下的变化规律。     

Chemical, Isotopic, and Fluid Inclusion Evidence for the Hydrothermal Alteration of the Footwall Rocks of the BIF-Hosted Iron Ore Deposits in the Hamersley District, Western Australia

Abstract. The petrography, chemical, fluid inclusion and isotope analyses (O, Rb-Sr) were conducted for the shale samples of the Mount McRae Shale collected from the Tom Price, Newman, and Paraburdoo mines in the Hamersley Basin, Western Australia. The Mount McRae Shale at these mines occurs as a footwall unit of the secondary, hematite-rich iron ores derived from the Brockman Iron Formation, one of the largest banded iron formations (BIFs) in the world. Unusually low contents of Na, Ca, and Sr in the shales suggest that these elements were leached away from the shale after deposition. The δ¹⁸O (SMOW) values fall in the range of + 15.0 to +17.9 per mil and show the positive correlation with calculated quartz/sericite ratios of the shale samples. This suggests that the oxygen isotopic compositions of shale samples were homogenized and equilibrated by postdepositional event. The pyrite nodules hosted by shales are often rimmed by thin layers of silica of varying crystallinity. Fluid inclusions in quartz crystals rimming a pyrite nodule show homogenization temperatures ranging from 100 to 240C for 47 inclusions and salinities ranging from 0.4 to 12.3 wt% NaCl equivalent for 18 inclusions. These fluid inclusion data give direct evidence for the hydrothermal activity and are comparable to those of the vein quartz collected from the BIF-derived secondary iron ores (Taylor et al, 2001). The Rb-Sr age for the Mount McRae Shale is 1,952 ± 289 Ma and at least 200 million years younger than the depositional age of the Brockman Iron Formation of ∼ 2.5 Ga in age. All the data obtained in this study are consistent with the suggestion that high temperature hydrothermal fluids were responsible for both the secondary iron ore formation and the alteration of the Mount McRae Shale.     

Quantitative assessment on the influence of heavy rainfall on the crystalline schist landslide by monitoring system -case study on Zentoku landslide, Japan

On Shikoku Island, which is one of the four main islands of Japan, a large number of large-scale crystalline schist landslides have been revealed and are being monitored by an observation system. Seasonal heavy rainfall is the most active meteorological factor that can threaten the stability of this kind of site-specific landslide. In this paper, on the basis of the study of the rainfall-related behavior of a typical crystalline schist landslide, the Zentoku landslide, by analyzing the precisely and continuously observed piezometric and movement data, a method was developed to quantitatively assess the effect of heavy rainfall on a large-scale landslide. The results indicated that heavy rainfall-induced landslide displacement shows good correlation with the variation of groundwater levels. Variations of groundwater level have been simulated with the use of a tank model. The simulation using this model permits the change in water levels for future rainfall events to be predicted. By combining the predicted results with the empirical relation between displacements and water levels, rainfall-induced landslide movement during extreme rainfall events can be estimated in advance. The effect of heavy rainfall on sliding behavior can be quantified in terms of the change in displacement. Thus warning information or advisories for the local residents can be provided.     

基于卫星资料梯度信息的新型变分同化方法对于台风数值模拟的研究

卫星资料凭着卫星遥感的全球性、连续性和高频次观测等优势,成为一种重要的非常规资料源,但卫星观测仍然存在各种各样的观测误差,其中包含由于观测偶然性所造成的统计学上的随机误差及仪器本身和辐射传输模式等造成的系统性偏差,这些误差在很大程度上影响了卫星资料的质量。文中提出了一种能有效订正卫星观测资料系统性偏差的梯度信息同化算法,该方法用一个梯度算子进行模式变量与观测变量的梯度变换,从而达到订正系统性偏差的目的。本文利用WRF（Weather Research Forecast）模式及其同化模式WRFDA（WRF Data Assimilation system）,以及AIRS（Atmospheric Infrared Sounder）资料,对台风“圆规”进行了实际的数值模拟和同化试验,数值结果表明,梯度信息同化方法能明显改善台风路径的模拟,在处理可信度较低的资料时仍然适用。另外,通过同化诊断分析,发现卫星资料的系统性偏差对于台风数值模拟有较大影响,而文中提出的梯度信息同化方法能较好的解决此类问题。     

福建紫金山铜（金）矿与台湾金瓜石金（铜）矿的对比及其意义

福建西部的紫金山铜（金）矿与台湾北部的金（铜）矿其矿床（田）的很多特征十分相似，成矿的物理化学条件也很类同，表明其成矿作用在本质上是相同的，二者可以对比。依此为基础能够建立起一个综合性的有关火山／潜火山热液－斑岩成矿系到的两阶段三层模式。此模式环太平洋地区中、新生代火山活动地区类似床具有启示意义。     

考虑自相关影响的设计年径流适线法估计的统计试验研究

当前设计年径流的计算,一般都采用适线法做参数估计.考虑到适线法是以水文序列独立性为前提.而实际的年径流序列存在一定的相关关系,对此,应用适线法估计到底精度如何?本文采用AR(1)模型生成符合P-Ⅲ分布的非独立样本,以参数、设计值的无偏性和有效性为评价标准,通过大量蒙特卡罗试验,对以上问题进行了研究.结果表明,在总体参数值Cv、Cs较小的地区,自相关系数即使达到0.5,对估计效果的影响也很小,但对于Cv、Cs较大的地区,自相关系数的增大会使估计效果趋于负偏.本文同时也对Cv、Cs、点据比例、序列长以及保证率等的变化对设计值无偏性、有效性存在的综合影响趋势进行了分析.希望对实际生产实践有一定的指导意义.     

ENSO及其组合模态对中国东部各季节降水的影响

基于1961-2016年中国地面台站降水观测资料和多种再分析资料,分析了东部型和中部型两类厄尔尼诺事件对中国夏季水汽输送和降水的不同影响。结果表明：（1）厄尔尼诺事件对中国夏季降水的影响在发生当年和次年有明显的不同,主要影响是在其发生的次年,中国大部分地区的夏季降水明显偏多。（2）东部型厄尔尼诺事件当年夏季,西北太平洋副热带高压（副高）偏东偏弱,水汽输送条件较弱,不利于中国大范围降水的发生;中部型事件当年夏季,低纬度印度洋和西太平洋蒸发异常偏强,来自阿拉伯海、孟加拉湾和西北太平洋向华南地区的水汽输送和净水汽收支增加,有利于华南地区降水的异常增多。（3）东部型厄尔尼诺事件次年夏季,副热带太平洋蒸发异常偏强,副高西伸,由于东亚-太平洋（EAP）遥相关型的建立,副高西侧的强西南气流将来自太平洋蒸发的大量水汽持续输送至中国中东部地区。此外,在东亚-太平洋遥相关型影响下中高纬度地区建立了亚洲双阻型环流,其间的低槽冷涡与上游阻高之间的强偏北气流有利于北冰洋的水汽持续输送到西北和华北北部地区,中国大部分地区净水汽收支均增加,中国北方和南方地区的降水均产生了明显的同步性增多响应,形成了南北两条异常雨带。中部型厄尔尼诺事件次年夏季,副高较常年偏西且偏北,来自太平洋蒸发的大量水汽输送到江淮地区,使其净水汽收支增加和降水偏多。因此,厄尔尼诺事件的发生不仅对长江流域和淮河流域等南方地区的降水有重要影响,对华北、东北和西北地区的降水异常也有相当的作用。     

Why are halo coronal mass ejections faster?

Halo coronal mass ejections (CMEs) have been to be significantly faster than normal CMEs, which is a long-standing puzzle. In order to solve the puzzle, we first investigate the observed properties of 31 limb CMEs that clearly display loopshaped frontal loops. The observational results show a strong tendency that slower CMEs are weaker in white-light intensity. Then, we perform a Monte Carlo simulation of 20000 artificial limb CMEs that have an average velocity of ～523km s -1. The Thomson scattering of thes...