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.     

An efficient and robust approach to predict ship self-propulsion coefficients

Achieving a reliable and accurate numerical prediction of the self-propulsion performance of a ship is still an open problem that poses some relevant issues. Several CFD methods, ranging from boundary element methods (BEM) to higher-fidelity viscous Reynolds averaged Navier–Stokes (RANS) based solvers, can be used to accurately analyze the separate problems, i.e. the open water propeller and the hull calm water resistance. However, when the fully-coupled self-propulsion problem is considered, i.e. the hull advancing at uniform speed propelled by its own propulsion system, several complexities rise up. Typical flow simplifications adopted to speed-up the simulations of the single analysis (hull and propeller separately) lose their validity requiring a more complex solver to tackle the fully-coupled problem. The complexity rises up further when considering a maneuver condition. This aspect increases the computational burden and, consequently, the required time which becomes prohibitive in a preliminary ship design stage.The majority of the simplified methods proposed in literature to include propeller effects, without directly solve the propeller flow, in a high-fidelity viscous solver are not able to provide all the commonly required self-propulsion coefficients. In this work, a new method to enrich the results from a body force based approach is proposed and investigated, with the aim to reduce as much as possible the computational burden without losing any useful result. This procedure is tested for validation on the KCS hull form in self-propulsion and maneuver conditions.     

GNSS多天线基线网单历元模糊度同步解算法

提出多天线基线网单历元模糊度同步解算法,其具体实现步骤为:1)根据宽巷组合模糊度易于固定的优点,采用附加已知基线长度约束法同步解算各基线的宽巷模糊度,得到dm～cm级精度的近似基线分量;2)将解算得到的各近似基线分量作为约束,同步解算各基线的基频模糊度,以获取mm级精度的基线矢量。该方法的关键在于检验各历元宽巷模糊度解算的正确性,以获取可靠的近似基线分量,为解算各基线的基频模糊度提供准确的基线先验信息。由于动态情况下各历元观测信息比较少,单纯依赖ratio检验不可靠,提出结合基线误差、单位权中误差、基线网模糊度闭合环及ratio值等对多组宽巷模糊度进行检验,避免ratio值设置不当导致模糊度检验中发生纳伪和弃真问题。实测数据结果证明,该处理方法使得模糊度解算的成功率提高1%～2%,可以获取移动平台更丰富的导航信息,提高其服务能力。     

基于改进的向后-向前选择法粗差定位与估值算法

对传统的向后-向前选择法粗差定位方法进行改进,即在原有基础上加入对平差模型的整体检验,计算统计量的相关系数,通过对偏相关系数的检验来定位统计量相关的粗差观测值。通过模拟粗差算例证明,该算法能够准确定位多维粗差,有效改善粗差定位转移的现象,且粗差估值结果比较可靠。     

含沙浑水体的黏度测量及应用分析

含沙浑水体的高速冲击会对海底构筑物造成破坏,在计算浑水体对构筑物的作用力时,黏度是一项重要参数。本文利用落球试验和流变仪测试试验,测定了不同浓度含沙浑水体的黏度,给出其起始黏度与动力作用后的稳定黏度。结果表明:含沙量在大于400g/L时,浑水体为可用赫巴模型描述的非牛顿流体,并可简化为宾汉体;在含沙量小于400g/L时,浑水体仍可用宾汉体模型描述,在忽略较小的初始剪切应力时,可简化为牛顿流体。浓度大于400g/L的浑水体的起始黏度约为稳定黏度的100倍。文中讨论了含沙浑水体起始黏度与稳定黏度在工程计算应用中的适用情况。     

基于多模CORS的网络RTK服务性能测试

从北斗地基增强系统建设出发,分析多模CORS实验网,提供多模网络RTK服务,增强北斗卫星导航系统的应用。根据实时测量精度、定位服务的时效性、时间可用性、空间可用性和实用性测试,评价实验网提供的网络RTK服务性能。测试结果表明通过加入北斗导航卫星系统信号,定位精度略为提高,可有效改善电离层模型,提高流动站固定的效率,可以解决困难环境的作业问题,提高作业效率。     

基于FY-4A卫星数据的短时强降水监测预警指标

选取2018—2021年汛期短时强降水天气过程,利用相关性分析、箱线图法和极值统计法,尝试研究FY-4A卫星产品在短时强降水天气过程中的监测预警指标。研究表明：(1)FY-4A卫星多通道数据可以作为短时强降水监测预警的定量化指标予以应用。(2)筛选出相关性较好的13项产品统计出短时强降水的监测预警指标,其中赋值类指标4项,数值判别类指标9项(含辅助指标3项);初步设定13项指标中有9项达标时,短时强降水会发生。(3)在评估基础上完善了指标,监测预警效果有所提高,TS评分提高5.4%,空报率降低2.7%,漏报率降低1.9%。     

Wavelet analysis and nonparametric test for climate change in Tarim River Basin of Xinjiang during 1959–2006

Using wavelet analysis, regression analysis and the Mann-Kendall test, this paper analyzed time-series (1959–2006) weather data from 23 meteorological stations in an attempt to characterize the climate change in the Tarim River Basin of Xinjiang Uygur Autonomous Region, China. Major findings are as follows: 1) In the 48-year study period, average annual temperature, annual precipitation and average annual relative humidity all presented nonlinear trends. 2) At the 16-year time scale, all three climate indices unanimously showed a rather flat before 1964 and a detectable pickup thereafter. At the 8-year time scale, an S-shaped nonlinear and uprising trend was revealed with slight fluctuations in the entire process for all three indices. Incidentally, they all showed similar pattern of a slight increase before 1980 and a noticeable up-swing afterwards. The 4-year time scale provided a highly fluctuating pattern of periodical oscillations and spiral increases. 3) Average annual relative humidity presented a negative correlation with average annual temperature and a positive correlation with annual precipitation at each time scale, which revealed a close dynamic relationship among them at the confidence level of 0.001. 4) The Mann-Kendall test at the 0.05 confidence level demonstrated that the climate warming trend, as represented by the rising average annual temperature, was remarkable, but the climate wetting trend, as indicated by the rising annual precipitation and average annual relative humidity, was not obvious.     

基于模板阴影体算法的矢量数据在三维场景中的绘制

提出一种基于模板阴影体算法的矢量数据绘制方法,实现矢量数据在三维场景中的高质量实时叠加显示。南于该方法基于屏幕空间,所以具有像素级的精度,不会出现传统的基于纹理方法所产生的绘制走样现象;而且不受地形几何数据的约束,其执行效率与地形数据的复杂度无关,仅取决于矢量数据本身的复杂度。详细论述基于模板阴影体算法矢量数据绘制的关键技术,并通过试验验证该方法的有效性。     

The penetration experiment to predict liquefaction resistance of reclaimed soils

The liquefaction resistance of the soils used to be estimated through the in situ tests, such as standard penetration test and cone penetration test; or by means of cyclic triaxial test in laboratory. However, both in situ tests and cyclic triaxial test are time-consuming and costly; this study introduces a quick and cost-effective method to evaluate the liquefaction resistance of soils under certain confining pressure in laboratory. A particular device modified from the conventional triaxial compression test apparatus, namely “Triaxial Cone Penetration Test”, was developed to obtain the peak values of cone resistance in soils so as to correlate the liquefaction resistance of the reclaimed soils evaluated by cyclic triaxial tests. The test result indicates a good correlation between the peak value of cone resistance and the corresponding cyclic stress ratio (CSR) at the state of initial liquefaction, in which the correlation for loose samples is better than that for dense samples. Besides, both peak values of cone resistance and corresponding CSR increase with fine content of soils reaches 10% and decreased with fine content varying between 10% and 50%. By examining the compositions of the soils with scanning electron microscopy and X-ray diffraction, it is found that the proportion and characteristics of the fines plays an important role on the liquefaction resistance of the reclaimed soils.