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.     

海洋空间规划管控平台建设的总结思考

新时期国家着力构建陆海统筹、区域统筹、城乡统筹的国土空间规划体系,为更好的服务国土空间规划体系与海岸带专项规划的建立实施,满足新形势下海域海岛管理的新要求,深化落实主体功能区制度,本文对已经建立的海洋空间规划管控平台进行了总结。海洋空间规划管控平台主要目标是实现海洋空间“一张图”、海洋主体功能区监测评估、海洋空间综合决策,主要功能包括多规分析与一张图、海洋主体功能区监测评估、海洋空间分区辅助编制与审查、海洋空间符合性判断等.     

我国海洋功能区划的回顾性评价和新一轮编制建议

为完善我国海洋功能区划制度,提高海洋功能区划的编制和实施水平,促进其在我国海洋空间规划乃至国土空间规划中发挥应有作用,文章对我国现行海洋功能区划的实施情况进行回顾性评价,并对新一轮海洋功能区划的编制提出建议。研究结果表明:我国海洋功能区划法律地位高、管控范围广,现行海洋功能区划实施以来,通过建立定量目标管控体系、协调保障行业用海和保护海洋生态环境,对我国海洋经济和海洋生态环境的可持续发展做出巨大贡献;针对实施过程中存在的问题,新一轮海洋功能区划的编制应扩大海洋保护区的规模和种类、提高前瞻性和动态适应性、加强公众实质性参与以及完善技术体系。     

对基础测绘"十四五"规划的若干思考

着眼于明确机构改革后基础测绘在自然资源管理业务格局中的职责定位、工作重点,以及如何按照新《测绘法》更好地履行"为经济建设、国防建设、社会发展和生态保护服务"的法定要求,分析了"十四五"基础测绘发展的基本形势,据此提出"十四五"规划工作的基本思路和主要遵循,明确了工作重点和相关措施,相关观点已经在"十四五"基础测绘规划编制工作中得到体现。     

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.     

改进A?的高层建筑逃生路径规划算法研究

针对高层建筑内部结构复杂,发生火灾时没有疏散引导情况,逃生通道极易发生拥堵导致疏散效率降低的问题,本文基于对A*算法的改进,提出了高层建筑逃生路径规划算法。该算法以高层建筑内部路网节点为关键要素,综合火灾发生位置、人员密度、人员数量等因素,从逃生终点优化分配、节点扩展优化、权值优化3个方面进行改进,实现了火灾发生时高层建筑内部的逃生路径规划,并以某高层建筑为例,验证了本文算法的可行性。     

结合云计算与大数据的出租房消防安全监管GIS

我国城镇化进程和经济发展效果卓著,但消防建设规划与城市扩张发展之间并不协调。虽然现有研究已经运用GIS技术到消防安全监管当中,但依然存在信息联动性不强,可视化程度低的问题。为此,本文基于地理信息系统技术对城市开发区内地理信息数据、多源多时态遥感及航空影像、巡查数据、出租房数据等进行有效整合完善,以建立时空地理信息大数据。笔者利用虚拟化、云计算等技术建立出租房消防安全动态监管平台。此平台为管理部门提供了基于地理信息的决策支持,提升了出租房管理的高效性和科学性。系统的建成和应用对我国的出租房管理信息化工作的开展具有重要意义。     

内蒙古生态承载力评价及生态安全格局优化

生态安全水平对区域发展的约束作用不断增强,构建科学合理的生态安全格局可以有效缓解经济发展与环境保护之间的矛盾.以内蒙古自治区为研究区,2000年、2005年、2010年、2015年为间断点,建立区域生态承载力评价指标体系,探讨生态承载力时空演变特征;甄别生态优势斑块,结合自然保护区等重要生态斑块组建生态源地,建立生态源...     

甘肃省207铀矿及富铀岩体特征研究

207铀矿体呈透镜状、扁豆状、似脉状成群出现。赋矿围岩为前长系龙首山群黑云斜长片麻岩和黑云片岩,该类岩石比区域上同类岩石铀含量高,平均U含量为2.36×10-6～4.83×10-6,与伟晶状白岗岩之间的混染带是铀矿赋存的有利空间。铀矿化产于中条期形态不规则的伟晶状白岗岩岩株中,该岩体铀丰度较高,钍/铀低,活性铀多,副矿物少,富碱。富铀伟晶状白岗岩岩体副矿物以黄铁矿为主,总量较低,微量元素含量不高。是至今在甘肃西部及邻区花岗岩岩体中唯一见到稍多晶质铀矿的岩体,也是至今在甘肃西部及邻区花岗岩岩体中铀丰度最高,Th∕U最低的岩体。富矿岩石伟晶状白岗岩在成岩过程时也发生成矿作用,属成岩同期成矿。     

甘肃岷县锁龙—马坞一带金矿资源潜力评价

西秦岭“五朵金花”岩体是寨上—马坞金矿整装勘查区一带重要的金矿成矿地质体,围绕“五朵金花”岩体已发现有多达100余处金矿（床）点,是西秦岭重要的金矿集中区。锁龙—马坞一带研究区正好包括了整个教场坝岩体以及中川岩体及柏家庄岩体北部大部分区域,具有良好的形成金矿的潜力。因此本次工作在收集前人1∶5万矿调及锁龙金矿矿产勘查成果资料的基础上,利用MRAS软件对该区域金资源潜力进行了评价,同时预测了23处金成矿的有利区域,为该区下一步工作部署提供了靶区。