Object detection and tracking method of AUV based on acoustic vision

This paper describes a new framework for object detection and tracking of AUV including underwater acoustic data interpolation, underwater acoustic images segmentation and underwater objects tracking. This framework is applied to the design of vision-based method for AUV based on the forward looking sonar sensor. First, the real-time data flow (underwater acoustic images) is pre-processed to form the whole underwater acoustic image, and the relevant position information of objects is extracted and determined. An improved method of double threshold segmentation is proposed to resolve the problem that the threshold cannot be adjusted adaptively in the traditional method. Second, a representation of region information is created in light of the Gaussian particle filter. The weighted integration strategy combining the area and invariant moment is proposed to perfect the weight of particles and to enhance the tracking robustness. Results obtained on the real acoustic vision platform of AUV during sea trials are displayed and discussed. They show that the proposed method can detect and track the moving objects underwater online, and it is effective and robust.     

厦门湾及邻近海域沉积物分布特征和沉积速率

2007年和2010年在厦门湾及邻近海域进行底质表层沉积物和柱状岩心样品采集,并进行粒度分析及粒度参数计算,获得了研究区底质表层和柱状沉积物样品的粒度分布特征.结果表明,厦门湾海域沉积物类型多样,以粉砂质砂和砂质粉砂为主.平均粒径介于?1.5Φ~7.5Φ之间.采用 Gao-Collins粒径趋势分析方法,发现九龙江口的沉积物主要呈东南方向净输运,而大金门南侧海域沉积物则有向九龙江口输运的趋势,同安湾内沉积物由海岸向湾中央输运;厦门东部海域沉积物向北输运,翔安南部海域沉积物向同安湾口以及澳头近岸输移.对柱状岩心进行放射性同位素210Pb 测年分析,计算得到九龙江口沉积速率为2.62 cm/a,进而探讨了九龙江口的沉积环境演化特征,研究成果可为区域资源开发和环境保护提供科学依据     

流动保障中管道的颗粒侵蚀分析

颗粒侵蚀是管道流动保障研究中的一个主要问题,是导致管壁变薄、管道破裂的重要原因,直接关乎油藏能否安全地输送到采油终端。阐述了影响管道颗粒侵蚀的诸多因素,指出API规范中存在的不足,对现有的颗粒侵蚀模型进行了综合评价,提出了一种解决颗粒侵蚀问题的数值方法。通过计算相关文献中实验工况的颗粒侵蚀结果,比较分析了经验模型和CFX软件在分析管道颗粒侵蚀问题中的优缺点和适用性。分析结果认为,Tulsa模型具有较高的计算精度与较广的适用范围,CFX软件可以比较准确地计算气雾流管道内的颗粒侵蚀结果。     

智利地震前DEMETER卫星对空间高能粒子的观测

在地震的孕育或发生期间,地球内部岩石圈的活动可能会发出电磁辐射,引起空间电磁扰动,并通过波粒相互作用引起高能电子的投掷角散射,导致高能电子的沉降.本文基于法国DEMETER卫星的观测数据,研究了智利周围区域在智利地震期间空间高能电子的通量、能谱的分布及演化,发现在智利地震发生前第11天和12天,在以震中为中心,经度跨度10°,在DEMETER卫星轨道高度上L跨度0.1的区域内,有超出背景4到6倍的高能带电粒子暴的出现,期间在其北半球磁镜像区域也观测到了显著的电子通量涨高.粒子暴对应的能谱与2010年前三个月的平均能谱存在较大差异.同时观测到在出现粒子暴的两条轨道上VLF(Very Low Frequency,甚低频)电场频谱分别在300 Hz以下以及13~20 kHz的频段存在显著增强,此扰动在时间和地理位置上与高能粒子暴是一致的.基于回旋共振耦合作用的准线性扩散理论,本文对所观测事例的电子能量与电磁场扰动频率做了分析计算.观测数据和理论计算有较好的一致性,表明该粒子暴源自ICE(Instrument Champ Electrique,电磁探测器)观测到的空间电磁扰动,这是典型的空间波粒耦合事例.进一步分析排除了可能引起粒子暴和VLF电场扰动的环境因素,本文认为本次粒子暴和电场扰动的观测可能与智利地震的震前地壳活动存在一定关联.     

Shaking table test of the effects of multi‐unit particle dampers attached to an MDOF system under earthquake excitation

This paper presents the results of an experimental and analytical/computational study of the performance of multi‐unit particle dampers with an MDOF system. A series of shaking table tests of a three‐storey steel frame with the particle damper system were carried out to evaluate the performance of the system and to verify the analysis method. An analytical solution based on the discrete element method is also presented. A comparison between the experimental and computational results shows that reasonably accurate estimates of the response of a primary system under earthquake excitations can be obtained. These results also indicate that the excitation characterization influences the performance of the particle damper system, for example, particle dampers have good performance in reducing the seismic response of structures and particle movements of plug flow pattern can yield good vibration attenuation effects. It is shown that by using properly designed multi‐unit particle dampers, a lightly damped primary system can achieve a reasonable reduction in its response, with a small weight penalty. Copyright © 2011 John Wiley & Sons, Ltd.     

Comparative analysis on soil engineering classifications of China and America

Based on China National Standard of Soil Engineering Classification (GB/T 50145-2007) and the Unified Soil Classification System of American Society for Testing Materials (ASTM D-2478), two kinds of soil laboratory engineering classification methods were discussed and analyzed from the aspects of the definition in particle fraction, classification of soil type and evaluation standard for soil gradation. There is a same limit of fine grains fraction in the two standards, and there are three main types of soil in GB/T 50145-2007 and two in ASTM D-2487. Different evaluation standards of gradation are put forward for gravels and sands in ASTM D-2487. Same criteria of A line, B line and controlling value of plastic index are in the plasticity chart of both standards.     

Enhancement of Solar Energetic Particles During a Shock – Magnetic Cloud Interacting Complex Structure

The behavior of solar energetic particles (SEPs) in a shock – magnetic cloud interacting complex structure observed by the Advanced Composition Explorer (ACE) spacecraft on 5 November 2001 is analyzed. A strong shock causing magnetic field strength and solar wind speed increases of about 41 nT and 300 km s⁻¹, respectively, propagated within a preceding magnetic cloud (MC). It is found that an extraordinary SEP enhancement appeared at the high-energy (≥10 MeV) proton intensities and extended over and only over the entire period of the shock – MC structure passing through the spacecraft. Such SEP behavior is much different from the usual picture that the SEPs are depressed in MCs. The comparison of this event with other top SEP events of solar cycle 23 (2000 Bastille Day and 2003 Halloween events) shows that such an enhancement resulted from the effects of the shock – MC complex structure leading to the highest ≥10 MeV proton intensity of solar cycle 23. Our analysis suggests that the relatively isolated magnetic field configuration of MCs combined with an embedded strong shock could significantly enhance the SEP intensity; SEPs are accelerated by the shock and confined into the MC. Further, we find that the SEP enhancement at lower energies happened not only within the shock – MC structure but also after it, probably owing to the presence of a following MC-like structure. This is consistent with the picture that SEP fluxes could be enhanced in the magnetic topology between two MCs, which was proposed based on numerical simulations by Kallenrode and Cliver (Proc. 27th ICRC 8, 3318, 2001b).     

瓯江口水流挟沙力公式探讨

采用瓯江口实测泥沙资料,对多个典型挟沙力公式进行了系统比较;对瓯江口同步的平均流速和平均含沙量进行分析,探讨适合该河口的挟沙力关系,并引入泥沙因子,考虑泥沙粒径对水流挟沙力的影响。结果认为:各挟沙力公式的计算结果过程曲线趋势一致,只是存在量级上的差别;结合实测泥沙资料进行分析,采用河口、海岸适用性较好的水流挟沙力公式,考虑泥沙粒径对挟沙力的影响,引入泥沙因子分析拟合瓯江口水流挟沙力公式。旨在揭示不同挟沙力公式之间的联系,以及河口海域水流挟沙力拟合过程,为进一步探讨河口海岸含沙量分布和悬浮泥沙输运提供思路。     

An Improvement of Long Baseline System Using Particle Swarm Optimization to Optimize Effective Sound Speed

Abstract

In long baseline (LBL) positioning system, errors due to uncertain sound speed are the major facts to its positioning accuracy. In this study, the problem is solved by setting acoustic signal travels between the target and different hydrophones with different sound speed and using particle swarm optimization algorithm to solve the multi-parameter optimization problem to obtain the sound speeds. Presented simulation results show that the proposed algorithm can effectively improve the positioning accuracy of the LBL system compared to existing algorithms and its computational efficiency is high enough.     

稀性泥石流容重计算的改进方法

稀性泥石流的沉积样的粒度不能反映稀性泥石流的实际粒度,过渡(亚粘性)泥石流的沉积样的粒度也不能完全反映亚粘性泥石流的实际粒度.通过分析稀性泥石流和亚粘性泥石流沉积样中的粗颗粒和细颗粒组成的百分比与稀性泥石流和亚粘性泥石流的实际粒度分布关系,得出稀性泥石流以细颗粒为主,>5 mm的粗颗粒的百分比较小,大多数稀性泥石流的沉积样中这部分粗颗粒百分含量被夸大.去掉稀性泥石流沉积样中>5 mm的粗颗粒可以修正被夸大的粗颗粒比例,由此粒度分布和修正公式计算的稀性泥石流容重与实际容重吻合较好.去掉亚粘性泥石流沉积样中>20 mm的粗颗粒,可以修正亚粘性泥石流的粒度分布,由此粒度分布计算的亚粘性泥石流容重与实际容重吻合更好.