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.     

Extracting energy while reducing hydroelastic responses of VLFS using a modular raft wec-type attachment

This paper presents the use of a modular raft Wave Energy Converter (WEC)-type attachment at the fore edge of a rectangular Very Large Floating Structure (VLFS) for extracting wave energy while reducing hydroelastic responses of the VLFS under wave action. The proposed modular attachment comprises multiple independent auxiliary pontoons (i.e. modules) that are connected to the fore edge of the VLFS with hinges and linear Power Take-Off (PTO) systems. For the hydroelastic analysis, the auxiliary pontoons and the VLFS are modelled by using the Mindlin plate theory while the linear wave theory is used for modelling the fluid motion. The analysis is performed in the frequency domain using the hybrid Finite Element-Boundary Element (FE-BE) method. Parametric studies are carried out to investigate the effects of pontoon length, PTO damping coefficient, gap between auxiliary pontoons, and incident wave angle on the power capture factor as well as reductions in the hydroelastic responses of the VLFS with the modular attachment. It is found that in oblique waves, the modular attachment comprising multiple narrow pontoons outperforms the corresponding rigid attachment that consists of a single wide pontoon with respect to the power capture factor and the reduction in the deflection of the VLFS. In addition, it is possible to have a considerable gap between pontoons without significantly compromising the effectiveness of the modular attachment.     

长江口盐度梯度下不同形态碳的分布、来源与混合行为

河口碳的生物地球化学过程是全球碳循环的重要组成。通过测定溶解无机碳（DIC）及其稳定同位素丰度（δ13C_DIC）,溶解有机碳（DOC）,有色溶解有机物（CDOM）,颗粒有机碳（POC）及其稳定同位素丰度（δ13C_POC）与元素比值（N/C）及相关指标,研究了2014年7月长江口盐度梯度下不同形态碳的分布、来源和混合行为。结果表明,DIC浓度、DOC浓度、POC含量分别为1 583.2~1 739.6 μmol/L,128.4~369.4 μmol/L和51.2~530.8 μmol/L,这些不同形态碳及CDOM的荧光组分的分布模式相似,均是从口内到口外,整体呈现先增大后减小的趋势,并与盐度呈现非保守混合行为。添加作用主要发生在在口门处最大浑浊带附近。与含量相反,从口内到口外,δ13C_DIC和δ13C_POC均呈现逐渐减小再增大的趋势,在口门附近达到最低值,分别为-9.7‰和-26.7‰。在口门附近不同形态碳含量上升及δ13C_DIC、δ13C_POC的降低可能主要与沉积物再悬浮及微生物作用有关。基于蒙特卡洛模拟的三端元混合模型的结果显示,河口内外POC来源变化明显,口内POC以陆源有机碳贡献为主,平均为62.3%,口外海源贡献逐渐增加。CDOM相关参数结果表明长江口CDOM主要来自陆源输入,海源及人类活动等也对其产生影响。     

南海东北部陆架边缘第四纪高分辨率层序地层和沉积体系演化及其控制因素

The northeastern shelf margin of the South China Sea(SCS) is characterized by the development of large scale foresets complexes since Quaternary. Based on integral analysis of the seismic, well logging and paleontological data, successions since ～3.0 Ma can be defined as one composite sequence, consist of a set of regional transgressive to regressive sequences. They can be further divided into six 3 rd order sequences(SQ0–SQ5) based on the Exxon sequence stratigraphic model. Since ～1.6 Ma, five sets of deltaic systems characterized by development of wedge-shaped foresets complexes or clinoforms had been identified. High-resolution seismic data and the thick foresets allowed further divided of sub-depositional sequences(4 th order) of regression to transgression, which is basically consistent with published stacked benthic foram O-isotope records. Depositional systems identified in the study area include deltaic deposits(inner-shelf deltas and shelf-edge deltas), incised valleys, and slope slumping massive deposits. Since ～1.6 Ma, clinoforms prograded from the southern Panyu Lower Uplift toward the northern Baiyun Depression, shelf slope break migrated seaward, whereas the shelf edge of SQ0 migrated landward. The development of incised valleys in the continental shelf increased upward,especially intensive on the SB3 and SB2. The slumping massive deposits increased abruptly since SB2, which corresponds to the development of incised valleys. The evolution of depositional systems of continental slope mainly controlled by the combined influence of sea level changes, tectonic movements, sediment supply and climate changes. Since ～3.0 Ma, relative sea level of the northern SCS had been experienced transgression(～3.0 Ma BP) to regression(～1.6 Ma BP). The regional regression and maximum transgressions of the composite sequences were apparently enhanced by uplift or subsidence related to tectono-thermal events. In addition,climatic variations including monsoon intensification and the mid-Pleistocene transition may have enhanced sediment supply by increasing erosion rate and have an indispensable influence on the development of the incised valleys and 5 sets of deltaic systems since ～1.6 Ma.     

我国瓯江口和珠江口凤鲚洄游模式和生境利用研究

Habitat use of the tapertail anchovy(Coilia mystus Linnaeus, 1758) from the Oujiang River Estuary and the Zhujiang(Pearl) River Estuary was studied by examining the environmental signatures of Sr and Ca in otoliths using electron probe microanalysis. Individuals from the Oujiang River had higher and varied Sr:Ca ratios(expressed as(Sr:Ca)×1 000, 3.83–13.0 average) in the otolith core regions, suggesting that they were born in brackish or sea waters, and that a freshwater habitat might not be necessary for egg hatching and larval growth.While, individuals from the Zhujiang River had lower Sr:Ca ratios(0.39–2.51 average) in the core regions,suggesting a freshwater origin. After hatching, anchovies from the Zhujiang River migrate downstream to the river estuary close to brackish water. Our results demonstrated varied habitat use for spawning during stages of early life history between the two populations, and suggested that such variations are promoting diversity of life history strategies of this species.     

加权EIV模型的经典最小二乘算法

采用GHM方法将EIV模型在最优解处线性化,得到解的近似方差。然后,将EIV模型表达成与Gauss-Markov模型相似的形式,利用标准最小二乘理论推导EIV模型的解及近似方差矩阵,得到与已有算法等价的结论。最后,推导观测值估值和残差的统计性质,建立起一整套EIV模型参数估计和精度评定的体系。     

基于KiK-net数据的偏振分析方法计算震中方位角影响因素分析

基于日本KiK-net强震动观测记录,以提高计算震中方位角的准确性为目标,研究记录参量(加速度、速度、位移)、计算时间窗和滤波频带对偏振分析方法计算震中方位角结果的影响。结果表明,在该研究的地震数据条件下,采用位移记录、计算时间窗为1s、滤波频带取0.1～20Hz时,可以获得最佳的震中方位角计算结果,震中方位角的计算偏差为45°时所占比例为88%。     

非等间距GM(1,1)模型的总体最小二乘算法及其病态问题

在非等间距GM(1,1)模型中,系数矩阵中有无误差的常数项和有误差的随机项,并且系数矩阵与观测向量误差同源,即系数矩阵与观测向量中有相同的元素存在,这些相同元素应该有相同的改正数,为此本文推导了一种适合非等间距GM(1,1)模型求解的总体最小二乘算法。同时,考虑到非等间距GM(1,1)模型中存在病态问题时影响总体最小二乘计算结果的稳定性,提出对系数矩阵常数列乘以某一常数的方法,以改善病态问题。     

Estimation of crowd density from UAVs images based on corner detection procedures and clustering analysis

With rapid developments in platforms and sensors technology in terms of digital cameras and video recordings, crowd monitoring has taken a considerable attentions in many disciplines such as psychology, sociology, engineering, and computer vision. This is due to the fact that, monitoring of the crowd is necessary to enhance safety and controllable movements to minimize the risk particularly in highly crowded incidents (e.g. sports). One of the platforms that have been extensively employed in crowd monitoring is unmanned aerial vehicles (UAVs), because UAVs have the capability to acquiring fast, low costs, high-resolution and real-time images over crowd areas. In addition, geo-referenced images can also be provided through integration of on-board positioning sensors (e.g. GPS/IMU) with vision sensors (digital cameras and laser scanner). In this paper, a new testing procedure based on feature from accelerated segment test (FAST) algorithms is introduced to detect the crowd features from UAV images taken from different camera orientations and positions. The proposed test started with converting a circle of 16 pixels surrounding the center pixel into a vector and sorting it in ascending/descending order. A single pixel which takes the ranking number 9 (for FAST-9) or 12 (for FAST-12) was then compared with the center pixel. Accuracy assessment in terms of completeness and correctness was used to assess the performance of the new testing procedure before and after filtering the crowd features. The results show that the proposed algorithms are able to extract crowd features from different UAV images. Overall, the values of Completeness range from 55 to 70 % whereas the range of correctness values was 91 to 94 %.     

灰关联GM(1,N)模型在建筑物沉降分析中的应用

针对建筑物沉降变形中各监测点相互关联、相互影响的情形,可将灰色系统理论中的GM(1,N)模型引入到建筑物沉降分析中。本文利用灰度关联方法确定相关因子的关联度,建立GM(1,N)模型,并与回归分析、GM(1,1)模型比较。通过工程实例,得出灰关联GM(1,N)模型预测精度明显高于另外两种模型,验证了该模型在进行建筑物沉降分析预测中应用的可行性。