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.     

新世纪版《国家普通地图集》的内容策划与结构设计

新世纪版《国家普通地图集》是国家科技基础性工作专项《国家大地图集》系列编研项目之一,它以相对平衡的程度详细表示了水系、地貌、居民地、交通、境界、土质植被等基础地理要素的空间分布。为了适应生态文明建设和新型城镇化发展的要求,增设了地表覆盖图组和城市图组,构建了普通地图集的新型结构模式,本文主要对地图集的编研理论与内容策划、选题原则与顾及因素、结构设计与图幅编排进行了探讨和研究。     

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。     

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.     

高分辨率遥感影像配准与变化检测一体化处理

为了克服高分辨率遥感影像配准与变化检测作为单独环节处理的局限,该文提出了一种基于变分理论的配准与变化检测一体化处理方法。该方法将配准误差作为一种光谱变化决策因子,变化信息以权值的方式迭代反馈给变分配准模型的解算过程。为了更准确地检测建筑物这个特定目标的真实变化,该文采用多尺度最大形态学轮廓建筑物检测指数的差异作为另外一个决策因子。最后将配准误差反映的变化和建筑物检测指数的差异这两个决策因子在D-S证据理论框架下建立概率模型进行融合处理,进而得到建筑物的变化检测结果。该文选取WorldView-2数据进行实验,实验结果表明,一体化处理思路可以有效地解决单独处理的局限,从根本上解决配准误差对变化检测结果的影响以及由于变化而使配准精度降低的问题,进而提高配准和变化检测的质量。     

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.     

Building a model-based personalised recommendation approach for tourist attractions from geotagged social media data

When travelling, people are accustomed to taking and uploading photos on social media websites, which has led to the accumulation of huge numbers of geotagged photos. Combined with multisource information (e.g. weather, transportation, or textual information), these geotagged photos could help us in constructing user preference profiles at a high level of detail. Therefore, using these geotagged photos, we built a personalised recommendation system to provide attraction recommendations that match a user's preferences. Specifically, we retrieved a geotagged photo collection from the public API for Flickr (Flickr.com) and fetched a large amount of other contextual information to rebuild a user's travel history. We then created a model-based recommendation method with a two-stage architecture that consists of candidate generation (the matching process) and candidate ranking. In the matching process, we used a support vector machine model that was modified for multiclass classification to generate the candidate list. In addition, we used a gradient boosting regression tree to score each candidate and rerank the list. Finally, we evaluated our recommendation results with respect to accuracy and ranking ability. Compared with widely used memory-based methods, our proposed method performs significantly better in the cold-start situation and when mining ‘long-tail’ data.     

Urban planning construction land standard and its revision based on climate and topography in China

Urban planning construction land standard is the technical specification for scientifically allocating various types of urban construction land, and it is the basis for drawing up and revising the overall urban planning scheme. Considering China's current urban planning construction land standard, many problems exist, such as the gap in the land use control threshold, the lack of regional differences in the climate revision, and failing to consider the topographic factors. To resolve these problems, this study proposed a step-by-step process framework and quantitative calculation method for the establishment and revision of standards in accordance with the principle of Total-Structure control. By setting the conditions, a universal basic standard for construction land was established. Quantitative analysis was then conducted on the relationship between the basic standard and the selected key indicators, such as urban population size, sunshine spacing coefficient, the width of river valleys or inter-montane basins, and terrain slope, among others. Finally, revised standards were formed for climate conditions, topography, and geomorphologic conditions, which were matched with the basic standards. The key results are three-fold:(1) The per capita construction land standard of 95 m~2/person can be used as the total indicator of China's urban planning basic standard, and the corresponding per capita single construction land comprises 32.50% of residential land, 7.42% of public management and public service land, 22.50% of industrial land, 17.50% of transportation facilities, 12.50% of green space, and 7.58% of other land-use types. The results of the revision of the urban population size indicate that the difference in population size has little effect on the total amount of per capita construction land.(2) The climate revision results of per capita residential land and per capita construction land in major cities reveal that the revised climate value varies greatly between north and south China. The revised climate values of the per capita area of construction land vary by latitude as follows: the value at 20°N is 93 m~2/person, the value at 30°N is 97 m~2/person, the value at 40°N is 103 m~2/person, and the value at 50°N is 115 m~2/person. The basic standard land value of 95 m~2/person is generally distributed across the Xiamen-Guilin-Kunming line.(3) The cities located in mountainous areas, hilly valleys, or inter-montane basins can reduce the allocation of community parks and comprehensive parks when the average width of an existing river valley or inter-montane basin is less than 2 km. When the average width of the valley or inter-montane basin is between 2 km to 4 km, the allocation of the comprehensive parks can be reduced. The revised results of per capita sloping construction land reveal that the terrain slope greatly affects the revised value of per capita construction land. Specifically, the revised value at 3° is 3.68% higher than the basic standard value, and the increase rates at 8°, 15°, and 25° are 11.25%, 26.49%, and 68.47%, respectively.     

Particle trajectories of nonlinear gravity waves in deep water

The paper presents a numerical method for calculating the particle trajectories of nonlinear gravity waves in deep water. Particle trajectories, mass-transport velocity and Lagrangian wave period can be accurately determined by the proposed method. The high success rate of the proposed method is examined by comparing the present results with those of (a) Longuet-Higgins, M.S., 1986, 1987. Eulerian and Lagrangian aspects of surface waves. Journal of Fluid Mechanics 173, 683-707 and (b) Lagrangian moments and mass transport in Stokes waves. Journal of Fluid Mechanics 179, 547-555. It is shown that the dimensionless mass-transport velocity can exceed 10% for large waves, and the Lagrangian wave period is much larger than the Eulerian wave period for large waves.