Configuration Synthesis and Grasping Performance Analysis of Multi-Loop Coupling Capture Mechanism for Launch and Recovery of Torpedo-Shaped Autonomous Underwater Vehicle

Research of capture mechanisms with strong capture adaptability and stable grasp is important to solve the problem of launch and recovery of torpedo-shaped autonomous underwater vehicles(AUVs).A multi-loop coupling capture mechanism with strong adaptability and high retraction rate has been proposed for the launch and recovery of torpedo-shaped AUVs with different morphological features.Firstly,the principle of capturing motion retraction is described based on the appearance characteristics of torpedo-shaped AUVs,and the configuration synthesis of the capture mechanism is carried out using the method of constrained chain synthesis.Secondly,the screw theory is employed to analyze the degree of freedom(DoF)of the capture mechanism.Then,the 3D model of the capture mechanism is established,and the kinematics and dynamics simulations are carried out.Combined with the capture orientation requirements of the capture mechanism,the statics and vibration characteristics analyses are carried out.Furthermore,considering the capture process and the underwater working environment,the motion characteristics and hydraulics characteristics of the capture mechanism are analyzed.Finally,a principle prototype is developed and the torpedo-shaped AUVs capture experiment is completed.The work provides technical reserves for the research and development of AUV capture special equipment.

Predictive Vegetation Mapping Approach Based on Spectral Data, DEM and Generalized Additive Models

This study aims to provide a predictive vegetation mapping approach based on the spectral data, DEM and Generalized Additive Models (GAMs). GAMs were used as a prediction tool to describe the relationship between vegetation and environmental variables, as well as spectral variables. Based on the fitted GAMs model, probability map of species occurrence was generated and then vegetation type of each grid was defined according to the probability of species occurrence. Deviance analysis was employed to test the goodness of curve fitting and drop contribution calculation was used to evaluate the contribution of each predictor in the fitted GAMs models. Area under curve (AUC) of Receiver Operating Characteristic (ROC) curve was employed to assess the results maps of probability. The results showed that: 1) AUC values of the fitted GAMs models are very high which proves that integrating spectral data and environmental variables based on the GAMs is a feasible way to map the vegetation. 2) Prediction accuracy varies with plant community, and community with dense cover is better predicted than sparse plant community. 3) Both spectral variables and environmental variables play an important role in mapping the vegetation. However, the contribution of the same predictor in the GAMs models for different plant communities is different. 4) Insufficient resolution of spectral data, environmental data and confounding effects of land use and other variables which are not closely related to the environmental conditions are the major causes of imprecision.