基于数据驱动控制的船舶自动靠泊

船舶靠泊时航速低,存在岸壁效应、浅水效应等复杂情况,难以采用基于模型的运动控制算法实现对其精确操控,因此设计一种实时采集动力学数据的硬件架构,并采用对反馈的数据直接进行运动控制的方法,实现船舶自动靠泊。该方法通过在船上不同位置布设微波雷达形成阵列,获取船舶的不同位置相对于泊位岸壁的实时距离信息,并结合船舶的实时位置信息,通过计算几何的方法得到船舶相对于泊位的实时位置和姿态。根据精确定义的船舶靠泊状态,设计一种由上层调度和下层控制组成的船舶自动靠泊方法,其中:上层调度采用基于专家系统的逻辑推理表;下层控制使用基于实时数据驱动的无模型自适应控制实现船舶操控。通过海量的实操数据精确调整控制器参数,从而提升控制器在真实环境下的适应性和可靠性。实船试验结果表明该方法具有可行性和实用性。

船舶三维管路智能布局优化算法

针对船舶在三维环境下管路布局约束多,工程规则难以量化,难以确定合适的优化评价函数等问题,提出一种新的船舶管路自动布局方法。首先,采用轴平行包围盒法(AABB)对船体和船内设备进行简化,将其离散成空间节点并赋予初始信息素和能量值,对空间障碍物进行标记,并对主要的敷管规则给出了具体的量化形式;其次,将快速扩展随机树(RRT)算法和蚁群优化(ACO)算法进行结合,引入方向选择策略、避障策略和变步长策略,提升了算法搜索效率和成功率,通过建立优化评价函数,利用ACO对路径进行循环迭代优化,以期得到满足工程规则的综合最优解;最后,采用计算机模拟的船舱空间布局环境进行管路自动敷设仿真实验,验证了所提方法的有效性和实用性。

Pb Isotope Mapping in the Tongbai-Dabie Orogenic Belt, Central China

Tongbai-Dabie orogenic belt in Central China is a part of the collisional belt between the Yangtze and North China cratons. It represents one of the most extensive ultrahigh-pressure （UHP） and high-pressure （HP） metamorphic rocks in the world. The Pb isotope mapping in this area is a significant method to constrain the crustal structure and tectonic evolution and to identify the tectonic boundaries within the vertical tectonic stack. Based on the Pb isotope compositions of the Dabie complex （DBC）, the Tongbai complex （TBC）, UHP and HP metamorphic rocks and associated foliated granites, the lower metamorphosed rocks from North Huaiyang （NHY） tectonic belt, and Cretaceous granites in the Tongbai-Dabie orogenic belt, we determined the Pb isotope geochemical map of the Tongbai-Dabie orogenic belt. The Pb isotope map shows that the Pb isotope compositions are similar within each geological body or lithotectonic unit, but the Pb isotope compositions of different lithotectonic units show systematic variations in the Tongbai-Dabie orogenic belt. The NHY tectonic belt contrasts strongly with the Tongbai-Dabie UHP.HP metamorphic belt in Pb isotope compositions. It is suggested that the line along the Xiaotian-Mozitan fault, the north limit of the Tongbai-Dabie UHP and HP metamorphic rocks, represents an important tectonic boundary. Within the Tongbai-Dabie HP -UHP metamorphic belt, to the south of Xiaotian-Mozitan fault, the vertical variations of Pb isotope compositions in different lithotectonic units and the spatial relationship among different major lithotectonic units have been constrained.

Feldspar Lead Isotopic Composition of Granitoids from the Eastern Qinling Orogenic Belt and Their Tectonic Significance

This paper reports 48 feldspar lead isotope analyses from 27 granitic intrusions,which formed from the Late Proterozic to Mesozoic within the Eastern Qinling oregenic belt. Itis found that the granitic rocks of South Qinling are characterized by a strong block-effect anddepletion in U-Pb and Th-Pb, showing that these rocks came from the same lead isotopetectono-geochemical province, while those of North Qinling are characterized by higher U-Pband Th-Pb for Late Proterozoic to Early Paleozoic ones and lower U-Pb and Th-Pb forLate-Palaeozoic and younger ones in their feldspar lead isotopic composition. In the NorthQinling block, lead isotopic signatures reflect that the source of granitic magma had changedsince the Late Palaeozoic. Comparison of feldspar lead isotopic composition between SouthQinling and North Qinling shows that there is marked difference in lead isotopic compositionfor pre-Palaeozoic granitoids, indicating that the South Qinling and the North Qinling blocksbelong to different tectonic units, but the similarities in lead isotopic composition are quiteclear, which indicates that the South Qinling block had been welded with the North Qinlingblock and that the magma sources of both blocks were identical. The analysis provides directevidence for underplating of the continental crust of South Qinling beneath the North Qinlingblock in the continent-continent interaction stage of the Eastern Qinling oregenic belt.

The recognizing of ca. 1.95 Ga tectono-thermal eventin Kong-ling nucleus and its significance for the evolution of Yangtze Block, South China

Some 1.95 Ga metamorphism of high-grade Ar-chean rocks in Kongling terrain, continental nucleus of Yangtze Block, South China, are recognized by Sm-Nd dating. This event is further confirmed by the ages of single zircon SHRIMP U-Pb and K-Ar analyses of TTG and (or) paragneisses, and intrusions of potassic-granitic batholith in the region. The coincidence in period between the high-grade metamorphism in the Kongling area and the creation of major basement rocks of its neighborhoods of the Yangtze Block around the Kongling Archean nucleus makes it a favorable explanation for their tectonic connections that, in the whole Yangtze Block there was some tectono-thermal event of ca. 2.0-1.8 Ga, which resulted in the formation of unitive Yangtze basement.

U-Pb zircon age of the foliated garnet-bearing granites in western Dabie Mountains,Central China

U-Pb zircon dating on two foliated garnet-bearing granite samples in the western Dabie ultra-high-pressure (UHP) metamorphic unit yields concordant ages of (234±4) Ma and (227±5) Ma, respectively. These ages, following the UHP peak metamorphism, represent the magma emplacement ages for the foliated garnet-bearing granites. This, for the first time, shows that there are the Triassic granites in the Dabie Mountains. The foliated garnet-bearing granites resemble A-type granite in geochemical characteristics, indicating that they were formed in exten-sional geodynamic setting. The magma formation reflects a reheating event in the Dabie orogenic belt and it enhances the transfer of tectonic regime from collision into extension and promotes the rapid exhumation into lower crust for the UHP metamorphic rocks.