Numerical Modelling of Wash Waves Generated by Ships Moving over An Uneven Bottom

Unsteady wash waves generated by a ship with constant speed moving across an uneven bottom topography are investigated by numerical simulations based on a Mixed Euler–Lagrange(MEL) method. The transition is accomplished by the ship traveling from the depth h1 into the depth h2 via a step bottom. A small tsunami would be created after this transition. However, the unsteady wave-making resistance induced by this new phenomenon has not been well documented by literature. Therefore, the main purpose of the present study is to quantify the effects of an uneven bottom on the unsteady wash waves and wave-making resistance acting on the ship. An upwind differential scheme is commonly used in the Euler method to deal with the convection terms under free-surface condition to prevent waves in the upstream. Evidently, it cannot be applied to the present problem due to upstream waves generated by the ship would be dampened by the upwind scheme. The central differential scheme provides more accurate results,but it is not unconditionally stable. An MEL method is therefore employed to investigate the upstream wave generated by the ship moving over the uneven bottom. Simulation results show that the hydrodynamic interaction between the ship and the uneven bottom could initiate an upstream tsunami, as well as unsteady wave-making resistance on ships.The unsteady wave-making resistance oscillates periodically, and the amplitude and period of the oscillations are highly dependent on speed and water depth.

Human Visual Attention Mechanism-Inspired Point-and-Line Stereo Visual Odometry for Environments with Uneven Distributed Features

Visual odometry is critical in visual simultaneous localization and mapping for robot navigation.However,the pose estimation performance of most current visual odometry algorithms degrades in scenes with unevenly distributed features because dense features occupy excessive weight.Herein,a new human visual attention mechanism for point-and-line stereo visual odometry,which is called point-line-weight-mechanism visual odometry(PLWM-VO),is proposed to describe scene features in a global and balanced manner.A weight-adaptive model based on region partition and region growth is generated for the human visual attention mechanism,where sufficient attention is assigned to position-distinctive objects(sparse features in the environment).Furthermore,the sum of absolute differences algorithm is used to improve the accuracy of initialization for line features.Compared with the state-of-the-art method(ORB-VO),PLWM-VO show a 36.79%reduction in the absolute trajectory error on the Kitti and Euroc datasets.Although the time consumption of PLWM-VO is higher than that of ORB-VO,online test results indicate that PLWM-VO satisfies the real-time demand.The proposed algorithm not only significantly promotes the environmental adaptability of visual odometry,but also quantitatively demonstrates the superiority of the human visual attention mechanism.

Effect of uneven noise source and/or station distribution on estimating the azimuth anisotropy of surface waves

With the development of the dense array,the surface wave velocity and azimuthal anisotropy under the array can be directly obtained by beamforming the noise cross-correlation functions(NCFs). However, the retrieval of the Green’s function by cross-correlating the seismic noise requires that the noise source has a uniform distribution. For the case with uneven noise source, the azimuthal dependence on the sources in the expression for the spatial coherence function, which corresponds to the NCF in the time domain,has the same form as the azimuthal dependence of the surface wave velocity in weakly anisotropic media. Therefore, the uneven noise source will affect the surface wave anisotropy extraction. In this study, three passive seismic methods, i.e.,beamforming, SPAC(spatial autocorrelation), and NCF, are compared to demonstrate that an uneven source distribution and uneven station distribution have equivalent effects on the outcome from each method. A beamforming method is proposed to directly extract the velocity and azimuthal anisotropy of surface waves. The effect of uneven noise source and/or station distribution on estimating the azimuth anisotropy of surface waves was investigated using data from the ChinArray Phase Ⅱ. A method for correcting the apparent anisotropy in beamforming results caused by an uneven station distribution is suggested.

Dynamically Adapt to Uneven Terrain Walking Control for Humanoid Robot

Dynamically adapt to uneven ground locomotion is a crucial ability for humanoid robots utilized in human environments.However,because of the effect of current pattern generation method,adapting to unknown rough ground is limited.Moreover,to maintain large support region by four-point contact during the landing phase is usually a key problem.In order to solve these problems,a landing phase control and online pattern generation in three dimensional environments is proposed.On the basis of robot-environment non-planar interactive modes,a method of landing control based on optimal support region is put forward to realize stable four-point contact by flexible foot,and a controller is employed to adapt to the changes of ground without using prior knowledge.Furthermore,an adaptable foothold planning is put forward to the online pattern generation considering walking speed,uneven terrain,and the effect of lateral movement to the locomotion stability.Finally,the effectiveness of landing control and online pattern generation is demonstrated by dynamic simulations and real robot walking experiments on outdoor uneven ground.The results indicate that the robot kept its balance even though the ground is unknown and irregular.The proposed methods lay a foundation for studies of humanoid robots performing tasks in complex environments.

Numerical Estimation of the Uneven Wear of Passenger Car Tires

Tire wear is a very complicated phenomenon that is influenced by various factors such as tire material, structure, vehicle and road conditions. In order to evaluate tire wear, a method for measuring tire wear using the intensity of reflected light was presented?[1]. It comprises applying a single layer of reflected paint to a tread surface by spraying, and then measuring the intensity of light reflected from a matrix of blocks on the unworn tire. In this paper, a numerical technique for predicting the uneven wear of passenger car tire is presented. The uneven tire wear produced in wheel alignment condition with vehicle speed, camber angle, and toe angle is predicted by the frictional dynamic rolling analysis of 3D patterned tire model. The proposed numerical technique is illustrated through the method of paint testing the wear on the tread surface of a tire.

Uneven aftershock distribution of Wenchuan Ms8.0 earthquake and possible mechanism

The aftershock activity of Wenchuan Ms8.0 earthquake showed different spatial and temporal distri- butions along two different segments of the Longmenshan fault. This difference was likely the result of segmentation of the earthquake rupture process, which in turn may be the result of the fault＇ s segmentation in its long-term geotectonic condition.

HIGHER ORDER BOUSSINESQ-TYPE EQUATIONS FOR WATER WAVES ON UNEVEN BOTTOM

Higher order Boussinesq-type equations for wave propagation over variable bathymetry were derived. The time dependent free surface boundary conditions were used to compute the change of the free surface in time domain. The free surface velocities and the bottom velocities were connected by the exact solution of the Laplace equation. Taking the velocities on half relative water depth as the fundamental unknowns, terms relating to the gradient of the water depth were retained in the inverse series expansion of the exact solution, with which the problem was closed. With enhancements of the finite order Taylor expansion for the velocity field, the application range of the present model was extended to the slope bottom which is not so mild. For linear properties, some validation computations of linear shoaling and Booij' s tests were carried out. The problems of wave-current interactions were also studied numerically to test the performance of the enhanced Boussinesq equations associated with the effect of currents. All these computational results confirm perfectly to the theoretical solution as well as other numerical solutions of the full potential problem available.

Mild-slope equation for water waves propagating over non-uniform currents and uneven bottoms

A time-dependent mild-slope equation for the extension of the classic mild-slope equation of Berkhoff is developed for the interactions of large ambient currents and waves propagating over an uneven bottom, using a Hamiltonian formulation for irrotational motions. The bottom topography consists of two components the slowly varying component which satisfies the mild-slope approximation, and the fast varying component with wavelengths on the order of the surface wavelength but amplitudes which scale as a small parameter describing the mild-slope condition. The theory is more widely applicable and contains as special cases the following famous mild-slope type equations: the classical mild-Slope equation, Kirby's extended mild-slope equation with current, and Dingemans's mild-slope equation for rippled bed. Finally, good agreement between the classic experimental data concerning Bragg reflection and the present numerical results is observed.

Site Quality Evaluation for Mixed, Uneven-aged, Natural Forest Dominatedby Korean Pine in Northeast China

Six site types of Korean pine(Pinus koraiensis) forest, Mongolian oak type, Yezo spruce type, Korean spruce type, Amur linden type, Ribbed birch type and Manchurian ash type, are easily found on the south slope of Xiaoxing’an Mountains. The analysis results of H-A and H-Dbh relationships by site type showed that height growth of Korean pine dominant or codominant stems in natural stands is not directly related to its age but is directly related to its diameter, which closely accords with the Chapman-Richards equation(Relativity coefficients more than 0:8668). A method for evaluating site quality using height and diameter of dominant or codominant tree independent of tree age is examined. There are signifi-cantly differences in site quality of Korcan pine among six site types above. The site index was highest on Manchurian ash type, and lowest on Mongolian oak type. Differences of site index with a reference dbh of 40 cm between highest and lowest sites can reach 11 m in maximum., 7 m in average, respectively. Other rationales of the H-D method were discussed.

Illumination of parameter contributions on uneven break： phenomenon in underground stoping mines

One of the most serious conundrum facing the stope production in underground metalliferous mining is uneven break （UB： unplanned dilution and ore-loss）. Although the UB has a huge economic fallout to the entire mining process, it is practically unavoidable due to the complex causing mechanism. In this study, the contribution of ten major UB causative parameters ha,; been scrutinised based on a published UB predicting artificial neuron network （ANN） model to put UB under the engineering management. Two typical ANN sensitivity analysis methods, i.e., connection weight algorithm （CWA） and profile method （PM） have been applied. As a result of CWA and PM applications, adjusted Qrate （AQ） revealed as the most influential parameter to UB with contribution of 22,40% in CWA and 20,48% in PM respectively. The findings of this study can be used as an important reference in stope design, production, and reconciliation stages on underground stoping mine.

Walking Stability Control Method for Biped Robot on Uneven Ground Based on Deep Q-Network

A gait control method for a biped robot based on the deep Q-network (DQN) algorithm is proposed to enhance the stability of walking on uneven ground. This control strategy is an intelligent learning method of posture adjustment. A robot is taken as an agent and trained to walk steadily on an uneven surface with obstacles, using a simple reward function based on forward progress. The reward-punishment (RP) mechanism of the DQN algorithm is established after obtaining the offline gait which was generated in advance foot trajectory planning. Instead of implementing a complex dynamic model, the proposed method enables the biped robot to learn to adjust its posture on the uneven ground and ensures walking stability. The performance and effectiveness of the proposed algorithm was validated in the V-REP simulation environment. The results demonstrate that the biped robot's lateral tile angle is less than 3° after implementing the proposed method and the walking stability is obviously improved.

THE UNEVEN DEVELOPMENT AND SPATIAL DIFFUSION OF CHINESE CENTRAL CITIES

ＴＨＥ ＵＮＥＶＥＮ ＤＥＶＥＬＯＰＭＥＮＴ ＡＮＤ ＳＰＡＴＩＡＬ ＤＩＦＦＵＳＩＯＮ ＯＦ ＣＨＩＮＥＳＥ ＣＥＮＴＲＡＬ ＣＩＴＩＥＳ ＮｉｎｇＹｕｅＡｎｎ（宁越敏）；ＹａｎＺｈｏｎｇｍｉｎ（严重敏）（ＴｈｅＩｎｓｔｉｔｕｔｅｏｆＧｅｏｇｒａｐ...

Novel Flexible Foot System for Humanoid Robot Adaptable to Uneven Ground

Humanoid robots can walk stably on flat ground, regular slopes, and stairs. However, because of their rigid and flat soles, adapting to unknown rough terrains is limited, moreover, to maintain large scale four-point contact for foot structures to keep balance is usually a key technical problem. In order to solve these problems, the control strategy and foot structures should be improved. In this paper, a novel flexible foot system is proposed. This system occupies 8 degrees of freedom （DOF）, and can obtain larger support region to keep in four-point contact with uneven terrains; Novel cable transmission technology is put forward to reduce complexity of traditional mechanism and control strategy, and variation of each DOF is mapped to cable displacement. Furthermore, kinematics of this new system and a global dynamic model based on contact-force feedback are analyzed. According to stability criterion and feedback sensor information, a method calculating the optimal attitude matrix of contact points and joint variables is introduced. Virtual prototyping models of a 30-DOF humanoid robot and rough terrain are established to simulate humanoid robot walking on uneven ground, and feasibility of this system adapted to uneven terrain and validity of its control strategy are verified. The proposed research enhances the capability of humanoid robots to adapt to large scale uneven ground, expands the application field of humanoid robots, and thus lays a foundation for studies of humanoid robots performing tasks in complex environments in place of humans.

Effect of Flat Heel-Toe Difference of a Card on Yarn Unevenness and Usual Faults

Effect of flat heel-toe difference (HTD) of a card on some parameters of yarn quality was studied by testing the yarn which was produced under different HTDs, doffer speed, and cylinder speed with yarn evenness tester of PT7000. The effect of HTD on yarn parameters was analyzed by using SPSS. The results show that HTD has significant influence on parameters of thickness fault and nep. As a whole, the HTDs of 0.42 and 0.56 mm are beneficial to improving yarn quality in comparison with the other HTDs.

Calculation on the pitch angle of rocker of a rocker lunar rover in uneven terrain and path planning

For the concerted motion of rocker lunar rover, the pitch angle of rocker of a rocker lunar rover in uneven terrain must be calculated. According to the character of passive shape-shifting adaptive suspension of rocker lunar rover, the model of rocker lunar rover and the model of terrain were both simplified. The pitch angle of rocker was calculated using forward solving, reverse solving and the method of offsetting the curve of terrain respectively. Because of the banishment of the nonlinearity of equation sets of calculation by reverse solving, the calculation of the pitch angle based on reverse solving was programmed by means of MATLAB. Simulations were carried out by means of ADAMS. The result verified the validity of the calculation based on reverse solving. It provides the theoretical foundation for motion planning and path planning of rocker lunar rover. As applications of the calculation of pitch angle of rocker, the multi-attribute decision making of path based on the concerted motion planning and the predictive control on lunar rover based on the Markov prediction model were introduced.

Limits of Uneven Battery Power in Modular Multilevel Converter-based Battery Energy Storage Systems

For modular multilevel converter-based battery energy storage systems (MMC-BESS), uneven power among batteries of SMs will be deduced by battery aging, battery fault, etc., which will degrade performance and even lead to system failure. For maintaining the balance of capacitor voltage, this paper analyzes the limits of the uneven power of batteries, which are presented as the current limits in this paper. According to analysis, an analytical method is proposed that only the dc and fundamental frequency components of the arm current are used to calculate current limits. With the current limits it is able to evaluate the reasonability of power distribution among batteries. Meanwhile, increase of fundamental frequency component will enhance the current limits, and the dc component determines the size relationship between the absolute values of the upper and lower current limits. Finally, simulation model and experiment prototype are built for verifying the theoretical analysis and current limits calculation method, and satisfactory results are provided.

煤矿井下非均匀照度图像去噪研究

煤矿综采工作面空间小、照明环境复杂多变,采煤过程中伴随着大量的粉尘、大雾,导致采集的图像出现曝光、细节特征减弱等问题,难以对井下照明区域光照强度过大的图像进行有效的特征提取。针对上述问题,提出了一种煤矿井下非均匀照度图像去噪算法。首先,将视频截取为图像,判断图像是否需要进行光照抑制,将需要进行光照抑制的RGB图像拆分通道,并计算每个通道的光照调节因子,实现图像的整体光照调节;然后,将未进行整体光照抑制的图像和经整体光照抑制的图像进行反射分量提取,即将输入的图像转换为HSV空间图像,使用单尺度Retinex(SSR)算法对V通道图像中的光照分量进行单独处理,将V分量中的入射分量去除,保留反射分量,并对反射分量使用直方图均衡算法实现光照均衡化处理;最后,使用基于引导滤波的暗通道先验算法对经过光照处理后的图像进行去雾处理,并使用伽马校正函数重新调节亮度不均的图像。主观评价结果表明:提出的煤矿井下非均匀照度图像去噪算法有效抑制了因光照导致整体亮度较高的问题,且由于大雾、粉尘等因素导致图像模糊的部分更加清晰,图像的细节特征更加突出。采用信息熵、均值、标准差、空间频率4种评价指标对提出的算法效果进行客观评价,结果表明,提出的算法在信息熵、均值、标准差、空间频率上较多尺度Retinex(MSR)算法分别平均提升了21.87%,-56.06%,153.43%,294.45%,较基于颜色保持的多尺度视网膜增强(MSRCP)算法分别平均提升了1.18%,-39.56%,33.29%,-4.71%,较带色彩恢复的多尺度视网膜增强(MSRCR)算法分别平均提升了38.06%,-55.27%,462.10%,300.96%,说明提出的算法能更有效地增加图像信息量、抑制光照强度、提升边缘信息及图像清晰度。

不平整跑道激励下飞机起落架随机响应及可靠性分析

采用非线性二自由度系统构建了飞机起落架模型,通过时域噪声刻画了不平整跑道对飞机起落架系统的随机激励,并引入路面不平度系数描述了跑道的不平整程度;基于飞机起落架模型响应的概率密度函数及其统计量,开展了不平整跑道对飞机起落架系统影响规律的研究。应用随机可靠性分析方法以及人体振动舒适性理论,通过建立安全域和舒适域与系统响应之间的关系,分析了起落架模型在不同路面不平度系数下的可靠性,并对乘客舒适性进行了评价。研究结果表明:路面不平度系数越大,系统状态变量的波动越剧烈,系统的可靠性和舒适性与路面不平度系数呈一定的负相关性;在路面不平度系数较小的情况下,系统平均首次穿越时间以及舒适性受随机扰动的影响更加显著。

牛栏江—滇池补水工程水源区不同时间尺度径流变化特征

为做好补水工程水资源调度、配置、流域水安全治理和区域防汛抗旱工作,充分发挥工程效益,基于牛栏江—滇池补水工程水源区代表站长系列水文资料,采用集中度、不均匀系数、Hurst系数、M-K趋势检验、滑动T检验等多种方法分析了牛栏江—滇池补水工程水源区不同时间尺度径流变化特征。结果表明,水源区不同时间尺度径流年际变化大、丰-平-枯周期明显;年内分配向均匀性和坦化趋势演变;最小1、7 d径流显著上升,其他7个径流趋势变化不显著,均发生突变;年、丰水期、极端最大等5个径流指标突变后径流量减少明显,枯水期和极端最小等4个径流指标突变后为增长趋势;年径流突变后8~10月来水量减少明显;预计补水工程水源区未来一段时间不易发生极端枯水事件,但总来水量可能会进一步衰减。

不均匀光照下带钢表面缺陷检测方法的研究

针对带钢表面存在光照不均及缺陷类型繁杂的问题导致缺陷检测精度不高的情况,提出一种基于梯度相似性引导模板的带钢缺陷检测方法。在利用二维高斯函数估计背景模板的基础上,结合梯度相似性引导其最优参数的选取;将原图像与优化后的背景模板进行图像差分操作,消除部分不均匀光照,同时构造分段函数对差分图像进行光照补偿,并结合Meanshift算法去除噪点,进一步增强差分图像;利用改进的K-means算法进行聚类分割并结合区域标记实现带钢表面不同缺陷的准确检测。实验结果表明,该方法能够在不均匀光照下准确检测出夹杂、麻点、酸洗、划痕等多种带钢表面缺陷,召回率和精确度分别达到93.2%和96.8%。