Effect of the off-road terrains on the ride comfort of construction vehicles

In order to evaluate the impact of off-road terrains on the ride comfort of construction vehicles,a nonlinear dynamic model of the construction vehicles interacting with the terrain deformations is established based on Matlab/Simulink software.The weighted root mean square(RMS)acceleration responses and the power spectral density(PSD)acceleration responses of the driver s seat heave,the pitch and roll angle of the cab in the low-frequency region are chosen as objective functions under different operation conditions of the vehicle.The results show that the impact of off-road terrains on the driver s ride comfort and health is clear under various conditions of deformable terrains and range of vehicle velocities.In particular,the driver s ride comfort is greatly affected by a soil terrain while the comfortable shake of the driver is strongly affected by a sand terrain.In addition,when the vehicle travels on a poor soil terrain in the frequency range below 4 Hz,more resonance peaks of acceleration PSD responses occurred than that on a rigid road of ISO 2631-1 level C.Thus,the driver s health is significantly affected by the deformable terrain in a low-frequency range.

A new real-time algorithm for off-road terrain estimation using laser data

Gaussian mixture algorithm （GMA） is an effective approach for off-road terrain estimation, but still suffers from some difficulties in practical applications, such as complex calculation and object abstraction. In this paper, GMA is modified to improve its real-time performance and to provide it with a potential ability of obstacle detection. First, a selection window is designed based on the dominant-ellipse-principle to limit the probability distribution area of each measurement point, therefore avoiding the calculation on the cells outside the dominant ellipse. Second, a clustering approach is proposed in order to distinguish objects efficiently and decrease the operation area of one laser scan. Third, a virtual point vector is introduced to further reduce the computational load of the mean square error matrix. The modified GMA is experimented on a tracked mobile robot, and its improved performance is shown in comparison to the original GMA.

Displacement field reconstruction in landslide physical modeling by using a terrain laser scanner e Part 1:Methodology,error analysis and validation

Laser scanning technology has been widely used in landslide aspects.However,the existing deformation analysis based on terrain laser scanners can only provide limited information,which is insufficient for understanding landslide kinematics and failure mechanisms.To overcome this limitation,this paper proposes an automated method for processing point clouds collected in landslide physical modeling.This method allows the acquisition of quantitative three-dimensional(3D)deformation field information.The results show the organized and spatially related point cloud segmentation in terms of spherical targets.The segmented point clouds can be fitted to determine the locations of all preset targets and their corresponding location changes.The proposed method has been validated based on theoretical analysis and numerical and physical tests,which indicates that it can batch-process massive data sets with high computational efficiency and good noise resistance.Compared to existing methods,this method shows a significant potential for understanding landslide kinematics and failure mechanisms and advancing the application of 3D laser scanning in geotechnical modeling.

Relationships between Terrain Features and Forecasting Errors of Surface Wind Speeds in a Mesoscale Numerical Weather Prediction Model

Numerical weather prediction(NWP)models have always presented large forecasting errors of surface wind speeds over regions with complex terrain.In this study,surface wind forecasts from an operational NWP model,the SMS-WARR(Shanghai Meteorological Service-WRF ADAS Rapid Refresh System),are analyzed to quantitatively reveal the relationships between the forecasted surface wind speed errors and terrain features,with the intent of providing clues to better apply the NWP model to complex terrain regions.The terrain features are described by three parameters:the standard deviation of the model grid-scale orography,terrain height error of the model,and slope angle.The results show that the forecast bias has a unimodal distribution with a change in the standard deviation of orography.The minimum ME(the mean value of bias)is 1.2 m s^(-1) when the standard deviation is between 60 and 70 m.A positive correlation exists between bias and terrain height error,with the ME increasing by 10%−30%for every 200 m increase in terrain height error.The ME decreases by 65.6%when slope angle increases from(0.5°−1.5°)to larger than 3.5°for uphill winds but increases by 35.4%when the absolute value of slope angle increases from(0.5°−1.5°)to(2.5°−3.5°)for downhill winds.Several sensitivity experiments are carried out with a model output statistical(MOS)calibration model for surface wind speeds and ME(RMSE)has been reduced by 90%(30%)by introducing terrain parameters,demonstrating the value of this study.

HOG-VGG:VGG Network with HOG Feature Fusion for High-Precision PolSAR Terrain Classification

This article proposes a VGG network with histogram of oriented gradient(HOG) feature fusion(HOG-VGG) for polarization synthetic aperture radar(PolSAR) image terrain classification.VGG-Net has a strong ability of deep feature extraction,which can fully extract the global deep features of different terrains in PolSAR images,so it is widely used in PolSAR terrain classification.However,VGG-Net ignores the local edge & shape features,resulting in incomplete feature representation of the PolSAR terrains,as a consequence,the terrain classification accuracy is not promising.In fact,edge and shape features play an important role in PolSAR terrain classification.To solve this problem,a new VGG network with HOG feature fusion was specifically proposed for high-precision PolSAR terrain classification.HOG-VGG extracts both the global deep semantic features and the local edge & shape features of the PolSAR terrains,so the terrain feature representation completeness is greatly elevated.Moreover,HOG-VGG optimally fuses the global deep features and the local edge & shape features to achieve the best classification results.The superiority of HOG-VGG is verified on the Flevoland,San Francisco and Oberpfaffenhofen datasets.Experiments show that the proposed HOG-VGG achieves much better PolSAR terrain classification performance,with overall accuracies of 97.54%,94.63%,and 96.07%,respectively.

Efficient Vision Transformers for Autonomous Off-Road Perception Systems

The development of autonomous vehicles has become one of the greatest research endeavors in recent years. These vehicles rely on many complex systems working in tandem to make decisions. For practical use and safety reasons, these systems must not only be accurate, but also quickly detect changes in the surrounding environment. In autonomous vehicle research, the environment perception system is one of the key components of development. Environment perception systems allow the vehicle to understand its surroundings. This is done by using cameras, light detection and ranging (LiDAR), with other sensor systems and modalities. Deep learning computer vision algorithms have been shown to be the strongest tool for translating camera data into accurate and safe traversability decisions regarding the environment surrounding a vehicle. In order for a vehicle to safely traverse an area in real time, these computer vision algorithms must be accurate and have low latency. While much research has studied autonomous driving for traversing well-structured urban environments, limited research exists evaluating perception system improvements in off-road settings. This research aims to investigate the adaptability of several existing deep-learning architectures for semantic segmentation in off-road environments. Previous studies of two Convolutional Neural Network (CNN) architectures are included for comparison with new evaluation of Vision Transformer (ViT) architectures for semantic segmentation. Our results demonstrate viability of ViT architectures for off-road perception systems, having a strong segmentation accuracy, lower inference speed and memory footprint compared to previous results with CNN architectures.

秦岭山脉南北麓暴雨触发条件对比分析

采用实况气象观测资料、FY-2G卫星云图资料、多普勒雷达资料和ERA50.25°×0.25°逐小时再分析资料,对2021年8月21-22日同时发生在秦岭南北麓的强等级暴雨过程进行对比分析,探讨秦岭南北麓暴雨触发条件的影响机制。结果表明:秦岭北麓流场上,西风带系统在秦岭特殊地形作用下,对流层低层形成中尺度气旋性环流,通过热力作用触发暴雨,对流性降水持续时间短,强度小;湿斜压性增强是秦岭北麓暴雨开始的一个信号,当湿斜压性减弱以及中层比湿减小时,降水结束。对秦岭南麓而言,地形作用下对流层低层流场形成中尺度辐合线触发暴雨;降水释放的凝结潜热加热低层大气,与中低层入侵的冷空气共同构建对流不稳定结构,上升运动增强,降水增强和持续;对流云团在高温高湿的环境下迅速组织化合并发展,形成中尺度对流复合体(MCC),对流强度大,对流层结深厚,小时雨强大;中低层冷空气的入侵和扩散到地面的时间分别与秦岭南麓强降水的开始和结束时间对应。

Vehicle and terrain interaction based on Adams-Matlab co-simulation

A kind of construction truck model is built in Adams based on multi-body dynamic theory. The rigid and elastic wheels of tire-soil contact models are proposed based on the Bekker pressure model and the Jonasi shear soil model, and they are described in the form of S-function to enhance the calculation efficiency and simulation accuracy. Finally, the interaction of truck and soil is simulated by Adams-Maflab co-simulation to study the influence of soft terrain on the ride comfort of vehicles. The co-simulation results reveal that the terrain properties have a great influence on the ride comfort of vehicles as well as driving speed, road roughness and cargo weight. This co-simulation model is convenient for adding the factor of terrain deformation to the analysis of vehicle ride comfort. It can also be used to optimize suspension system parameters especially for off-road vehicles.

Simulation Analysis on A Rainstorm in Guizhou and Numerical Test about the Terrain Impact

A rainstorm caused by mesoscale convective system (MCS) in Guizhou Province in June 25-26 in 2005 was simulated with the MM5 model. Based on the good simulated results of the MCS developing and the clouds physics process, and by means of reducing the height of Yunnan-Guizhou Plateau and cutting off the middle-east of the Yunnan-Guizhou Plateau on the simulated tests, the question as how the ladder terrain on the west of Yunnan-Guizhou Plateau impact on the rainstorm of Guizhou was studied. The analysis results showed that the second ladder terrain of Yunnan-Guizhou Plateau only affected the development of convective clouds on its backward position,and hardly affected the rain on its upward. The whole terrain of the Yunnan-Guizhou Plateau had a distinct impact not only on the windward slope rainfall of the west of the plateau, but also on the rainfall distribution, intensity and continuing time of the convective clouds on the middle-east of the plateau.

Application of unscented Kalman filter to novel terrain passive integrated navigation system

To improve the navigation accuracy of an autonomous underwater vehicle （AUV）, a novel terrain passive integrated navigation system （TPINS） is presented. According to the characteristics of the underwater environment and AUV navigation requirements of low cost and high accuracy, a novel TPINS is designed with a configuration of the strapdown inertial navigation system （SINS）, the terrain reference navigation system （TRNS）, the Doppler velocity sonar （DVS）, the magnetic compass and the navigation computer utilizing the unscented Kalman filter （UKF） to fuse the navigation information from various navigation sensors. Linear filter equations for the extended Kalman filter （EKF）, nonlinear filter equations for the UKF and measurement equations of navigation sensors are addressed. It is indicated from the comparable simulation experiments of the EKF and the UKF that AUV navigation precision is improved substantially with the proposed sensors and the UKF when compared to the EKF. The TPINS designed with the proposed sensors and the UKF is effective in reducing AUV navigation position errors and improving the stability and precision of the AUV underwater integrated navigation.

RANDOM TERRAIN MODEL

In order to slove a realistic test problem of TF/TA algorithm, it is necessary to make a discrete terrain model. The model has adjustable roughness parameters so as to test the optimization procedure for different types of terrain. In this paper, an algorithm to generate random terrain data is given.

陆地自由空气重力异常格网计算方法及精度检验

采用谱组合和不同地形分辨率嵌套的方式计算局部地形和均衡改正,并利用重力归算方法计算实验区的自由空气重力异常格网。结果表明,在实验区内由谱组合法计算的局部地形改正精度最优,在中央区和边缘区采用不同分辨率嵌套计算的均衡改正精度最优;积分半径为1°和2°时,局部地形改正的计算结果相差不大,均衡改正相差较大;由完全布格与均衡重力异常经重力归算后的自由空气重力异常格网结果精度相同,较由地面点自由空气重力异常直接网格化得到的结果精度有大幅提升。

第五代PSU/NCAR中尺度模式系统(MM5)介绍I:地形及地表分类参数处理(TERRAIN模块)

利用TERRAIN模块的主要功能、结构和原理对模块的安装和操作使用给予了说明。同时 ,为了加深读者对该模块的认识 ,对不同分辨率的地形、地表分类参数的处理进行比较 ,分析结果表明 ,高分辨率地形及地表分类资料的选取能更真实地反映出下垫面的实际特征 ,是今后进行中尺度天气预报和数值模拟的基础之一。

基于Terrain model的三角化运算法则

针对目前出现的大量的物体表面扫描数据的分割与插值方法,本文提出了一个新的适合Terrain model及其相近的三角化运算法则,并给出了部分运算程序代码。该运算法则经检验与运用,具有很好的实用性。

泸定M_(S)4.5地震不对称高陡谷坡地震动响应

基于2023年四川泸定M_(S)4.5地震实测地震动数据,开展不对称斜坡时频域数据分析。结果表明:1)位于右岸1^(#)监测点的PGA放大系数最大,水平向和竖直向分别为3.16~15.08、4.37;2)Arias强度右岸最大值为2.24 cm/s,左岸最大值为0.79 cm/s,说明右岸地震动响应能量更强;3)斜坡右岸监测点的卓越频率为2~9 Hz,左岸卓越频率为2~17 Hz,地震幅值所呈现出来的能量在水平向比竖直向更为集中。地震动响应在不对称高陡谷坡右岸凸出半岛状斜坡地形比直线形斜坡更为强烈,高位覆盖层的存在会增强地震动响应。

Singularity-free expression of magnetic field of cuboid under undulating terrain

Most of the current computing methods used to determine the magnetic field of a uniformly magnetized cuboid assume that the observation point is located in the upper half space without a source. However, such methods may generate analytical singularities for conditions of undulating terrain. Based on basic geomagnetic field theories, in this study an improved magnetic field expression is derived using an integration method of variable substitution, and all singularity problems for the entire space without a source are discussed and solved. This integration process is simpler than that of previous methods, and final integral results with a more uniform form. AT at all points in the source-flee space can be calculated without requiring coordinate transformation; thus forward modeling is also simplified. Corresponding model tests indicate that the new magnetic field expression is more correct because there is no analytical singularity and can be used with undulating terrain.

唐山市植被覆盖度时空演变及地形因子的响应

植被覆盖度在生态环境质量评价、地表过程监测和生态保护决策等方面发挥着重要作用。研究基于GEE平台,采用像元二分法获取唐山市不同时段的植被覆盖度。通过Sen趋势分析和MK检验探讨植被覆盖度的时空演变情况。利用GIS叠加分析研究植被覆盖度与地形因子的关系。结果表明:(1)唐山市植被覆盖度稳定,城市建设区域和南部沿海地区较低,中部和北部低山区较高,中等级及以上占比超过65%。(2)在2001~2021年间,唐山市的植被覆盖度轻微改善,改善面积达到了39.041%。(3)植被覆盖度与高程和坡度显著相关,特别在高程200米以上和坡度15°~32°范围内,中高等级和高等级植被覆盖度较高。探究植被覆盖度演变对该地区的生态环境改善具有重要意义。

Field Relationships,Geochemistry,Zircon Ages and Evolution of a Late Archaean to Palaeoproterozoic Lower Crustal Section in the Hengshan Terrain of Northern China

The Hengshan complex forms part of the central zone of the North China Craton and consists predominantly of ductilely-deformed late Archaean to Palaeoproterozoic high-grade, partly migmatitic, granitoid orthogneisses, intruded by mafic dykes of gabbroic composition. Many highly strained rocks were previously misinterpreted as supracrustal sequences and represent mylonitized granitoids and sheared dykes. Our single zircon dating documents magmatic granitoid emplacement ages between 2.52 Ga and 2.48 Ga, with rare occurrences of 2.7 Ga gneisses, possibly reflecting an older basement. A few granitic gneisses have emplacement ages between 2.35 and 2.1 Ga and show the same structural features as the older rocks, indicating that the main deformation occurred after -2.1 Ga. Intrusion of gabbroic dykes occurred at -1920 Ma, and all Hengshan rocks underwent granulite-facies metamorphism at 1.88-1.85 Ga, followed by retrogression, sheafing and uplift. We interpret the Hengshan and adjacent Fuping granitoid gneisses as the lower, plutonic, part of a late Archaean to early Palaeoproterozoic Japan-type magmatic arc, with the upper, volcanic part represented by the nearby Wutai complex. Components of this arc may have evolved at a continental margin as indicated by the 2.7 Ga zircons. Major deformation and HP metamorphism occurred in the late Palaeoproterozoic during the Luliang orogeny when the Eastern and Western blocks of the North China Craton collided to form the Trans-North China orogen. Shear zones in the Hengshan are interpreted as major lower crustal discontinuities post-dating the peak of HP metamorphism, and we suggest that they formed during orogenic collapse and uplift of the Hengshan complex in the late Palaeoproterozoic （〈1.85 Ga）.

Positive and negative terrains on northern Shaanxi Loess Plateau

The Loess positive and negative terrains （P-N terrains）, which are widely distributed on the Loess Plateau, are discussed for the first time by introducing its characteristic, demarcation as well as extraction method from high-resolution Digital Elevation Models. Using 5 m-resolution DEMs as original test data, P-N terrains of 48 geomorphological units in different parts of Shaanxi Loess Plateau are extracted accurately. Then six indicators for depicting the geomorphologic landscape and spatial configuration characteristic of P-N terrains are proposed. The spatial distribution rules of these indicators and the relationship between the P-N terrains and Loess relief are discussed for further understanding of Loess landforms. Finally, with the integration of P-N terrains and traditional terrain indices, a series of un-supervised classification methods are applied to make a proper landform classification in northern Shaanxi. Results show that P-N terrains are an effect clue to reveal energy and substance distribution rules on the Loess Plateau. A continuous change of P-N terrains from south to north in Shaanxi Loess Plateau shows an obvious spatial difference of Loess land-forms and the positive terrain area only accounted for 60.5% in this region. The P-N terrains participant landform classification method increases validity of the result, especially in the Loess tableland, Loess tableland-ridge and the Loess low-hill area. This research is significant on the study of Loess landforms with the Digital Terrains Analysis methods.

Underwater Terrain Positioning Method Based on Least Squares Estimation for AUV

To achieve accurate positioning of autonomous underwater vehicles, an appropriate underwater terrain database storage format for underwater terrain-matching positioning is established using multi-beam data as underwater terrainmatching data. An underwater terrain interpolation error compensation method based on fractional Brownian motion is proposed for defects of normal terrain interpolation, and an underwater terrain-matching positioning method based on least squares estimation（LSE） is proposed for correlation analysis of topographic features. The Fisher method is introduced as a secondary criterion for pseudo localization appearing in a topographic features flat area, effectively reducing the impact of pseudo positioning points on matching accuracy and improving the positioning accuracy of terrain flat areas. Simulation experiments based on electronic chart and multi-beam sea trial data show that drift errors of an inertial navigation system can be corrected effectively using the proposed method. The positioning accuracy and practicality are high, satisfying the requirement of underwater accurate positioning.