Grid System Analysis of Urban Flora of Bukhara City (Uzbekistan)

This article presents information on the study of the flora of Uzbekistan based on grid system mapping. The urban flora of the city of Bukhara was researched in it. As a result of research, the territory of Bukhara city was divided into 85 indexes based on 1 × 1 km2 grid mapping system. The diversity and density of species in the indexes are determined. The influence of anthropogenic factors on the diversity of species in the indexes is determined.

Finite difference calculation of traveltime on non-orthogonal grid

Finite difference methods have been widely employed in solving the eikonal equation so as to calculate traveltime of seismic phase. Most previous studies used regular orthogonal grid. However, much denser grid is required to sample the interfaces that are undulating in depth direction, such as the Moho and the 660 km discontinuity.Here we propose a new finite difference algorithm to solve the eikonal equation on non-orthogonal grid（irregular grid）.To demonstrate its efficiency and accuracy, a test was conducted with a two-layer model. The test result suggests that the similar accuracy of a regular grid with ten times grids could achieve with our new algorithm, but the time cost is only about 0.1 times. A spherical earth model with an undulant660 km discontinuity was constructed to demonstrate the potential application of our new method. In that case, the traveltime curve fluctuation corresponds to topography. Our new algorithm is efficient in solving the first arrival times of waves associated with undulant interfaces.

Performance of Geometric Multigrid Method for Two-Dimensional Burgers’Equations with Non-Orthogonal,Structured Curvilinear Grids

This paper seeks to develop an efficient multigrid algorithm for solving the Burgers problem with the use of non-orthogonal structured curvilinear grids in L-shaped geometry.For this,the differential equations were discretized by Finite Volume Method(FVM)with second-order approximation scheme and deferred correction.Moreover,the algebraic method and the differential method were used to generate the non-orthogonal structured curvilinear grids.Furthermore,the influence of some parameters of geometric multigrid method,as well as lexicographical Gauss–Seidel(Lex-GS),η-line Gauss–Seidel(η-line-GS),Modified Strongly Implicit(MSI)and modified incomplete LU decomposition(MILU)solvers on the Central Processing Unit(CPU)time was investigated.Therefore,several parameters of multigrid method and solvers were tested for the problem,with the use of nonorthogonal structured curvilinear grids and multigrid method,resulting in an algorithm with the combination that achieved the best results and CPU time.The geometric multigrid method with Full Approximation Scheme(FAS),V-cycle and standard coarsening ratio for this problem were utilized.This article shows how to calculate the coordinates transformation metrics in the coarser grids.Results show that the MSI and MILU solvers are the most efficient.Moreover,theMSI solver is faster thanMILU for both grids generators;and the solutions are more accurate for the Burgers problem with grids generated using elliptic equations.

A Method for Rapidly Determining the Optimal Distribution Locations of GNSS Stations for Orbit and ERP Measurement Based on Map Grid Zooming and Genetic Algorithm

Designing the optimal distribution of Global Navigation Satellite System(GNSS)ground stations is crucial for determining the satellite orbit,satellite clock and Earth Rotation Parameters(ERP)at a desired precision using a limited number of stations.In this work,a new criterion for the optimal GNSS station distribution for orbit and ERP determination is proposed,named the minimum Orbit and ERP Dilution of Precision Factor(OEDOP)criterion.To quickly identify the specific station locations for the optimal station distribution on a map,a method for the rapid determination of the selected station locations is developed,which is based on the map grid zooming and heuristic technique.Using the minimum OEDOP criterion and the proposed method for the rapid determination of optimal station locations,an optimal or near-optimal station distribution scheme for 17 newly built BeiDou Navigation Satellite System(BDS)global tracking stations is suggested.To verify the proposed criterion and method,real GNSS data are processed.The results show that the minimum OEDOP criterion is valid,as the smaller the value of OEDOP,the better the precision of the satellite orbit and ERP determination.Relative to the exhaustive method,the proposed method significantly improves the computational efficiency of the optimal station location determination.In the case of 3 newly built stations,the computational efficiency of the proposed method is 35 times greater than that of the exhaustive method.As the number of stations increases,the improvement in the computational efficiency becomes increasingly obvious.

Ant Colony Optimization with Potential Field Based on Grid Map for Mobile Robot Path Planning

For the mobile robot path planning under the complex environment,ant colony optimization with artificial potential field based on grid map is proposed to avoid traditional ant colony algorithm's poor convergence and local optimum.Firstly,the pheromone updating mechanism of ant colony is designed by a hybrid strategy of global map updating and local grids updating.Then,some angles between the vectors of artificial potential field and the orientations of current grid are introduced to calculate the visibility of eight-neighbor cells of cellular automata,which are adopted as ant colony's inspiring factor to calculate the transition probability based on the pseudo-random transition rule cellular automata.Finally,mobile robot dynamic path planning and the simulation experiments are completed by this algorithm,and the experimental results show that the method is feasible and effective.

改进哈里斯鹰算法的仓储机器人路径规划研究

为提高静态环境下仓储移动机器人路径规划效率,解决传统哈里斯鹰(Harris Hawks optimization, HHO)算法在路径规划中存在收敛速度慢且易陷入局部最优的问题,提出了一种基于Tent混沌映射融合柯西反学习变异的哈里斯鹰优化算法(HHO algorithmbasedon Tentchaotic mapping hybrid Cauchy mutation and inverse learning, TCLHHO)。通过Tent混沌映射增加种群多样性,以提高算法的收敛速度;提出指数型的猎物逃逸能量更新策略,以平衡算法的全局搜索和局部开发能力;通过柯西反学习变异策略对最优个体进行扰动,扩大算法的搜索范围,增强全局搜索能力。根据真实仓储环境搭建二维栅格环境模型,并在Matlab中进行仿真对比实验。结果表明:该算法的规划速度、最优路径长度以及最优路径转折次数较对比算法具有较好的效果,验证了应用于智能仓储环境下改进的HHO路径规划问题的可行性和鲁棒性。

基于RTAB-Map视觉里程计的地形环境高程建图研究

在基于视觉的即时定位与建图(Simultaneous Localization and Mapping,SLAM)中,RTAB-Map是一个比较经典的解决方案,它包含有鲁棒的视觉里程计,同时也提供稠密点云地图、2D占据栅格地图和Octomap(3D占据栅格地图)三种地图构建形式。但稠密点云地图数据量大,无法适用于机器人导航;2D占据栅格地图虽数据量小,但无法反映复杂地形特征,一般只用于室内扫地机器人导航;Octomap能较好地反映三维空间内障碍物的信息,多用于无人机的导航,但对于地面移动机器人来说存在信息冗余。为RTAB-Map扩展了2.5D高程栅格地图构建模块,这种地图可以很好地反映地形环境特征,且地图所占用存储空间更小,更能充分利用移动机器人有限的存储和计算资源。

基于网格化和雷达图的建筑抗震设防最优烈度决策模型研究

目前的建筑抗震设防最优烈度研究主要是从经济性或安全性进行考虑,然而合理的建筑抗震设防最优烈度需要综合考虑经济和安全性指标。本文将研究区域进行网格化,结合其周围历史地震数据进行地震危险性分析,以经济性指标和安全性指标作为抗震设防最优烈度评价指标;运用博弈论组合赋权法确定各指标权重,建立基于网格化和雷达图的建筑抗震设防最优烈度决策模型,将该模型运用到四川省崇州市钢混结构和砖混结构的抗震设防研究中。通过对比分析该模型数据发现:钢混结构按8度设防时,相比于6度、7度和9度设防,其抗震设防综合效益分别提升57.2%、29.6%和3.9%;砖混结构按8度设防时,相比于未设防、6度、7度和9度设防的抗震设防综合效益分别提升60.6%、19.2%、2.4%和1.9%。因此,崇州市钢混结构和砖混结构按8度设防时,为最优抗震设防烈度,抗震设防综合效益最佳,验证了该模型的有效性。

基于避障寻优改进蚁群算法的机器人路径规划

针对蚁群算法在处理路径规划过程中存在收敛速度慢,规划路径冗余等问题,提出了一种基于避障信息和快速寻优策略的改进蚁群算法。为了改善蚁群的首次搜索效率和精度,引入切比雪夫距离改进距离启发函数,在转移概率中增加目标点对机器人的引导作用;采用自适应转移概率调整路径规划过程中节点的选择方式,并根据节点周围的障碍物分布设置初始信息素,使得蚂蚁首次生成有效路径的比率从60%提高至92%;同时删除生成路径的垃圾信息,提高最优路径节点的信息素浓度,平衡了蚁群的局部和全局搜索能力,加快了最优路径的速度;通过平滑生成的路径,减少机器人转弯次数,缩短了路径距离。选择SSA、ACO、IACO、I-ACO等算法在3种栅格环境上进行性能测试。结果表明,改进的蚁群算法路径寻优上优于其他算法。

基于参数映射的螺栓结构有限元模型构建方法

文章提出一种基于参数映射的螺栓结构有限元模型构建方法。将螺栓的不同区域进行几何分块,有效简化了螺栓整体结构的几何复杂程度,间接提高网格划分的精度和质量。针对螺栓结构中主要受力区域即螺纹结构进行精细化网格划分,引导生成高精度的螺纹结构体网格,实现通过设计参数快速引导螺栓结构几何模型自动生成的过程,并实现螺纹接触面的自动化建立,有效地提高螺栓结构建模效率,满足螺栓组件局部强度仿真需求,为多型号超级螺栓组件的快速选型提供有效的模型输入。通过实例,验证所提参数化建模流程的有效性与可靠性。

基于冲突搜索的多AGV路径规划

为实现仓储环节的自动化操作,对多AGV路径规划进行了研究,使用栅格地图法构建地图环境,以单路径A^(*)搜索算法为基础,采用双层路径规划的冲突搜索算法解决多AGV路径冲突问题。具体实施方法是在高层进行冲突检测和添加约束,在底层使用A^(*)算法进行单路径规划。最后使用Python的matplotlib库编程对路径规划算法进行仿真。仿真结果表明,该课题所使用的规划方法行之有效。

MAPGIS二次开发平台下GRD网格法实现渐变色填充剖平图

首先阐述了GRD网格法进行渐变色填充剖平图的基本原理,然后详细介绍了利用MAPGIS二次开发平台提供SaveDemToSurfGrd()函数,在Visual Basic下实现将测量数据转换成标准的GRD网格数据,并在MAPGIS影像处理模块中,将GRD文件转换成Msi影像文件,实现渐变色填充剖平图的程序实现过程,最后总结出该方法的优缺点。

从PF和DPGrid的发展谈数字摄影测量发展的新特征

结合目前国内外新一代摄影测量处理系统的发展现状,从主要特点、功能组成、工艺流程、产品体系、关键技术等共性方面,深入分析和总结了新一代摄影测量处理系统的基本特征;同时指出了今后数字摄影测量处理系统的发展重点和方向。

基于改进人工鱼群算法的蠕虫机器人路径规划

针对人工鱼群算法在机器人路径规划中存在路径长、精度不高、易陷入局部最优等问题,提出了一种改进的人工鱼群算法,旨在提高算法效率及精度。首先,在算法觅食行为中加入寻优循环,减少算法在路径规划中选取位置点的随机性,使机器人能够更快地走向目标点;其次,融合禁忌搜索算法,通过引入禁忌表来记录算法陷入局部最优的路径,使算法在选取新位置点时能够避开局部最优区域,避免算法在局部过度循环,同时对规划出的路径进行优化处理,删去重复栅格点之间的路径,保证路径中没有重复的栅格点;最后,将改进后的人工鱼群算法应用在一种新型的三维栅格地图中。实验结果表明:相较于其他对比算法,在地图1、2、3中改进人工鱼群算法所取得的平均路径长度分别减少了10%、15%、30%,在复杂地图中路径规划的成功率提高了75%。

高密度场景下基于改进A^(*)算法的无人机路径规划

针对无人机在高密度障碍物的城市环境飞行中路径规划实时性难以满足的问题,在A^(*)算法基础上结合跳点搜索(Jump Point Search, JPS)策略,提出一种Jump A^(*)(JA^(*))算法。将A^(*)算法进行三维扩展,并提出了一种三维对角距离精确表示了实际路径代价,缩短了搜索时间。在二维JPS策略的基础上拓展得到了三维JPS策略,代替了A^(*)算法中的几何邻居扩展,大大减少了扩展结点数。对障碍物密度0.1~0.4的复杂三维栅格地图进行了路径规划仿真。仿真结果表明,JA^(*)算法相较于A^(*)算法,在高密度多障碍物的近地城市环境下,路径长度几乎不变,评估节点数大幅度减小,搜索速度具有显著提升。

MIMO雷达三维成像自适应Off-grid校正方法

在压缩感知成像算法中,真实目标点一般不会恰好落在预先划定的网格点上,这种网格偏离(Off-grid)问题会带来真实回波与测量矩阵之间的失配,严重降低雷达成像的性能。针对多输入多输出(MIMO)雷达3维成像的网格失配问题,该文提出一种自适应的Off-grid校正方法,基于Off-grid目标的稀疏回波模型构造贝叶斯概率密度函数,采用最大后验概率(MAP)方法求解含有失配偏差的稀疏像。与传统方法相比,该方法可以充分利用失配参数的先验信息,自适应地更新参数,降低了失配误差的影响,并能实现对稀疏目标和噪声功率的高精度估计。仿真结果表明,该方法可以有效地实现对网格失配的优化,具有精确且稳定的成像性能。

轻量化智慧乡村移动用图系统的设计与实现

为推进慧智慧乡村信息化、智能化建设进程,解决移动用图系统商业软件价格昂贵、系统庞大、硬件要求高等问题,设计一个轻量化的智慧乡村移动用图系统。基于Android开发平台,结合开源GDAL和移动GIS技术,研究移动GIS、影像金字塔的多线程快速加载、多线程矢量分层按区动态加载、线与节点双属性等关键技术,建设轻量化的智慧乡村移动用图系统。以智慧园区数据为例,研发了轻量化、安装方便、运行快捷、操作简单、展示直观的移动用图系统,取得了较好的应用效果。

倾斜地面3D点云快速分割算法

依赖于平面拟合或局部几何特征区分地面障碍物的方法广泛应用于自动驾驶领域,但是在具有倾斜地形或稀疏数据的情况下,性能会降低。在倾斜地形场景中,利用激光雷达(LiDAR)提供的点云数据,通过地面点云的3D投影与直线拟合,利用栅格地图方法降低计算复杂度,实现地面点云的分割。针对非地面的点云集合,利用SLR聚类算法处理,通过设定强度特征阈值在垂直方向区分地面点与非地面点,并对扫描到的障碍物地面分类。通过实验分析,提出的算法较其他地面点云分割算法,一方面在倾斜地形上具有更好的建图效果,另一方面SLR聚类算法处理后的强度特征在X、Y、Z三个方向覆盖范围更精确,如在X方向相较于快速地面分割算法平均提高了44.0%,相较于添加了栅格地图的算法平均提高了40.1%。

基于改进人工势场法的多无人艇避障策略

针对多无人艇编队避障问题,对静态避障的路径消耗问题进行建模分析,在动态避障时提出一种偏置人工势场法使策略符合艇群国际海上避碰规则(swarm International Regulations for Preventing Collisions at Sea,sCOLREGS)。本方法首先对传统人工势场法进行改进,定义符合艇群会遇态势判断需求的sCOLREGS,通过速度障碍法实时判断碰撞风险,然后利用偏置斥力区域的改进人工势场法实现对规则的遵守。仿真实验表明,本文方法在障碍物与编队大小相当时可显著减少避障路程,在确保避障实时性的同时,较好地遵守了国际海上避碰规则相关条例。研究结论可为海面无人艇集群安全航行提供参考。

一种干式变压器搬运机器人多传感器融合地图构建方法

为了实现电网系统中干式变压器精准搬运及放置,提出了一种基于多传感器融合构建地图的方法。对惯性测量单元、二维激光雷达、红外传感器进行数据融合,构建配电房室内外环境的二维栅格地图,以实现干式变压器机器人的定位、导航和避障。仿真结果表明,文章所提方法是可行的。