A desired landing points walking method enablinga planner quadruped robot to walk on rough terrain

It is necessary for legged robots to walk stably and smoothly on rough terrain.In this paper,a desired landing points(DLP) walking method based on preview control was proposed in which an off-line foot motion trace and an on-line modification of the trace were used to enable the robot to walk on rough terrain.The on-line modification was composed of speed modification,foot lifting-off height modification,step length modification,and identification and avoidance of unsuitable landing terrain.A planner quadruped robot simulator was used to apply the DLP walking method.The correctness of the method was proven by a series of simulations using the Adams and Simulink.

Space range estimate for battery-powered vertical take-off and landing aircraft

A novel method for estimating the space range of battery-powered vertical take-off and landing(VTOL) aircraft is presented. The method is based on flight parameter optimization and numerical iteration. Subsystem models including required thrust, required power and battery discharge models are presented. The problem to be optimized is formulated, and then case study simulation is conducted using the established method for quantitative analysis. Simulation results show that the space range of battery-powered VTOL aircraft in a vertical plane is an oblate curve, which appears horizontally long but vertically short, and the peak point is not located on the vertical climb path. The method and results are confirmed by parameter analysis and validations.

Problems and Barriers Impeding the Implementation of MagLev Assisted Aircraft Take-Off and Landing Concept

Nowadays, the success of the new technology development and deployment process depends not only on technical, technological solutions, but also on solving the non-technological problems and crossing the societal and psychological barriers. A large international European projects, GABRIEL1 had developed a maglev assisted aircraft take-off and landing, that was applied to conceptual design of aircraft and required on-board and ground systems, had analysed all impacts (effects of concept deployment on effectiveness, safety, security, noise, emissions) and had demonstrated the safe applicability by concept validation. The applied methodology, used methods and the results of the Gabriel projects had been described and discussed by 55 project deliverables. This paper has a special goal: investigating the problems and barriers of possible implementing of the radically new technology, aircraft MagLev assisted take-off and landing. The study was started by identification and classification of the problems and barriers. After it, the problems were systematically analysed by use of special methodology containing the understanding (description) of the problems, investigation of the possible solutions and discussing their applicability (mainly by use of the Gabriel project results). The paper has three major sections: 1) description of the Gabriel concept and project results, 2) introducing some related thoughts on general aspects of new technology developments, and 3) discussion on the problems and their solutions. The major classes of the problems are the 1) technical, technological problems as developing a radically new solution, landing the undercarriage-less aircraft on the magnetic tracks, 2) stakeholders’ problems as decision makers kicking against supporting the developments of so radically new technologies and 3) society barriers like society worrying on and fear of future passengers on flying by aircraft have not conventional undercarriage systems. The paper will show that these problems have safe and cost-effective solutions.

The Impact of the Ghana＇s Oil Discovery on Land Investment and Its Implications in the People, Agriculture and the Environment （Case Study： Cape Three Points, Ghana）

The study was conducted to assess the impact of Ghana＇s oil discovery on the land values, the extent of acquisition, and their implications of the land investment in the people, agriculture and the environment in the Cape Three Points area, which is the communities close to the oil field. Questionnaires were designed and administered to collect data from the chiefs, queen mothers, family heads and opinion leaders of the area. Results of the studies indicated that there had been an increase of about 2000% in land values from 2007 to 2011. Also there was an increase in demand for lands in the Cape Three Points with acquisitions usually ranging from 10 acres to over 600 acres. It also emerged that the livelihood of the inhabitants of Cape Three Points was threatened due to the conversion of arable land to non-agriculture uses. This change in land uses has significant negative impacts on land degradation and its related reduction of agricultural and food production in the area. The technical difficulties of assessing land degradation, the weakness of existing databases, and the poorly explored linkages between land degradation and other aspects of rural development were some of the limitation of the studies. The study increased awareness of the chiefs and other land owners to reserve land for the future generation and for agriculture purposes. The study drew government＇s attention through the Ahanta West District Assembly to the planning needs of the towns in the Cape Three Points to streamline land use of the area.

The Influence of Climate Change and Variability on Aircraft Take-off and Landing Performance;a Case Study of the Abeid Amani Karume International Airport-Zanzibar

Climate change (CC) and variability have been world widely reported to pose number of risks in aviation industry including accidents, astray, and other operational difficulties. The impact of weather on landing and take-off performances has been several times experienced at Abeid Amani Karume International Airport (AAKIA);however, the influence of climate change and variability to the aircraft performance needs to be assessed. Thus, this study investigated the influence of climate change and variability on aircrafts take-off and landing performances. Specifically, the study investigated;i) the influence of climate change on Take-off Distance Required (TODR) and Maximum Take-off Mass (MTOM) for different types of aircraft;ii) the influence of climate variability to the aircraft landing performance on light, medium and heavy aircraft and lastly, iii) the study investigated the seasonal and annual variability on aircraft landing performance due to climate variability. The datasets used in this study include the eight years (2014-2021), aircraft operational records (diversion and missed approach events) and Aviation Routine Weather Reports (METAR) records which were utilized as the indicators for landing performance, the long-term (1990-2020) annual maximum temperatures (Tmax) which was used to determine the TODR and MTOM. Statistical tools including mean, percentage changes, correlations, regression, and the chi-square test were used for analysis and hypotheses testing. The results revealed that light and medium aircraft categories were significantly most affected on diversion events as compared to the heavy categories;however, for the missed approach events the impact was vice versa. Moreover, the seasonal and annual variability on diversion and missed approach events were significantly different (at p ≤ 0.001). As for the take-off performance, results show that the TODR and MTOM were significantly increasing and decreasing (at p ≤ 0.001), based on increasing air temperatures. Therefore, the study concludes that the changing climate has significantly affected aircraft by increasing the TODR and decreasing the MTOM, while the climate variability has significantly affected landing performance by influencing the diversion and missed approach events. Thus, the study recommends (i) further research works including the feasibility study on runway extension for the safety of future aircraft operations at the AAKIA and (ii) proper maintenance and improvement of the Instrumental Landing Systems (ILS) as an adaptation measures to the landing aircraft during bad weather events.

Research on Monitoring Area Division of Quality Grade Changes in County Cultivated Land and Technology of Deploying Monitoring Point

It is an important means in management of improving both the quality and quantity of cultivated land to monitor grade changes in cultivated land quality. How to deploy monitoring network system and its point reasonably and roundly are the key to the technology of monitoring grade changes in cultivated land quality by monitoring grade changes in cultivated land quality dynamically in order to obtain the information to the index of cultivated land quality and its changes based on the existing achievements of farmland classification and grading. Spatial analysis method is used to demarcate monitoring area and deploy monitoring point according to ARCGIS,of which the result can meet the demand for monitoring grade changes in cultivated land.

Fractal Analysis on the Spatial Structure of Land Use Patterns in a Non-Point Source Polluted Area in Southern China

Based on the TM remote sensing interpretation of land use data of a non-point source polluted area in southern China in 2015, supported by ArcGIS and the fractal theory, this paper established the perimeter-area fractal equation of the spatial structure of land use types, quantitatively calculated the fractal dimension and stability index of various land use types in this non-point source polluted area in 2015, and analyzed the spatial structure characteristics of land use types. The results showed that the fractal dimension values of the different land use types in the research area ranged 1.141–1.657, and the whole fractal dimension of the research area was 1.206. To be specific, the fractal dimension values of unused land, grass land and rural residential land were high, and the fractal dimension values of dry land, paddy filed and waters were low, and the fractal dimension values of urban land, industrial traffic construction land and forest land were moderate. The area of the land use types whose stability index values were 0.2–0.4 accounted for 89.5% of total area, suggesting that the stability of the spatial structure of land use types of Beibei District in 2015 was not high generally. The rural residential land and urban land of the research area should be planned and managed more properly from now on.

都市防洪堤加高工程对滨水建设用地的影响分析

为有效选择提高防洪标准的合理方式,从建设用地价值角度选取交通条件、基本设施、环境状况、城市规划4个因素,利用德尔菲法、层次分析法、中心点三角白化权函数法及模糊综合评价法,构建了都市防洪堤加高工程对滨水建设用地影响评估模型,分析了都市域内防洪堤加高工程对滨水建设用地的影响,并针对Y市防洪堤加高工程进行了实证分析。结果表明,都市防洪堤加高工程对滨水建设用地会产生一定的不利影响,建议优化防洪堤加高方案,或选择外围工程方案,并确立完善的非工程措施。

船载投料系统饲料颗粒流落点预测

【目的】为解决网箱养殖中使用船载投料系统的饲料颗粒流落点控制问题,提出一种用于实时分割饲料颗粒流轨迹并精确预测其落点的方法(MLBP)。【方法】考虑到输料管管内参数及饲料颗粒流出口参数获取难度较大,本研究采用高速相机获取饲料颗粒流轨迹图像,并利用提出的混合网络模型分割饲料颗粒流轨迹,以获取轨迹关键信息;为准确预测饲料颗粒流落点,利用BP神经网络的优势,将轨迹信息及投料口高度作为其输入,实现饲料颗粒流落点的预测。【结果】与相关研究方法对比,结合混合网络模型与BP神经网络的MLBP方法的系统单次运行时间降低95%,同时落点预测准确度达到96%,落点的平均误差范围与平均误差百分比也分别降低32.0%和30.5%。【结论】本研究提出的MLBP方法预测精度及实时性均能满足网箱投饵作业需求,可为相关研究提供参考。

边缘优化和注意力融合的遥感地物分割算法

针对遥感地物图像种类众多且目标边缘较复杂的特点,以及现有分割网络中局部卷积的感受野有限,对图像上下文信息利用不足,导致分割目标边缘模糊以及分割精度低等问题,提出一种基于UNet3+网络的遥感地物分割算法。在解码过程中引入相似性感知点关联算子作为上采样方式,通过聚合特征金字塔中的多个建议,改善目标边界细节的分割能力;在编码过程中引入选择性内核模块,优化下采样方式,以实现神经元的自适应感受野大小,充分地获取目标特征的多尺度信息,精准捕捉有用的细节语义信息;在跳跃连接阶段添加双多尺度注意力模块,对不同尺度的特征进行加权融合,使模型更好地关注局部细节和全局上下文信息。在WHDLD、ISPRS Potsdam数据集上的实验表明,改进算法的平均交并比分别达到了64.4%、75.4%,较基线模型分别提升了约2.6个百分点、3.2个百分点,同时验证了改进算法在分割边缘模糊问题上的有效性。

基于GA-SA组合算法的山区复杂环境无人机起降点选址

针对山区复杂环境下的物流链前端无人机货运起降点选址和任务分配进行研究。首先以建设成本最小和运输时间满意度最大为目标,综合考虑无人机自身性能和禁飞空域等因素,构建多约束条件下多目标函数的起降点选址和任务分配模型。采用遗传算法(genetic algorithm, GA)和模拟退火算法(simulated annealing algorithm, SA)的组合算法进行求解,首先通过遗传算法得出较优的可行解,再以此解作为退火算法的初始解进行模型求解。仿真结果表明,构建的多约束模型能够实现预期效果,并且采用的算法解决此类问题时具有良好的适用性。

森林消防救援起降点选择影响因素分析

为提高森林消防救援效率,针对森林消防救援的起降点选择,提出了一种改进DEMATEL-ISM法,对其影响因素进行深入分析。首先基于扎根理论建立面向森林消防救援起降点选择的影响因素体系,然后引入模糊集理论消除DEMATEL-ISM法中专家评分的主观性,通过分析起降点选择的影响因素间因果属性和影响程度,确定关键因素,通过合理设置阈值构建多级递阶结构模型。通过案例分析,得到了影响森林消防救援的5个关键因素、3个根本因素、3个直接因素以及10个间接因素,并提出起降点选择的相关建议。该研究成果可以加快林火救援时起降点选择的决策速度,提高森林消防救援效率,为起降点的选择提供理论依据和科学参考。

河岸边坡对抛投沙袋落点规律影响的试验研究

通过概化水槽试验,分析了有河岸边坡情况下开底驳船和翻板船抛投沙袋的漂移、偏移落距和落点范围规律,并研究了不同抛投方式的影响。试验结果表明:河岸边坡的存在会导致沙袋发生滑动或滚动,增加沙袋的漂移和偏移落距,且坡度越大,沙袋在顺水流方向的落点越分散;沙袋平均漂移落距随流速的增大而增大,流速较大时,边坡坡度变化对沙袋漂移落距影响较小,流速较小时,开底驳船抛投时沙袋平均漂移落距随边坡坡度的增大而增大,翻板船抛投沙袋在顺水流方向的落点越集中;开底驳船抛投方式比翻板船抛投方式的沙袋落点更分散,但落点范围相差不大。

海面上升导致泄洪延时-子牙新河案例分析

【研究目的】尽管人们普遍认为全球变化背景下的海面上升是海岸带环境变化的重要驱动因素,但对一个具体地区而言,仍缺少定量化的影响评估,以至于气候变化基础研究与海岸带实际经济社会活动之间存在日渐明显的脱节。本文是试图弥合这种脱节的一次探索。【研究方法】2023年夏秋京冀津地区大暴雨,达到了1963年之后60年一遇的量级,造成生命财产和区域经济的重大损失。本文根据子牙新河洪水闸口泄洪的具体案例,探寻海面上升潮位升高泄洪延时之间可能存在的因果关系。【研究结果】研究发现在21世纪海面上升背景下,渤海湾西岸存在潮位升高1 cm、泄洪时间减少0.02小时的潮位上升与泄洪延时之间的定量时空关系。【结论】提出潮位高于洪水位时不能泄洪的“临界点”概念,并根据联合国政府间气候变化专门委员会(IPCC)关于海面上升的最新预案,尝试做出了今后三个时间节点(2030、2040和2050年)的泄洪延时预测。

粤西典型村域次降雨条件下非点源氮素排放特征

粤西农业发达,施肥季降雨频繁,面源污染风险大。为研究粤西典型农业村镇不同土地利用类型在次降雨条件下的非点源氮素输出特征,采用降雨过程密集连续监测、雨后径流追踪监测的方法,结合降雨特征和土地利用类型分析降雨事件中氮素浓度及其形态的时空变化规律。结果表明:①监测点在降雨中总氮(TN)的事件平均浓度(EMC)为1.20~8.66 mg/L,其中溶解态氮(DN)占TN的比例最大,平均占比在43.23%~77.00%之间,DN又以溶解态氨氮(AN)为主,占比峰值达64.46%,氮素浓度表现为居民区>果园>农田。②结合氮浓度与径流量变化特征分析,发现氮素输出呈现两个峰值,其浓度随降雨时间的增加呈现先增后减的趋势,各形态氮素均存在初期冲刷效应,居民区最为显著,农田在整个降雨过程倾向于均匀输出。③降雨特征参数中,氮素浓度与前期干燥天数、降雨历时呈正相关,与最大降雨强度呈显著负相关,表明间隔多日的长时降雨会增加氮素输出风险,而雨强较大的降雨会起到稀释作用。氮素浓度受土地利用类型面积的影响,整体与农田、果园面积均呈显著负相关,与居民区面积呈显著正相关。④雨后氮素浓度在农田和果园呈先降后升的趋势,居民区则明显升高。农田沟渠对氮素存在消解作用,居民区是氮素的最大污染源。研究显示,粤西农业农村氮素面源污染要结合降雨和土地利用类型的污染特征对河道中(DN)进行精细化管控,同时要重视农村居民区的面源污染削减。

毛乌素沙地盐池地区固定沙丘主要固沙灌木的空间分布格局与空间关联性研究

种群的空间分布格局与关联性的研究对预测种群的演替趋势和植被重建具有重要意义。基于毛乌素沙地固定沙丘上固沙灌木的地理位置和生长发育阶段数据,采用单变量、双变量成对相关函数和Monte-Carlo拟合检验方法,对油蒿(Artemisiaordosica)、杨柴(Hedysarummongolicum)和柠条(Caraganakorshinskii)三种优势种群进行空间分布格局和关联性分析。结果表明:(1)三个种群在小尺度下呈现聚集分布,大尺度下呈现随机或均匀分布;杨柴和柠条种群在研究尺度范围内主要表现为聚集分布。(2)种间关系表明:油蒿和杨柴在小于5 m尺度下负相关,其他尺度下基本不具有相关性。(3)种群不同生长发育阶段之间的种内关联关系表明:在小尺度下,3个种群的种内关系基本呈正相关;在大尺度下,油蒿种内关系呈负相关,杨柴和柠条的种内关系不存在相关性。

高度城市化地区暴雨内涝过程模拟研究--以杭州城区为例

以杭州市3个典型的高度城市化地区为例,基于InfoWorks ICM构建适用于社区尺度的暴雨内涝模型,并结合历史降雨和实测内涝点数据对模型进行验证。结果表明:(1)2023年11日9日和11月16日两场真实降雨的模拟精度分别为93.1%和89.6%,模型具有较高的模拟精度;(2)5a一遇、10a一遇、20a一遇和50a一遇4场设计暴雨的模拟结果显示随着降雨量增大,积水深度、面积以及积水影响面积均呈增加趋势,研究区内积水深度超过040m的面积从0.02km^(2)增至0.05km^(2),特别是在西湖东侧的劳动路、钱塘江西侧的之江路以及上城区人民法院南侧等地区积水严重。

长江中下游粮食主产区耕地面源污染时空分异特征

为揭示长江中下游粮食主产区耕地面源污染时空规律,利用长江中下游粮食主产区58个市(州、区)统计数据,采用空间分析模型、重心模型、冷热点分析等方法分析了2009—2019年长江中下游粮食主产区耕地面源污染时空分异特征。结果表明:长江中下游流域整体以及赣湘鄂皖4省2009—2019年耕地面源污染总量和强度总体均呈现出“先升后降”的变化趋势,其中湖北省的耕地面源污染强度与总量均位于前列。2009—2019年耕地面源污染强度总体表现为“西高东低”的空间分布特征,其中江西省整体上一直保持为低污染强度,湖北省则为高污染强度聚集区。长江中下游粮食主产区耕地面源污染强度重心变化呈现出“区间震荡”的规律,且长江中下游粮食主产区耕地面源污染强度重心迁移呈现明显的阶段特征。2009—2019年长江中下游粮食主产区耕地面源污染强度呈现出明显的空间聚集态势,总体表现为“东冷西热”的空间分布格局。因此,长江流域中游段特别是湖北省和湖南省是未来进一步推进耕地面源污染防治的重点区域,要统筹好国家粮食安全和耕地生态安全双重目标。

基于单目视觉的网球落点定位研究

在网球比赛中,目前主要依靠专业设备对网球落点进行定位,成本较高且难以在日常训练中普及,提出了一种基于单目视觉的网球落点定位方法,该方法根据重投影误差筛选标定特征点最优组合,得到相机标定参数,以此建立投影模型,结合网球运动轨迹计算出网球落点的位置信息。实验结果表明,该方法相较于基于张正友标定法和Tsai两步法确定的投影模型的落点定位方法,对网球落点定位的平均误差分别降低了9.42%和25.76%。

基于无人机机载激光雷达的退圩还湖实施效果监测

为弥补传统人工复核退圩还湖进度时空分辨率低、耗时长的缺点,利用无人机搭载高精度激光雷达对平旺湖退圩还湖实施效果进行监测。基于获取的激光点云数据,采用工作流的技术方法,建立平旺湖DEM和DSM及坡度精细化模型,实现退圩还湖区域内排泥场和成湖区空间信息的特征提取。采用同期GPS现场测量成果和高分遥感影像分别对高程、面积进行精度验证,结果显示:激光雷达高程总体中误差为0.023m,其中岸线高程提取精度略低于水面,提取的面积与高分影像人工目视解译结果对比精度达99.3%,且更加接近退圩还湖实施方案的要求,表明无人机机载激光雷达技术可有效运用于退圩还湖工程的动态监测,为掌握工程实施效果、科学调整工程进度提供技术支撑。