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.

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 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.

Combining CLUE-S and SWAT Models to Forecast Land Use Change and Non-point Source Pollution Impact at a Watershed Scale in Liaoning Province, China

Non-point source(NPS) pollution has become a major source of water pollution. A combination of models would provide the necessary direction and approaches designed to control NPS pollution through land use planning. In this study, NPS pollution load was simulated in urban planning, historic trends and ecological protection land use scenarios based on the Conversion of Land Use and its Effect at Small regional extent(CLUE-S) and Soil and Water Assessment Tool(SWAT) models applied to Hunhe-Taizi River Watershed, Liaoning Province, China. Total nitrogen(TN) and total phosphorus(TP) were chosen as NPS pollution indices. The results of models validation showed that CLUE-S and SWAT models were suitable in the study area. NPS pollution mainly came from dry farmland, paddy, rural and urban areas. The spatial distribution of TN and TP exhibited the same trend in 57 sub-catchments. The TN and TP had the highest NPS pollution load in the western and central plains, which concentrated the urban area and farm land. The NPS pollution load would increase in the urban planning and historic trends scenarios, and would be even higher in the urban planning scenario. However, the NPS pollution load decreased in the ecological protection scenario. The differences observed in the three scenarios indicated that land use had a degree of impact on NPS pollution, which showed that scientific and ecologically sound construction could effectively reduce the NPS pollution load in a watershed. This study provides a scientific method for conducting NPS pollution research at the watershed scale, a scientific basis for non-point source pollution control, and a reference for related policy making.

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.

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。

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。

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。

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。

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%。

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。

多传感器信息融合技术在防波堤状态检测中的应用

防波堤作为关键基础设施,由于其特殊地理位置、独特的地质条件和复杂的构筑材料等因素,运行环境异常复杂,承受着巨大风险,因此防波堤很容易出现变形和破损等现象。为了检测防波堤堤身及周边抛石的现状,提出了一种多传感器信息融合水陆一体化测量方法,该方法包括无人机航摄系统、多波束测深系统、便携式侧扫声呐和浅地层剖面仪系统等设备,通过将采集的3D点云、边界线、海底泥层厚度等多种数据结合ICP算法进行数据融合处理,可以获取更加精确的测量数据,并且不同传感器之间实现了优势互补。这种水陆一体化测量方法能够更加有效、直观地了解水上结构的变化和水下工程的冲刷情况,为更好地评估和监测防波堤的状态提供有效的技术支撑。

火箭爆破器爆炸带落点位置受风影响动力学仿真研究

针对火箭爆破器作战运用过程爆炸带受风影响偏移问题,建立受风影响动力学模型和不同环境风发射角修正模型,分析研究风速、风向与火箭爆破器发射角之间的影响关系,并结合相关数据对模型进行仿真验证。该模型可为实战条件下,合理运用火箭爆破器、提升作战运用效能提供支持。

ArcPy集体土地所有权确权入库方法与应用

集体土地所有权数据入库工作急需高效的数据处理方法,处理日常反复修改的数据。结合项目实际需要,使用ArcPy脚本实现批量数据检查、批量出宗地草图、界址点批量生成、导出签章信息,依据导出的属性信息重新映射组合生成的土地调查表,最终达到高效数据处理要求,满足集体土地所有权确权入库工作。该方法为同类数据处理提供了参考价值。