基于无人机多光谱图像的土壤水分检测方法研究

以表层土壤为对象,探究土壤的多光谱反射率与土壤水分含量相关性,进行基于无人机多光谱图像的土壤水分含量预测模型方法的探究。选取中国农业大学通州实验站为研究区域,实地采集试验田的土壤样本100组,按照一定梯度配制土壤含水量,配成的土壤含水率为10%~50%之间,土壤含量的真实值采用土壤烘干法进行测定。多光谱相机灵巧便捷,可搭载在无人机上对土壤进行监测。将RedEdged-M型多光谱相机搭载在Phantom 3型无人机上,选择阳光充足的采集环境,实时采集土壤样本的多光谱图像,建立土壤多光谱信息与水分含量之间的模型。利用处理光谱数据的ENVI5.3软件提取土壤样本多光谱信息,以多光谱相机自带的标准白板反射率为100%,计算出土壤样本在蓝、绿、红、红边、近红外五个波段的光谱反射率。采用BP神经网络算法、支持向量机算法、偏最小二乘算法分别建立基于无人机多光谱图像的土壤水分含量的预测模型。以80组土壤样本数据作为训练集,建立基于多光谱图像的土壤水分含量预测模型。采用莱文贝格-马夸特算法对BPNN进行改进,提高了其训练速度,当网络结构为5-10-1时,训练效果最好,本文选择该网络结构;SVM采取高斯核函数,当参数为0.56时,模型效果最好。本研究采用归一化均方根误差(NRMSE)和决策系数(R 2)对三种土壤水分含量的预测模型进行定量对比。以20组土壤样本数据作为测试集,结果可知,基于BP神经网络土壤水分含量预测模型的NRMSE为0.268,R 2为0.872;基于支持向量机的土壤水分含量预测模型的NRMSE为0.298,R 2为0.821;基于偏最小二乘土壤水分含量预测模型的NRMSE为0.316,R 2为0.789。对三种模型分析可知,基于BPNN的土壤水分含量预测模型效果均较好。结果可知,土壤的光谱反射率与含水率间存在较密切的相关性,将多光谱相机搭载在无人机上可以对土壤水分含量进行有效的实时监测,对监测土壤墒情提供技术支持和理论支撑。     

基于LS -DYNA公路桥车桥耦合的车辆模型研究

研究公路桥梁在移动车辆荷载作用下的动力响应,建立合理的车辆模型非常重要。为更真实地体现桥梁在车载作用下的动力响应,基于LS-DYNA程序,结合常用重型车辆的结构特性及参数,对车辆的橡胶轮胎、轮胎内气体压力、车轮转动和车辆悬架系统进行模拟,使车辆模型更接近实际车辆。通过车辆轴重和动力特性初步验证车辆有限元模型的有效性;同时,以一座混凝土简支空心板梁桥为算例,验证车轮转动和车桥相互接触力,并将LS-DYNA计算结果与桥梁实测结果进行对比,进一步验证车辆有限元模型的有效性。研究结果表明,基于LS-DYNA建立的三维车辆有限元模型是可行的,可以用于研究车桥相互作用。     

Dynamics modeling and robotic-assist,leader-follower control of tractor convoys

This paper proposes a generalized dynamics model and a leader-follower control architecture for skid-steered tracked vehicles towing polar sleds. The model couples existing formulations in the literature for the powertrain components with the vehicle-terrain interaction to capture the salient features of terrain trafficability and predict the vehicles response. This coupling is essential for making realistic predictions of the vehicles traversing capabilities due to the power-load relationship at the engine output. The objective of the model is to capture adequate fidelity of the powertrain and off-road vehicle dynamics while minimizing the computational cost for model based design of leader-follower control algorithms. The leader-follower control architecture presented proposes maintaining a flexible formation by using a look-ahead technique along with a way point following strategy. Results simulate one leader-follower tractor pair where the leader is forced to take an abrupt turn and experiences large oscillations of its drawbar arm indicating potential payload instability. However, the follower tractor maintains the flexible formation but keeps its payload stable. This highlights the robustness of the proposed approach where the follower vehicle can reject errors in human leader driving.     

无人机视角下的林木爆燃火特性研究

森林火灾“爆燃”现象的特征是突然发生的高强度、高蔓延速度的燃烧。目前为止，关于“爆燃火”的原因还没有达成共识。以无人机视角下对林木爆燃火特性研究，以四川木里特大森林火灾为研究对象，通过分析凉山州某森林扑火部队3月31日木里森林火灾当天KWT（科卫泰）无人机航拍火场画面，结合无人机实时影像及实地调研数据，分析了峡谷地形林火蔓延时空特征，探讨了峡谷中风向风速变化时空分布规律，研究了地形变化条件下，不同海拔高度风速特征，建立了无人机倾角测量风速模型（其中为风速m·s-1，为无人机倾角°）。结果表明，高山峻岭特殊地形环境下每天4:00—12:00时间段为静风期，为峡谷林火扑救最佳时期；午后15:00—17:00和晚上20:00—22:00为山谷地形风速活跃期；仿真软件数据显示山顶、谷底与山腰不同海拔位置的风速风向不统一，谷底会产生乱流现象，且风速与海拔不存在正相关关系，小气候在复杂地形中占主导影响地位；在谷口至山谷深处的中间位置会出现气流速度的波峰状态，并易形成乱流，为爆燃火发生提供了客观必要条件。该研究可为复杂地形环境下，森林草原火灾扑救安全提供数据和技术支撑。     

高速飞行器壁板颤振的分析模型和分析方法

壁板颤振是壁板结构在高速气流中产生的一种自激振动,在超声速和高超声速飞行器上特别容易发生这种现象。壁板颤振引发的非线性振动将对高速飞行器结构的疲劳强度、飞行性能和飞行安全带来不利的影响。随着高速飞行器设计中各项研究工作的开展,壁板颤振问题受到了到越来越多的重视。本文阐述了目前国内外学者在高速飞行器壁板颤振分析领域的研究现状及壁板颤振研究中常用的六种分析模型,并根据壁板颤振分析中使用的结构理论和气动力理论,详述了这种分类的依据。文中还介绍了温度、气流偏角、壁板几何尺寸及边界条件对壁板颤振的影响规律和目前常用于分析壁板颤振问题的频域和时域方法,总结了各种分析方法的优缺点。最后归纳了目前在高速飞行器壁板颤振研究中得出的几个重要结论,提出了今后在高速飞行器壁板颤振研究中需要解决的若干问题。     

An experimental study of flow-induced fiber orientation and concentration distributions in a concentrated suspension flow through a slit channel containing a cylinder

Flow-induced fiber orientation and concentration distributions were measured in a concentrated fiber suspension (CFS) and a dilute one (DFS). The channel has a thin slit geometry containing a circular cylinder. In the previous work, many researchers have qualitatively studied fiber orientation and concentration distributions in injection-molded products of fiber-reinforced plastics. In the present work, however, they are quantitatively estimated by direct observation of fibers in the concentrated suspension flow. For the CFS, some fibers rotate in an expansion part between the channel wall and the circular cylinder, and the fiber orientation becomes almost random state. On the other hand, fibers are perfectly aligned along the flow direction owing to the elongational flow near the centerline downstream of the cylinder. The fiber concentration has a flat distribution except near the channel wall and the centerline. For the DFS a minimum in the fiber concentration distribution was clearly observed on the centerline, and two peaks beside the centerline and near the channel wall. This characteristic distribution is caused by the fiber-wall and fiber-cylinder interactions. It is found that the obstacle such as the circular cylinder in the channel significantly affects the fiber orientation downstream of the obstacle for the CFD, while it affects the fiber concentration distribution for the DFS.     

Rheology of poly(methyl methacrylate-<Emphasis Type="Italic">co</Emphasis>-styrene) particles suspended in water: effects of electrostatic surface layer

 Linear and nonlinear viscoelastic properties were examined for aqueous suspensions of monodisperse poly(methyl methacrylate-co-styrene) (MS) particles having the radius a ₀ =45 nm and the volume fractions φ=0.428−0.448. These particles had surface charges and the resulting electrostatic surface layer (electric double layer) had a thickness of t_s=5.7 nm. At low frequencies in the linear viscoelastic regime, the MS particles behaved approximately as the Brownian hard particles having an effective radius a _eff=a ₀ + t_s, and the dependence of their zero-shear viscosity η₀ on an effective volume fraction φ_eff (={a _eff/a ₀}³φ) agreed with the φ dependence of η₀ of ideal hard-core silica suspensions. In a range of φ_eff < 0.63, this φ_eff dependence was well described by the Brady theory. However, the φ_eff dependence of the high-frequency plateau modulus was weaker and the terminal relaxation mode distribution was narrower for the MS suspensions than for the hard-core suspensions. This result suggested that the electrostatic surface layer of the MS particles was soft and penetrable (at high frequencies). In fact, this “softness” was more clearly observed in the nonlinear regime: the nonlinear damping against step strain was weaker and the thinning under steady shear was less significant for the MS suspension than for the hard-core silica suspensions having the same φ_eff. These weaker nonlinearities of the concentrated MS particles with φ_eff∼ 0.63 (maximum volume fraction for random packing) suggested that the surface layers of those particles were mutually penetrating to provide the particles with a rather large mobility. Received: 10 July 2001 Accepted: 2 November 2001     

Suspension settings for optimal ride comfort of off-road vehicles travelling on roads with different roughness and speeds

This paper reports on an investigation to determine the spring and damper settings that will ensure optimal ride comfort of an off-road vehicle, on different road profiles and at different speeds. These settings are required for the design of a four stage semi-active hydro-pneumatic spring damper suspension system (4S₄). Spring and damper settings in the 4S₄ can be set either to the ride mode or the handling mode and therefore a compromise ride-handling suspension is avoided. The extent to which the ride comfort optimal suspension settings vary for roads of different roughness and varying speeds and the levels of ride comfort that can be achieved, are addressed. The issues of the best objective function to be used when optimising and if a single road profile and speed can be used as representative conditions for ride comfort optimisation of semi-active suspensions, are dealt with. Optimisation is performed with the Dynamic-Q algorithm on a Land Rover Defender 110 modelled in MSC.ADAMS software for speeds ranging from 10 to 50 km/h. It is found that optimising for a combined driver plus rear passenger seat weighted root mean square vertical acceleration rather than using driver or passenger values only, returns the best results. Results indicate that optimisation of suspension settings using one road and speed will improve ride comfort on the same road at different speeds. These settings will also improve ride comfort for other roads at the optimisation speed and other speeds, although not as much as when optimisation has been done for the particular road. For improved ride comfort damping generally has to be lower than the standard (compromised) setting, the rear spring as soft as possible and the front spring ranging from as soft as possible to stiffer depending on road and speed conditions. Ride comfort is most sensitive to a change in rear spring stiffness.     

铁路货车心盘材料的耐磨性研究

对比研究了货车心盘用ZG25MnNb钢、AAR-C级钢及经过表面强化处理的锻钢20Mn、锻钢Q345和铸钢ZG25的耐磨性能；采用金相显微镜分析了材料金相结构对其耐磨性能的影响。结果表明，对货车心盘用钢材进行表面强化能够显著改善其耐磨性能ZG25MnNb钢和经表面强化处理的锻钢20Mn的耐磨性较优；表面硬度高而组织细小的材料组成的摩擦副的耐磨性较好。