COLREGS-based collision avoidance algorithm for unmanned surface vehicles using modified artificial potential fields

In this paper, to improve the safety of navigation in dynamic environments, a new collision avoidance method is presented for Unmanned Surface Vehicles (USVs). It is mainly focused on dynamic obstacles and safety requirements. Convention on the International Regulations for Preventing Collisions at Sea (COLREGS) is introduced and the original artificial potential field (APF) algorithm is modified to ensure safe collision avoidance of USVs. The new attractive and repulsive potential field functions are designed and a new process of dynamic collision avoidance is constructed to solve the issue. At last, theoretical simulations and field tests are launched to validate our method. The simulation results show that the proposed method can perform safe navigation well. Through our USV platform, the effectiveness of the improved APF method for collision avoidance is also verified. Meanwhile, it is fast, effective, and deterministic.     

微光成型法微细光束紫外光源的研制

简要介绍了光成型法的原理以及在微细加工领域应用所需解决的关键问题。着重就选取经济性好的球形高压汞灯作为光源发光体 ,通过对聚光系统结构和聚光能力 ,导光光路的传导方式和光能传递效率以及缩微光路的成像性质的综合分析 ,并结合各级传输的光束特性进行优化设计 ,选取两平凸透镜聚光系统和光纤导光方式 ,并利用显微物镜的微缩特性 ,研制成紫外光光源。该光源可产生直径为数微米的微细光斑 ,现已应用于微细光成型法进行微型结构的成型制造研究