三维激光扫描技术在大型舱容测量中的应用研究

大型舱容标定对于不同货物密度、船体强度和倾斜度等配载情况下的容积修正和及时的容积表更新都具有重要意义。为实现大型复杂船舱的精确、快速容积标定,利用三维激光扫描技术获取船舱内外完整的点云数据,经过点云配准、点云滤波、点云空洞修补等预处理后,对点云进行自动、半自动分割,再利用NURBS曲面重建方法构造出完整的船舱整体结构三维模型。设计出一套船舱构件模型库和基于NURBS曲面的曲面求交、曲面三角剖分和容积计算方法,并利用ObjectARX开发出一套基于AutoCAD平台的船舱模型重建和容积计算系统。提出的方法和系统在实船实验中的结果表明,数据处理效率高,相对误差小于0．2％。     

Dynamic Obstacle Avoidance for Application of Human-Robot Cooperative Dispensing Medicines

For safety reasons,in the automated dispensing medicines process,robots and humans cooperate to accomplish the task of drug sorting and distribution.In this dynamic unstructured environment,such as a human-robot collaboration scenario,the safety of human,robot,and equipment in the environment is paramount.In this work,a practical and effective robot motion planning method is proposed for dynamic unstructured environments.To figure out the problems of blind zones of single depth sensor and dynamic obstacle avoidance,we first propose a method for establishing offline mapping and online fusion of multi-sensor depth images and 3D grids of the robot workspace,which is used to determine the occupation states of the 3D grids occluded by robots and obstacles and to conduct real-time estimation of the minimum distance between the robot and obstacles.Then,based on the reactive control method,the attractive and repulsive forces are calculated and transformed into robot joint velocities to avoid obstacles in real time.Finally,the robot's dynamic obstacle avoidance ability is evaluated on an experimental platform with a UR5 robot and two KinectV2 RGB-D sensors,and the effectiveness of the proposed method is verified.     

基于计算模型运用Civil3D实现路网场地整体优化的设计方法

提出基于条件极值的场地标高计算模型,采用该模型进行场地设计可实现地块与地块之间、地块与道路之间的土石方总体最优。通过工程实例介绍应用Civil3D实现该模型的场地设计方法,该方法效率较高,适用面较广,适合各种情况下的园区场地设计。     

龙角镇高边坡稳定性FLAC^3D数值分析

对重庆云阳龙角镇岩质高边坡进行了数值模拟，包括边坡的初始应力场、开挖过程中位移、塑性区及稳定性的分析、计算，为高边坡工程的设计提供了依据和建议。     

三维设计在船体结构中的应用

在三维空间里设计水面舰艇的船体结构是军船结构设计的发展趋势。介绍船体结构三维设计的构思;三维设计方法与传统二维设计方法的比较;目前三维设计可达到的设计深度。详细论述结构三维设计的研究内容和具体实施方法,揭示三维设计中的关键技术,最后提出舰艇船体结构三维设计的发展构想。     

对基坑开挖和土钉支护条件下的基坑稳定性的FLAC3D数值模拟分析

运用FLAC~(3D)软件对郑州某基坑工程进行了开挖与支护模拟计算,对基坑稳定性进行了分析,对土钉支护工作机理进行初步研究,得到基坑边坡变形和受力以及土钉受力的规律。最后结果表明应用FLAC~(3D)程序对基坑土钉支护的数值模拟是可行的,通过计算得出不同开挖阶段的基坑边坡位移、基底隆起以及对土钉拉力为工程设计与施工提供参考。     

激光扫描技术在路面病害检测中的应用

通过分析目前3D激光扫描技术在测量领域的应用现状，介绍加拿大ILRIS-3D激光扫描系统的硬件设备的特点、数据处理软件PolyWorks的功能和操作方法，探讨ILRIS-3D在路面平整度及病害检测中应用的可能性，同时通过路面试验证明：ILRIS-3D扫描得到的数据经Poly Works处理后，能较好地反映原始的路面特征，并能给出相应的路面病害数据，说明利用激光检测技术进行路面病害特征检查是一种先进的手段。     

Planktonic community structure and carbon cycling in the Arabian Sea as a result of monsoonal forcing: the application of a generic model

The Arabian Sea exhibits a complex pattern of biogeochemical and ecological dynamics, which vary both seasonally and spatially. These dynamics have been studied using a one-dimensional vertical hydrodynamic model coupled to a complex ecosystem model, simulating the annual cycle at three contrasting stations. These stations are characterised by seasonally upwelling, mixed-layer-deepening and a-seasonal oligotrophic conditions, respectively, and coincide with extensively measured stations on the two JGOFS ARABESQUE cruises in 1994. The model reproduces many spatial and temporal trends in production, biomass, physical and chemical properties, both qualitatively and quantitatively and so gives insight into the main mechanisms responsible for the biogeochemical and ecological complexity. Monsoonal systems are typified by classical food web dynamics, whilst intermonsoonal and oligotrophic systems are dominated by the microbial loop. The ecosystem model (ERSEM), developed for temperate regions, is found to be applicable to the Arabian Sea system with little reparameterisation. Differences in in-situ physical forcing are sufficient to recreate contrasting eutrophic and oligotrophic systems, although the lack of lateral terms are probably the greatest source of error in the model. Physics, nutrients, light and grazing are all shown to play a role in controlling production and community structure. Small-celled phytoplanktons are predicted to be dominant and sub-surface chlorophyll maxima are robust centers of production during intermonsoon periods. Analysis of carbon fluxes indicate that physically driven outgassing of CO₂ predominates in monsoonal upwelling systems but ecological activity may significantly moderate CO₂ outgassing in the Arabian Sea interior.     

“基德”级导弹驱逐舰作战能力分析

“基德”级导弹驱逐舰是美国建造的多用途导驱逐舰，具有较强的立体作战能力。本文对“基德”级驱逐舰的特点及其作战能力进行了分析，并指出了该级驱逐舰在近海反潜、抗饱和攻击，以及抗鱼雷攻击方面的缺陷。     

道路整体三维模型构建方法的研究

建立道路与地面的整体三维模型是实现道路三维可视化的关键。系统分析了现有的道路三维模型构建方法,针对其存在的不足,提出了一种将道路设计面模型与地形表面模型融为一体的整体模型构建方法,该方法基于在约束Delaunay三角网内插入点和约束边的理论,巧妙地解决了剔除落在道路设计面区域内的地形点的问题,实现了道路设计面与地形表面的整体建网。应用道路整体模型可以实现道路景观的三维漫游,评价三维立体线形以及与周围地形的配合情况。