In this paper, the environment characteristics, micro-environment division and evolution of the mangrove tidal flats, peats and their genetic markers are discussed. It proves that the mangrove tidal flat is a kind of ...In this paper, the environment characteristics, micro-environment division and evolution of the mangrove tidal flats, peats and their genetic markers are discussed. It proves that the mangrove tidal flat is a kind of tidal flats and the peat flats are developed in a specific evolution stage of mangrove tidal flats; the mangrove peats are the products of a specific evolution stage of the mangrove tidal flats.展开更多
Tropic and sub-tropic tidal flats (generalised) are a kind of speific peat-forming environments. Taking the Mangrove tidal flats and mangrove pets in Hainan island as a example, the authors deeply study and discuss th...Tropic and sub-tropic tidal flats (generalised) are a kind of speific peat-forming environments. Taking the Mangrove tidal flats and mangrove pets in Hainan island as a example, the authors deeply study and discuss the peat-forming mechanism of tropic and sub-tropic tidal flats. The conclusions are as follows: intrusion accretiou of plant organic matter is more important ; the organic matter has accumulated witk high productivity, high return rate and high decompeition rate ;anaerobic bacterin play a more important role during early peatification ; sea level change is the fundameutal factor controlling the formation and evolution of tidal flat peat-forming environments; lagoon peat-flat and delta peat-flat are main types of tidal flat peat-forming euvironments ;tidal flat peat-forming environments are remarkably characterized by low-level and rabe properties.展开更多
针对滩涂履带车在受潮汐影响的滩涂环境中进行长时间勘测作业的需求,提出柯西贝塞尔快速搜索随机树星(Cauchy Bessel Rapidly-exploring Random Tree Star,CB-RRT^(*))算法进行路径规划。为规划出安全路径,基于全局地图和潮汐数据,并通...针对滩涂履带车在受潮汐影响的滩涂环境中进行长时间勘测作业的需求,提出柯西贝塞尔快速搜索随机树星(Cauchy Bessel Rapidly-exploring Random Tree Star,CB-RRT^(*))算法进行路径规划。为规划出安全路径,基于全局地图和潮汐数据,并通过滩涂履带车到分界区的距离构建出滩涂预测模型;为提高滩涂履带车移动到目标点需进行多次路径规划的速度,对初始路径的关键树节点使用柯西概率密度函数进行采样缩小采样范围来提高节点的利用率,进而提高算法的收敛性;在重选父节点过程中考虑最大转角约束设定相应系数,并使用连续二次贝塞尔曲线进行拼接的方式来生成路径,达到提高路径平滑度的目的和解决平滑后路径与原路径偏差过大造成的安全性问题。仿真实验结果表明,CB-RRT^(*)算法在静态滩涂环境和动态滩涂环境中,能大大提高算法的收敛性和路径的平滑性,且保证路径长度最优,研究内容可以保证滩涂履带车在各种滩涂环境中进行长时间安全作业。展开更多
文摘In this paper, the environment characteristics, micro-environment division and evolution of the mangrove tidal flats, peats and their genetic markers are discussed. It proves that the mangrove tidal flat is a kind of tidal flats and the peat flats are developed in a specific evolution stage of mangrove tidal flats; the mangrove peats are the products of a specific evolution stage of the mangrove tidal flats.
文摘Tropic and sub-tropic tidal flats (generalised) are a kind of speific peat-forming environments. Taking the Mangrove tidal flats and mangrove pets in Hainan island as a example, the authors deeply study and discuss the peat-forming mechanism of tropic and sub-tropic tidal flats. The conclusions are as follows: intrusion accretiou of plant organic matter is more important ; the organic matter has accumulated witk high productivity, high return rate and high decompeition rate ;anaerobic bacterin play a more important role during early peatification ; sea level change is the fundameutal factor controlling the formation and evolution of tidal flat peat-forming environments; lagoon peat-flat and delta peat-flat are main types of tidal flat peat-forming euvironments ;tidal flat peat-forming environments are remarkably characterized by low-level and rabe properties.
文摘针对滩涂履带车在受潮汐影响的滩涂环境中进行长时间勘测作业的需求,提出柯西贝塞尔快速搜索随机树星(Cauchy Bessel Rapidly-exploring Random Tree Star,CB-RRT^(*))算法进行路径规划。为规划出安全路径,基于全局地图和潮汐数据,并通过滩涂履带车到分界区的距离构建出滩涂预测模型;为提高滩涂履带车移动到目标点需进行多次路径规划的速度,对初始路径的关键树节点使用柯西概率密度函数进行采样缩小采样范围来提高节点的利用率,进而提高算法的收敛性;在重选父节点过程中考虑最大转角约束设定相应系数,并使用连续二次贝塞尔曲线进行拼接的方式来生成路径,达到提高路径平滑度的目的和解决平滑后路径与原路径偏差过大造成的安全性问题。仿真实验结果表明,CB-RRT^(*)算法在静态滩涂环境和动态滩涂环境中,能大大提高算法的收敛性和路径的平滑性,且保证路径长度最优,研究内容可以保证滩涂履带车在各种滩涂环境中进行长时间安全作业。
