A self-organized integrated air-ground detection swarmis tentatively applied to achieve reentry vehicle landing detection,such as searching and rescuing a manned spaceship. The detectionswarm consists of multiple unma...A self-organized integrated air-ground detection swarmis tentatively applied to achieve reentry vehicle landing detection,such as searching and rescuing a manned spaceship. The detectionswarm consists of multiple unmanned aerial vehicles （UAVs）and unmanned ground vehicles （UGVs）. The UAVs can accessa detected object quickly for high mobility, while the UGVs cancomprehensively investigate the object due to the variety of carriedequipment. In addition, the integrated air-ground detectionswarm is capable of detecting from the ground and the air simultaneously.To accomplish the coordination of the UGVs andUAVs, they are all regarded as individuals of the artificial swarm.Those individuals make control decisions independently of othersbased on the self-organizing strategy. The overall requirements forthe detection swarm are analyzed, and the theoretical model ofthe self-organizing strategy based on a combined individual andenvironmental virtual function is established. The numerical investigationproves that the self-organizing strategy is suitable andscalable to control the detection swarm. To further inspect the engineeringreliability, an experiment set is established in laboratory,and the experimental demonstration shows that the self-organizingstrategy drives the detection swarm forming a close range and multiangularsurveillance configuration of a landing spot.展开更多
Long-term measurements of air, near-surface (soil) and ground temperatures that were collected between 1994 and 2013 at the drill site of the Geothermal Climate Change Observatory (Prague) were analyzed to understand ...Long-term measurements of air, near-surface (soil) and ground temperatures that were collected between 1994 and 2013 at the drill site of the Geothermal Climate Change Observatory (Prague) were analyzed to understand the relationship between these variables and to reveal the mechanisms of heat transport at the land-atmosphere boundary layer. The 2D Thermal Orbit (TO) method was applied to detect regularities that were hidden in noisy and highly variable temperature time series. The results showed that the temperatures at shallow depths were affected by surface air temperature (SAT) variations on seasonal and annual time scales and could be regarded as an accurate proxy for low frequency temperature variations at the Earth’s surface. Only low-frequency/ high-amplitude surface temperature variations penetrate into the subsurface because of strong damping and the filtering effect of the ground surface. The borehole temperatures have good potential to capture temperature variations (periodicities) over long time scales that cannot be detected in the SAT series themselves because of the interference of higher frequency noise. The TO technique is a useful and powerful tool to quickly obtain diagnostics of the presence of long periodicities in borehole temperature time series.展开更多
基金supported by the National Natural Science Foundation of China(11002076)the National High Technology Research and Development Program of China(863 Program)(2014AA7041002)
文摘A self-organized integrated air-ground detection swarmis tentatively applied to achieve reentry vehicle landing detection,such as searching and rescuing a manned spaceship. The detectionswarm consists of multiple unmanned aerial vehicles （UAVs）and unmanned ground vehicles （UGVs）. The UAVs can accessa detected object quickly for high mobility, while the UGVs cancomprehensively investigate the object due to the variety of carriedequipment. In addition, the integrated air-ground detectionswarm is capable of detecting from the ground and the air simultaneously.To accomplish the coordination of the UGVs andUAVs, they are all regarded as individuals of the artificial swarm.Those individuals make control decisions independently of othersbased on the self-organizing strategy. The overall requirements forthe detection swarm are analyzed, and the theoretical model ofthe self-organizing strategy based on a combined individual andenvironmental virtual function is established. The numerical investigationproves that the self-organizing strategy is suitable andscalable to control the detection swarm. To further inspect the engineeringreliability, an experiment set is established in laboratory,and the experimental demonstration shows that the self-organizingstrategy drives the detection swarm forming a close range and multiangularsurveillance configuration of a landing spot.
文摘Long-term measurements of air, near-surface (soil) and ground temperatures that were collected between 1994 and 2013 at the drill site of the Geothermal Climate Change Observatory (Prague) were analyzed to understand the relationship between these variables and to reveal the mechanisms of heat transport at the land-atmosphere boundary layer. The 2D Thermal Orbit (TO) method was applied to detect regularities that were hidden in noisy and highly variable temperature time series. The results showed that the temperatures at shallow depths were affected by surface air temperature (SAT) variations on seasonal and annual time scales and could be regarded as an accurate proxy for low frequency temperature variations at the Earth’s surface. Only low-frequency/ high-amplitude surface temperature variations penetrate into the subsurface because of strong damping and the filtering effect of the ground surface. The borehole temperatures have good potential to capture temperature variations (periodicities) over long time scales that cannot be detected in the SAT series themselves because of the interference of higher frequency noise. The TO technique is a useful and powerful tool to quickly obtain diagnostics of the presence of long periodicities in borehole temperature time series.
