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In order to solve the key problem of collision avoidance action of close ships, the steering avoidance process during collision encounter is studied, combining with the ship's maneuvering performance, the time characteristics of the ship's initial turning semicircle elements and turning angle are analyzed; through the decomposition of the relative motion diagram and the inverse approximation algorithm, the mathematical model of the close-quarter situation distance and collision distance is obtained when the ship is steering avoidance. The application of the model is also given; the results of the model application are verified by arithmetic examples and simulation tests. The results show that the proposed two distance models can be used to guide the collision avoidance actions of ships at close range, and provide a theoretical basis for the study of collision risk and the establishment of an automatic collision avoidance decision-making system for ships. At the same time, according to the model, the collision avoidance actions that should be taken by the ship at different stages of the encounter are analyzed for the target ships with different speed ratios and different bearings when there is a collision danger, and the close-range ship collision avoidance action mode is also given. It also gives the model of close-range ship collision avoidance action. It provides the ship deck officers with the support of close-range ship collision danger prediction and ship collision avoidance decision-making. The research results are of great significance to ship navigation safety and navigation intelligence.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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