The design of mini-missiles(MMs)presents several novel challenges.The stringent mission requirement to reach a target with a certain precision imposes a high guidance precision.The miniaturization of the size of MMs m...The design of mini-missiles(MMs)presents several novel challenges.The stringent mission requirement to reach a target with a certain precision imposes a high guidance precision.The miniaturization of the size of MMs makes the design of the guidance,navigation,and control(GNC)have a larger-thanbefore impact on the main-body design(shape,motor,and layout design)and its design objective,i.e.,flight performance.Pursuing a trade-off between flight performance and guidance precision,all the relevant interactions have to be accounted for in the design of the main body and the GNC system.Herein,a multi-objective and multidisciplinary design optimization(MDO)is proposed.Disciplines pertinent to motor,aerodynamics,layout,trajectory,flight dynamics,control,and guidance are included in the proposed MDO framework.The optimization problem seeks to maximize the range and minimize the guidance error.The problem is solved by using the nondominated sorting genetic algorithm II.An optimum design that balances a longer range with a smaller guidance error is obtained.Finally,lessons learned about the design of the MM and insights into the trade-off between flight performance and guidance precision are given by comparing the optimum design to a design provided by the traditional approach.展开更多
This work proposes a recorded recurrent twin delayed deep deterministic(RRTD3)policy gradient algorithm to solve the challenge of constructing guidance laws for intercepting endoatmospheric maneuvering missiles with u...This work proposes a recorded recurrent twin delayed deep deterministic(RRTD3)policy gradient algorithm to solve the challenge of constructing guidance laws for intercepting endoatmospheric maneuvering missiles with uncertainties and observation noise.The attack-defense engagement scenario is modeled as a partially observable Markov decision process(POMDP).Given the benefits of recurrent neural networks(RNNs)in processing sequence information,an RNN layer is incorporated into the agent’s policy network to alleviate the bottleneck of traditional deep reinforcement learning methods while dealing with POMDPs.The measurements from the interceptor’s seeker during each guidance cycle are combined into one sequence as the input to the policy network since the detection frequency of an interceptor is usually higher than its guidance frequency.During training,the hidden states of the RNN layer in the policy network are recorded to overcome the partially observable problem that this RNN layer causes inside the agent.The training curves show that the proposed RRTD3 successfully enhances data efficiency,training speed,and training stability.The test results confirm the advantages of the RRTD3-based guidance laws over some conventional guidance laws.展开更多
This paper investigates interception missiles’trajectory tracking guidance problem under wind field and external disturbances in the boost phase.Indeed,the velocity control in such trajectory tracking guidance system...This paper investigates interception missiles’trajectory tracking guidance problem under wind field and external disturbances in the boost phase.Indeed,the velocity control in such trajectory tracking guidance systems of missiles is challenging.As our contribution,the velocity control channel is designed to deal with the intractable velocity problem and improve tracking accuracy.The global prescribed performance function,which guarantees the tracking error within the set range and the global convergence of the tracking guidance system,is first proposed based on the traditional PPF.Then,a tracking guidance strategy is derived using the integral sliding mode control techniques to make the sliding manifold and tracking errors converge to zero and avoid singularities.Meanwhile,an improved switching control law is introduced into the designed tracking guidance algorithm to deal with the chattering problem.A back propagation neural network(BPNN)extended state observer(BPNNESO)is employed in the inner loop to identify disturbances.The obtained results indicate that the proposed tracking guidance approach achieves the trajectory tracking guidance objective without and with disturbances and outperforms the existing tracking guidance schemes with the lowest tracking errors,convergence times,and overshoots.展开更多
Taking the discourse learning of the new senior high school English textbook published by the People’s Education Press as an example,combined with the“six-dimensional guidance”deep reading strategy,and through the ...Taking the discourse learning of the new senior high school English textbook published by the People’s Education Press as an example,combined with the“six-dimensional guidance”deep reading strategy,and through the six-skill training strategies of“memory skill training,understanding skill training,application skill training,analytical skill training,evaluation skill training,creative skill training,”this paper aims to cultivate students’thinking profundity,logic,flexibility,sensitivity,criticality,and originality.It also promotes the real implementation of senior high school English deep reading that points to the cultivation of thinking quality in classroom teaching,and realizes the transformation from“conventional reading”to“deep reading”that reflects the core literacy of the discipline.展开更多
An impact point prediction(IPP) guidance based on supervised learning is proposed to address the problem of precise guidance for the ballistic missile in high maneuver penetration condition.An accurate ballistic traje...An impact point prediction(IPP) guidance based on supervised learning is proposed to address the problem of precise guidance for the ballistic missile in high maneuver penetration condition.An accurate ballistic trajectory model is applied to generate training samples,and ablation experiments are conducted to determine the mapping relationship between the flight state and the impact point.At the same time,the impact point coordinates are decoupled to improve the prediction accuracy,and the sigmoid activation function is improved to ameliorate the prediction efficiency.Therefore,an IPP neural network model,which solves the contradiction between the accuracy and the speed of the IPP,is established.In view of the performance deviation of the divert control system,the mapping relationship between the guidance parameters and the impact deviation is analysed based on the variational principle.In addition,a fast iterative model of guidance parameters is designed for reference to the Newton iteration method,which solves the nonlinear strong coupling problem of the guidance parameter solution.Monte Carlo simulation results show that the prediction accuracy of the impact point is high,with a 3 σ prediction error of 4.5 m,and the guidance method is robust,with a 3 σ error of 7.5 m.On the STM32F407 singlechip microcomputer,a single IPP takes about 2.374 ms,and a single guidance solution takes about9.936 ms,which has a good real-time performance and a certain engineering application value.展开更多
Diversified traffic participants and complex traffic environment(e.g.,roadblocks or road damage exist)challenge the decision-making accuracy of a single connected and autonomous vehicle(CAV)due to its limited sensing ...Diversified traffic participants and complex traffic environment(e.g.,roadblocks or road damage exist)challenge the decision-making accuracy of a single connected and autonomous vehicle(CAV)due to its limited sensing and computing capabilities.Using Internet of Vehicles(IoV)to share driving rules between CAVs can break limitations of a single CAV,but at the same time may cause privacy and safety issues.To tackle this problem,this paper proposes to combine IoV and blockchain technologies to form an efficient and accurate autonomous guidance strategy.Specifically,we first use reinforcement learning for driving decision learning,and give the corresponding driving rule extraction method.Then,an architecture combining IoV and blockchain is designed to ensure secure driving rule sharing.Finally,the shared rules will form an effective autonomous driving guidance strategy through driving rules selection and action selection.Extensive simulation proves that the proposed strategy performs well in complex traffic environment,mainly in terms of accuracy,safety,and robustness.展开更多
This paper mainly studies the problem of using UAVs to provide accurate remote target indication for hypersonic projectiles.Based on the optimal trajectory trends and feedback guidance methods,a new cooperative contro...This paper mainly studies the problem of using UAVs to provide accurate remote target indication for hypersonic projectiles.Based on the optimal trajectory trends and feedback guidance methods,a new cooperative control algorithm is proposed to optimize trajectories of multi-UAVs for target tracking in approaching stage.Based on UAV kinematics and sensor performance models,optimal trajectory trends of UAVs are analyzed theoretically.Then,feedback guidance methods are proposed under the optimal observation trends of UAVs in the approaching target stage,producing trajectories with far less computational complexity and performance very close to the best-known trajectories.Next,the sufficient condition for the UAV to form the optimal observation configuration by the feedback guidance method is presented,which guarantees that the proposed method can optimize the observation trajectory of the UAV in approaching stage.Finally,the feedback guidance method is numerically simulated.Simulation results demonstrate that the estimation performance of the feedback guidance method is superior to the Lyapunov guidance vector field(LGVF)method and verify the effectiveness of the proposed method.Additionally,compared with the receding horizon optimization(RHO)method,the proposed method has the same optimization ability as the RHO method and better real-time performance.展开更多
The authenticity identification of anti-counterfeiting codes based on mobile phone platforms is affected by lighting environment,photographing habits,camera resolution and other factors,resulting in poor collection qu...The authenticity identification of anti-counterfeiting codes based on mobile phone platforms is affected by lighting environment,photographing habits,camera resolution and other factors,resulting in poor collection quality of anti-counterfeiting codes and weak differentiation of anti-counterfeiting codes for high-quality counterfeits.Developing an anticounterfeiting code authentication algorithm based on mobile phones is of great commercial value.Although the existing algorithms developed based on special equipment can effectively identify forged anti-counterfeiting codes,the anti-counterfeiting code identification scheme based on mobile phones is still in its infancy.To address the small differences in texture features,low response speed and excessively large deep learning models used in mobile phone anti-counterfeiting and identification scenarios,we propose a feature-guided double pool attention network(FG-DPANet)to solve the reprinting forgery problem of printing anti-counterfeiting codes.To address the slight differences in texture features in high-quality reprinted anti-counterfeiting codes,we propose a feature guidance algorithm that creatively combines the texture features and the inherent noise feature of the scanner and printer introduced in the reprinting process to identify anti-counterfeiting code authenticity.The introduction of noise features effectively makes up for the small texture difference of high-quality anti-counterfeiting codes.The double pool attention network(DPANet)is a lightweight double pool attention residual network.Under the condition of ensuring detection accuracy,DPANet can simplify the network structure as much as possible,improve the network reasoning speed,and run better on mobile devices with low computing power.We conducted a series of experiments to evaluate the FG-DPANet proposed in this paper.Experimental results show that the proposed FG-DPANet can resist highquality and small-size anti-counterfeiting code reprint forgery.By comparing with the existing algorithm based on texture,it is shown that the proposed method has a higher authentication accuracy.Last but not least,the proposed scheme has been evaluated in the anti-counterfeiting code blurring scene,and the results show that our proposed method can well resist slight blurring of anti-counterfeiting images.展开更多
With the development of satellite communication,in order to solve the problems of shortage of on-board resources and refinement of delay requirements to improve the communication performance of satellite optical netwo...With the development of satellite communication,in order to solve the problems of shortage of on-board resources and refinement of delay requirements to improve the communication performance of satellite optical networks,this paper proposes a bee colony optimization algorithm for routing and wavelength assignment based on directional guidance(DBCO-RWA)in satellite optical networks.In D-BCORWA,directional guidance based on relative position and link load is defined,and then the link cost function in the path search stage is established based on the directional guidance factor.Finally,feasible solutions are expanded in the global optimization stage.The wavelength utilization,communication success probability,blocking rate,communication hops and convergence characteristic are simulated.The results show that the performance of the proposed algorithm is improved compared with existing algorithms.展开更多
Guidance path-planning and following are two core technologies used for controlling un-manned aerial vehicles(UAVs)in both military and civilian applications.However,only a few approaches treat both the technologies s...Guidance path-planning and following are two core technologies used for controlling un-manned aerial vehicles(UAVs)in both military and civilian applications.However,only a few approaches treat both the technologies simultaneously.In this study,an innovative hybrid gradient vector fields for path-following guidance(HGVFs-PFG)algorithm is proposed to control fixed-wing UAVs to follow a generated guidance path and oriented target curves in three-dimensional space,which can be any combination of straight lines,arcs,and helixes as motion primitives.The algorithm aids the creation of vector fields(VFs)for these motion primitives as well as the design of an effective switching strategy to ensure that only one VF is activated at any time to ensure that the complex paths are followed completely.The strategies designed in earlier studies have flaws that prevent the UAV from following arcs that make its turning angle too large.The proposed switching strategy solves this problem by introducing the concept of the virtual way-points.Finally,the performance of the HGVFs-PFG algorithm is verified using a reducedorder autopilot and four representative simulation scenarios.The simulation considers the constraints of the aircraft,and its results indicate that the algorithm performs well in following both lateral and longitudinal control,particularly for curved paths.In general,the proposed technical method is practical and competitive.展开更多
The delivery of targeted family education guidance services is essential for establishing a three-in-one education model that encompasses families,schools,and communities.It is also the key to creating a favorable edu...The delivery of targeted family education guidance services is essential for establishing a three-in-one education model that encompasses families,schools,and communities.It is also the key to creating a favorable educational environment that promotes the comprehensive and healthy development of individual students.To gain a comprehensive understanding of family education characteristics and trends in Chinese counties,accurately tap into the educational needs of parents,and effectively identify strengths and weaknesses in family education guidance services,this paper employed a quantitative research method based on a questionnaire survey and interview data from J district of C city after years of continuous monitoring of the quality of family education in the area,aiming to explore these issues and put forward several suggestions for improvement.The results indicate that the family learning environment and atmosphere in the district are generally favorable,while parental educational competence requires further improvement.Parents express a strong desire for interactive,systematic,and fragmented family education guidance from schools.Most parents acknowledge the significance of receiving guidance on family education,yet they are disinclined to actively engage in learning-related activities.While the operational mechanisms of county-level family education guidance services have been continuously improved,there is a need for greater overall coordination.Furthermore,the potential of school-led family education guidance services has yet to be fully tapped,and the scientific and professional standards of such guidance need to be further enhanced.Based on the aforementioned findings,we propose recommendations for improvement.Using J district’s effective improvement practices in management,curriculum,and teams as an example,we intend to explore practical ways to promote county-level family education guidance services and provide a valuable reference for the establishment of a comprehensive and effective system to improve such services.展开更多
On April 7th,2023,the supervisory department of Xuhui district published the first Guidance to“Cosmetics Samples”for the First Time(Trial).It unified the management requirement regarding cosmetics samples,guided man...On April 7th,2023,the supervisory department of Xuhui district published the first Guidance to“Cosmetics Samples”for the First Time(Trial).It unified the management requirement regarding cosmetics samples,guided managers to develop responsibility awareness and prevent and advert risks beforehand.Besides,it identified the definition of“cosmetics samples”.展开更多
In the context of the era of continuous development of artificial intelligence, the labor value of university students is impacted by technological substitution. Simultaneously, university students are also required t...In the context of the era of continuous development of artificial intelligence, the labor value of university students is impacted by technological substitution. Simultaneously, university students are also required to constantly update their skills. All of the above will be the challenge of university students’ employment prospects. However, artificial intelligence will also bring new opportunities, which will stimulate the innovation ability of university students and bring new directions for employment. In order to better cope with the possible impact of artificial intelligence, universities should incorporate employment guidance services into the “three-wide education” system. To achieve this, universities need to take the following measures: developing the dynamic monitoring system of university employment based on big data, constructing the employment guidance curriculum system of university students throughout the whole process, updating the mode of diversified employment guidance service as well as establishing a team of employment guidance teachers keeping pace with the times. These measures aim to better adapt to the job market demands in the context of artificial intelligence, guide students to actively respond to the possible impact of artificial intelligence technology, cultivate their core competencies and qualities that are less likely to be replaced by artificial intelligence, and promote the high-quality employment of university students.展开更多
Determining characteristics of the initial fixed-focus are a key technique for the design of laser beam riding guidance missile. Through analyzing the effects of the initial cone information field in guidance and cont...Determining characteristics of the initial fixed-focus are a key technique for the design of laser beam riding guidance missile. Through analyzing the effects of the initial cone information field in guidance and control system of missile,those effects are considered as an approximate lead compensation network. The position and time of guidance spot initial fixed-focus can be designed. This method is applied to determine the characteristics of the initial fixed-focus of laser information field for a laser beam guidance gun-launched missile. The results of design and simulation show that the initial cone information field apparently speeds up convergence on the initial trajectory,and provides a guarantee for the implementation of minimum range index of a missile system.展开更多
To satisfy the terminal position and impact angel constraints,an optimal guidance problem was discussed for homing missiles. For a stationary or a slowly moving target on the ground,an extended trajectory shaping guid...To satisfy the terminal position and impact angel constraints,an optimal guidance problem was discussed for homing missiles. For a stationary or a slowly moving target on the ground,an extended trajectory shaping guidance lawconsidering a first-order autopilot lag( ETSG L-C FAL) was proposed. To derive the ETSG L-C FAL,a time-to-go- nth power weighted objection function was adopted and three different derivation methods were demonstrated while the Schwartz inequality method was mainly demonstrated.The performance of the ETSG L-C FAL and the ETSG L guidance laws was compared through simulation.Simulation results showthat although a first-order autopilot is introduced into the ETSG L-C FAL guidance system,the position miss distance and terminal impact angle error induced by the impact angle is zero for different guidance time.展开更多
In the new era a new more effective family education model can ease unbalanced and inadequate education development.In the new era,parents look forward to a more personalized,active and interactive form of family educ...In the new era a new more effective family education model can ease unbalanced and inadequate education development.In the new era,parents look forward to a more personalized,active and interactive form of family education guidance.This new guidance model will start with improving behavior by focusing on emotional behavior and cognition.The Roast can ease parents'anxiety,lectures and reading groups can supplement parents'knowledge,and mutual discussion,vicarious practice and teaching others can solidify a scientific and effective family education behavior.The family education guidance model of"guiding first,then supplementing and further solidifying"focuses on the participation of parents in the whole process,which can improve the effectiveness of family education guidance.展开更多
The peripheral nervous system has an astonishing ability to regenerate following a compression or crush injury;however,the potential for full repair following a transection injury is much less.Currently,the major clin...The peripheral nervous system has an astonishing ability to regenerate following a compression or crush injury;however,the potential for full repair following a transection injury is much less.Currently,the major clinical challenge for peripheral nerve repair come from long gaps between the proximal and distal nerve stumps,which prevent regenerating axons reaching the distal nerve.Precise axon targeting during nervous system development is controlled by families of axon guidance molecules including Netrins,Slits,Ephrins and Semaphorins.Several recent studies have indicated key roles of Netrin1,Slit3 and EphrinB2 signalling in controlling the formation of new nerve bridge tissue and precise axon regeneration after peripheral nerve transection injury.Inside the nerve bridge,nerve fibroblasts express EphrinB2 while migrating Schwann cells express the receptor EphB2.EphrinB2/EphB2 signalling between nerve fibroblasts and migrating Schwann cells is required for Sox2 upregulation in Schwann cells and the formation of Schwann cell cords within the nerve bridge to allow directional axon growth to the distal nerve stump.Macrophages in the outermost layer of the nerve bridge express Slit3 while migrating Schwann cells and regenerating axons express the receptor Robo1;within Schwann cells,Robo1 expression is also Sox2-dependent.Slit3/Robo1 signalling is required to keep migrating Schwann cells and regenerating axons inside the nerve bridge.In addition to the Slit3/Robo1 signalling system,migrating Schwann cells also express Netrin1 and regenerating axons express the DCC receptor.It appears that migrating Schwann cells could also use Netrin1 as a guidance cue to direct regenerating axons across the peripheral nerve gap.Engineered neural tissues have been suggested as promising alternatives for the repair of large peripheral nerve gaps.Therefore,understanding the function of classic axon guidance molecules in nerve bridge formation and their roles in axon regeneration could be highly beneficial in developing engineered neural tissue for more effective peripheral nerve repair.展开更多
Endoscopic submucosal dissection(ESD) is a wellestablished, minimally invasive treatment for superficial neoplasms of the gastrointestinal tract. The universal adoption of ESD has been limited by its slow learning cur...Endoscopic submucosal dissection(ESD) is a wellestablished, minimally invasive treatment for superficial neoplasms of the gastrointestinal tract. The universal adoption of ESD has been limited by its slow learning curve, long procedure times, and high risk of complications. One technical challenge is the lack of a second hand that can provide traction, as in conventional surgery. Reliable tissue retraction that exposes the submucosal plane of dissection would allow for safer and more efficient dissection. Magnetic anchor guided endoscopic submucosal dissection(MAGESD) has potential benefits compared to other current traction methods. MAG-ESD offers dynamic tissue retraction independent of the endoscope mimicking a surgeon's "second hand". Two types of magnets can be used: electromagnets and permanent magnets. In this article we review the MAG-ESD technology, published work and studies of magnets in ESD. We also review the use of magnetic anchor guidance systems in natural orifice transluminal endoscopic surgery and the idea of magnetic non-contact retraction using surface ferromagentization. We discuss the current limitations, the future potential of MAG-ESD and the developments needed for adoption of this technology.展开更多
BACKGROUND Percutaneous endoscopic lumbar discectomy(PELD)has become a mature and mainstream minimally invasive surgical technique for treating lumbar disc herniation(LDH).Repeated fluoroscopy,with more than 30 shots ...BACKGROUND Percutaneous endoscopic lumbar discectomy(PELD)has become a mature and mainstream minimally invasive surgical technique for treating lumbar disc herniation(LDH).Repeated fluoroscopy,with more than 30 shots on average,is inevitable to ensure its accuracy and safety.However,exposure to X-rays may pose a threat to human health.We herein report a case of ultrasound(US)-assisted PELD in two levels of LDH to explore a new possibility that can reduce the radiation dose during puncture and cannulation in PELD.CASE SUMMARY A 38-year-old man with low back pain and left leg pain for more than 7 years came to our clinic,his symptoms had aggravated for 1 month,and he was diagnosed with L3-4 and L4-5 disc herniations.He received US-guided PELD with good results:His straight leg elevation increased from 40 to 90 degrees after PELD,and his visual analog scale(VAS)and Oswestry Disability Index scores both significantly decreased immediately and 6 mo after PELD.With the guidance of US,he received only two shots of fluoroscopy(fluoroscopic time:4.4 s;radiation dose:3.98 mGy).To our knowledge,this is the first case of US-guided puncture and cannulation of PELD for LDH at two levels.CONCLUSION US could be used to guide PELD and has the potential to largely reduce radiation than traditional X-ray guidance.展开更多
文摘The design of mini-missiles(MMs)presents several novel challenges.The stringent mission requirement to reach a target with a certain precision imposes a high guidance precision.The miniaturization of the size of MMs makes the design of the guidance,navigation,and control(GNC)have a larger-thanbefore impact on the main-body design(shape,motor,and layout design)and its design objective,i.e.,flight performance.Pursuing a trade-off between flight performance and guidance precision,all the relevant interactions have to be accounted for in the design of the main body and the GNC system.Herein,a multi-objective and multidisciplinary design optimization(MDO)is proposed.Disciplines pertinent to motor,aerodynamics,layout,trajectory,flight dynamics,control,and guidance are included in the proposed MDO framework.The optimization problem seeks to maximize the range and minimize the guidance error.The problem is solved by using the nondominated sorting genetic algorithm II.An optimum design that balances a longer range with a smaller guidance error is obtained.Finally,lessons learned about the design of the MM and insights into the trade-off between flight performance and guidance precision are given by comparing the optimum design to a design provided by the traditional approach.
基金supported by the National Natural Science Foundation of China(Grant No.12072090)。
文摘This work proposes a recorded recurrent twin delayed deep deterministic(RRTD3)policy gradient algorithm to solve the challenge of constructing guidance laws for intercepting endoatmospheric maneuvering missiles with uncertainties and observation noise.The attack-defense engagement scenario is modeled as a partially observable Markov decision process(POMDP).Given the benefits of recurrent neural networks(RNNs)in processing sequence information,an RNN layer is incorporated into the agent’s policy network to alleviate the bottleneck of traditional deep reinforcement learning methods while dealing with POMDPs.The measurements from the interceptor’s seeker during each guidance cycle are combined into one sequence as the input to the policy network since the detection frequency of an interceptor is usually higher than its guidance frequency.During training,the hidden states of the RNN layer in the policy network are recorded to overcome the partially observable problem that this RNN layer causes inside the agent.The training curves show that the proposed RRTD3 successfully enhances data efficiency,training speed,and training stability.The test results confirm the advantages of the RRTD3-based guidance laws over some conventional guidance laws.
基金the National Natural Science Foundation of China(Grant No.12072090).
文摘This paper investigates interception missiles’trajectory tracking guidance problem under wind field and external disturbances in the boost phase.Indeed,the velocity control in such trajectory tracking guidance systems of missiles is challenging.As our contribution,the velocity control channel is designed to deal with the intractable velocity problem and improve tracking accuracy.The global prescribed performance function,which guarantees the tracking error within the set range and the global convergence of the tracking guidance system,is first proposed based on the traditional PPF.Then,a tracking guidance strategy is derived using the integral sliding mode control techniques to make the sliding manifold and tracking errors converge to zero and avoid singularities.Meanwhile,an improved switching control law is introduced into the designed tracking guidance algorithm to deal with the chattering problem.A back propagation neural network(BPNN)extended state observer(BPNNESO)is employed in the inner loop to identify disturbances.The obtained results indicate that the proposed tracking guidance approach achieves the trajectory tracking guidance objective without and with disturbances and outperforms the existing tracking guidance schemes with the lowest tracking errors,convergence times,and overshoots.
文摘Taking the discourse learning of the new senior high school English textbook published by the People’s Education Press as an example,combined with the“six-dimensional guidance”deep reading strategy,and through the six-skill training strategies of“memory skill training,understanding skill training,application skill training,analytical skill training,evaluation skill training,creative skill training,”this paper aims to cultivate students’thinking profundity,logic,flexibility,sensitivity,criticality,and originality.It also promotes the real implementation of senior high school English deep reading that points to the cultivation of thinking quality in classroom teaching,and realizes the transformation from“conventional reading”to“deep reading”that reflects the core literacy of the discipline.
基金supported by the National Natural Science Foundation of China (Grant No.62103432)supported by Young Talent fund of University Association for Science and Technology in Shaanxi, China(Grant No.20210108)。
文摘An impact point prediction(IPP) guidance based on supervised learning is proposed to address the problem of precise guidance for the ballistic missile in high maneuver penetration condition.An accurate ballistic trajectory model is applied to generate training samples,and ablation experiments are conducted to determine the mapping relationship between the flight state and the impact point.At the same time,the impact point coordinates are decoupled to improve the prediction accuracy,and the sigmoid activation function is improved to ameliorate the prediction efficiency.Therefore,an IPP neural network model,which solves the contradiction between the accuracy and the speed of the IPP,is established.In view of the performance deviation of the divert control system,the mapping relationship between the guidance parameters and the impact deviation is analysed based on the variational principle.In addition,a fast iterative model of guidance parameters is designed for reference to the Newton iteration method,which solves the nonlinear strong coupling problem of the guidance parameter solution.Monte Carlo simulation results show that the prediction accuracy of the impact point is high,with a 3 σ prediction error of 4.5 m,and the guidance method is robust,with a 3 σ error of 7.5 m.On the STM32F407 singlechip microcomputer,a single IPP takes about 2.374 ms,and a single guidance solution takes about9.936 ms,which has a good real-time performance and a certain engineering application value.
基金supported by the National Natural Science Foundation of China(62231020,62101401)the Fundamental Research Funds for the Central Universities(ZYTS23178)the Youth Innovation Team of Shaanxi Universities。
文摘Diversified traffic participants and complex traffic environment(e.g.,roadblocks or road damage exist)challenge the decision-making accuracy of a single connected and autonomous vehicle(CAV)due to its limited sensing and computing capabilities.Using Internet of Vehicles(IoV)to share driving rules between CAVs can break limitations of a single CAV,but at the same time may cause privacy and safety issues.To tackle this problem,this paper proposes to combine IoV and blockchain technologies to form an efficient and accurate autonomous guidance strategy.Specifically,we first use reinforcement learning for driving decision learning,and give the corresponding driving rule extraction method.Then,an architecture combining IoV and blockchain is designed to ensure secure driving rule sharing.Finally,the shared rules will form an effective autonomous driving guidance strategy through driving rules selection and action selection.Extensive simulation proves that the proposed strategy performs well in complex traffic environment,mainly in terms of accuracy,safety,and robustness.
基金support from the National Natural Science Foundation of China(No.61773395)。
文摘This paper mainly studies the problem of using UAVs to provide accurate remote target indication for hypersonic projectiles.Based on the optimal trajectory trends and feedback guidance methods,a new cooperative control algorithm is proposed to optimize trajectories of multi-UAVs for target tracking in approaching stage.Based on UAV kinematics and sensor performance models,optimal trajectory trends of UAVs are analyzed theoretically.Then,feedback guidance methods are proposed under the optimal observation trends of UAVs in the approaching target stage,producing trajectories with far less computational complexity and performance very close to the best-known trajectories.Next,the sufficient condition for the UAV to form the optimal observation configuration by the feedback guidance method is presented,which guarantees that the proposed method can optimize the observation trajectory of the UAV in approaching stage.Finally,the feedback guidance method is numerically simulated.Simulation results demonstrate that the estimation performance of the feedback guidance method is superior to the Lyapunov guidance vector field(LGVF)method and verify the effectiveness of the proposed method.Additionally,compared with the receding horizon optimization(RHO)method,the proposed method has the same optimization ability as the RHO method and better real-time performance.
基金This work is supported by Supported by the National Key Research and Development Program of China under Grant No.2020YFF0304902the Science and Technology Research Project of Jiangxi Provincial Department of Education under Grant No.GJJ202511。
文摘The authenticity identification of anti-counterfeiting codes based on mobile phone platforms is affected by lighting environment,photographing habits,camera resolution and other factors,resulting in poor collection quality of anti-counterfeiting codes and weak differentiation of anti-counterfeiting codes for high-quality counterfeits.Developing an anticounterfeiting code authentication algorithm based on mobile phones is of great commercial value.Although the existing algorithms developed based on special equipment can effectively identify forged anti-counterfeiting codes,the anti-counterfeiting code identification scheme based on mobile phones is still in its infancy.To address the small differences in texture features,low response speed and excessively large deep learning models used in mobile phone anti-counterfeiting and identification scenarios,we propose a feature-guided double pool attention network(FG-DPANet)to solve the reprinting forgery problem of printing anti-counterfeiting codes.To address the slight differences in texture features in high-quality reprinted anti-counterfeiting codes,we propose a feature guidance algorithm that creatively combines the texture features and the inherent noise feature of the scanner and printer introduced in the reprinting process to identify anti-counterfeiting code authenticity.The introduction of noise features effectively makes up for the small texture difference of high-quality anti-counterfeiting codes.The double pool attention network(DPANet)is a lightweight double pool attention residual network.Under the condition of ensuring detection accuracy,DPANet can simplify the network structure as much as possible,improve the network reasoning speed,and run better on mobile devices with low computing power.We conducted a series of experiments to evaluate the FG-DPANet proposed in this paper.Experimental results show that the proposed FG-DPANet can resist highquality and small-size anti-counterfeiting code reprint forgery.By comparing with the existing algorithm based on texture,it is shown that the proposed method has a higher authentication accuracy.Last but not least,the proposed scheme has been evaluated in the anti-counterfeiting code blurring scene,and the results show that our proposed method can well resist slight blurring of anti-counterfeiting images.
基金supported in part by the National Key Research and Development Program of China under Grant 2021YFB2900604in part by the National Natural Science Foundation of China(NSFC)under Grant U22B2033,61975234,61875230。
文摘With the development of satellite communication,in order to solve the problems of shortage of on-board resources and refinement of delay requirements to improve the communication performance of satellite optical networks,this paper proposes a bee colony optimization algorithm for routing and wavelength assignment based on directional guidance(DBCO-RWA)in satellite optical networks.In D-BCORWA,directional guidance based on relative position and link load is defined,and then the link cost function in the path search stage is established based on the directional guidance factor.Finally,feasible solutions are expanded in the global optimization stage.The wavelength utilization,communication success probability,blocking rate,communication hops and convergence characteristic are simulated.The results show that the performance of the proposed algorithm is improved compared with existing algorithms.
基金the support of the National Natural Science Foundation of China under Grant No.62076204 and Grant No.62006193in part by the Postdoctoral Science Foundation of China under Grants No.2021M700337in part by the Fundamental Research Funds for the Central Universities under Grant No.3102019ZX016。
文摘Guidance path-planning and following are two core technologies used for controlling un-manned aerial vehicles(UAVs)in both military and civilian applications.However,only a few approaches treat both the technologies simultaneously.In this study,an innovative hybrid gradient vector fields for path-following guidance(HGVFs-PFG)algorithm is proposed to control fixed-wing UAVs to follow a generated guidance path and oriented target curves in three-dimensional space,which can be any combination of straight lines,arcs,and helixes as motion primitives.The algorithm aids the creation of vector fields(VFs)for these motion primitives as well as the design of an effective switching strategy to ensure that only one VF is activated at any time to ensure that the complex paths are followed completely.The strategies designed in earlier studies have flaws that prevent the UAV from following arcs that make its turning angle too large.The proposed switching strategy solves this problem by introducing the concept of the virtual way-points.Finally,the performance of the HGVFs-PFG algorithm is verified using a reducedorder autopilot and four representative simulation scenarios.The simulation considers the constraints of the aircraft,and its results indicate that the algorithm performs well in following both lateral and longitudinal control,particularly for curved paths.In general,the proposed technical method is practical and competitive.
基金the 2020 Chengdu Key Educational Research Project:“Research on School-led Curriculum Development and Implementation for Enhancing Parental Educational Competence”(CY2020ZE11).
文摘The delivery of targeted family education guidance services is essential for establishing a three-in-one education model that encompasses families,schools,and communities.It is also the key to creating a favorable educational environment that promotes the comprehensive and healthy development of individual students.To gain a comprehensive understanding of family education characteristics and trends in Chinese counties,accurately tap into the educational needs of parents,and effectively identify strengths and weaknesses in family education guidance services,this paper employed a quantitative research method based on a questionnaire survey and interview data from J district of C city after years of continuous monitoring of the quality of family education in the area,aiming to explore these issues and put forward several suggestions for improvement.The results indicate that the family learning environment and atmosphere in the district are generally favorable,while parental educational competence requires further improvement.Parents express a strong desire for interactive,systematic,and fragmented family education guidance from schools.Most parents acknowledge the significance of receiving guidance on family education,yet they are disinclined to actively engage in learning-related activities.While the operational mechanisms of county-level family education guidance services have been continuously improved,there is a need for greater overall coordination.Furthermore,the potential of school-led family education guidance services has yet to be fully tapped,and the scientific and professional standards of such guidance need to be further enhanced.Based on the aforementioned findings,we propose recommendations for improvement.Using J district’s effective improvement practices in management,curriculum,and teams as an example,we intend to explore practical ways to promote county-level family education guidance services and provide a valuable reference for the establishment of a comprehensive and effective system to improve such services.
文摘On April 7th,2023,the supervisory department of Xuhui district published the first Guidance to“Cosmetics Samples”for the First Time(Trial).It unified the management requirement regarding cosmetics samples,guided managers to develop responsibility awareness and prevent and advert risks beforehand.Besides,it identified the definition of“cosmetics samples”.
文摘In the context of the era of continuous development of artificial intelligence, the labor value of university students is impacted by technological substitution. Simultaneously, university students are also required to constantly update their skills. All of the above will be the challenge of university students’ employment prospects. However, artificial intelligence will also bring new opportunities, which will stimulate the innovation ability of university students and bring new directions for employment. In order to better cope with the possible impact of artificial intelligence, universities should incorporate employment guidance services into the “three-wide education” system. To achieve this, universities need to take the following measures: developing the dynamic monitoring system of university employment based on big data, constructing the employment guidance curriculum system of university students throughout the whole process, updating the mode of diversified employment guidance service as well as establishing a team of employment guidance teachers keeping pace with the times. These measures aim to better adapt to the job market demands in the context of artificial intelligence, guide students to actively respond to the possible impact of artificial intelligence technology, cultivate their core competencies and qualities that are less likely to be replaced by artificial intelligence, and promote the high-quality employment of university students.
基金Supported by the Ministerial Level Foundation(62201070412)
文摘Determining characteristics of the initial fixed-focus are a key technique for the design of laser beam riding guidance missile. Through analyzing the effects of the initial cone information field in guidance and control system of missile,those effects are considered as an approximate lead compensation network. The position and time of guidance spot initial fixed-focus can be designed. This method is applied to determine the characteristics of the initial fixed-focus of laser information field for a laser beam guidance gun-launched missile. The results of design and simulation show that the initial cone information field apparently speeds up convergence on the initial trajectory,and provides a guarantee for the implementation of minimum range index of a missile system.
基金Supported by the National Natural Science Foundation of China(61172182)
文摘To satisfy the terminal position and impact angel constraints,an optimal guidance problem was discussed for homing missiles. For a stationary or a slowly moving target on the ground,an extended trajectory shaping guidance lawconsidering a first-order autopilot lag( ETSG L-C FAL) was proposed. To derive the ETSG L-C FAL,a time-to-go- nth power weighted objection function was adopted and three different derivation methods were demonstrated while the Schwartz inequality method was mainly demonstrated.The performance of the ETSG L-C FAL and the ETSG L guidance laws was compared through simulation.Simulation results showthat although a first-order autopilot is introduced into the ETSG L-C FAL guidance system,the position miss distance and terminal impact angle error induced by the impact angle is zero for different guidance time.
文摘In the new era a new more effective family education model can ease unbalanced and inadequate education development.In the new era,parents look forward to a more personalized,active and interactive form of family education guidance.This new guidance model will start with improving behavior by focusing on emotional behavior and cognition.The Roast can ease parents'anxiety,lectures and reading groups can supplement parents'knowledge,and mutual discussion,vicarious practice and teaching others can solidify a scientific and effective family education behavior.The family education guidance model of"guiding first,then supplementing and further solidifying"focuses on the participation of parents in the whole process,which can improve the effectiveness of family education guidance.
文摘The peripheral nervous system has an astonishing ability to regenerate following a compression or crush injury;however,the potential for full repair following a transection injury is much less.Currently,the major clinical challenge for peripheral nerve repair come from long gaps between the proximal and distal nerve stumps,which prevent regenerating axons reaching the distal nerve.Precise axon targeting during nervous system development is controlled by families of axon guidance molecules including Netrins,Slits,Ephrins and Semaphorins.Several recent studies have indicated key roles of Netrin1,Slit3 and EphrinB2 signalling in controlling the formation of new nerve bridge tissue and precise axon regeneration after peripheral nerve transection injury.Inside the nerve bridge,nerve fibroblasts express EphrinB2 while migrating Schwann cells express the receptor EphB2.EphrinB2/EphB2 signalling between nerve fibroblasts and migrating Schwann cells is required for Sox2 upregulation in Schwann cells and the formation of Schwann cell cords within the nerve bridge to allow directional axon growth to the distal nerve stump.Macrophages in the outermost layer of the nerve bridge express Slit3 while migrating Schwann cells and regenerating axons express the receptor Robo1;within Schwann cells,Robo1 expression is also Sox2-dependent.Slit3/Robo1 signalling is required to keep migrating Schwann cells and regenerating axons inside the nerve bridge.In addition to the Slit3/Robo1 signalling system,migrating Schwann cells also express Netrin1 and regenerating axons express the DCC receptor.It appears that migrating Schwann cells could also use Netrin1 as a guidance cue to direct regenerating axons across the peripheral nerve gap.Engineered neural tissues have been suggested as promising alternatives for the repair of large peripheral nerve gaps.Therefore,understanding the function of classic axon guidance molecules in nerve bridge formation and their roles in axon regeneration could be highly beneficial in developing engineered neural tissue for more effective peripheral nerve repair.
文摘Endoscopic submucosal dissection(ESD) is a wellestablished, minimally invasive treatment for superficial neoplasms of the gastrointestinal tract. The universal adoption of ESD has been limited by its slow learning curve, long procedure times, and high risk of complications. One technical challenge is the lack of a second hand that can provide traction, as in conventional surgery. Reliable tissue retraction that exposes the submucosal plane of dissection would allow for safer and more efficient dissection. Magnetic anchor guided endoscopic submucosal dissection(MAGESD) has potential benefits compared to other current traction methods. MAG-ESD offers dynamic tissue retraction independent of the endoscope mimicking a surgeon's "second hand". Two types of magnets can be used: electromagnets and permanent magnets. In this article we review the MAG-ESD technology, published work and studies of magnets in ESD. We also review the use of magnetic anchor guidance systems in natural orifice transluminal endoscopic surgery and the idea of magnetic non-contact retraction using surface ferromagentization. We discuss the current limitations, the future potential of MAG-ESD and the developments needed for adoption of this technology.
基金Supported by Clinical Research Support Fund of PLA General Hospital,No.2018XXFC-18
文摘BACKGROUND Percutaneous endoscopic lumbar discectomy(PELD)has become a mature and mainstream minimally invasive surgical technique for treating lumbar disc herniation(LDH).Repeated fluoroscopy,with more than 30 shots on average,is inevitable to ensure its accuracy and safety.However,exposure to X-rays may pose a threat to human health.We herein report a case of ultrasound(US)-assisted PELD in two levels of LDH to explore a new possibility that can reduce the radiation dose during puncture and cannulation in PELD.CASE SUMMARY A 38-year-old man with low back pain and left leg pain for more than 7 years came to our clinic,his symptoms had aggravated for 1 month,and he was diagnosed with L3-4 and L4-5 disc herniations.He received US-guided PELD with good results:His straight leg elevation increased from 40 to 90 degrees after PELD,and his visual analog scale(VAS)and Oswestry Disability Index scores both significantly decreased immediately and 6 mo after PELD.With the guidance of US,he received only two shots of fluoroscopy(fluoroscopic time:4.4 s;radiation dose:3.98 mGy).To our knowledge,this is the first case of US-guided puncture and cannulation of PELD for LDH at two levels.CONCLUSION US could be used to guide PELD and has the potential to largely reduce radiation than traditional X-ray guidance.
