China has entered an aging society, and the contradiction between the social pension needs rapidly growing in the city and the lagged pension business is increasingly outstanding. By analyzing the amount, development ...China has entered an aging society, and the contradiction between the social pension needs rapidly growing in the city and the lagged pension business is increasingly outstanding. By analyzing the amount, development level, type, structure, and space distribution of the institutional pension facility in main urban district of Xuzhou City, this paper has summed up the main problems. Combining the estimation on the number of the elders and pension bed, coordination and planning of institutional pension facility in the research zone are conducted from three aspects: distribution guidance, principle of locating and differentiation configuration, to promote the construction of pension agency and impel the development of pension business in Xuzhou City.展开更多
With the increasing penetration of wind and solar energies,the accompanying uncertainty that propagates in the system places higher requirements on the expansion planning of power systems.A source-grid-load-storage co...With the increasing penetration of wind and solar energies,the accompanying uncertainty that propagates in the system places higher requirements on the expansion planning of power systems.A source-grid-load-storage coordinated expansion planning model based on stochastic programming was proposed to suppress the impact of wind and solar energy fluctuations.Multiple types of system components,including demand response service entities,converter stations,DC transmission systems,cascade hydropower stations,and other traditional components,have been extensively modeled.Moreover,energy storage systems are considered to improve the accommodation level of renewable energy and alleviate the influence of intermittence.Demand-response service entities from the load side are used to reduce and move the demand during peak load periods.The uncertainties in wind,solar energy,and loads were simulated using stochastic programming.Finally,the effectiveness of the proposed model is verified through numerical simulations.展开更多
Since the emergence of utopian socialism and other modern urban planning ideas,as well as the proposing of“garden cities”by Howard,modern urban planning theory has experienced a variety of planning ideas,and these i...Since the emergence of utopian socialism and other modern urban planning ideas,as well as the proposing of“garden cities”by Howard,modern urban planning theory has experienced a variety of planning ideas,and these ideas play a great role in guiding urban construction and planning.In this century,cities have ushered in many industrial revolutions,and urban life,economy,and ecology have changed greatly.Planning scholars in various countries are actively looking for“medicine”to save cities in the“sick”.In this paper,modern urban planning ideas were sorted out,and how to learn from the current territorial spatial planning that is being compiled around the country was thought about.展开更多
Mountainous regions have disadvantages in economic development because of harsh physical and climatic conditions.However,winter tourism activities are one of the key components for supporting economic development in t...Mountainous regions have disadvantages in economic development because of harsh physical and climatic conditions.However,winter tourism activities are one of the key components for supporting economic development in the highlands.Establishing a ski resort area supports direct and indirect employment in a region,and it stops immigration from mountainous regions to other places.This research aimed to assess the potential ski areas using a multi criteria evaluation technique in the Van region which is located in the eastern part of Türkiye.In this context,snow cover duration,sun effect,slope,slope length,elevation,population density,distance from main roads and lake visibility were used as input factors in the decision making process.Each factor was standardized using a fuzzy technique based on existing well-known ski centers in Türkiye.The weight of inputs was defined by applying a survey to the professional skiers.The most important factors were detected as transportation opportunities and snow covers whereas,the least important factors were elevation and population density.Additionally,lake visibility was very important to make a difference from other existing facilities in the region.Therefore,it was included as constraints and lake visible areas were extracted at the final stage of the research.Potential ski areas were mapped in three levels as professional,intermediate and beginner skiers.One of the suitable areas was selected as a sample projection and for the 3D simulation of the ski investment area.Potential costs and benefits were discussed.It was found that a ski tourism area investment can be amortized in 3 years in the region.展开更多
In the history, the main roles of inland rivers in Beilun Port City of Ningbo were desalination,blocking tides, shipping, and flood control. Nowadays, with the continuous spread and deepening ofurbanization, the ecolo...In the history, the main roles of inland rivers in Beilun Port City of Ningbo were desalination,blocking tides, shipping, and flood control. Nowadays, with the continuous spread and deepening ofurbanization, the ecological environment of river courses has been destroyed. In the past, remediationmeasures based on engineering and technology played a certain role, but can not “cure the root cause”. Itshould respect the historical evolution process of river courses, and highlight the ecological service functionand leisure tourism value of river courses from the coordination perspective of urban and rural ecologicalenvironment, economic industries, society and culture in the planning ideas of ecology, production, andlife integration. Four aspects of the measures are as below: protecting and repairing the ecological matrixof river courses;building green space system and maintaining flood control functions through the waternetwork;protecting cultural heritage along the rivers;developing waterfront leisure tourism scenic area.展开更多
With the rapid development of urbanization,landscape architecture has become an indispensable component of daily life.In order to achieve better landscape effects and protect the ecological environment,landscape ecolo...With the rapid development of urbanization,landscape architecture has become an indispensable component of daily life.In order to achieve better landscape effects and protect the ecological environment,landscape ecology theory can be integrated into landscape planning to carry out disciplinary crossing and integration research between landscape ecology and landscape architecture.In this study,based on the basic theories of landscape ecology,the waterfront landscape of Dapo Town was designed,with the aim to achieve ecological balance in planning,showcase biodiversity,and create a harmonious landscape ecological environment which can benefit both nature and people.This design combined artificial and natural elements while improving the natural environment,which promoted a harmonious relationship between humans and nature,thus enriching the spatial organization of the city,and playing a role in regulating the urban environment and climate.展开更多
This research establishes a strategic framework for developing a salt culture-themed agricultural garden in Jintan,Jiangsu to boost rural vibrancy and cultural tourism while honoring local salt heritage.It employs the...This research establishes a strategic framework for developing a salt culture-themed agricultural garden in Jintan,Jiangsu to boost rural vibrancy and cultural tourism while honoring local salt heritage.It employs the Analytic Hierarchy Process(AHP)for a data-driven and structured approach to evaluate the sustainability and cultural significance of agricultural initiatives.This framework ensures a balanced blend of agriculture,culture,and tourism to foster a sustainable and culturally rich experience.The study highlights the value of structured methodologies in planning culturally impactful agricultural projects.展开更多
This paper proposes a unified trajectory optimization approach that simultaneously optimizes the trajectory of the center of mass and footholds for legged locomotion.Based on a generic point-mass model,the approach is...This paper proposes a unified trajectory optimization approach that simultaneously optimizes the trajectory of the center of mass and footholds for legged locomotion.Based on a generic point-mass model,the approach is formulated as a nonlinear optimization problem,incorporating constraints such as robot kinematics,dynamics,ground reaction forces,obstacles,and target location.The unified optimization approach can be applied to both long-term motion planning and the reactive online planning through the use of model predictive control,and it incorporates vector field guidance to converge to the long-term planned motion.The effectiveness of the approach is demonstrated through simulations and physical experiments,showing its ability to generate a variety of walking and jumping gaits,as well as transitions between them,and to perform reactive walking in obstructed environments.展开更多
Through vehicle-to-vehicle(V2V)communication,autonomizing a vehicle platoon can significantly reduce the distance between vehicles,thereby reducing air resistance and improving road traffic efficiency.The gradual matu...Through vehicle-to-vehicle(V2V)communication,autonomizing a vehicle platoon can significantly reduce the distance between vehicles,thereby reducing air resistance and improving road traffic efficiency.The gradual maturation of platoon control technology is enabling vehicle platoons to achieve basic driving functions,thereby permitting large-scale vehicle platoon scheduling and planning,which is essential for industrialized platoon applications and generates significant economic benefits.Scheduling and planning are required in many aspects of vehicle platoon operation;here,we outline the advantages and challenges of a number of the most important applications,including platoon formation scheduling,lane-change planning,passing traffic light scheduling,and vehicle resource allocation.This paper’s primary objective is to integrate current independent platoon scheduling and planning techniques into an integrated architecture to meet the demands of large-scale platoon applications.To this end,we first summarize the general techniques of vehicle platoon scheduling and planning,then list the primary scenarios for scheduling and planning technique application,and finally discuss current challenges and future development trends in platoon scheduling and planning.We hope that this paper can encourage related platoon researchers to conduct more systematic research and integrate multiple platoon scheduling and planning technologies and applications.展开更多
Space emergency launching is to send a satellite into space by using a rapid responsive solid rocket in the bounded time to implement the emergency Earth observation mission.The key and difficult points mainly include...Space emergency launching is to send a satellite into space by using a rapid responsive solid rocket in the bounded time to implement the emergency Earth observation mission.The key and difficult points mainly include the business process construction of launching mission planning,validation of the effectiveness of the launching scheme,etc.This paper pro-poses the agile space emergency launching mission planning simulation and verification method,which systematically con-structs the overall technical framework of space emergency launching mission planning with multi-field area,multi-platform and multi-task parallel under the constraint of resource schedul-ing for the first time.It supports flexible reconstruction of mis-sion planning processes such as launching target planning,tra-jectory planning,path planning,action planning and launching time analysis,and can realize on-demand assembly of operation links under different mission scenarios and different plan condi-tions,so as to quickly modify and generate launching schemes.It supports the fast solution of rocket trajectory data and the accurate analysis of multi-point salvo time window recheck and can realize the fast conflict resolution of launching missions in the dimensions of launching position and launching window sequence.It supports lightweight scenario design,modular flexi-ble simulation,based on launching style,launching platform,launching rules,etc.,can realize the independent mapping of mission planning results to two-dimensional and three-dimen-sional visual simulation models,so as to achieve a smooth con-nection between mission planning and simulation.展开更多
A document layout can be more informative than merely a document’s visual and structural appearance.Thus,document layout analysis(DLA)is considered a necessary prerequisite for advanced processing and detailed docume...A document layout can be more informative than merely a document’s visual and structural appearance.Thus,document layout analysis(DLA)is considered a necessary prerequisite for advanced processing and detailed document image analysis to be further used in several applications and different objectives.This research extends the traditional approaches of DLA and introduces the concept of semantic document layout analysis(SDLA)by proposing a novel framework for semantic layout analysis and characterization of handwritten manuscripts.The proposed SDLA approach enables the derivation of implicit information and semantic characteristics,which can be effectively utilized in dozens of practical applications for various purposes,in a way bridging the semantic gap and providingmore understandable high-level document image analysis and more invariant characterization via absolute and relative labeling.This approach is validated and evaluated on a large dataset ofArabic handwrittenmanuscripts comprising complex layouts.The experimental work shows promising results in terms of accurate and effective semantic characteristic-based clustering and retrieval of handwritten manuscripts.It also indicates the expected efficacy of using the capabilities of the proposed approach in automating and facilitating many functional,reallife tasks such as effort estimation and pricing of transcription or typing of such complex manuscripts.展开更多
The spacecraequipment layout optimization design(SELOD)problems with complicated performance con-straints and diversity are studied in this paper.The previous literature uses the gradient-based algorithm to obtain op...The spacecraequipment layout optimization design(SELOD)problems with complicated performance con-straints and diversity are studied in this paper.The previous literature uses the gradient-based algorithm to obtain optimized non-overlap layout schemes from randomly initialized cases eectively.However,these local optimal solutions are too dicult to jump out of their current relative geometry relationships,signicantly limiting their further improvement in performance indicators.Therefore,considering the geometric diversity of layout schemes is put forward to alleviate this limitation.First,similarity measures,including modied cosine similarity and gaussian kernel function similarity,are introduced into the layout optimization process.Then the optimization produces a set of feasible layout candidates with the most remarkable dierence in geometric distribution and the most representative schemes are sampled.Finally,these feasible geometric solutions are used as initial solutions to optimize the physical performance indicators of the spacecra,and diversied layout schemes of spacecraequipment are generated for the engineering practice.The validity and eectiveness of the proposed methodology are demonstrated by two SELOD applications.展开更多
The wind and snow environment outside the planned space plays a key role in the comfort and safety of the human habitat in severe cold regions. Traditional studies of the external environment of human settlements, how...The wind and snow environment outside the planned space plays a key role in the comfort and safety of the human habitat in severe cold regions. Traditional studies of the external environment of human settlements, however, frequently overlook the combined impacts of wind and snow environments. Furthermore, in urban meteorological studies, it is impossible to accurately assess the wind and snow environment in specific areas or locations. In this study, a refined Computational Fluid Dynamics(CFD) multiphase flow numerical method was used to simulate a planning space's wind and snow environment. The study classified the Snowstorm Weather Grade(SWG) by incorporating the Snowstorm Weather Index(SWI) to generate calculation results of the wind environment and snow environment. In particular, 150 measurement points in the planning space were chosen for analysis and evaluation of their wind and snow environments. The results demonstrated that the SWI index can effectively correlate to the wind and snow environment calculation results. In addition, the graph of SWI showed that 55% of the measurement points had a moderate wind and snow grade SWI, which exceeds the average grade for the entire region. The practical application shows that the wind and snow environment assessment indexes and technical methods developed in this paper can be successfully applied to wind and snow environment studies in other cold cities.展开更多
Compared to the situation of population aging and the elderly aging, the development of oldage undertaking in Nanchang is still undeveloped in that the old-age care industry lags behind the urban renewal speed and the...Compared to the situation of population aging and the elderly aging, the development of oldage undertaking in Nanchang is still undeveloped in that the old-age care industry lags behind the urban renewal speed and the objective needs of aging. Apart from discussions on the composition of elderly population and the status quo of aging, this paper took the institutional old-age care in the downtown area of Nanchang for example, explored problems in the current institutional old-age care facilities through field investigation, and proposed suggestions for the layout planning of old-age care facilities in the study area.展开更多
Introduction: The involvement of men in reproductive health programmes and more specifically in family planning has always been of concern to the various development actors at both national and international levels. O...Introduction: The involvement of men in reproductive health programmes and more specifically in family planning has always been of concern to the various development actors at both national and international levels. Objective: To study the births, ideas and opinions of men on Family Planning in the village of Tourourou. Material and Methods: This was a prospective cross-sectional, descriptive and analytic study from February 1 to July 31, 2020 in the village of TOUROUROU on the Knowledge, Attitudes and Perceptions of Men on Family Planning. We included in our study, all men residing in TOUROUROU whose age is between 14 and 99 years, who agreed to participate in the study. Results: Our study involved 200 men. The 25 - 29 age group was the most represented with 25.5%. The Soninke had represented 41%. In our study, 97.5% of men had heard of family planning, 62% had spontaneously cited at least one modern contraceptive method, and the pill ranked first with 64.5%. Radio and friends were the most frequent sources of information with 57.5% and 54.5% respectively. Birth spacing was the most cited family planning goal by men in 43.5% of cases. Men supported the practice of family planning in 50.5% of cases. Conclusion: In the village of Tourourou men play a crucial role in decision-making concerning the health of the couple and the family, their effective involvement in Reproductive Health especially in Family Planning will contribute enormously to the improvement of the health of the family.展开更多
With the development of the digital city,data and data analysis have become more and more important.The database is the foundation of data analysis.In this paper,the software system of the urban land planning database...With the development of the digital city,data and data analysis have become more and more important.The database is the foundation of data analysis.In this paper,the software system of the urban land planning database of Shanghai in China is developed based on MySQL.The conceptual model of the urban land planning database is proposed,and the entities,attributes and connections of this model are discussed.Then the E-R conceptual model is transformed into a logical structure,which is supported by the relational databasemanagement system(DBMS).Based on the conceptual and logical structures,by using Spring Boot as the back-end framework and using MySQL and Java API as the development tools,a platformwith datamanagement,information sharing,map assistance and other functions is established.The functionalmodules in this platformare designed.The results of J Meter test show that the DBMS can add,store and retrieve information data stably,and it has the advantages of fast response and low error rate.The software system of the urban land planning database developed in this paper can improve the efficiency of storing and managing land data,eliminating redundant data and sharing data.展开更多
Legged locomotion poses significant challenges due to its nonlinear,underactuated and hybrid dynamic properties.These challenges are exacerbated by the high-speed motion and presence of aerial phases in dynamic legged...Legged locomotion poses significant challenges due to its nonlinear,underactuated and hybrid dynamic properties.These challenges are exacerbated by the high-speed motion and presence of aerial phases in dynamic legged locomotion,which highlights the requirement for online planning based on current states to cope with uncertainty and disturbances.This article proposes a real-time planning and control framework integrating motion planning and whole-body control.In the framework,the designed motion planner allows a wider body rotation range and fast reactive behaviors based on the 3-D single rigid body model.In addition,the combination of a Bézier curve based trajectory interpolator and a heuristic-based foothold planner helps generate continuous and smooth foot trajectories.The developed whole-body controller uses hierarchical quadratic optimization coupled with the full system dynamics,which ensures tasks are prioritized based on importance and joint commands are physically feasible.The performance of the framework is successfully validated in experiments with a torque-controlled quadrupedal robot for generating dynamic motions.展开更多
In many countries agricultural land is a scarce resource, either due to natural conditions or because of competition over land. An increased need for food globally, changing environmental conditions and increased dema...In many countries agricultural land is a scarce resource, either due to natural conditions or because of competition over land. An increased need for food globally, changing environmental conditions and increased demand for environmentally sound agriculture and food systems, all require better integration of planning for rural land use and food production. A literature analysis was conducted including coding of 76 papers, to answer the question on how and to what extent, literature addresses the integration of land use policy and planning, and food system planning, in the context of sustainable rural development and agri-food production. The results indicate that land use and food system planning co-occur in literature, yet lacking the perspective of sustainable rural development, suggesting that integrated planning for sustainable rural land use and food systems needs to be strengthened. Food system research has largely focused on availability and access, or what can be associated with consumers, rather than rural land use. Likewise, the inclusion of food systems is neither common in rural land use planning nor in agricultural policies. Holistic planning for a sustainable food system may be suffering from a disjointed approach, e.g., planning for farmland may not have any links to planning for accessibility, consumer preferences or food marketing. Increased cooperation between stakeholders is necessary to break down the silos in the food system. Policies and plans for rural land use and agri-food production should be coordinated for the common goal of sustainability.展开更多
Assistive lower limb exoskeleton robot has been developed to help paraplegic patients walk again.A gait planning method of this robot must be able to plan a gait based on gait parameters,which can be changed during th...Assistive lower limb exoskeleton robot has been developed to help paraplegic patients walk again.A gait planning method of this robot must be able to plan a gait based on gait parameters,which can be changed during the stride according to human intention or walking conditions.The gait is usually planned in cartesian space,which has shortcomings such as singularities that may occur in inverse kinematics equations,and the angular velocity of the joints cannot be entered into the calculations.Therefore,it is vital to have a gait planning method in the joint space.In this paper,a minimum-time and minimum-jerk planner is proposed for the robot joints.To do so,a third-order system is defined,and the cost function is introduced to minimize the jerk of the joints throughout the stride.The minimum time required is calculated to keep the angular velocity trajectory within the range specified by the motor’s maximum speed.Boundary conditions of the joints are determined to secure backward balance and fulfill gait parameters.Finally,the proposed gait planning method is tested by its implementation on the Exoped®exoskeleton.展开更多
Due to the very high demand for Internet data capacity from mobile and fixed customers as well as the saturation of conventional frequency bands by numerous services, many countries have opened the E band, for broadca...Due to the very high demand for Internet data capacity from mobile and fixed customers as well as the saturation of conventional frequency bands by numerous services, many countries have opened the E band, for broadcasting services. E-band involves the creation of a significant number of links in a given area. The present work addressed the problem that arises in the context of transmission is that of assigning the frequencies of this band to these multiple transmission links. The aim of this work is to study and plan the radio links of the 80 GHz frequency and to implement them in a tool in order to define an optimal distribution on the telecommunications network by guaranteeing maximum flow of data traffic while minimizing the interference. The contribution of this work is part of its unique subject: the planning of E-band frequencies for improving the quality of service of transmission in the network of telecommunications operators. Also, it intends to contribute to the resolution of unsatisfied situations of poor planning of E-band radio frequencies in telecommunications networks. With the aim of opening several opportunities for alternative high-speed data transport solutions, our work has helped prove that E-band transmission links are very efficient with capacities in the gigabyte range.展开更多
文摘China has entered an aging society, and the contradiction between the social pension needs rapidly growing in the city and the lagged pension business is increasingly outstanding. By analyzing the amount, development level, type, structure, and space distribution of the institutional pension facility in main urban district of Xuzhou City, this paper has summed up the main problems. Combining the estimation on the number of the elders and pension bed, coordination and planning of institutional pension facility in the research zone are conducted from three aspects: distribution guidance, principle of locating and differentiation configuration, to promote the construction of pension agency and impel the development of pension business in Xuzhou City.
基金supported by Science and Technology Project of SGCC(SGSW0000FZGHBJS2200070)。
文摘With the increasing penetration of wind and solar energies,the accompanying uncertainty that propagates in the system places higher requirements on the expansion planning of power systems.A source-grid-load-storage coordinated expansion planning model based on stochastic programming was proposed to suppress the impact of wind and solar energy fluctuations.Multiple types of system components,including demand response service entities,converter stations,DC transmission systems,cascade hydropower stations,and other traditional components,have been extensively modeled.Moreover,energy storage systems are considered to improve the accommodation level of renewable energy and alleviate the influence of intermittence.Demand-response service entities from the load side are used to reduce and move the demand during peak load periods.The uncertainties in wind,solar energy,and loads were simulated using stochastic programming.Finally,the effectiveness of the proposed model is verified through numerical simulations.
文摘Since the emergence of utopian socialism and other modern urban planning ideas,as well as the proposing of“garden cities”by Howard,modern urban planning theory has experienced a variety of planning ideas,and these ideas play a great role in guiding urban construction and planning.In this century,cities have ushered in many industrial revolutions,and urban life,economy,and ecology have changed greatly.Planning scholars in various countries are actively looking for“medicine”to save cities in the“sick”.In this paper,modern urban planning ideas were sorted out,and how to learn from the current territorial spatial planning that is being compiled around the country was thought about.
文摘Mountainous regions have disadvantages in economic development because of harsh physical and climatic conditions.However,winter tourism activities are one of the key components for supporting economic development in the highlands.Establishing a ski resort area supports direct and indirect employment in a region,and it stops immigration from mountainous regions to other places.This research aimed to assess the potential ski areas using a multi criteria evaluation technique in the Van region which is located in the eastern part of Türkiye.In this context,snow cover duration,sun effect,slope,slope length,elevation,population density,distance from main roads and lake visibility were used as input factors in the decision making process.Each factor was standardized using a fuzzy technique based on existing well-known ski centers in Türkiye.The weight of inputs was defined by applying a survey to the professional skiers.The most important factors were detected as transportation opportunities and snow covers whereas,the least important factors were elevation and population density.Additionally,lake visibility was very important to make a difference from other existing facilities in the region.Therefore,it was included as constraints and lake visible areas were extracted at the final stage of the research.Potential ski areas were mapped in three levels as professional,intermediate and beginner skiers.One of the suitable areas was selected as a sample projection and for the 3D simulation of the ski investment area.Potential costs and benefits were discussed.It was found that a ski tourism area investment can be amortized in 3 years in the region.
文摘In the history, the main roles of inland rivers in Beilun Port City of Ningbo were desalination,blocking tides, shipping, and flood control. Nowadays, with the continuous spread and deepening ofurbanization, the ecological environment of river courses has been destroyed. In the past, remediationmeasures based on engineering and technology played a certain role, but can not “cure the root cause”. Itshould respect the historical evolution process of river courses, and highlight the ecological service functionand leisure tourism value of river courses from the coordination perspective of urban and rural ecologicalenvironment, economic industries, society and culture in the planning ideas of ecology, production, andlife integration. Four aspects of the measures are as below: protecting and repairing the ecological matrixof river courses;building green space system and maintaining flood control functions through the waternetwork;protecting cultural heritage along the rivers;developing waterfront leisure tourism scenic area.
文摘With the rapid development of urbanization,landscape architecture has become an indispensable component of daily life.In order to achieve better landscape effects and protect the ecological environment,landscape ecology theory can be integrated into landscape planning to carry out disciplinary crossing and integration research between landscape ecology and landscape architecture.In this study,based on the basic theories of landscape ecology,the waterfront landscape of Dapo Town was designed,with the aim to achieve ecological balance in planning,showcase biodiversity,and create a harmonious landscape ecological environment which can benefit both nature and people.This design combined artificial and natural elements while improving the natural environment,which promoted a harmonious relationship between humans and nature,thus enriching the spatial organization of the city,and playing a role in regulating the urban environment and climate.
基金supported by the Chenguang Program of the Shanghai Education Development Foundation and the Shanghai Municipal Education Commission.
文摘This research establishes a strategic framework for developing a salt culture-themed agricultural garden in Jintan,Jiangsu to boost rural vibrancy and cultural tourism while honoring local salt heritage.It employs the Analytic Hierarchy Process(AHP)for a data-driven and structured approach to evaluate the sustainability and cultural significance of agricultural initiatives.This framework ensures a balanced blend of agriculture,culture,and tourism to foster a sustainable and culturally rich experience.The study highlights the value of structured methodologies in planning culturally impactful agricultural projects.
基金supported by the Natural Science Foundation of Hebei Province of China(no.E2022203095)Cultivation Project for Basic Research and Innovation of Yanshan University(no.2021LGQN004)National Natural Science Foundation of China(no.51905465 and No.52122503).
文摘This paper proposes a unified trajectory optimization approach that simultaneously optimizes the trajectory of the center of mass and footholds for legged locomotion.Based on a generic point-mass model,the approach is formulated as a nonlinear optimization problem,incorporating constraints such as robot kinematics,dynamics,ground reaction forces,obstacles,and target location.The unified optimization approach can be applied to both long-term motion planning and the reactive online planning through the use of model predictive control,and it incorporates vector field guidance to converge to the long-term planned motion.The effectiveness of the approach is demonstrated through simulations and physical experiments,showing its ability to generate a variety of walking and jumping gaits,as well as transitions between them,and to perform reactive walking in obstructed environments.
基金funded by the Shanghai Municipal Science and Technology Major Project(2018SHZDZX01)of Zhang Jiang Laboratory and Shanghai Center for Brain Science and Brain-Inspired TechnologyShanghai Rising Star Program(21QC1400900)Tongji–Westwell Autonomous Vehicle Joint Lab Project。
文摘Through vehicle-to-vehicle(V2V)communication,autonomizing a vehicle platoon can significantly reduce the distance between vehicles,thereby reducing air resistance and improving road traffic efficiency.The gradual maturation of platoon control technology is enabling vehicle platoons to achieve basic driving functions,thereby permitting large-scale vehicle platoon scheduling and planning,which is essential for industrialized platoon applications and generates significant economic benefits.Scheduling and planning are required in many aspects of vehicle platoon operation;here,we outline the advantages and challenges of a number of the most important applications,including platoon formation scheduling,lane-change planning,passing traffic light scheduling,and vehicle resource allocation.This paper’s primary objective is to integrate current independent platoon scheduling and planning techniques into an integrated architecture to meet the demands of large-scale platoon applications.To this end,we first summarize the general techniques of vehicle platoon scheduling and planning,then list the primary scenarios for scheduling and planning technique application,and finally discuss current challenges and future development trends in platoon scheduling and planning.We hope that this paper can encourage related platoon researchers to conduct more systematic research and integrate multiple platoon scheduling and planning technologies and applications.
文摘Space emergency launching is to send a satellite into space by using a rapid responsive solid rocket in the bounded time to implement the emergency Earth observation mission.The key and difficult points mainly include the business process construction of launching mission planning,validation of the effectiveness of the launching scheme,etc.This paper pro-poses the agile space emergency launching mission planning simulation and verification method,which systematically con-structs the overall technical framework of space emergency launching mission planning with multi-field area,multi-platform and multi-task parallel under the constraint of resource schedul-ing for the first time.It supports flexible reconstruction of mis-sion planning processes such as launching target planning,tra-jectory planning,path planning,action planning and launching time analysis,and can realize on-demand assembly of operation links under different mission scenarios and different plan condi-tions,so as to quickly modify and generate launching schemes.It supports the fast solution of rocket trajectory data and the accurate analysis of multi-point salvo time window recheck and can realize the fast conflict resolution of launching missions in the dimensions of launching position and launching window sequence.It supports lightweight scenario design,modular flexi-ble simulation,based on launching style,launching platform,launching rules,etc.,can realize the independent mapping of mission planning results to two-dimensional and three-dimen-sional visual simulation models,so as to achieve a smooth con-nection between mission planning and simulation.
基金This research was supported and funded by KAU Scientific Endowment,King Abdulaziz University,Jeddah,Saudi Arabia.
文摘A document layout can be more informative than merely a document’s visual and structural appearance.Thus,document layout analysis(DLA)is considered a necessary prerequisite for advanced processing and detailed document image analysis to be further used in several applications and different objectives.This research extends the traditional approaches of DLA and introduces the concept of semantic document layout analysis(SDLA)by proposing a novel framework for semantic layout analysis and characterization of handwritten manuscripts.The proposed SDLA approach enables the derivation of implicit information and semantic characteristics,which can be effectively utilized in dozens of practical applications for various purposes,in a way bridging the semantic gap and providingmore understandable high-level document image analysis and more invariant characterization via absolute and relative labeling.This approach is validated and evaluated on a large dataset ofArabic handwrittenmanuscripts comprising complex layouts.The experimental work shows promising results in terms of accurate and effective semantic characteristic-based clustering and retrieval of handwritten manuscripts.It also indicates the expected efficacy of using the capabilities of the proposed approach in automating and facilitating many functional,reallife tasks such as effort estimation and pricing of transcription or typing of such complex manuscripts.
基金supported by Aerospace Frontier Inspiration Project (Grant No.KY0505072113) from College of Aerospace Science and Engineering,NUDT,which are gratefully acknowledged by the authors.
文摘The spacecraequipment layout optimization design(SELOD)problems with complicated performance con-straints and diversity are studied in this paper.The previous literature uses the gradient-based algorithm to obtain optimized non-overlap layout schemes from randomly initialized cases eectively.However,these local optimal solutions are too dicult to jump out of their current relative geometry relationships,signicantly limiting their further improvement in performance indicators.Therefore,considering the geometric diversity of layout schemes is put forward to alleviate this limitation.First,similarity measures,including modied cosine similarity and gaussian kernel function similarity,are introduced into the layout optimization process.Then the optimization produces a set of feasible layout candidates with the most remarkable dierence in geometric distribution and the most representative schemes are sampled.Finally,these feasible geometric solutions are used as initial solutions to optimize the physical performance indicators of the spacecra,and diversied layout schemes of spacecraequipment are generated for the engineering practice.The validity and eectiveness of the proposed methodology are demonstrated by two SELOD applications.
基金Sponsored by the National Natural Science Foundation of China (Grant No. 51708151)。
文摘The wind and snow environment outside the planned space plays a key role in the comfort and safety of the human habitat in severe cold regions. Traditional studies of the external environment of human settlements, however, frequently overlook the combined impacts of wind and snow environments. Furthermore, in urban meteorological studies, it is impossible to accurately assess the wind and snow environment in specific areas or locations. In this study, a refined Computational Fluid Dynamics(CFD) multiphase flow numerical method was used to simulate a planning space's wind and snow environment. The study classified the Snowstorm Weather Grade(SWG) by incorporating the Snowstorm Weather Index(SWI) to generate calculation results of the wind environment and snow environment. In particular, 150 measurement points in the planning space were chosen for analysis and evaluation of their wind and snow environments. The results demonstrated that the SWI index can effectively correlate to the wind and snow environment calculation results. In addition, the graph of SWI showed that 55% of the measurement points had a moderate wind and snow grade SWI, which exceeds the average grade for the entire region. The practical application shows that the wind and snow environment assessment indexes and technical methods developed in this paper can be successfully applied to wind and snow environment studies in other cold cities.
基金Sponsored by National Natural Science Foundation of China(51568025)"Twelfth Five-year Plan"of Jiangxi Provincial Social Sciences Program(14SH05)Humanities and Social Science Project of Jiangxi Universities and Colleges(JC1434)
文摘Compared to the situation of population aging and the elderly aging, the development of oldage undertaking in Nanchang is still undeveloped in that the old-age care industry lags behind the urban renewal speed and the objective needs of aging. Apart from discussions on the composition of elderly population and the status quo of aging, this paper took the institutional old-age care in the downtown area of Nanchang for example, explored problems in the current institutional old-age care facilities through field investigation, and proposed suggestions for the layout planning of old-age care facilities in the study area.
文摘Introduction: The involvement of men in reproductive health programmes and more specifically in family planning has always been of concern to the various development actors at both national and international levels. Objective: To study the births, ideas and opinions of men on Family Planning in the village of Tourourou. Material and Methods: This was a prospective cross-sectional, descriptive and analytic study from February 1 to July 31, 2020 in the village of TOUROUROU on the Knowledge, Attitudes and Perceptions of Men on Family Planning. We included in our study, all men residing in TOUROUROU whose age is between 14 and 99 years, who agreed to participate in the study. Results: Our study involved 200 men. The 25 - 29 age group was the most represented with 25.5%. The Soninke had represented 41%. In our study, 97.5% of men had heard of family planning, 62% had spontaneously cited at least one modern contraceptive method, and the pill ranked first with 64.5%. Radio and friends were the most frequent sources of information with 57.5% and 54.5% respectively. Birth spacing was the most cited family planning goal by men in 43.5% of cases. Men supported the practice of family planning in 50.5% of cases. Conclusion: In the village of Tourourou men play a crucial role in decision-making concerning the health of the couple and the family, their effective involvement in Reproductive Health especially in Family Planning will contribute enormously to the improvement of the health of the family.
基金funded by Start-Up Funds for Scientific Research of Shenzhen University,Grant No.000002112313.
文摘With the development of the digital city,data and data analysis have become more and more important.The database is the foundation of data analysis.In this paper,the software system of the urban land planning database of Shanghai in China is developed based on MySQL.The conceptual model of the urban land planning database is proposed,and the entities,attributes and connections of this model are discussed.Then the E-R conceptual model is transformed into a logical structure,which is supported by the relational databasemanagement system(DBMS).Based on the conceptual and logical structures,by using Spring Boot as the back-end framework and using MySQL and Java API as the development tools,a platformwith datamanagement,information sharing,map assistance and other functions is established.The functionalmodules in this platformare designed.The results of J Meter test show that the DBMS can add,store and retrieve information data stably,and it has the advantages of fast response and low error rate.The software system of the urban land planning database developed in this paper can improve the efficiency of storing and managing land data,eliminating redundant data and sharing data.
基金supported by the China Scholarship Council under Grant[2020]06120186the Engineering and Physical Sciences Research Council[Grant number EP/V026801/2]+1 种基金the Advanced Machinery and Productivity Institute[Innovate UK project number 84646]the National Natural Science Foundation of China under Grant 52175011.
文摘Legged locomotion poses significant challenges due to its nonlinear,underactuated and hybrid dynamic properties.These challenges are exacerbated by the high-speed motion and presence of aerial phases in dynamic legged locomotion,which highlights the requirement for online planning based on current states to cope with uncertainty and disturbances.This article proposes a real-time planning and control framework integrating motion planning and whole-body control.In the framework,the designed motion planner allows a wider body rotation range and fast reactive behaviors based on the 3-D single rigid body model.In addition,the combination of a Bézier curve based trajectory interpolator and a heuristic-based foothold planner helps generate continuous and smooth foot trajectories.The developed whole-body controller uses hierarchical quadratic optimization coupled with the full system dynamics,which ensures tasks are prioritized based on importance and joint commands are physically feasible.The performance of the framework is successfully validated in experiments with a torque-controlled quadrupedal robot for generating dynamic motions.
文摘In many countries agricultural land is a scarce resource, either due to natural conditions or because of competition over land. An increased need for food globally, changing environmental conditions and increased demand for environmentally sound agriculture and food systems, all require better integration of planning for rural land use and food production. A literature analysis was conducted including coding of 76 papers, to answer the question on how and to what extent, literature addresses the integration of land use policy and planning, and food system planning, in the context of sustainable rural development and agri-food production. The results indicate that land use and food system planning co-occur in literature, yet lacking the perspective of sustainable rural development, suggesting that integrated planning for sustainable rural land use and food systems needs to be strengthened. Food system research has largely focused on availability and access, or what can be associated with consumers, rather than rural land use. Likewise, the inclusion of food systems is neither common in rural land use planning nor in agricultural policies. Holistic planning for a sustainable food system may be suffering from a disjointed approach, e.g., planning for farmland may not have any links to planning for accessibility, consumer preferences or food marketing. Increased cooperation between stakeholders is necessary to break down the silos in the food system. Policies and plans for rural land use and agri-food production should be coordinated for the common goal of sustainability.
文摘Assistive lower limb exoskeleton robot has been developed to help paraplegic patients walk again.A gait planning method of this robot must be able to plan a gait based on gait parameters,which can be changed during the stride according to human intention or walking conditions.The gait is usually planned in cartesian space,which has shortcomings such as singularities that may occur in inverse kinematics equations,and the angular velocity of the joints cannot be entered into the calculations.Therefore,it is vital to have a gait planning method in the joint space.In this paper,a minimum-time and minimum-jerk planner is proposed for the robot joints.To do so,a third-order system is defined,and the cost function is introduced to minimize the jerk of the joints throughout the stride.The minimum time required is calculated to keep the angular velocity trajectory within the range specified by the motor’s maximum speed.Boundary conditions of the joints are determined to secure backward balance and fulfill gait parameters.Finally,the proposed gait planning method is tested by its implementation on the Exoped®exoskeleton.
文摘Due to the very high demand for Internet data capacity from mobile and fixed customers as well as the saturation of conventional frequency bands by numerous services, many countries have opened the E band, for broadcasting services. E-band involves the creation of a significant number of links in a given area. The present work addressed the problem that arises in the context of transmission is that of assigning the frequencies of this band to these multiple transmission links. The aim of this work is to study and plan the radio links of the 80 GHz frequency and to implement them in a tool in order to define an optimal distribution on the telecommunications network by guaranteeing maximum flow of data traffic while minimizing the interference. The contribution of this work is part of its unique subject: the planning of E-band frequencies for improving the quality of service of transmission in the network of telecommunications operators. Also, it intends to contribute to the resolution of unsatisfied situations of poor planning of E-band radio frequencies in telecommunications networks. With the aim of opening several opportunities for alternative high-speed data transport solutions, our work has helped prove that E-band transmission links are very efficient with capacities in the gigabyte range.
