In this paper we present two strategies of AUV (Autonomous Underwater Vehicle) region detection and an approach to decompose the detection region according to the direction of the ocean current. In the task of local d...In this paper we present two strategies of AUV (Autonomous Underwater Vehicle) region detection and an approach to decompose the detection region according to the direction of the ocean current. In the task of local detection and identification, the algorithm against the ocean current was proposed. In the tasks of closing obstacle, going back or moving, the fuzzy logic theory was used to solve the effect of ocean current. In one of our strategies the concept of weighted journey based on the angle between heading and ocean current is suggested and the TSP's exact optimal result is utilized to solve the global path planning. Simulations demonstrate the feasibility of this approach.展开更多
A multi-station integration system(MSIS)integrat-ing other multi-type stations provides a new way to realize an intensive development of resources and promote low-carbon en-ergy and its high-efficiency utilization.To ...A multi-station integration system(MSIS)integrat-ing other multi-type stations provides a new way to realize an intensive development of resources and promote low-carbon en-ergy and its high-efficiency utilization.To this end,a novel multi-station integration planning method and coordinated operation strategy model for the MSIS are established in a new business model.In this study,a new business model of the MSIS,with substations as the carrier,integrating distributed photovoltaic,energy storage,electric vehicle charging,data center,and 5G base stations is proposed.From the social environment,natural conditions,and complementary characteristics,a comprehensive index system is established to analyze expansion capability of substations and multi-station combination scheme.Scenario reduction is performed by extracting feature vectors and build-ing a comprehensive evaluation function to select the optimal combination scheme under a specific scenario.Moreover,for the combination scheme in a specific scenario,the optimal ca-pacity configuration and coordinated operation strategy chance-constrained programming model of the MSIS are established under different operating conditions.Finally,simulations are performed on a practical MSIS located in Wuxi,China,and simulation results demonstrate the rationality and effectiveness of the planning method and coordinated operation strategy model for the MSIS.展开更多
Jiangyin was the earliest to conduct Non-development zone planning and has attracted the attention of people all over China because it is regarded as the Chinese version of Smart Growth. The planning process is as fol...Jiangyin was the earliest to conduct Non-development zone planning and has attracted the attention of people all over China because it is regarded as the Chinese version of Smart Growth. The planning process is as follows. Based on SPOT and TM satellite remote sensing images develop a regional land use map with high precision using artificial interpretation methods. Then, according to the relationship between anti-development suitability and disasters, agriculture, ecology, built-up area distribution and other geographical factors, generate a comprehensive evaluation chart of anti-development suitability using GIS analysis, such as buffer analysis and overlay analysis. Later, with a regional land use map and anti-development suitability evaluation chart, using the principle of ecological security network and learning from the management experience of nature reserves, draw the scope of Non-development zone and core area. Last, put forward a series of protective measures for the above Non-development zone, that is only allowed to develop agriculture and tourism, strictly restricted industrial projects and urban real estate activities, and all existing industrial factories must be moved to planned industrial parks. This is good practice whereby local governments keep land resources for future generations and more advanced than an urban expansion strategy. This method is very useful for promoting land use layout optimization in Southern Jiangsu Developed Areas.展开更多
This paper investigates the specific planning environment of an automotive part manufacturer and characterizes this environment based on variables regarding the product,its demand and the manufacturing process.The fit...This paper investigates the specific planning environment of an automotive part manufacturer and characterizes this environment based on variables regarding the product,its demand and the manufacturing process.The fit of different planning methods,namely material requirements planning,reorder point,cyclic planning,kanban,and heijunka to this specific planning environment is analyzed and evaluated by exploratory research.The results show that different product characteristics make it hard to apply a single planning method.None of the investigated methods show the ability to cover the complex requirements of a combined planning environment of two partly divergent product types with a deep value chain.展开更多
<strong>Introduction:</strong> Modern family planning methods (MFPM) prevent unwanted pregnancies, reduce fertility rate, and increase the interval between pregnancies. They prevent pregnancy by preventing...<strong>Introduction:</strong> Modern family planning methods (MFPM) prevent unwanted pregnancies, reduce fertility rate, and increase the interval between pregnancies. They prevent pregnancy by preventing fertilization or implantation of the fertilized ovum. MFPM include tubal ligation (TL), vasectomy, oral contraceptive pills, the intrauterine contraceptive device (IUCD), depot injections, sub-dermal implants, and male and female condoms. <strong>Objective: </strong>To determine the level of knowledge of modern family planning methods (MFPM) among women of reproductive age (18 - 49 years) at the Mathari North Health Center in Nairobi County, Kenya. <strong>Methods: </strong>The study conducted among women of reproductive age at Mathare North Health Center in Nairobi was a cross-sectional descriptive survey between March 2016 and November 2018. It provided both qualitative and quantitative data. The sample size comprised of 274 women of reproductive age,<em> i.e.</em> (18 - 49 years) attending antenatal and postnatal clinics at the facility. Those excluded were women below 18 years of age, as they could not give consent according to Kenyan Laws. The data were collected using an interviewer-administered structured questionnaire, which consisted of socio-demographic and characteristics, knowledge of modern family planning methods and distance from the facility. Likert scale was used to ensure that data was tabulated on daily basis and subjected to statistical manipulation using Statistical Package for Social Sciences (SPSS). <strong>Results:</strong> The four leading MFPM in use in order of acceptability were injectables, implants, intrauterine contraceptive device and pills in that order. 91% of respondents were aware or had heard about modern family planning methods. Level of education of mother and father were the two variables that influenced the uptake of MFPM with <em>p</em>-values of 0.0260 and 0.025, respectively. The study further found that knowledge of MFPM had a significant influence on their assimilation and utilization. All secondary variables considered in the research exhibit a substantial relationship concerning the use of MFPM. <strong>Conclusion:</strong> Communities around Mathari North Health Center need to be given information;education and counselling on MFPM to enable them make an informed decision and choice on their preferred method of family planning.展开更多
This paper reviews the wave of rural community construction, compares the urban and rural areas on the aspects of land property right, financing channels, construction management procedures, and the user-builder diffe...This paper reviews the wave of rural community construction, compares the urban and rural areas on the aspects of land property right, financing channels, construction management procedures, and the user-builder difference, and examines the unique characteristics of rural communities. On the basis of that, it proposes some planning methods for the rural community planning and construction, such as encouraging public participation, conducting public facility-oriented planning, and providing house-design menu, and further puts forward some supporting measures and policies.展开更多
In this paper,the mission and the thermal environment of the Solar Close Observations and Proximity Experiments(SCOPE)spacecraft are analyzed,and an advanced thermal management system(ATMS)is designed for it.The relat...In this paper,the mission and the thermal environment of the Solar Close Observations and Proximity Experiments(SCOPE)spacecraft are analyzed,and an advanced thermal management system(ATMS)is designed for it.The relationship and functions of the integrated database,the intelligent thermal control system and the efficient liquid cooling system in the ATMS are elaborated upon.For the complex thermal field regulation system and extreme space thermal environment,a modular simulation and thermal field planning method are proposed,and the feasibility of the planning algorithm is verified by numerical simulation.A solar array liquid cooling system is developed,and the system simulation results indicate that the temperatures of the solar arrays meet the requirements as the spacecraft flies by perihelion and aphelion.The advanced thermal management study supports the development of the SCOPE program and provides a reference for the thermal management in other deep-space exploration programs.展开更多
This work is an experimental approach based on the method of experimental plans to determine a specific formulation of a resin concrete. In this study, an unsaturated polyester resin （thermosetting resin） was used w...This work is an experimental approach based on the method of experimental plans to determine a specific formulation of a resin concrete. In this study, an unsaturated polyester resin （thermosetting resin） was used with two types of mineral fillers （dune sand and crushed sand）, and with the addition of a marble powder to ensure the continuity of the particle size mixing granular. The lack of the methods for developing this kind of composite materials, had led us to perform an initial experimental approach to define the experimental field, that is to say determine the mass proportions of the various compounds of mixture of our study. In the second approach, we have established and implemented fully experimental plans with three factors namely： factor （1）： sand, factor （2）： resin, factor （3）： marble powder. Test results being the density of polymer concrete and the mechanical resistances. Finally, multi-parameters regression allowed us to determine predictive mathematical models for the different responses of the study. Tests results showed that at three days we got a tensile strength of about 16 MPa with a resin concrete density of 1.9 g/cm3. This shows the advantages of this material.展开更多
Realizing “carbon peaking” and “carbon neutrality” is a major strategic decision made by China to coordinate domestic and international situations.In order to achieve the “double carbon” goal,it is also necessar...Realizing “carbon peaking” and “carbon neutrality” is a major strategic decision made by China to coordinate domestic and international situations.In order to achieve the “double carbon” goal,it is also necessary for relevant practitioners to actively put into practice to improve the participation of residents and advocate low carbon life while formulating the policy action plan.Community is an important place for human activities and one of the main spatial types of carbon emissions in cities.Doing a good job in planning energy conservation and emission reduction in the community plays an important role in achieving the “double carbon” goal.Through the analysis of classic low carbon community practice cases at home and abroad,6 planning and design methods for low carbon community are concluded,and the development status of low carbon community in China is reflected and summarized.展开更多
The inherent teaching approach can no longer meet the demands of society.In this paper,current issues within the teaching landscape of architectural engineering technology in higher vocational colleges as well as the ...The inherent teaching approach can no longer meet the demands of society.In this paper,current issues within the teaching landscape of architectural engineering technology in higher vocational colleges as well as the policies and teaching demands that formed the basis of this model were analyzed.The study shows the importance of the implementation of the teaching model“promoting teaching and learning through competitions.”This model puts emphasis on the curriculum and teaching resources,while also integrating the teaching process and evaluation with competition.These efforts aim to drive education reform in order to better align with the objectives of vocational education personnel training,while also acting as a reference for similar courses.展开更多
In the article, the methods of processing and obtaining multicomponent raw materials were investigated with the properties of multicomponent threads obtained from fiber waste cluster enterprises in textile production,...In the article, the methods of processing and obtaining multicomponent raw materials were investigated with the properties of multicomponent threads obtained from fiber waste cluster enterprises in textile production, the interrelation of the components sorting composition. To solve the problem, we used the cause-effect relationship of information theory from the grid planning Matrix, solving the dependence of raw materials, physical and mechanical parameters and the established characteristics of the product. Empirical correlations were obtained on the nature and mechanism of the relationship between factors, which allowed the system to establish a theory of control and prediction of behavior. The methods of evaluation used in this study make it possible to expand the information base with respect to these indicators and to use them in the production of fabrics and threads with established characteristics.展开更多
This paper presents a computationally efficient real-time trajectory planning framework for typical unmanned combat aerial vehicle （UCAV） performing autonomous air-to-surface （A/S） attack. It combines the benefits...This paper presents a computationally efficient real-time trajectory planning framework for typical unmanned combat aerial vehicle （UCAV） performing autonomous air-to-surface （A/S） attack. It combines the benefits of inverse dynamics optimization method and receding horizon optimal control technique. Firstly, the ground attack trajectory planning problem is mathematically formulated as a receding horizon optimal control problem （RHC-OCP）. In particular, an approximate elliptic launch acceptable region （LAR） model is proposed to model the critical weapon delivery constraints. Secondly, a planning algorithm based on inverse dynamics optimization, which has high computational efficiency and good convergence properties, is developed to solve the RHCOCP in real-time. Thirdly, in order to improve robustness and adaptivity in a dynamic and uncer- tain environment, a two-degree-of-freedom （2-DOF） receding horizon control architecture is introduced and a regular real-time update strategy is proposed as well, and the real-time feedback can be achieved and the not-converged situations can be handled. Finally, numerical simulations demon- strate the efficiency of this framework, and the results also show that the presented technique is well suited for real-time implementation in dynamic and uncertain environment.展开更多
The optimal control of multibody spacecraft during the stretching process of solar arrays is investigated,and a hybrid optimization strategy based on Gauss pseudospectral method（GPM） and direct shooting method（DSM...The optimal control of multibody spacecraft during the stretching process of solar arrays is investigated,and a hybrid optimization strategy based on Gauss pseudospectral method（GPM） and direct shooting method（DSM） is presented. First, the elastic deformation of flexible solar arrays was described approximately by the assumed mode method, and a dynamic model was established by the second Lagrangian equation. Then, the nonholonomic motion planning problem is transformed into a nonlinear programming problem by using GPM. By giving fewer LG points, initial values of the state variables and control variables were obtained. A serial optimization framework was adopted to obtain the approximate optimal solution from a feasible solution. Finally, the control variables were discretized at LG points, and the precise optimal control inputs were obtained by DSM. The optimal trajectory of the system can be obtained through numerical integration. Through numerical simulation, the stretching process of solar arrays is stable with no detours, and the control inputs match the various constraints of actual conditions.The results indicate that the method is effective with good robustness.展开更多
This paper explores the realization of robotic motion planning, especially Findpath problem, which is a basic motion planning problem that arises in the development of robotics. Findpath means: Give the initial and de...This paper explores the realization of robotic motion planning, especially Findpath problem, which is a basic motion planning problem that arises in the development of robotics. Findpath means: Give the initial and desired final configurations of a robotic arm in 3-dimensionnl space, and give descriptions of the obstacles in the space, determine whether there is a continuous collision-free motion of the robotic arm from one configure- tion to the other and find such a motion if it exists. There are several branches of approach in motion planning area, but in reality the important things are feasibility, efficiency and accuracy of the method. In this paper ac- cording to the concepts of Configuration Space (C-Space) and Rotation Mapping Graph (RMG) discussed in [1], a topological method named Dimension Reduction Method (DRM) for investigating the connectivity of the RMG (or the topologic structure of the RMG )is presented by using topologic technique. Based on this ap- proach the Findpath problem is thus transformed to that of finding a connected way in a finite Characteristic Network (CN). The method has shown great potentiality in practice. Here a simulation system is designed to embody DRM and it is in sight that DRM can he adopted in the first overall planning of real robot sys- tem in the near future.展开更多
This article introduces the new thinking andmethod of the revision of Beijing’s master plan.The plannersmade new exploration and breakthroughs in such aspects asthe involvement of the general public in planning,the i...This article introduces the new thinking andmethod of the revision of Beijing’s master plan.The plannersmade new exploration and breakthroughs in such aspects asthe involvement of the general public in planning,the intro-duction of value concept,unified planning of both urban andrural areas,how to link with the future goals of development,etc.展开更多
This paper presents a new index system for the performance evaluation and network planning of multimedia communication systems using measurement on actual systems to support several different traffic types. In this in...This paper presents a new index system for the performance evaluation and network planning of multimedia communication systems using measurement on actual systems to support several different traffic types. In this index system, we develop an expert system to evaluate the performance of such multimedia communication networks including channel utilization and call blocking probability and packet delay, and apply the network planning methods to optimize the networks and forecast the demand of the growing multimedia communications systems. Two important planning problems for the multimedia communication systems are presented: optimization problem for construction of the world system and forecast problem for increasing traffic demands. We first discuss analysis methods, performance measures for the multimedia communication systems. Then, we describe network planning methods for the multimedia communication systems and give some efficiency network planning methods. Finally, we present some results studied in traffic forecast for the campus network and show the effectiveness of these methods.展开更多
基金Supported by the Research Fund for the Doctoral Program of Higher Education from the Ministry of Education
文摘In this paper we present two strategies of AUV (Autonomous Underwater Vehicle) region detection and an approach to decompose the detection region according to the direction of the ocean current. In the task of local detection and identification, the algorithm against the ocean current was proposed. In the tasks of closing obstacle, going back or moving, the fuzzy logic theory was used to solve the effect of ocean current. In one of our strategies the concept of weighted journey based on the angle between heading and ocean current is suggested and the TSP's exact optimal result is utilized to solve the global path planning. Simulations demonstrate the feasibility of this approach.
基金the Postgraduate Research&Practice Innovation Program of Jiangsu Province,China(KYCX22_0606)。
文摘A multi-station integration system(MSIS)integrat-ing other multi-type stations provides a new way to realize an intensive development of resources and promote low-carbon en-ergy and its high-efficiency utilization.To this end,a novel multi-station integration planning method and coordinated operation strategy model for the MSIS are established in a new business model.In this study,a new business model of the MSIS,with substations as the carrier,integrating distributed photovoltaic,energy storage,electric vehicle charging,data center,and 5G base stations is proposed.From the social environment,natural conditions,and complementary characteristics,a comprehensive index system is established to analyze expansion capability of substations and multi-station combination scheme.Scenario reduction is performed by extracting feature vectors and build-ing a comprehensive evaluation function to select the optimal combination scheme under a specific scenario.Moreover,for the combination scheme in a specific scenario,the optimal ca-pacity configuration and coordinated operation strategy chance-constrained programming model of the MSIS are established under different operating conditions.Finally,simulations are performed on a practical MSIS located in Wuxi,China,and simulation results demonstrate the rationality and effectiveness of the planning method and coordinated operation strategy model for the MSIS.
基金Natural Science Foundation of Jiangsu Province(BK20170876)Basic Scientific Researching Expenses of Chinese Central University(2016B12214)
文摘Jiangyin was the earliest to conduct Non-development zone planning and has attracted the attention of people all over China because it is regarded as the Chinese version of Smart Growth. The planning process is as follows. Based on SPOT and TM satellite remote sensing images develop a regional land use map with high precision using artificial interpretation methods. Then, according to the relationship between anti-development suitability and disasters, agriculture, ecology, built-up area distribution and other geographical factors, generate a comprehensive evaluation chart of anti-development suitability using GIS analysis, such as buffer analysis and overlay analysis. Later, with a regional land use map and anti-development suitability evaluation chart, using the principle of ecological security network and learning from the management experience of nature reserves, draw the scope of Non-development zone and core area. Last, put forward a series of protective measures for the above Non-development zone, that is only allowed to develop agriculture and tourism, strictly restricted industrial projects and urban real estate activities, and all existing industrial factories must be moved to planned industrial parks. This is good practice whereby local governments keep land resources for future generations and more advanced than an urban expansion strategy. This method is very useful for promoting land use layout optimization in Southern Jiangsu Developed Areas.
基金the AUTOPART research project and the SFI NORMAN research program,both sponsored by the Research Council of Norway
文摘This paper investigates the specific planning environment of an automotive part manufacturer and characterizes this environment based on variables regarding the product,its demand and the manufacturing process.The fit of different planning methods,namely material requirements planning,reorder point,cyclic planning,kanban,and heijunka to this specific planning environment is analyzed and evaluated by exploratory research.The results show that different product characteristics make it hard to apply a single planning method.None of the investigated methods show the ability to cover the complex requirements of a combined planning environment of two partly divergent product types with a deep value chain.
文摘<strong>Introduction:</strong> Modern family planning methods (MFPM) prevent unwanted pregnancies, reduce fertility rate, and increase the interval between pregnancies. They prevent pregnancy by preventing fertilization or implantation of the fertilized ovum. MFPM include tubal ligation (TL), vasectomy, oral contraceptive pills, the intrauterine contraceptive device (IUCD), depot injections, sub-dermal implants, and male and female condoms. <strong>Objective: </strong>To determine the level of knowledge of modern family planning methods (MFPM) among women of reproductive age (18 - 49 years) at the Mathari North Health Center in Nairobi County, Kenya. <strong>Methods: </strong>The study conducted among women of reproductive age at Mathare North Health Center in Nairobi was a cross-sectional descriptive survey between March 2016 and November 2018. It provided both qualitative and quantitative data. The sample size comprised of 274 women of reproductive age,<em> i.e.</em> (18 - 49 years) attending antenatal and postnatal clinics at the facility. Those excluded were women below 18 years of age, as they could not give consent according to Kenyan Laws. The data were collected using an interviewer-administered structured questionnaire, which consisted of socio-demographic and characteristics, knowledge of modern family planning methods and distance from the facility. Likert scale was used to ensure that data was tabulated on daily basis and subjected to statistical manipulation using Statistical Package for Social Sciences (SPSS). <strong>Results:</strong> The four leading MFPM in use in order of acceptability were injectables, implants, intrauterine contraceptive device and pills in that order. 91% of respondents were aware or had heard about modern family planning methods. Level of education of mother and father were the two variables that influenced the uptake of MFPM with <em>p</em>-values of 0.0260 and 0.025, respectively. The study further found that knowledge of MFPM had a significant influence on their assimilation and utilization. All secondary variables considered in the research exhibit a substantial relationship concerning the use of MFPM. <strong>Conclusion:</strong> Communities around Mathari North Health Center need to be given information;education and counselling on MFPM to enable them make an informed decision and choice on their preferred method of family planning.
文摘This paper reviews the wave of rural community construction, compares the urban and rural areas on the aspects of land property right, financing channels, construction management procedures, and the user-builder difference, and examines the unique characteristics of rural communities. On the basis of that, it proposes some planning methods for the rural community planning and construction, such as encouraging public participation, conducting public facility-oriented planning, and providing house-design menu, and further puts forward some supporting measures and policies.
文摘In this paper,the mission and the thermal environment of the Solar Close Observations and Proximity Experiments(SCOPE)spacecraft are analyzed,and an advanced thermal management system(ATMS)is designed for it.The relationship and functions of the integrated database,the intelligent thermal control system and the efficient liquid cooling system in the ATMS are elaborated upon.For the complex thermal field regulation system and extreme space thermal environment,a modular simulation and thermal field planning method are proposed,and the feasibility of the planning algorithm is verified by numerical simulation.A solar array liquid cooling system is developed,and the system simulation results indicate that the temperatures of the solar arrays meet the requirements as the spacecraft flies by perihelion and aphelion.The advanced thermal management study supports the development of the SCOPE program and provides a reference for the thermal management in other deep-space exploration programs.
文摘This work is an experimental approach based on the method of experimental plans to determine a specific formulation of a resin concrete. In this study, an unsaturated polyester resin （thermosetting resin） was used with two types of mineral fillers （dune sand and crushed sand）, and with the addition of a marble powder to ensure the continuity of the particle size mixing granular. The lack of the methods for developing this kind of composite materials, had led us to perform an initial experimental approach to define the experimental field, that is to say determine the mass proportions of the various compounds of mixture of our study. In the second approach, we have established and implemented fully experimental plans with three factors namely： factor （1）： sand, factor （2）： resin, factor （3）： marble powder. Test results being the density of polymer concrete and the mechanical resistances. Finally, multi-parameters regression allowed us to determine predictive mathematical models for the different responses of the study. Tests results showed that at three days we got a tensile strength of about 16 MPa with a resin concrete density of 1.9 g/cm3. This shows the advantages of this material.
基金Sponsored by General Project of Natural Science Foundation of Beijing (8202017)Youth Talent Support Program of 2018 Beijing Municipal University Academic Human Resources Development (PXM2018_014212_000043)。
文摘Realizing “carbon peaking” and “carbon neutrality” is a major strategic decision made by China to coordinate domestic and international situations.In order to achieve the “double carbon” goal,it is also necessary for relevant practitioners to actively put into practice to improve the participation of residents and advocate low carbon life while formulating the policy action plan.Community is an important place for human activities and one of the main spatial types of carbon emissions in cities.Doing a good job in planning energy conservation and emission reduction in the community plays an important role in achieving the “double carbon” goal.Through the analysis of classic low carbon community practice cases at home and abroad,6 planning and design methods for low carbon community are concluded,and the development status of low carbon community in China is reflected and summarized.
文摘The inherent teaching approach can no longer meet the demands of society.In this paper,current issues within the teaching landscape of architectural engineering technology in higher vocational colleges as well as the policies and teaching demands that formed the basis of this model were analyzed.The study shows the importance of the implementation of the teaching model“promoting teaching and learning through competitions.”This model puts emphasis on the curriculum and teaching resources,while also integrating the teaching process and evaluation with competition.These efforts aim to drive education reform in order to better align with the objectives of vocational education personnel training,while also acting as a reference for similar courses.
文摘In the article, the methods of processing and obtaining multicomponent raw materials were investigated with the properties of multicomponent threads obtained from fiber waste cluster enterprises in textile production, the interrelation of the components sorting composition. To solve the problem, we used the cause-effect relationship of information theory from the grid planning Matrix, solving the dependence of raw materials, physical and mechanical parameters and the established characteristics of the product. Empirical correlations were obtained on the nature and mechanism of the relationship between factors, which allowed the system to establish a theory of control and prediction of behavior. The methods of evaluation used in this study make it possible to expand the information base with respect to these indicators and to use them in the production of fabrics and threads with established characteristics.
基金supported by the National Defense Foundation of China(No.403060103)
文摘This paper presents a computationally efficient real-time trajectory planning framework for typical unmanned combat aerial vehicle （UCAV） performing autonomous air-to-surface （A/S） attack. It combines the benefits of inverse dynamics optimization method and receding horizon optimal control technique. Firstly, the ground attack trajectory planning problem is mathematically formulated as a receding horizon optimal control problem （RHC-OCP）. In particular, an approximate elliptic launch acceptable region （LAR） model is proposed to model the critical weapon delivery constraints. Secondly, a planning algorithm based on inverse dynamics optimization, which has high computational efficiency and good convergence properties, is developed to solve the RHCOCP in real-time. Thirdly, in order to improve robustness and adaptivity in a dynamic and uncer- tain environment, a two-degree-of-freedom （2-DOF） receding horizon control architecture is introduced and a regular real-time update strategy is proposed as well, and the real-time feedback can be achieved and the not-converged situations can be handled. Finally, numerical simulations demon- strate the efficiency of this framework, and the results also show that the presented technique is well suited for real-time implementation in dynamic and uncertain environment.
基金supported by the National Natural Science Foundation of China (11472058)
文摘The optimal control of multibody spacecraft during the stretching process of solar arrays is investigated,and a hybrid optimization strategy based on Gauss pseudospectral method（GPM） and direct shooting method（DSM） is presented. First, the elastic deformation of flexible solar arrays was described approximately by the assumed mode method, and a dynamic model was established by the second Lagrangian equation. Then, the nonholonomic motion planning problem is transformed into a nonlinear programming problem by using GPM. By giving fewer LG points, initial values of the state variables and control variables were obtained. A serial optimization framework was adopted to obtain the approximate optimal solution from a feasible solution. Finally, the control variables were discretized at LG points, and the precise optimal control inputs were obtained by DSM. The optimal trajectory of the system can be obtained through numerical integration. Through numerical simulation, the stretching process of solar arrays is stable with no detours, and the control inputs match the various constraints of actual conditions.The results indicate that the method is effective with good robustness.
文摘This paper explores the realization of robotic motion planning, especially Findpath problem, which is a basic motion planning problem that arises in the development of robotics. Findpath means: Give the initial and desired final configurations of a robotic arm in 3-dimensionnl space, and give descriptions of the obstacles in the space, determine whether there is a continuous collision-free motion of the robotic arm from one configure- tion to the other and find such a motion if it exists. There are several branches of approach in motion planning area, but in reality the important things are feasibility, efficiency and accuracy of the method. In this paper ac- cording to the concepts of Configuration Space (C-Space) and Rotation Mapping Graph (RMG) discussed in [1], a topological method named Dimension Reduction Method (DRM) for investigating the connectivity of the RMG (or the topologic structure of the RMG )is presented by using topologic technique. Based on this ap- proach the Findpath problem is thus transformed to that of finding a connected way in a finite Characteristic Network (CN). The method has shown great potentiality in practice. Here a simulation system is designed to embody DRM and it is in sight that DRM can he adopted in the first overall planning of real robot sys- tem in the near future.
文摘This article introduces the new thinking andmethod of the revision of Beijing’s master plan.The plannersmade new exploration and breakthroughs in such aspects asthe involvement of the general public in planning,the intro-duction of value concept,unified planning of both urban andrural areas,how to link with the future goals of development,etc.
基金This work was supported partly by National Natural Science Foundation of China under Grant No.79990583 and 70221001
文摘This paper presents a new index system for the performance evaluation and network planning of multimedia communication systems using measurement on actual systems to support several different traffic types. In this index system, we develop an expert system to evaluate the performance of such multimedia communication networks including channel utilization and call blocking probability and packet delay, and apply the network planning methods to optimize the networks and forecast the demand of the growing multimedia communications systems. Two important planning problems for the multimedia communication systems are presented: optimization problem for construction of the world system and forecast problem for increasing traffic demands. We first discuss analysis methods, performance measures for the multimedia communication systems. Then, we describe network planning methods for the multimedia communication systems and give some efficiency network planning methods. Finally, we present some results studied in traffic forecast for the campus network and show the effectiveness of these methods.
