Human activities lead to the accumulation of a large amount of nitrogen and phosphorus in sediments in rivers.Simultaneously,nitrogen and phosphorus can be affected by environment and re-enter the upper water body,cau...Human activities lead to the accumulation of a large amount of nitrogen and phosphorus in sediments in rivers.Simultaneously,nitrogen and phosphorus can be affected by environment and re-enter the upper water body,causing secondary pollution of the river water.In this study,laboratory simulation experiments were conducted initially to investigate the release of nitrogen and phosphorus from river sediments in Urumqi City and the surrounding areas in Xinjiang Uygur Autonomous Region of China and determine the factors that influence their release.The results of this study showed significant short-term differences in nitrogen and phosphorus release characteristics from sediments at different sampling points.The proposed secondary kinetics model(i.e.,pseudo-second-order kinetics model)better fitted the release process of sediment nitrogen and phosphorus.The release of nitrogen and phosphorus from sediments is a complex process driven by multiple factors,therefore,we tested the influence of three factors(pH,temperature,and disturbance intensity)on the release of nitrogen and phosphorus from sediments in this study.The most amount of nitrate nitrogen(NO_(3)^(–)-N)was released under neutral conditions,while the most significant release of ammonia nitrogen(NH_(4)^(+)-N)occurred under acidic and alkaline conditions.The release of nitrite nitrogen(NO_(2)^(-)-N)was less affected by pH.The dissolved total phosphorus(DTP)released significantly in the alkaline water environment,while the release of dissolved organic phosphorus(DOP)was more significant in acidic water.The release amount of soluble reactive phosphorus(SRP)increased with an increase in pH.The sediments released nitrogen and phosphorus at higher temperatures,particularly NH_(4)^(+)-N,NO_(3)^(–)-N,and SRP.The highest amount of DOP was released at 15.0℃.An increase in disturbance intensity exacerbated the release of nitrogen and phosphorus from sediments.NH_(4)^(+)-N,DTP,and SRP levels increased linearly with the intensity of disturbance,while NO_(3)^(–)-N and NO_(2)^(–)-N were more stable.This study provides valuable information for protecting and restoring the water environment in arid areas and has significant practical reference value.展开更多
Considering the special features of dynamic environment economic dispatch of power systems with high dimensionality,strong coupling,nonlinearity,and non-convexity,a GA-DE multi-objective optimization algorithm based o...Considering the special features of dynamic environment economic dispatch of power systems with high dimensionality,strong coupling,nonlinearity,and non-convexity,a GA-DE multi-objective optimization algorithm based on dual-population pseudo-parallel genetic algorithm-differential evolution is proposed in this paper.The algorithm is based on external elite archive and Pareto dominance,and it adopts the cooperative co-evolution mechanism of differential evolution and genetic algorithm.Average entropy and cubic chaoticmapping initialization strategies are proposed to increase population diversity.In the proposed method,we analyze the distribution of neighboring solutions and apply a new Pareto solution set pruning approach.Unlike traditional models,this work takes the transmission losses as an optimization target and overcomes complex model constraints through a dynamic relaxation constraint approach.To solve the uncertainty caused by integrating wind and photovoltaic energy in power system scheduling,a multi-objective dynamic environment economical dispatch model is set up that takes the system spinning reserve and network highest losses into account.In this paper,the DE algorithm is improved to form the DGAGE algorithm for the objective optimization of the overall power system,The DE algorithm part of DGAGE is combined with the JAYA algorithm to form the system scheduling HDJ algorithm for multiple energy sources connected to the grid.The effectiveness of the proposed method is demonstrated using CEC2022 and CEC2005 test functions,showing robust optimization performance.Validation on a classical 10-unit system confirms the feasibility of the proposed algorithm in addressing power system scheduling issues.This approach provides a novel solution for dynamic power dispatch systems.展开更多
This paper investigates the challenges associated with Unmanned Aerial Vehicle (UAV) collaborative search and target tracking in dynamic and unknown environments characterized by limited field of view. The primary obj...This paper investigates the challenges associated with Unmanned Aerial Vehicle (UAV) collaborative search and target tracking in dynamic and unknown environments characterized by limited field of view. The primary objective is to explore the unknown environments to locate and track targets effectively. To address this problem, we propose a novel Multi-Agent Reinforcement Learning (MARL) method based on Graph Neural Network (GNN). Firstly, a method is introduced for encoding continuous-space multi-UAV problem data into spatial graphs which establish essential relationships among agents, obstacles, and targets. Secondly, a Graph AttenTion network (GAT) model is presented, which focuses exclusively on adjacent nodes, learns attention weights adaptively and allows agents to better process information in dynamic environments. Reward functions are specifically designed to tackle exploration challenges in environments with sparse rewards. By introducing a framework that integrates centralized training and distributed execution, the advancement of models is facilitated. Simulation results show that the proposed method outperforms the existing MARL method in search rate and tracking performance with less collisions. The experiments show that the proposed method can be extended to applications with a larger number of agents, which provides a potential solution to the challenging problem of multi-UAV autonomous tracking in dynamic unknown environments.展开更多
Grouting represents a reliable method for strengthening fractured rock masses and preventing seawater infiltration in subsea tunnel engineering. However, grouting composites are continuously subjected to harsh marine ...Grouting represents a reliable method for strengthening fractured rock masses and preventing seawater infiltration in subsea tunnel engineering. However, grouting composites are continuously subjected to harsh marine environments,experiencing both chemical and physical effects from high-concentration erosive seawater ions, elevated water pressure, and complex flow fields. This multi-factor erosion deterioration diminishes the waterproofing capabilities of grouting composites and threatens the service life of subsea tunnel linings. To investigate the erosion deteriortion mechanism induced by sulfate, erosion weakening experiments were conducted using a seawater flow simulation device. The research examined the compressive strength and permeability coefficient of grouting composites under different erosion durations, water-cement ratios, and grouting pressures. In the later stages of the experiment, the strength of grouting composites in the static water erosion control group(SEG) and dynamic water erosion group(DEG) decreased by 31.2% and 18.8%, respectively, compared to the freshwater control group(FG). Futhermore, the permeability coefficient exhibited significant increases. Subsequent microscopic analyses of the eroded grouting composites were performed. This research elucidated the erosion-weakening mechanism of grouting composites subjected to sulfate-induced degradation in complex marine environments. The study emphasizes the critical role of erosion resistance and durability in design and implementation. From practical perspective, this work establishes a foundation for developing enhanced strategies to improve the long-term performance and integrity of grouting composites in subsea tunnel applications.展开更多
The grain-size distribution of surface sediments in the Bohai Sea(BS) and the northern Yellow Sea(NYS), and its relationship with sediment supply and hydrodynamic environment were investigated based on grain-size comp...The grain-size distribution of surface sediments in the Bohai Sea(BS) and the northern Yellow Sea(NYS), and its relationship with sediment supply and hydrodynamic environment were investigated based on grain-size compositions of surface sediments and modern sedimentation rates. The results showed that the surface sediments in the BS and the NYS were primarily composed of silty sand and clayey silt with a dominant size of silt. In addition, the Yellow River delivered high amount of water and sediments to the BS, and they are dominated in surface sediments(mainly silt) in the Bohai Bay, the Yellow River mouth, the center of the BS, and the north coast of Shandong Peninsula. The coarse-grained sediments were mainly deposited at the river mouth due to the estuarine filtration and physical sorting. Meanwhile, there was a significant relationship among the modern sedimentation rate, the surface sediment grain size distribution and sediment transport pattern. The areas with coarser surface sediments generally corresponded low sedimentation rates because of strong erosion;whereas the sedimentation rate was relatively high at the place that the surface sediments were fine-grained. Furthermore, the grain-size trend analysis showed that the areas with fine-grained surface sediments such as the mud area in the central BS and the upper Liaodong Bay were the convergent centers of surface sediments, except for the Bohai Bay and the subaqueous Yellow River Delta where offshore sediment transport was evident.展开更多
A project entitled‘Development of a Global High-resolution Marine Dynamic Environmental Forecasting System’has been funded by‘The Program on Marine Environmental Safety Guarantee’of The National Key Research and D...A project entitled‘Development of a Global High-resolution Marine Dynamic Environmental Forecasting System’has been funded by‘The Program on Marine Environmental Safety Guarantee’of The National Key Research and Development Program of China.This project will accomplish its objectives through basic theoretical research,model development and expansion,and system establishment and application,with a focus on four key issues separated into nine tasks.A series of research achievements have already been obtained,including datasets,observations,theories,and model results.展开更多
Structural health monitoring is widely utilized in outdoor environments,especially under harsh conditions,which can introduce noise into the monitoring system.Therefore,designing an effective denoising strategy to enh...Structural health monitoring is widely utilized in outdoor environments,especially under harsh conditions,which can introduce noise into the monitoring system.Therefore,designing an effective denoising strategy to enhance the performance of guided wave damage detection in noisy environments is crucial.This paper introduces a local temporal principal component analysis(PCA)reconstruction approach for denoising guided waves prior to implementing unsupervised damage detection,achieved through novel autoencoder-based reconstruction.Experimental results demonstrate that the proposed denoising method significantly enhances damage detection performance when guided waves are contaminated by noise,with SNR values ranging from 10 to-5 dB.Following the implementation of the proposed denoising approach,the AUC score can elevate from 0.65 to 0.96 when dealing with guided waves corrputed by noise at a level of-5 dB.Additionally,the paper provides guidance on selecting the appropriate number of components used in the denoising PCA reconstruction,aiding in the optimization of the damage detection in noisy conditions.展开更多
This study investigates robot path planning for multiple agents,focusing on the critical requirement that agents can pursue concurrent pathways without collisions.Each agent is assigned a task within the environment t...This study investigates robot path planning for multiple agents,focusing on the critical requirement that agents can pursue concurrent pathways without collisions.Each agent is assigned a task within the environment to reach a designated destination.When the map or goal changes unexpectedly,particularly in dynamic and unknown environments,it can lead to potential failures or performance degradation in various ways.Additionally,priority inheritance plays a significant role in path planning and can impact performance.This study proposes a ConflictBased Search(CBS)approach,introducing a unique hierarchical search mechanism for planning paths for multiple robots.The study aims to enhance flexibility in adapting to different environments.Three scenarios were tested,and the accuracy of the proposed algorithm was validated.In the first scenario,path planning was applied in unknown environments,both stationary and mobile,yielding excellent results in terms of time to arrival and path length,with a time of 2.3 s.In the second scenario,the algorithm was applied to complex environments containing sharp corners and unknown obstacles,resulting in a time of 2.6 s,with the algorithm also performing well in terms of path length.In the final scenario,the multi-objective algorithm was tested in a warehouse environment containing fixed,mobile,and multi-targeted obstacles,achieving a result of up to 100.4 s.Based on the results and comparisons with previous work,the proposed method was found to be highly effective,efficient,and suitable for various environments.展开更多
In recent years, with the outbreak of epidemic infectious diseases and the increasing political and economic uncertainty, should enterprises make strategic changes in response to environmental changes in a timely mann...In recent years, with the outbreak of epidemic infectious diseases and the increasing political and economic uncertainty, should enterprises make strategic changes in response to environmental changes in a timely manner or maintain strategic consistency under the circumstances of increasing environmental dynamics? From the perspective of contingency, this paper studies the impact of corporate strategic changes on enterprises in the context of environmental dynamics, and conducts an empirical study on manufacturing enterprises listed in A shares from 2008 to 2020. It is found that corporate strategic changes in the context of environmental dynamics are beneficial to corporate performance, but also bring financial volatility.展开更多
As social interest in the environmental conservation and ecological restoration has recently increased, more research works have been done to resolve problems concerning environmental management of estuaries. In this ...As social interest in the environmental conservation and ecological restoration has recently increased, more research works have been done to resolve problems concerning environmental management of estuaries. In this study, a three-dimensional numerical model, Environmental Fluid Dynamics Code （EFDC） was used in the analysis of the salinity intrusion characteristics in the downstream of Geum River. The numerical simulation was performed to investigate the influence range for salinity intrusion when the gates were fully opened. The conditions used for simulation were the four flow regimes in Geum River Basin, Korea. Results indicated that the ranges of salinity intrusion from the barrage were 50.72 km （drought flow）, 48.87 km （low flow）, 46.56 km （normal flow） and 42.10 km （flood flow）. These results indicated that the EFDC model used for numerical simulation has high accuracy. The result concluded in this study can be used as a basis in understanding the extent of salinity intrusion effects at different flow rates.展开更多
Coal and gas outburst is an extremely complex dynamic disaster in coal mine production process which will damage casualties and equipment facilities, and disorder the ventilation system by suddenly ejecting a great am...Coal and gas outburst is an extremely complex dynamic disaster in coal mine production process which will damage casualties and equipment facilities, and disorder the ventilation system by suddenly ejecting a great amount of coal and gas into roadway or working face. This paper analyzed the interaction among the three essential elements of coal and gas outburst dynamic system. A stress-seepage-damage coupling model was established which can be used to simulate the evolution of the dynamical system, and then the size scale of coal and gas outburst dynamical system was investigated. Results show that the dynam- ical system is consisted of three essential elements, coal-gas medium （material basis）, geology dynamic environment （internal motivation） and mining disturbance （external motivation）. On the case of CI 3 coal seam in Panyi Mine, the dynamical system exists in the range of 8-12 m in front of advancing face. The size scale will be larger where there are large geologic structures. This research plays an important guid- ing role for developing measures of coal and gas outburst prediction and prevention.展开更多
The integration of water quality analysis simulation program (WASP) with a geographical information system (GIS) is presented.This integration was undertaken to enhance the data analysis and management ability of the ...The integration of water quality analysis simulation program (WASP) with a geographical information system (GIS) is presented.This integration was undertaken to enhance the data analysis and management ability of the widely used water quality model.Different types of data involved in WASP modeling were converted and integrated into GIS using a database method.The spatial data modeling and analysis capability of GIS were used in the operation of the model.The WASP water quality model was coupled with the environmental fluid dynamics code (EFDC) hydrodynamic model.A case study of the Lower Charles River Basin (Massachusetts,USA) water quality model system was conducted to demonstrate the integration process.The results showed that high efficiency of the data process and powerful function of data analysis could be achieved in the integrated model,which would significantly improve the application of WASP model in water quality management.展开更多
While different species in nature have safely solved the problem of navigation in a dynamic environment, this remains a challenging task for researchers around the world. The paper addresses the problem of autonomous ...While different species in nature have safely solved the problem of navigation in a dynamic environment, this remains a challenging task for researchers around the world. The paper addresses the problem of autonomous navigation in an unknown dynamic environment for a single and a group of three wheeled omnidirectional mobile robots(TWOMRs). The robot has to track a dynamic target while avoiding dynamic obstacles and dynamic walls in an unknown and very dense environment. It adopts a behavior-based controller that consists of four behaviors: "target tracking", "obstacle avoidance", "dynamic wall following" and "avoid robots". The paper considers the problem of kinematic saturation. In addition, it introduces a strategy for predicting the velocity of dynamic obstacles based on two successive measurements of the ultrasonic sensors to calculate the velocity of the obstacle expressed in the sensor frame. Furthermore, the paper proposes a strategy to deal with dynamic walls even when they have U-like or V-like shapes. The approach can also deal with the formation control of a group of robots based on the leader-follower structure and the behavior-based control, where the robots have to get together and maintain a given formation while navigating toward the target, avoiding obstacles and walls in a dynamic environment. The effectiveness of the proposed approaches is demonstrated via simulation.展开更多
This study presents a statistical landslide susceptibility assessment(LSA) in a dynamic environment. The study area is located in the eastern part of Lanzhou, NW China. The Lanzhou area has exhibited rapid urbanizatio...This study presents a statistical landslide susceptibility assessment(LSA) in a dynamic environment. The study area is located in the eastern part of Lanzhou, NW China. The Lanzhou area has exhibited rapid urbanization rates over the past decade associated with greening, continuous land use change, and geomorphic reshaping activities. To consider the dynamics of the environment in the LSA, multitemporal data for landslide inventories and the corresponding causal factors were collected. The weights of evidence(Wof E) method was used to perform the LSA. Three time stamps, i.e., 2000, 2012, and 2016, were selected to assess the state of landslide susceptibility over time. The results show a clear evolution of the landslide susceptibility patterns that was mainly governed by anthropogenic activities directed toward generating safer building grounds for civil infrastructure. The low and very low susceptibility areas increased by approximately 10% between 2000 and 2016. At the same time, areas of medium, high and very high susceptibility zones decreased proportionally. Based on the results, an approach to design the statistical LSA under dynamic conditions is proposed, the issues and limitations of this approach are also discussed. The study shows that under dynamic conditions, the requirements for data quantity and quality increase significantly. A dynamic environment requires greater effort to estimate the causal relations between the landslides and controlling factors as well as for model validation.展开更多
Path planning of a mobile robot in the presence of multiple moving obstacles is found to be a complicated problem.A planning algorithm capable of negotiating both static and moving obstacles in an unpredictable(on-lin...Path planning of a mobile robot in the presence of multiple moving obstacles is found to be a complicated problem.A planning algorithm capable of negotiating both static and moving obstacles in an unpredictable(on-line)environment is proposed.The proposed incremental algorithm plans the path by considering the quadrants in which the current positions of obstacles as well as target are situated.Also,the governing equations for the shortest path are derived.The proposed mathematical model describes the motion(satisfying constraints of the mobile robot)along a collision-free path.Further,the algorithm is applicable to dynamic environments with fixed or moving targets.Simulation results show the effectiveness of the proposed algorithm.Comparison of results with the improved artificial potential field(iAPF)algorithm shows that the proposed algorithm yields shorter path length with less computation time.展开更多
Design of a robust production facility layout with minimum handling cost （MHC） presents an appropriate approach to tackle facility layout problems in a dynamic volatile environment, in which product demands randomly...Design of a robust production facility layout with minimum handling cost （MHC） presents an appropriate approach to tackle facility layout problems in a dynamic volatile environment, in which product demands randomly change in each planning period. The objective of the design is to find the robust facility layout with minimum total material handling cost over the entire multiperiod planning horizon. This paper proposes a new mathematical model for designing robust machine layout in the stochastic dynamic environment of manufacturing systems using quadratic assignment problem （QAP） formulation. In this investigation, product demands are assumed to be normally distributed random variables with known expected value, variance, and covariance that randomly change from period to period. The proposed model was verified and validated using randomly generated numerical data and benchmark examples. The effect of dependent product demands and varying interest rate on the total cost function of the proposed model has also been investigated. Sensitivity analysis on the proposed model has been performed. Dynamic programming and simulated annealing optimization algorithms were used in solving the modeled example problems.展开更多
A weighted time-based global hierarchical path planning method is proposed to obtain the global optimal path from the starting point to the destination with time optimal control. First, the grid-or graph-based modelin...A weighted time-based global hierarchical path planning method is proposed to obtain the global optimal path from the starting point to the destination with time optimal control. First, the grid-or graph-based modeling is performed and the environment is divided into a set of grids or nodes. Then two time-based features of time interval and time cost are presented. The time intervals for each grid are built, during each interval the condition of the grid remains stable, and a time cost of passing through the grid is defined and assigned to each interval. Furthermore, the weight is introduced for taking both time and distance into consideration, and thus a sequence of multiscale paths with total time cost can be achieved. Experimental results show that the proposed method can handle the complex dynamic environment, obtain the global time optimal path and has the potential to be applied to the autonomous robot navigation and traffic environment.展开更多
Moving humans,agents,and subjects bring many challenges to robot self‐localisation and environment perception.To adapt to dynamic environments,SLAM researchers typically apply several deep learning image segmentation...Moving humans,agents,and subjects bring many challenges to robot self‐localisation and environment perception.To adapt to dynamic environments,SLAM researchers typically apply several deep learning image segmentation models to eliminate these moving obstacles.However,these moving obstacle segmentation methods cost too much computation resource for the onboard processing of mobile robots.In the current industrial environment,mobile robot collaboration scenario,the noise of mobile robots could be easily found by on‐board audio‐sensing processors and the direction of sound sources can be effectively acquired by sound source estimation algorithms,but the distance estimation of sound sources is difficult.However,in the field of visual perception,the 3D structure information of the scene is relatively easy to obtain,but the recognition and segmentation of moving objects is more difficult.To address these problems,a novel vision‐audio fusion method that combines sound source localisation methods with a visual SLAM scheme is proposed,thereby eliminating the effect of dynamic obstacles on multi‐agent systems.Several heterogeneous robots experiments in different dynamic scenes indicate very stable self‐localisation and environment reconstruction performance of our method.展开更多
In this article,the progress of marine geographic information system(MGIS) in China during 2006?2010 is reviewed with emphases on generic MGIS,advanced MGIS and MGIS-based applications.Generic MGIS can be divided into...In this article,the progress of marine geographic information system(MGIS) in China during 2006?2010 is reviewed with emphases on generic MGIS,advanced MGIS and MGIS-based applications.Generic MGIS can be divided into two categories:data-oriented MGIS and user-oriented MGIS,recent achievements of which by Chinese researchers are summarized respectively.Advanced MGIS mainly involves the establishment of 3D virtual marine environment and 'Digital Ocean'.An overview of the 3D MGIS based simulations in the context of ocean phenomena,ocean engineering and ocean battlefield is also presented.Several sug-gestions for future development of MGIS in China are proposed,and trends of development are addressed.展开更多
基金the Xinjiang Science and Technology Support Project Plan(2022E02026)the Xinjiang Agricultural University Graduate Research and Innovation Programme(XJAUGRI2023049).
文摘Human activities lead to the accumulation of a large amount of nitrogen and phosphorus in sediments in rivers.Simultaneously,nitrogen and phosphorus can be affected by environment and re-enter the upper water body,causing secondary pollution of the river water.In this study,laboratory simulation experiments were conducted initially to investigate the release of nitrogen and phosphorus from river sediments in Urumqi City and the surrounding areas in Xinjiang Uygur Autonomous Region of China and determine the factors that influence their release.The results of this study showed significant short-term differences in nitrogen and phosphorus release characteristics from sediments at different sampling points.The proposed secondary kinetics model(i.e.,pseudo-second-order kinetics model)better fitted the release process of sediment nitrogen and phosphorus.The release of nitrogen and phosphorus from sediments is a complex process driven by multiple factors,therefore,we tested the influence of three factors(pH,temperature,and disturbance intensity)on the release of nitrogen and phosphorus from sediments in this study.The most amount of nitrate nitrogen(NO_(3)^(–)-N)was released under neutral conditions,while the most significant release of ammonia nitrogen(NH_(4)^(+)-N)occurred under acidic and alkaline conditions.The release of nitrite nitrogen(NO_(2)^(-)-N)was less affected by pH.The dissolved total phosphorus(DTP)released significantly in the alkaline water environment,while the release of dissolved organic phosphorus(DOP)was more significant in acidic water.The release amount of soluble reactive phosphorus(SRP)increased with an increase in pH.The sediments released nitrogen and phosphorus at higher temperatures,particularly NH_(4)^(+)-N,NO_(3)^(–)-N,and SRP.The highest amount of DOP was released at 15.0℃.An increase in disturbance intensity exacerbated the release of nitrogen and phosphorus from sediments.NH_(4)^(+)-N,DTP,and SRP levels increased linearly with the intensity of disturbance,while NO_(3)^(–)-N and NO_(2)^(–)-N were more stable.This study provides valuable information for protecting and restoring the water environment in arid areas and has significant practical reference value.
基金funded by the Major Humanities and Social Sciences Research Projects in Zhejiang Higher Education Institutions,grant number 2023QN131National Innovation Training Program Project in China,grant number 202410451009.
文摘Considering the special features of dynamic environment economic dispatch of power systems with high dimensionality,strong coupling,nonlinearity,and non-convexity,a GA-DE multi-objective optimization algorithm based on dual-population pseudo-parallel genetic algorithm-differential evolution is proposed in this paper.The algorithm is based on external elite archive and Pareto dominance,and it adopts the cooperative co-evolution mechanism of differential evolution and genetic algorithm.Average entropy and cubic chaoticmapping initialization strategies are proposed to increase population diversity.In the proposed method,we analyze the distribution of neighboring solutions and apply a new Pareto solution set pruning approach.Unlike traditional models,this work takes the transmission losses as an optimization target and overcomes complex model constraints through a dynamic relaxation constraint approach.To solve the uncertainty caused by integrating wind and photovoltaic energy in power system scheduling,a multi-objective dynamic environment economical dispatch model is set up that takes the system spinning reserve and network highest losses into account.In this paper,the DE algorithm is improved to form the DGAGE algorithm for the objective optimization of the overall power system,The DE algorithm part of DGAGE is combined with the JAYA algorithm to form the system scheduling HDJ algorithm for multiple energy sources connected to the grid.The effectiveness of the proposed method is demonstrated using CEC2022 and CEC2005 test functions,showing robust optimization performance.Validation on a classical 10-unit system confirms the feasibility of the proposed algorithm in addressing power system scheduling issues.This approach provides a novel solution for dynamic power dispatch systems.
基金supported by the National Natural Science Foundation of China(Nos.12272104,U22B2013).
文摘This paper investigates the challenges associated with Unmanned Aerial Vehicle (UAV) collaborative search and target tracking in dynamic and unknown environments characterized by limited field of view. The primary objective is to explore the unknown environments to locate and track targets effectively. To address this problem, we propose a novel Multi-Agent Reinforcement Learning (MARL) method based on Graph Neural Network (GNN). Firstly, a method is introduced for encoding continuous-space multi-UAV problem data into spatial graphs which establish essential relationships among agents, obstacles, and targets. Secondly, a Graph AttenTion network (GAT) model is presented, which focuses exclusively on adjacent nodes, learns attention weights adaptively and allows agents to better process information in dynamic environments. Reward functions are specifically designed to tackle exploration challenges in environments with sparse rewards. By introducing a framework that integrates centralized training and distributed execution, the advancement of models is facilitated. Simulation results show that the proposed method outperforms the existing MARL method in search rate and tracking performance with less collisions. The experiments show that the proposed method can be extended to applications with a larger number of agents, which provides a potential solution to the challenging problem of multi-UAV autonomous tracking in dynamic unknown environments.
基金financially supported by the National Natural Science Foundation of China (Grant Nos. 42477194 and 52279115)Fundamental Research Funds for the Central Universities (Grant No. 202441008)。
文摘Grouting represents a reliable method for strengthening fractured rock masses and preventing seawater infiltration in subsea tunnel engineering. However, grouting composites are continuously subjected to harsh marine environments,experiencing both chemical and physical effects from high-concentration erosive seawater ions, elevated water pressure, and complex flow fields. This multi-factor erosion deterioration diminishes the waterproofing capabilities of grouting composites and threatens the service life of subsea tunnel linings. To investigate the erosion deteriortion mechanism induced by sulfate, erosion weakening experiments were conducted using a seawater flow simulation device. The research examined the compressive strength and permeability coefficient of grouting composites under different erosion durations, water-cement ratios, and grouting pressures. In the later stages of the experiment, the strength of grouting composites in the static water erosion control group(SEG) and dynamic water erosion group(DEG) decreased by 31.2% and 18.8%, respectively, compared to the freshwater control group(FG). Futhermore, the permeability coefficient exhibited significant increases. Subsequent microscopic analyses of the eroded grouting composites were performed. This research elucidated the erosion-weakening mechanism of grouting composites subjected to sulfate-induced degradation in complex marine environments. The study emphasizes the critical role of erosion resistance and durability in design and implementation. From practical perspective, this work establishes a foundation for developing enhanced strategies to improve the long-term performance and integrity of grouting composites in subsea tunnel applications.
基金supported by the National Natural Science Foundation of China (No.41525021)the Ministry of Science and Technology of People's Republic of China (Nos.2016YFA0600903 and 2017YFC0405502)。
文摘The grain-size distribution of surface sediments in the Bohai Sea(BS) and the northern Yellow Sea(NYS), and its relationship with sediment supply and hydrodynamic environment were investigated based on grain-size compositions of surface sediments and modern sedimentation rates. The results showed that the surface sediments in the BS and the NYS were primarily composed of silty sand and clayey silt with a dominant size of silt. In addition, the Yellow River delivered high amount of water and sediments to the BS, and they are dominated in surface sediments(mainly silt) in the Bohai Bay, the Yellow River mouth, the center of the BS, and the north coast of Shandong Peninsula. The coarse-grained sediments were mainly deposited at the river mouth due to the estuarine filtration and physical sorting. Meanwhile, there was a significant relationship among the modern sedimentation rate, the surface sediment grain size distribution and sediment transport pattern. The areas with coarser surface sediments generally corresponded low sedimentation rates because of strong erosion;whereas the sedimentation rate was relatively high at the place that the surface sediments were fine-grained. Furthermore, the grain-size trend analysis showed that the areas with fine-grained surface sediments such as the mud area in the central BS and the upper Liaodong Bay were the convergent centers of surface sediments, except for the Bohai Bay and the subaqueous Yellow River Delta where offshore sediment transport was evident.
基金funded by "The Program on Marine Environmental Safety Guarantee" of "The National Key Research and Development Program of China"[grant number2016YFC1401409]
文摘A project entitled‘Development of a Global High-resolution Marine Dynamic Environmental Forecasting System’has been funded by‘The Program on Marine Environmental Safety Guarantee’of The National Key Research and Development Program of China.This project will accomplish its objectives through basic theoretical research,model development and expansion,and system establishment and application,with a focus on four key issues separated into nine tasks.A series of research achievements have already been obtained,including datasets,observations,theories,and model results.
基金National Science Foundation of Zhejiang under Contract(LY23E010001)。
文摘Structural health monitoring is widely utilized in outdoor environments,especially under harsh conditions,which can introduce noise into the monitoring system.Therefore,designing an effective denoising strategy to enhance the performance of guided wave damage detection in noisy environments is crucial.This paper introduces a local temporal principal component analysis(PCA)reconstruction approach for denoising guided waves prior to implementing unsupervised damage detection,achieved through novel autoencoder-based reconstruction.Experimental results demonstrate that the proposed denoising method significantly enhances damage detection performance when guided waves are contaminated by noise,with SNR values ranging from 10 to-5 dB.Following the implementation of the proposed denoising approach,the AUC score can elevate from 0.65 to 0.96 when dealing with guided waves corrputed by noise at a level of-5 dB.Additionally,the paper provides guidance on selecting the appropriate number of components used in the denoising PCA reconstruction,aiding in the optimization of the damage detection in noisy conditions.
文摘This study investigates robot path planning for multiple agents,focusing on the critical requirement that agents can pursue concurrent pathways without collisions.Each agent is assigned a task within the environment to reach a designated destination.When the map or goal changes unexpectedly,particularly in dynamic and unknown environments,it can lead to potential failures or performance degradation in various ways.Additionally,priority inheritance plays a significant role in path planning and can impact performance.This study proposes a ConflictBased Search(CBS)approach,introducing a unique hierarchical search mechanism for planning paths for multiple robots.The study aims to enhance flexibility in adapting to different environments.Three scenarios were tested,and the accuracy of the proposed algorithm was validated.In the first scenario,path planning was applied in unknown environments,both stationary and mobile,yielding excellent results in terms of time to arrival and path length,with a time of 2.3 s.In the second scenario,the algorithm was applied to complex environments containing sharp corners and unknown obstacles,resulting in a time of 2.6 s,with the algorithm also performing well in terms of path length.In the final scenario,the multi-objective algorithm was tested in a warehouse environment containing fixed,mobile,and multi-targeted obstacles,achieving a result of up to 100.4 s.Based on the results and comparisons with previous work,the proposed method was found to be highly effective,efficient,and suitable for various environments.
文摘In recent years, with the outbreak of epidemic infectious diseases and the increasing political and economic uncertainty, should enterprises make strategic changes in response to environmental changes in a timely manner or maintain strategic consistency under the circumstances of increasing environmental dynamics? From the perspective of contingency, this paper studies the impact of corporate strategic changes on enterprises in the context of environmental dynamics, and conducts an empirical study on manufacturing enterprises listed in A shares from 2008 to 2020. It is found that corporate strategic changes in the context of environmental dynamics are beneficial to corporate performance, but also bring financial volatility.
文摘As social interest in the environmental conservation and ecological restoration has recently increased, more research works have been done to resolve problems concerning environmental management of estuaries. In this study, a three-dimensional numerical model, Environmental Fluid Dynamics Code （EFDC） was used in the analysis of the salinity intrusion characteristics in the downstream of Geum River. The numerical simulation was performed to investigate the influence range for salinity intrusion when the gates were fully opened. The conditions used for simulation were the four flow regimes in Geum River Basin, Korea. Results indicated that the ranges of salinity intrusion from the barrage were 50.72 km （drought flow）, 48.87 km （low flow）, 46.56 km （normal flow） and 42.10 km （flood flow）. These results indicated that the EFDC model used for numerical simulation has high accuracy. The result concluded in this study can be used as a basis in understanding the extent of salinity intrusion effects at different flow rates.
基金funded by the National Natural Science Foundation of China(No.51674132)the State Key Research Development Program of China(No.2016YFC0801407-2)+2 种基金the Open Projects of State Key Laboratory for Geo Mechanics and Deep Underground Engineering of China(No.SKLGDUEK1510)the Open Projects of State Key Laboratory of Coal Resources and Safe Mining of China(No.SKLCRSM15KF04)the Research Fund of State and Local Joint Engineering Laboratory for Gas Drainage&Ground Control of Deep Mines(Henan Polytechnic University)(No.G201602)
文摘Coal and gas outburst is an extremely complex dynamic disaster in coal mine production process which will damage casualties and equipment facilities, and disorder the ventilation system by suddenly ejecting a great amount of coal and gas into roadway or working face. This paper analyzed the interaction among the three essential elements of coal and gas outburst dynamic system. A stress-seepage-damage coupling model was established which can be used to simulate the evolution of the dynamical system, and then the size scale of coal and gas outburst dynamical system was investigated. Results show that the dynam- ical system is consisted of three essential elements, coal-gas medium （material basis）, geology dynamic environment （internal motivation） and mining disturbance （external motivation）. On the case of CI 3 coal seam in Panyi Mine, the dynamical system exists in the range of 8-12 m in front of advancing face. The size scale will be larger where there are large geologic structures. This research plays an important guid- ing role for developing measures of coal and gas outburst prediction and prevention.
基金Project supported by the National Basic Research Program (973) (No.2007CB407306)the National Major Projects on Control and Rectification of Water Body Pollution (No.2008ZX07314-004-002),China and the China Scholar Council
文摘The integration of water quality analysis simulation program (WASP) with a geographical information system (GIS) is presented.This integration was undertaken to enhance the data analysis and management ability of the widely used water quality model.Different types of data involved in WASP modeling were converted and integrated into GIS using a database method.The spatial data modeling and analysis capability of GIS were used in the operation of the model.The WASP water quality model was coupled with the environmental fluid dynamics code (EFDC) hydrodynamic model.A case study of the Lower Charles River Basin (Massachusetts,USA) water quality model system was conducted to demonstrate the integration process.The results showed that high efficiency of the data process and powerful function of data analysis could be achieved in the integrated model,which would significantly improve the application of WASP model in water quality management.
文摘While different species in nature have safely solved the problem of navigation in a dynamic environment, this remains a challenging task for researchers around the world. The paper addresses the problem of autonomous navigation in an unknown dynamic environment for a single and a group of three wheeled omnidirectional mobile robots(TWOMRs). The robot has to track a dynamic target while avoiding dynamic obstacles and dynamic walls in an unknown and very dense environment. It adopts a behavior-based controller that consists of four behaviors: "target tracking", "obstacle avoidance", "dynamic wall following" and "avoid robots". The paper considers the problem of kinematic saturation. In addition, it introduces a strategy for predicting the velocity of dynamic obstacles based on two successive measurements of the ultrasonic sensors to calculate the velocity of the obstacle expressed in the sensor frame. Furthermore, the paper proposes a strategy to deal with dynamic walls even when they have U-like or V-like shapes. The approach can also deal with the formation control of a group of robots based on the leader-follower structure and the behavior-based control, where the robots have to get together and maintain a given formation while navigating toward the target, avoiding obstacles and walls in a dynamic environment. The effectiveness of the proposed approaches is demonstrated via simulation.
基金the framework of a scientific-technical cooperation project between the Federal Institute for Geosciences and Natural Resources(BGR)and the China Geological Survey(CGS)co-funded by the German Ministry of the Economic Affairs and Energy(BMWi)and Ministry of Land and Resources of the People's Republik of China
文摘This study presents a statistical landslide susceptibility assessment(LSA) in a dynamic environment. The study area is located in the eastern part of Lanzhou, NW China. The Lanzhou area has exhibited rapid urbanization rates over the past decade associated with greening, continuous land use change, and geomorphic reshaping activities. To consider the dynamics of the environment in the LSA, multitemporal data for landslide inventories and the corresponding causal factors were collected. The weights of evidence(Wof E) method was used to perform the LSA. Three time stamps, i.e., 2000, 2012, and 2016, were selected to assess the state of landslide susceptibility over time. The results show a clear evolution of the landslide susceptibility patterns that was mainly governed by anthropogenic activities directed toward generating safer building grounds for civil infrastructure. The low and very low susceptibility areas increased by approximately 10% between 2000 and 2016. At the same time, areas of medium, high and very high susceptibility zones decreased proportionally. Based on the results, an approach to design the statistical LSA under dynamic conditions is proposed, the issues and limitations of this approach are also discussed. The study shows that under dynamic conditions, the requirements for data quantity and quality increase significantly. A dynamic environment requires greater effort to estimate the causal relations between the landslides and controlling factors as well as for model validation.
文摘Path planning of a mobile robot in the presence of multiple moving obstacles is found to be a complicated problem.A planning algorithm capable of negotiating both static and moving obstacles in an unpredictable(on-line)environment is proposed.The proposed incremental algorithm plans the path by considering the quadrants in which the current positions of obstacles as well as target are situated.Also,the governing equations for the shortest path are derived.The proposed mathematical model describes the motion(satisfying constraints of the mobile robot)along a collision-free path.Further,the algorithm is applicable to dynamic environments with fixed or moving targets.Simulation results show the effectiveness of the proposed algorithm.Comparison of results with the improved artificial potential field(iAPF)algorithm shows that the proposed algorithm yields shorter path length with less computation time.
基金Supported by the Ministry of Higher Education of Malaysia through the Foundation Research(Grant Scheme no.FRGS/1/2012/TK01/MMU/02/2)
文摘Design of a robust production facility layout with minimum handling cost （MHC） presents an appropriate approach to tackle facility layout problems in a dynamic volatile environment, in which product demands randomly change in each planning period. The objective of the design is to find the robust facility layout with minimum total material handling cost over the entire multiperiod planning horizon. This paper proposes a new mathematical model for designing robust machine layout in the stochastic dynamic environment of manufacturing systems using quadratic assignment problem （QAP） formulation. In this investigation, product demands are assumed to be normally distributed random variables with known expected value, variance, and covariance that randomly change from period to period. The proposed model was verified and validated using randomly generated numerical data and benchmark examples. The effect of dependent product demands and varying interest rate on the total cost function of the proposed model has also been investigated. Sensitivity analysis on the proposed model has been performed. Dynamic programming and simulated annealing optimization algorithms were used in solving the modeled example problems.
基金Supported by the National Natural Science Foundation of China(No.61100143,No.61370128)the Program for New Century Excellent Talents in University of the Ministry of Education of China(NCET-13-0659)Beijing Higher Education Young Elite Teacher Project(YETP0583)
文摘A weighted time-based global hierarchical path planning method is proposed to obtain the global optimal path from the starting point to the destination with time optimal control. First, the grid-or graph-based modeling is performed and the environment is divided into a set of grids or nodes. Then two time-based features of time interval and time cost are presented. The time intervals for each grid are built, during each interval the condition of the grid remains stable, and a time cost of passing through the grid is defined and assigned to each interval. Furthermore, the weight is introduced for taking both time and distance into consideration, and thus a sequence of multiscale paths with total time cost can be achieved. Experimental results show that the proposed method can handle the complex dynamic environment, obtain the global time optimal path and has the potential to be applied to the autonomous robot navigation and traffic environment.
基金supported by the Shenzhen Science and Technology Program(JSGG20220606142803007)the Shenzhen Institute of Artificial Intelligence and Robotics for Society(AIRS).
文摘Moving humans,agents,and subjects bring many challenges to robot self‐localisation and environment perception.To adapt to dynamic environments,SLAM researchers typically apply several deep learning image segmentation models to eliminate these moving obstacles.However,these moving obstacle segmentation methods cost too much computation resource for the onboard processing of mobile robots.In the current industrial environment,mobile robot collaboration scenario,the noise of mobile robots could be easily found by on‐board audio‐sensing processors and the direction of sound sources can be effectively acquired by sound source estimation algorithms,but the distance estimation of sound sources is difficult.However,in the field of visual perception,the 3D structure information of the scene is relatively easy to obtain,but the recognition and segmentation of moving objects is more difficult.To address these problems,a novel vision‐audio fusion method that combines sound source localisation methods with a visual SLAM scheme is proposed,thereby eliminating the effect of dynamic obstacles on multi‐agent systems.Several heterogeneous robots experiments in different dynamic scenes indicate very stable self‐localisation and environment reconstruction performance of our method.
基金supported by the Natural Science Foundation of China under projects 40730530 and 41076115the National Basic Research Program of China under project 2009CB723903the National High-Tech Research and Development Program of China under project 2008AA121701
文摘In this article,the progress of marine geographic information system(MGIS) in China during 2006?2010 is reviewed with emphases on generic MGIS,advanced MGIS and MGIS-based applications.Generic MGIS can be divided into two categories:data-oriented MGIS and user-oriented MGIS,recent achievements of which by Chinese researchers are summarized respectively.Advanced MGIS mainly involves the establishment of 3D virtual marine environment and 'Digital Ocean'.An overview of the 3D MGIS based simulations in the context of ocean phenomena,ocean engineering and ocean battlefield is also presented.Several sug-gestions for future development of MGIS in China are proposed,and trends of development are addressed.
