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Application of the local approach to the fatigue assessment for welded joints
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作者 王东坡 张玉凤 +2 位作者 霍立兴 陈俊梅 王文先 《China Welding》 EI CAS 2003年第2期116-121,共6页
The fatigue behavior of welded structures is currently determined by means of recommendations defined in terms of S-N curve corresponding to the detail classes of welded joints without taking account of the actual geo... The fatigue behavior of welded structures is currently determined by means of recommendations defined in terms of S-N curve corresponding to the detail classes of welded joints without taking account of the actual geometry of the weld. A new fatigue strength assessment method based on Dang Van multiaxial fatigue limit criterion was introduced, which is named the local approach and presented by Institut de Soudure recently. The local approach has advantages in taking welding residual stresses and the geometry of the weld toe and weld root into consideration. The application of the local approach to the fatigue strength assessment of low carbon steel Q235B welded joints was studied. The fatigue tests and finite element analysis results show that the local approach parameters recommended by Institut de Soudure were incorrectly for low carbon steel Q235B welded joints. With aluminum alloy welded joints being used widely, the parameters of the local approach used for aluminum alloy welded joints were obtained and verified on bases of the fatigue tests and finite element analysis. 展开更多
关键词 fatigue strength local approach local stresses residual stresses
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Variational Approach for the Adapted Solution of Backw ard Stochastic Differential Equations with Locally Lipschitz Diffusion Coefficients 被引量:1
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作者 谢臻赟 刘奕 《Journal of Donghua University(English Edition)》 EI CAS 2012年第4期341-350,共10页
One existence integral condition was obtained for the adapted solution of the general backward stochastic differential equations(BSDEs). Then by solving the integral constraint condition, and using a limit procedure, ... One existence integral condition was obtained for the adapted solution of the general backward stochastic differential equations(BSDEs). Then by solving the integral constraint condition, and using a limit procedure, a new approach method is proposed and the existence of the solution was proved for the BSDEs if the diffusion coefficients satisfy the locally Lipschitz condition. In the special case the solution was a Brownian bridge. The uniqueness is also considered in the meaning of "F0-integrable equivalent class" . The new approach method would give us an efficient way to control the main object instead of the "noise". 展开更多
关键词 backward stochastic differential equation (BSDE) variational approach locally Lipschitz condition EXISTENCE Fointegrable equivalent class UNIQUENESS Brownian bridge
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Generalized Local Time of the Indefinite Wiener Integral: White Noise Approach 被引量:1
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作者 Jingjun GUO 《Journal of Mathematical Research with Applications》 CSCD 2012年第3期373-378,共6页
In this paper, the generalized local time of the indefinite Wiener integral Xt is discussed through white noise approach, which means to regard the local time as a Hida distribution. Moreover, similar result is also o... In this paper, the generalized local time of the indefinite Wiener integral Xt is discussed through white noise approach, which means to regard the local time as a Hida distribution. Moreover, similar result is also obtained in case of two independent Brownian motions by using the similar approach. 展开更多
关键词 local time Hida distribution white noise approach.
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Local Polynomial Regression Estimator of the Finite Population Total under Stratified Random Sampling: A Model-Based Approach
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作者 Charles K. Syengo Sarah Pyeye +1 位作者 George O. Orwa Romanus O. Odhiambo 《Open Journal of Statistics》 2016年第6期1085-1097,共13页
In this paper, auxiliary information is used to determine an estimator of finite population total using nonparametric regression under stratified random sampling. To achieve this, a model-based approach is adopted by ... In this paper, auxiliary information is used to determine an estimator of finite population total using nonparametric regression under stratified random sampling. To achieve this, a model-based approach is adopted by making use of the local polynomial regression estimation to predict the nonsampled values of the survey variable y. The performance of the proposed estimator is investigated against some design-based and model-based regression estimators. The simulation experiments show that the resulting estimator exhibits good properties. Generally, good confidence intervals are seen for the nonparametric regression estimators, and use of the proposed estimator leads to relatively smaller values of RE compared to other estimators. 展开更多
关键词 Sample Surveys Stratified Random Sampling Auxiliary Information local Polynomial Regression Model-Based approach Nonparametric Regression
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Improved Kernel PLS-based Fault Detection Approach for Nonlinear Chemical Processes 被引量:5
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作者 王丽 侍洪波 《Chinese Journal of Chemical Engineering》 SCIE EI CAS CSCD 2014年第6期657-663,共7页
In this paper, an improved nonlinear process fault detection method is proposed based on modified kernel partial least squares(KPLS). By integrating the statistical local approach(SLA) into the KPLS framework, two new... In this paper, an improved nonlinear process fault detection method is proposed based on modified kernel partial least squares(KPLS). By integrating the statistical local approach(SLA) into the KPLS framework, two new statistics are established to monitor changes in the underlying model. The new modeling strategy can avoid the Gaussian distribution assumption of KPLS. Besides, advantage of the proposed method is that the kernel latent variables can be obtained directly through the eigen value decomposition instead of the iterative calculation, which can improve the computing speed. The new method is applied to fault detection in the simulation benchmark of the Tennessee Eastman process. The simulation results show superiority on detection sensitivity and accuracy in comparison to KPLS monitoring. 展开更多
关键词 nonlinear process fault detection kernel partial least squares statistical local approach
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Glocalization与一名多译 被引量:2
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作者 陈历明 《外国语文》 北大核心 2012年第6期108-111,共4页
以文化关键词"glocalization"为个案,通过从词源上把握其复杂的内涵,根据术语翻译的一般原则,探讨既有译名的得失,分析特定情况下"一名多译"的可能性与必要性,并就长期未决的术语翻译问题,尝试提出一个综合解决方案。
关键词 GlocalIZATION 术语翻译 一名多译 综合方案
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Hip joint center localisation: A biomechanical application to hip arthroplasty population 被引量:3
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作者 Vicky Bouffard Mickael Begon +4 位作者 Annick Champagne Payam Farhadnia Pascal-André Vendittoli Martin Lavigne Franois Prince 《World Journal of Orthopedics》 2012年第8期131-136,共6页
AIM: To determine hip joint center(HJC) location on hip arthroplasty population comparing predictive and functional approaches with radiographic measurements.METHODS: The distance between the HJC and the mid-pelvis wa... AIM: To determine hip joint center(HJC) location on hip arthroplasty population comparing predictive and functional approaches with radiographic measurements.METHODS: The distance between the HJC and the mid-pelvis was calculated and compared between the three approaches. The localisation error between the predictive and functional approach was compared using the radiographic measurements as the reference. The operated leg was compared to the non-operated leg.RESULTS: A significant difference was found for the distance between the HJC and the mid-pelvis when comparing the predictive and functional method. The functional method leads to fewer errors. A statistical difference was found for the localization error between the predictive and functional method. The functional method is twice more precise.CONCLUSION: Although being more individualized, the functional method improves HJC localization and should be used in three-dimensional gait analysis. 展开更多
关键词 HIP ARTHROPLASTY HIP joint CENTER localization Predictive approach Functional approach RADIOGRAPHIC measurements
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A global-local finite element analysis of hybrid composite-to-metal bolted connections used in aerospace engineering 被引量:2
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作者 LIANG Ke 《Journal of Central South University》 SCIE EI CAS CSCD 2017年第6期1225-1232,共8页
Efficient bolted joint design is an essential part of designing the minimum weight aerospace structures, since structural failures usually occur at connections and interface. A comprehensive numerical study of three-d... Efficient bolted joint design is an essential part of designing the minimum weight aerospace structures, since structural failures usually occur at connections and interface. A comprehensive numerical study of three-dimensional(3D) stress variations is prohibitively expensive for a large-scale structure where hundreds of bolts can be present. In this work, the hybrid composite-to-metal bolted connections used in the upper stage of European Ariane 5ME rocket are analyzed using the global-local finite element(FE) approach which involves an approximate analysis of the whole structure followed by a detailed analysis of a significantly smaller region of interest. We calculate the Tsai-Wu failure index and the margin of safety using the stresses obtained from ABAQUS. We find that the composite part of a hybrid bolted connection is prone to failure compared to the metal part. We determine the bolt preload based on the clamp-up load calculated using a maximum preload to make the composite part safe. We conclude that the unsuitable bolt preload may cause the failure of the composite part due to the high stress concentration in the vicinity of the bolt. The global-local analysis provides an efficient computational tool for enhancing 3D stress analysis in the highly loaded region. 展开更多
关键词 BOLTED CONNECTION global-local finite element approach failure BOLT PRELOAD
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Exact solutions and localized excitations of a (3+1)-dimensional Gross-Pitaevskii system 被引量:1
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作者 费金喜 郑春龙 《Chinese Physics B》 SCIE EI CAS CSCD 2012年第7期113-119,共7页
Periodic wave solutions and solitary wave solutions to a generalized (3+1)-dimensional Gross Pitaevskii equation with time-modulated dispersion, nonlinearity, and potential are derived in terms of an improved homog... Periodic wave solutions and solitary wave solutions to a generalized (3+1)-dimensional Gross Pitaevskii equation with time-modulated dispersion, nonlinearity, and potential are derived in terms of an improved homogeneous balance principle and a mapping approach. These exact solutions exist under certain conditions via imposing suitable constraints on the functions describing dispersion, nonlinearity, and potential. The dynamics of the derived solutions can be manipulated by prescribing specific time-modulated dispersions, nonlinearities, and potentials. The results show that the periodic waves and solitary waves with novel behaviors are similar to the similaritons reported in other nonlinear systems. 展开更多
关键词 Gross-Pitaevskii systeln mapping approach exact solution localized excitation
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New periodic wave solutions, localized excitations and their interaction for (2+1)-dimensional Burgers equation 被引量:2
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作者 马红彩 葛东杰 于耀东 《Chinese Physics B》 SCIE EI CAS CSCD 2008年第12期4344-4353,共10页
Based on the B/icklund method and the multilinear variable separation approach (MLVSA), this paper finds a general solution including two arbitrary functions for the (2+1)-dimensional Burgers equations. Then a cl... Based on the B/icklund method and the multilinear variable separation approach (MLVSA), this paper finds a general solution including two arbitrary functions for the (2+1)-dimensional Burgers equations. Then a class of new doubly periodic wave solutions for (2+l)-dimensional Burgers equations is obtained by introducing appropriate Jacobi elliptic functions, Weierstrass elliptic functions and their combination in the general solutions (which contains two arbitrary functions). Two types of limit cases are considered. Firstly, taking one of the moduli to be unity and the other zero, it obtains particular wave (called semi-localized) patterns, which is periodic in one direction, but localized in the other direction. Secondly, if both moduli are tending to 1 as a limit, it derives some novel localized excitations (two-dromion solution). 展开更多
关键词 (2+1)-dimensional Burgers equation mutilinear variable separation approach periodicwave solutions localized excitation
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Finite symmetry transformation group and localized structures of the (2+1)-dimensional coupled Burgers equation
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作者 雷娅 杨铎 《Chinese Physics B》 SCIE EI CAS CSCD 2013年第4期46-49,共4页
In this paper, the finite symmetry transformation group of the (2+1)-dimensional coupled Burgers equation is studied by the modified direct method, and with the help of the truncated Painleve′ expansion approach, ... In this paper, the finite symmetry transformation group of the (2+1)-dimensional coupled Burgers equation is studied by the modified direct method, and with the help of the truncated Painleve′ expansion approach, some special localized structures for the (2+1)-dimensional coupled Burgers equation are obtained, in particular, the dromion-like and solitoff-like structures. 展开更多
关键词 finite transformation group modified direct method truncated Painleve′ expansion approach localized structure
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局部麻醉下经桡动脉入路应用导管“裸撑”技术治疗重度椎-基底动脉狭窄的单中心临床经验
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作者 张磊 但毕堂 徐士飞 《中国脑血管病杂志》 北大核心 2025年第8期537-545,共9页
目的探讨在局部麻醉下经桡动脉入路应用导管“裸撑”技术血管内治疗重度椎-基底动脉狭窄患者的安全性和有效性。方法回顾性连续纳入2021年6月至2023年3月在武汉大学中南医院神经内科住院并于局部麻醉下经桡动脉入路应用导管“裸撑”技术... 目的探讨在局部麻醉下经桡动脉入路应用导管“裸撑”技术血管内治疗重度椎-基底动脉狭窄患者的安全性和有效性。方法回顾性连续纳入2021年6月至2023年3月在武汉大学中南医院神经内科住院并于局部麻醉下经桡动脉入路应用导管“裸撑”技术(不使用导引导管及长鞘作为支撑,直接将远端通路导管超选入目标血管的技术)行重度椎-基底动脉狭窄血管内治疗的患者。收集患者的基线及临床资料,包括性别、年龄、高血压病、糖尿病、高脂血症、冠心病、心房颤动、卒中史、吸烟史、术前美国国立卫生研究院卒中量表(NIHSS)评分及术前改良Rankin量表评分。收集手术相关数据,包括狭窄部位(椎动脉V4段、基底动脉、椎动脉V4段+基底动脉)、狭窄率(70%~90%、>90%~99%)、靶病变血管直径、病变血管长度、椎-锁夹角、椎-锁距离、是否使用远端通路导管、麻醉方式(局部麻醉、局部麻醉转全身麻醉)、是否存在孤立椎动脉(对侧椎动脉闭塞)、远端通路导管是否经过塑形、远端通路导管到达椎动脉的位置(椎动脉V2、V3、V4段)、血管内治疗方式(单纯球囊扩张、球囊扩张+自膨支架、球囊扩张支架)、术中出现脑缺血症状、术中出现严重脑缺血症状及是否转换手术入路。统计所有患者临床结局及随访情况,包括手术成功[经桡动脉入路完成手术且血管内治疗后靶病变血管残余狭窄率<30%,且术后即刻改良脑梗死溶栓(mTICI)分级为3级]率、术后72 h内神经功能缺损症状、围手术期并发症(致残性卒中、非致残性卒中、穿刺点并发症)、术后6个月内支架内再狭窄[血管内置入支架或血管成形后,在成形的血管段或其邻近区域(支架两端5 mm范围内)再次出现管腔狭窄率≥50%]和卒中复发(首次缺血性卒中发病后再次发生新的脑血管事件)。根据远端通路导管的头端是否进行预塑形将所有患者分为塑形组和未塑形组。比较塑形组和未塑形组的基线及临床资料、椎-锁夹角和椎-锁距离。结果共纳入33例经桡动脉入路应用导管“裸撑”技术行血管内治疗的重度椎-基底动脉狭窄患者,男29例,女4例,年龄42~76岁,平均(62±9)岁。其中塑形组13例,未塑形组20例。(1)两组基线及临床资料的差异均无统计学意义(均P>0.05)。与未塑形组相比,塑形组患者椎-锁夹角更小[(62.80±21.57)°比(109.57±28.63)°,P<0.01]、椎-锁距离更长[(13.58±7.35)mm比(6.13±4.31)mm,P=0.002]。(2)采用局部麻醉完成手术者30例(90.9%),3例(9.1%)局部麻醉转全身麻醉者为术中出现严重的缺血不耐受的孤立椎动脉患者。经桡动脉入路行重度椎-基底动脉狭窄血管内治疗的手术成功率为93.9%(31/33),塑形组2例经桡动脉入路通路建立困难改为经股动脉入路后成功完成手术。术后72 h内出现神经功能缺损症状者5例(15.2%)。围手术期并发症发生率为9.1%(3/33),其中致残性卒中1例(3.0%),非致残性卒中2例(6.1%),未发生穿刺点并发症。术后6个月内发生支架内再狭窄2例(6.1%),无卒中复发。结论局部麻醉下经桡动脉入路应用导管“裸撑”技术治疗重度椎-基底动脉狭窄具有一定的安全性和可行性。本研究结果尚待大样本、前瞻性、随机对照研究进一步验证。 展开更多
关键词 麻醉 局部 经桡动脉 “裸撑”技术 椎-基底动脉狭窄
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Complex solutions and novel complex wave localized excitations for the(2+1)-dimensional Boiti-Leon-Pempinelli system
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作者 马松华 徐根海 朱海平 《Chinese Physics B》 SCIE EI CAS CSCD 2014年第5期191-194,共4页
With the help of the symbolic computation system Maple, the Riccati equation mapping approach and a linear variable separation approach, a new family of complex solutions for the (2+ 1)-dimensional Boiti-Leon-Pempi... With the help of the symbolic computation system Maple, the Riccati equation mapping approach and a linear variable separation approach, a new family of complex solutions for the (2+ 1)-dimensional Boiti-Leon-Pempinelli system (BLP) is derived. Based on the derived solitary wave solution, some novel complex wave localized excitations are obtained. 展开更多
关键词 Riccati mapping approach Boiti-Leon-Pempinelli system complex solutions localized excita-tions
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基于改进蚁群算法的机器人避障路径规划 被引量:11
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作者 金将 王小平 +2 位作者 臧铁钢 姜世阔 赵崟 《计算机工程与设计》 北大核心 2025年第4期950-958,共9页
针对蚁群算法在路径规划中盲目搜索、搜索速度慢和路径平滑性差等问题,提出一种改进的蚁群算法,以提高其搜索效果。基于A^(*)算法快速规划出初始路径,对蚁群初始信息素进行非均匀分配,提高算法收敛速度。在蚁群算法的状态转移概率公式... 针对蚁群算法在路径规划中盲目搜索、搜索速度慢和路径平滑性差等问题,提出一种改进的蚁群算法,以提高其搜索效果。基于A^(*)算法快速规划出初始路径,对蚁群初始信息素进行非均匀分配,提高算法收敛速度。在蚁群算法的状态转移概率公式中引入动态目标导向函数,同时在信息素更新策略中考虑路径转角数和路径匝数,通过优劣质蚂蚁的分层信息素更新来优化路径长度和平滑性。结合动态窗口法使机器人具备良好的局部动态避障功能,通过仿真实验验证了改进蚁群算法在规划和避障方面的良好性能。 展开更多
关键词 机器人 路径规划 蚁群算法 信息素 栅格法 动态窗口法 局部避障
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地方高校赋能中小学课后服务的创新路径——基于江西特色课程模式的构建
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作者 刘洋 《九江学院学报(社会科学版)》 2025年第2期68-74,共7页
文章探讨了地方高校通过协同机制赋能中小学课后服务的创新路径,并以江西省为例,提出了基于江西特色课程模式的创新路径。研究构建了“目标-内容-机制-评价”四维模式,通过政策协同、资源整合和文化嵌入等机制,破解中小学课后服务存在... 文章探讨了地方高校通过协同机制赋能中小学课后服务的创新路径,并以江西省为例,提出了基于江西特色课程模式的创新路径。研究构建了“目标-内容-机制-评价”四维模式,通过政策协同、资源整合和文化嵌入等机制,破解中小学课后服务存在的课程定位模糊、内容脱域化、协同低效、评价偏差等问题。研究采用混合研究方法,结合问卷调查和深度访谈,验证了该模式的可行性和有效性。结果表明,地方高校通过协同机制显著提升了中小学课后服务质量,推动教育公平与质量提升。这一“江西范式”为中部同类资源型地区的教育协同发展提供了新思路和实践方案。 展开更多
关键词 课后服务 地方高校 课程化 江西特色课程 创新路径
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以《太原市体育发展条例》审视我国地方性体育法规立法进路 被引量:1
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作者 郭文娇 石岩 《体育科学》 北大核心 2025年第6期75-84,共10页
地方性体育法规是完善中国特色体育法治体系的重要一环,是在中央立法基础上,根据本地区实际情况和需要制定的具体实施细则或补充规定,以确保中央立法在本地区有效实施。立法特色是地方性体育法规的核心所在。以《太原市体育发展条例》... 地方性体育法规是完善中国特色体育法治体系的重要一环,是在中央立法基础上,根据本地区实际情况和需要制定的具体实施细则或补充规定,以确保中央立法在本地区有效实施。立法特色是地方性体育法规的核心所在。以《太原市体育发展条例》的立法实践为例,剖析地方性体育法规立法特色的内在逻辑、问题检视与立法进路。研究认为,遵守国家立法精神内在要求的法理逻辑、回应地方体育事业改革需求的实践逻辑和发挥地方立法功能价值意蕴的价值逻辑共同形塑了立法特色的内在逻辑,但地方性体育法规也面临着立法与改革不同步、系统性失衡、差异性不足和应用性不强等问题。未来,应在明确立法目的与功能定位的基础上,采用“小切口”立法模式构建独特的立法结构,规范立法表达,并通过以问题为导向聚焦主要矛盾、建立综合多元立法工作格局、完善地方体育工作制度供给、开展立法后评估工作等措施,确保地方性体育法规的立法特色与法治实效。 展开更多
关键词 地方性体育法规 立法特色 立法进路 “小切口”立法
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基于自适应动态窗口算法的AGV局部路径规划 被引量:2
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作者 闫林伟 范小宁 《南京信息工程大学学报》 北大核心 2025年第5期740-748,共9页
自动导引运输车(AGV)在行驶过程中不仅需要躲避静态障碍物,还需要躲避移动障碍物,而常用的动态窗口局部路径规划算法在此类情况下的避障成功率和避障效率均难以满足实际需要,为此,本文结合层次分析法提出一种新的自适应动态窗口局部路... 自动导引运输车(AGV)在行驶过程中不仅需要躲避静态障碍物,还需要躲避移动障碍物,而常用的动态窗口局部路径规划算法在此类情况下的避障成功率和避障效率均难以满足实际需要,为此,本文结合层次分析法提出一种新的自适应动态窗口局部路径规划算法.首先,使用层次分析法(AHP)计算动态窗口算法(DWA)中权重因子的值;然后,提出一种碰撞安全指标来评价当前运行状态的安全性,并结合相关参数的安全隶属度函数建立权重因子与环境因素的自反馈机制;最后,基于所创建的自适应动态窗口算法规划出避障路线.仿真结果表明,本文提出的自适应动态窗口算法能够自适应调整评价函数权重因子,有效躲避静态障碍物和移动障碍物,并在安全性、行驶时间和路径长度方面,都得到了显著优化. 展开更多
关键词 自动导引运输车(AGV) 局部路径规划 动态窗口算法 层次分析法 碰撞安全指标 自适应
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《英语教学中的教师幸福感:生态学视角》评介
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作者 王瑞英 欧阳护华 黄辉 《外语教育研究前沿》 北大核心 2025年第4期115-121,共7页
本文评介由Luis Javier Pentón Herrera、Gilda Martínez-Alba和Ethan Trinh所编,于2023年在劳特利奇出版社出版的《英语教学中的教师幸福感:生态学视角》。该书基于Bronfenbrenner的生态系统理论,系统探讨了英语教学中教师... 本文评介由Luis Javier Pentón Herrera、Gilda Martínez-Alba和Ethan Trinh所编,于2023年在劳特利奇出版社出版的《英语教学中的教师幸福感:生态学视角》。该书基于Bronfenbrenner的生态系统理论,系统探讨了英语教学中教师幸福感的影响因素及其提升策略。该书从微观、中观和宏观三个层面分析了教师幸福感的多维性,并提出了将教师幸福感融入学校生态系统的具体行动方案。此外,该书结合本土实践与全球视野,展望了未来研究方向,为构建健康、可持续的教育生态系统提供了重要参考。 展开更多
关键词 教师幸福感 生态学视角 英语教学 本土实践 全球视野
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在初中生物学教学中融入自然教育的实践
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作者 牛佳 《生物学教学》 北大核心 2025年第5期80-81,共2页
自然教育是初中生物学教学中培养学生生态意识与科学素养的重要途径。本文基于本市的生态资源,通过多项实践活动,探索了自然教育的实践路径。该活动可帮助学生在真实情境中体验自然的奥秘,增强环保意识,培养人与自然和谐共生的价值观。
关键词 自然教育 因地制宜 生态意识 初中生物学
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香蕉园喷雾机器人双目避障系统设计
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作者 王紫虹 黄沛琛 +1 位作者 刘杰 吴潇 《广西科技大学学报》 2025年第6期98-108,共11页
针对传统果园喷雾作业依赖人工作业导致效率低、风险高等问题,本研究提出一种基于双目视觉的喷雾机器人自主避障系统,旨在解决复杂果园环境下障碍物识别鲁棒性不足、定位成本高及路径规划实时性差等难题。首先,采用双目相机采集环境信息... 针对传统果园喷雾作业依赖人工作业导致效率低、风险高等问题,本研究提出一种基于双目视觉的喷雾机器人自主避障系统,旨在解决复杂果园环境下障碍物识别鲁棒性不足、定位成本高及路径规划实时性差等难题。首先,采用双目相机采集环境信息,结合YOLOv5s模型实现障碍物检测,通过深度图坐标转换完成三维定位。其次,通过数据增强与融合实地采集的香蕉园图像及开源数据集,优化模型对复杂场景的适应性;同时,引入动态窗口法实现局部路径规划,结合边缘计算平台高效算力实现低延迟避障决策。最后,通过仿真与田间实验验证系统性能。实验结果表明,模型在香蕉园场景下识别准确率为64.53%,单帧处理耗时80.0 ms;双目定位平均相对误差为1.64%,避障测试成功率为92%,行驶速度0.5 m/s时最小避障距离为0.3 m。仿真与田间实验验证了系统在坑洼地表、密集果树等复杂环境中的鲁棒性,通过硬件-算法协同优化,解决了香蕉园半结构化场景下的实时避障难题,为农业机器人智能化作业提供了可推广的技术方案。 展开更多
关键词 香蕉园 喷雾机器人 障碍物检测与定位 动态窗口法 避障控制
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