Renewable energy (RE) has been attached high attention around the world due to its carbon-free and indigenous production in a sustainable way. China enjoys plenty of renewable energy resources, particularly the wind, ...Renewable energy (RE) has been attached high attention around the world due to its carbon-free and indigenous production in a sustainable way. China enjoys plenty of renewable energy resources, particularly the wind, solar, hydro- and biomass energy, which could be a sound basis for a large-scale exploitation. This report examines the current status of RE technology and industry, analyzes the challenges of promoting RE in China. In order to pave the way for a long-term development of RE, this paper outlines the basic principles and priorities for individual RE technology. In line with these, the paper puts forward the RE targets and further describes the RE road map by 2020, 2030 and extend to 2050, taking consideration of China’s RE resources, industrial basis and energy demand etc. At last, this paper provides some recommendations to ensure the achievements of the RE targets.展开更多
China has made some remarkable achievements in sustainable development,but the constant deterioration of the overall trend of the environment has not yet been effectively curbed.To achieve the goal of sustainable deve...China has made some remarkable achievements in sustainable development,but the constant deterioration of the overall trend of the environment has not yet been effectively curbed.To achieve the goal of sustainable development,we must first ensure coordination and coherence of national development goals in different areas and adhere to green development road.To achieve the objectives related to green development,and to clarify the direction of green development in the next 20years,a road map is needed to guide and coordinate the process.This paper describes the concept of the green development road map,introduces a green development road map for the western region,and further elaborates it The road map clarifies the objectives and guiding principles of green development in the western region,points the areas that deserve more concern and institutional innovation,and builds a green development monitoring and evaluation(M&E)framework.Finally,the paper provides corresponding policy recommendations based on the established road map.展开更多
This article describes a biologically inspired node generator for the path planning of serially connected hyper-redundant manipulators using probabilistic roadmap planners. The generator searches the configuration spa...This article describes a biologically inspired node generator for the path planning of serially connected hyper-redundant manipulators using probabilistic roadmap planners. The generator searches the configuration space surrounding existing nodes in the roadmap and uses a combination of random and deterministic search methods that emulate the behaviour of octopus limbs. The strategy consists of randomly mutating the states of the links near the end-effector, and mutating the states of the links near the base of the robot toward the states of the goal configuration. When combined with the small tree probabilistic roadmap planner, the method was successfully used to solve the narrow passage motion planning problem of a 17 degree-of-freedom manipulator.展开更多
In the age of real-time online traffic information and GPS-enabled devices,fastest-path computations between two points in a road network modeled as a directed graph,where each directed edge is weighted by a“travel t...In the age of real-time online traffic information and GPS-enabled devices,fastest-path computations between two points in a road network modeled as a directed graph,where each directed edge is weighted by a“travel time”value,are becoming a standard feature of many navigation-related applications.To support this,very efficient computation of these paths in very large road networks is critical.Fastest paths may be computed as minimal-cost paths in a weighted directed graph,but traditional minimal-cost path algorithms based on variants of the classical Dijkstra algorithm do not scale well,as in the worst case they may traverse the entire graph.A common improvement,which can dramatically reduce the number of graph vertices traversed,is the A*algorithm,which requires a good heuristic lower bound on the minimal cost.We introduce a simple,but very effective,heuristic function based on a small number of values assigned to each graph vertex.The values are based on graph separators and are computed efficiently in a preprocessing stage.We present experimental results demonstrating that our heuristic provides estimates of the minimal cost superior to those of other heuristics.Our experiments show that when used in the A*algorithm,this heuristic can reduce the number of vertices traversed by an order of magnitude compared to other heuristics.展开更多
In its new roadmap for neglected tropical diseases,the World Health Organization proposes three important strategic shifts:(i)Stronger accountability which shifting from process to impact indicators;(ii)Intensified cr...In its new roadmap for neglected tropical diseases,the World Health Organization proposes three important strategic shifts:(i)Stronger accountability which shifting from process to impact indicators;(ii)Intensified cross-cutting approaches;and(iii)Stronger country ownership.In this paper we discuss the implementation of these three strategies in the setting of a high onchocerciasis disease burden in South Sudan.展开更多
The essential requirement for precise localization of a self-driving car is a lane-level map which includes road markings(RMs).Obviously,we can build the lane-level map by running a mobile mapping system(MMS)which is ...The essential requirement for precise localization of a self-driving car is a lane-level map which includes road markings(RMs).Obviously,we can build the lane-level map by running a mobile mapping system(MMS)which is equipped with a high-end 3D LiDAR and a number of high-cost sensors.This approach,however,is highly expensive and ineffective since a single high-end MMS must visit every place for mapping.In this paper,a lane-level RM mapping system using a monocular camera is developed.The developed system can be considered as an alternative to expensive high-end MMS.The developed RM map includes the information of road lanes(RLs)and symbolic road markings(SRMs).First,to build a lane-level RM map,the RMs are segmented at pixel level through the deep learning network.The network is named RMNet.The segmented RMs are then gathered to build a lane-level RM map.Second,the lane-level map is improved through loop-closure detection and graph optimization.To train the RMNet and build a lane-level RM map,a new dataset named SeRM set is developed.The set is a large dataset for lane-level RM mapping and it includes a total of 25157 pixel-wise annotated images and 21000 position labeled images.Finally,the proposed lane-level map building method is applied to SeRM set and its validity is demonstrated through experimentation.展开更多
A method for road boundary detection and tracking using laser ladar with respect to a vehicle＇ s local coordinates is proposed. It can be applied to different types of road conditions, such as roads with or without c...A method for road boundary detection and tracking using laser ladar with respect to a vehicle＇ s local coordinates is proposed. It can be applied to different types of road conditions, such as roads with or without curbs, having relatively rough road surface and with obstacles on road surface. In the method, some line segments are extracted after a series of preprocessing on range data. The extracted line segments are combined and further selected. They are then united to match the road models and generate the road boundary points which are tracked by Kalman filter. Then the obtained road boundary points are transformed to build a precise vector map by least squares fitting algorithm. These fitted line segments represent road boundary vectors. The vector map is precise enough to provide ample road information such as the orientation of road, the road width and the passable road region. Finally, extensive experiments conducted in urban and semi-urban environment demonstrate the robustness, effectiveness and viability of the proposed method.展开更多
Sfax is one of the Tunisian governorates with a large number of road accidents, injuries and fatalities every year. This study aimed to analyze and map traffic accidents in this governorate. We analyzed the spatial di...Sfax is one of the Tunisian governorates with a large number of road accidents, injuries and fatalities every year. This study aimed to analyze and map traffic accidents in this governorate. We analyzed the spatial distribution of accidents, their distribution by cause, by type of road, by size of traffic, by months of the year and days of the week. Accidents were correlated with several variables such as population numbers and densities, motorization rate, length and structure of the road network, and the amount of traffic. On the cartographic level, we have built a database, through which we have produced a series of thematic maps to argue this analysis. Through cartographic production, we also aimed to help road users, decision-makers and researchers in <span>this area and in the field of transport. This work showed that Sfax occupies, among the other Tunisian governorates, an advanced position in gravity. Various human, climatic and technical factors explained this situation, of which human factors were the most important, and contributed </span></span><span style="font-family:"">to</span><span style="font-family:""> almost</span><span style="font-family:""> 90% of accidents. The current situation of accidents in Sfax requires a series of measures and actions to alleviate and mitigate the gravity of this phenomenon.展开更多
【目的】随志愿者地理信息系统的快速发展,高现势性众源路网已成为智慧城市建设的重要数据来源,其选取的效率与效果成为影响多尺度数据服务的关键因素。已有的路网选取方法大多基于数据属性信息判断道路重要性,十分合理且有效,但是,实...【目的】随志愿者地理信息系统的快速发展,高现势性众源路网已成为智慧城市建设的重要数据来源,其选取的效率与效果成为影响多尺度数据服务的关键因素。已有的路网选取方法大多基于数据属性信息判断道路重要性,十分合理且有效,但是,实际数据往往存在属性缺失问题,一定程度上限制了方法的适用性。【方法】针对此问题,本文提出一种属性信息缺失条件下的众源路网空间句法自动建模与选取方法。首先,基于开放街道地图(Open Street Map)中心线数据,开发程序自动执行几何化简、拓扑修正与伪节点处理,批量生成整个城市的空间句法线段模型,并基于模型计算整合度、选择度等空间句法指标;随后构建Stroke,并提取几何特征;进一步,创新性地提出2项复合指标:基于路径单元的标准化角度整合度(SNAIN)与基于路径单元的标准化角度选择度(SNACH),以联合刻画道路的拓扑可达性与几何连续性。在此基础上,应用结合熵权法与层次分析法(EW-AHP)的主客观集成赋权方法,确定综合指标的权重,实现道路的重要性排序。最后,通过断头路识别与网格密度修补,进一步提高路网的连通性和完整性。【结果】以兰州(带状道路网)和成都(环形放射状道路网)为案例验证,结果表明:在道路属性信息缺失的条件下,本文方法能够有效识别城市主干路网,其与OSM道路等级匹配准确率分别达到兰州0.9421、成都0.9711;修补后兰州市路网连通率由1.0582提升至1.0864,成都市路网连通率由1.1086提升至1.1198(成都在所选尺度内的断头路完全消除)。消融实验表明,SNAIN更有利于提升全局连通性,SNACH有助于增强几何连续性,二者并用能在连通性与空间覆盖间取得平衡。【结论】本文方法为属性信息不完整情形下的大规模城市路网快速建模与选取提供了新的理论支持和技术路径。展开更多
文摘Renewable energy (RE) has been attached high attention around the world due to its carbon-free and indigenous production in a sustainable way. China enjoys plenty of renewable energy resources, particularly the wind, solar, hydro- and biomass energy, which could be a sound basis for a large-scale exploitation. This report examines the current status of RE technology and industry, analyzes the challenges of promoting RE in China. In order to pave the way for a long-term development of RE, this paper outlines the basic principles and priorities for individual RE technology. In line with these, the paper puts forward the RE targets and further describes the RE road map by 2020, 2030 and extend to 2050, taking consideration of China’s RE resources, industrial basis and energy demand etc. At last, this paper provides some recommendations to ensure the achievements of the RE targets.
基金financially supported by the "Strategy and Policies on Environment and Development in Western China" project of "China Council for International Cooperation onEnvironment and Development(CCICED)."
文摘China has made some remarkable achievements in sustainable development,but the constant deterioration of the overall trend of the environment has not yet been effectively curbed.To achieve the goal of sustainable development,we must first ensure coordination and coherence of national development goals in different areas and adhere to green development road.To achieve the objectives related to green development,and to clarify the direction of green development in the next 20years,a road map is needed to guide and coordinate the process.This paper describes the concept of the green development road map,introduces a green development road map for the western region,and further elaborates it The road map clarifies the objectives and guiding principles of green development in the western region,points the areas that deserve more concern and institutional innovation,and builds a green development monitoring and evaluation(M&E)framework.Finally,the paper provides corresponding policy recommendations based on the established road map.
文摘This article describes a biologically inspired node generator for the path planning of serially connected hyper-redundant manipulators using probabilistic roadmap planners. The generator searches the configuration space surrounding existing nodes in the roadmap and uses a combination of random and deterministic search methods that emulate the behaviour of octopus limbs. The strategy consists of randomly mutating the states of the links near the end-effector, and mutating the states of the links near the base of the robot toward the states of the goal configuration. When combined with the small tree probabilistic roadmap planner, the method was successfully used to solve the narrow passage motion planning problem of a 17 degree-of-freedom manipulator.
基金supported by the Anhui Provincial Natural Science Foundation(2008085MF195)the National Natural Science Foundation of China(62072422)Zhejiang Lab(2019NB0AB03).
文摘In the age of real-time online traffic information and GPS-enabled devices,fastest-path computations between two points in a road network modeled as a directed graph,where each directed edge is weighted by a“travel time”value,are becoming a standard feature of many navigation-related applications.To support this,very efficient computation of these paths in very large road networks is critical.Fastest paths may be computed as minimal-cost paths in a weighted directed graph,but traditional minimal-cost path algorithms based on variants of the classical Dijkstra algorithm do not scale well,as in the worst case they may traverse the entire graph.A common improvement,which can dramatically reduce the number of graph vertices traversed,is the A*algorithm,which requires a good heuristic lower bound on the minimal cost.We introduce a simple,but very effective,heuristic function based on a small number of values assigned to each graph vertex.The values are based on graph separators and are computed efficiently in a preprocessing stage.We present experimental results demonstrating that our heuristic provides estimates of the minimal cost superior to those of other heuristics.Our experiments show that when used in the A*algorithm,this heuristic can reduce the number of vertices traversed by an order of magnitude compared to other heuristics.
基金R Colebunders received a grant from the European Research Council(ERC 671055).
文摘In its new roadmap for neglected tropical diseases,the World Health Organization proposes three important strategic shifts:(i)Stronger accountability which shifting from process to impact indicators;(ii)Intensified cross-cutting approaches;and(iii)Stronger country ownership.In this paper we discuss the implementation of these three strategies in the setting of a high onchocerciasis disease burden in South Sudan.
基金This work was supported by the Industry Core Technology Development Project,20005062Development of Artificial Intelligence Robot Autonomous Navigation Technology for Agile Movement in Crowded Space,funded by the Ministry of Trade,industry&Energy(MOTIE,Republic of Korea).
文摘The essential requirement for precise localization of a self-driving car is a lane-level map which includes road markings(RMs).Obviously,we can build the lane-level map by running a mobile mapping system(MMS)which is equipped with a high-end 3D LiDAR and a number of high-cost sensors.This approach,however,is highly expensive and ineffective since a single high-end MMS must visit every place for mapping.In this paper,a lane-level RM mapping system using a monocular camera is developed.The developed system can be considered as an alternative to expensive high-end MMS.The developed RM map includes the information of road lanes(RLs)and symbolic road markings(SRMs).First,to build a lane-level RM map,the RMs are segmented at pixel level through the deep learning network.The network is named RMNet.The segmented RMs are then gathered to build a lane-level RM map.Second,the lane-level map is improved through loop-closure detection and graph optimization.To train the RMNet and build a lane-level RM map,a new dataset named SeRM set is developed.The set is a large dataset for lane-level RM mapping and it includes a total of 25157 pixel-wise annotated images and 21000 position labeled images.Finally,the proposed lane-level map building method is applied to SeRM set and its validity is demonstrated through experimentation.
基金Supported by the National Natural Science Foundation of China (61174178)
文摘A method for road boundary detection and tracking using laser ladar with respect to a vehicle＇ s local coordinates is proposed. It can be applied to different types of road conditions, such as roads with or without curbs, having relatively rough road surface and with obstacles on road surface. In the method, some line segments are extracted after a series of preprocessing on range data. The extracted line segments are combined and further selected. They are then united to match the road models and generate the road boundary points which are tracked by Kalman filter. Then the obtained road boundary points are transformed to build a precise vector map by least squares fitting algorithm. These fitted line segments represent road boundary vectors. The vector map is precise enough to provide ample road information such as the orientation of road, the road width and the passable road region. Finally, extensive experiments conducted in urban and semi-urban environment demonstrate the robustness, effectiveness and viability of the proposed method.
文摘Sfax is one of the Tunisian governorates with a large number of road accidents, injuries and fatalities every year. This study aimed to analyze and map traffic accidents in this governorate. We analyzed the spatial distribution of accidents, their distribution by cause, by type of road, by size of traffic, by months of the year and days of the week. Accidents were correlated with several variables such as population numbers and densities, motorization rate, length and structure of the road network, and the amount of traffic. On the cartographic level, we have built a database, through which we have produced a series of thematic maps to argue this analysis. Through cartographic production, we also aimed to help road users, decision-makers and researchers in <span>this area and in the field of transport. This work showed that Sfax occupies, among the other Tunisian governorates, an advanced position in gravity. Various human, climatic and technical factors explained this situation, of which human factors were the most important, and contributed </span></span><span style="font-family:"">to</span><span style="font-family:""> almost</span><span style="font-family:""> 90% of accidents. The current situation of accidents in Sfax requires a series of measures and actions to alleviate and mitigate the gravity of this phenomenon.
文摘【目的】随志愿者地理信息系统的快速发展,高现势性众源路网已成为智慧城市建设的重要数据来源,其选取的效率与效果成为影响多尺度数据服务的关键因素。已有的路网选取方法大多基于数据属性信息判断道路重要性,十分合理且有效,但是,实际数据往往存在属性缺失问题,一定程度上限制了方法的适用性。【方法】针对此问题,本文提出一种属性信息缺失条件下的众源路网空间句法自动建模与选取方法。首先,基于开放街道地图(Open Street Map)中心线数据,开发程序自动执行几何化简、拓扑修正与伪节点处理,批量生成整个城市的空间句法线段模型,并基于模型计算整合度、选择度等空间句法指标;随后构建Stroke,并提取几何特征;进一步,创新性地提出2项复合指标:基于路径单元的标准化角度整合度(SNAIN)与基于路径单元的标准化角度选择度(SNACH),以联合刻画道路的拓扑可达性与几何连续性。在此基础上,应用结合熵权法与层次分析法(EW-AHP)的主客观集成赋权方法,确定综合指标的权重,实现道路的重要性排序。最后,通过断头路识别与网格密度修补,进一步提高路网的连通性和完整性。【结果】以兰州(带状道路网)和成都(环形放射状道路网)为案例验证,结果表明:在道路属性信息缺失的条件下,本文方法能够有效识别城市主干路网,其与OSM道路等级匹配准确率分别达到兰州0.9421、成都0.9711;修补后兰州市路网连通率由1.0582提升至1.0864,成都市路网连通率由1.1086提升至1.1198(成都在所选尺度内的断头路完全消除)。消融实验表明,SNAIN更有利于提升全局连通性,SNACH有助于增强几何连续性,二者并用能在连通性与空间覆盖间取得平衡。【结论】本文方法为属性信息不完整情形下的大规模城市路网快速建模与选取提供了新的理论支持和技术路径。
