Background:Based on the principle of“joint consultation,co-building,and sharing”,with the aim of creating an energetic new model of economic growth,the Belt and Road Initiative achieves connectivity and mutual benef...Background:Based on the principle of“joint consultation,co-building,and sharing”,with the aim of creating an energetic new model of economic growth,the Belt and Road Initiative achieves connectivity and mutual benefit.However,the degree of coordinated development of innovation subjects directly affects the improvement and optimization of the Belt and Road Initiative’s strategy implementation environment,and technology efficiency needs improvement.Methods:In this study,a data envelopment analysis model based on the environmental noise elimination algorithm(traditional Chinese medicine-Belt and Road Initiative)was used to identify the technical efficiency of the traditional Chinese medicine industry of Belt and Road Initiative by eliminating the impact of environmental factors.Results:Pure technical ineffectiveness,regional impact,and environmental factors represented by policy responses have a non-linear impact on technical efficiency.The overall technical efficiency of the traditional Chinese medicine industry in the countries along the route shows a trend of annual increases,technical efficiency and scale efficiency are relatively high,and operational efficiency is influenced by the degree of response of the countries along the route and its supporting policies.Conclusion:Pure technical inefficiency is the main factor affecting total technical loss.Geographical advantage is the key factor in operational efficiency.External environmental factors have a significant influence on the operational efficiency of the traditional Chinese medicine industry.展开更多
With the continuous development of drone technology,rapid exploration strategies are of significant importance for tasks such as search and rescue and surveying.Current autonomous exploration systems often face issues...With the continuous development of drone technology,rapid exploration strategies are of significant importance for tasks such as search and rescue and surveying.Current autonomous exploration systems often face issues of partial small-area information omission in cluttered environments,leading to repeated visits by drones.This paper proposes an improved multi-drone autonomous exploration system,which introduces a novel mode-switching mechanism based on a rapid autonomous exploration framework.This mechanism dynamically adjusts the exploration mode of the drones using the density information of surrounding obstacles.By doing so,drones can avoid missing small pieces of information that result in repeated visits in complex environments,while maintaining high exploration efficiency in simpler environments.This flexible exploration planning approach effectively addresses varying levels of environmental complexity.Evaluations conducted in three different environments of varying complexity demonstrate that the proposed method achieves higher exploration efficiency and reconstruction quality.展开更多
In modern industrial production,foreign object detection in complex environments is crucial to ensure product quality and production safety.Detection systems based on deep-learning image processing algorithms often fa...In modern industrial production,foreign object detection in complex environments is crucial to ensure product quality and production safety.Detection systems based on deep-learning image processing algorithms often face challenges with handling high-resolution images and achieving accurate detection against complex backgrounds.To address these issues,this study employs the PatchCore unsupervised anomaly detection algorithm combined with data augmentation techniques to enhance the system’s generalization capability across varying lighting conditions,viewing angles,and object scales.The proposed method is evaluated in a complex industrial detection scenario involving the bogie of an electric multiple unit(EMU).A dataset consisting of complex backgrounds,diverse lighting conditions,and multiple viewing angles is constructed to validate the performance of the detection system in real industrial environments.Experimental results show that the proposed model achieves an average area under the receiver operating characteristic curve(AUROC)of 0.92 and an average F1 score of 0.85.Combined with data augmentation,the proposed model exhibits improvements in AUROC by 0.06 and F1 score by 0.03,demonstrating enhanced accuracy and robustness for foreign object detection in complex industrial settings.In addition,the effects of key factors on detection performance are systematically analyzed,providing practical guidance for parameter selection in real industrial applications.展开更多
The continuous decrease in global fishery resources has increased the importance of precise and efficient underwater fish monitoring technology.First,this study proposes an improved underwater target detection framewo...The continuous decrease in global fishery resources has increased the importance of precise and efficient underwater fish monitoring technology.First,this study proposes an improved underwater target detection framework based on YOLOv8,with the aim of enhancing detection accuracy and the ability to recognize multi-scale targets in blurry and complex underwater environments.A streamlined Vision Transformer(ViT)model is used as the feature extraction backbone,which retains global self-attention feature extraction and accelerates training efficiency.In addition,a detection head named Dynamic Head(DyHead)is introduced,which enhances the efficiency of processing various target sizes through multi-scale feature fusion and adaptive attention modules.Furthermore,a dynamic loss function adjustment method called SlideLoss is employed.This method utilizes sliding window technology to adaptively adjust parameters,which optimizes the detection of challenging targets.The experimental results on the RUOD dataset show that the proposed improved model not only significantly enhances the accuracy of target detection but also increases the efficiency of target detection.展开更多
Geological prospecting and the identification of adverse geological features are essential in tunnel construction,providing critical information to ensure safety and guide engineering decisions.As tunnel projects exte...Geological prospecting and the identification of adverse geological features are essential in tunnel construction,providing critical information to ensure safety and guide engineering decisions.As tunnel projects extend into deeper and more mountainous terrains,engineers face increasingly complex geological conditions,including high water pressure,intense geo-stress,elevated geothermal gradients,and active fault zones.These conditions pose substantial risks such as high-pressure water inrush,largescale collapses,and tunnel boring machine(TBM)blockages.Addressing these challenges requires advanced detection technologies capable of long-distance,high-precision,and intelligent assessments of adverse geology.This paper presents a comprehensive review of recent advancements in tunnel geological ahead prospecting methods.It summarizes the fundamental principles,technical maturity,key challenges,development trends,and real-world applications of various detection techniques.Airborne and semi-airborne geophysical methods enable large-scale reconnaissance for initial surveys in complex terrain.Tunnel-and borehole-based approaches offer high-resolution detection during excavation,including seismic ahead prospecting(SAP),TBM rock-breaking source seismic methods,fulltime-domain tunnel induced polarization(TIP),borehole electrical resistivity,and ground penetrating radar(GPR).To address scenarios involving multiple,coexisting adverse geologies,intelligent inversion and geological identification methods have been developed based on multi-source data fusion and artificial intelligence(AI)techniques.Overall,these advances significantly improve detection range,resolution,and geological characterization capabilities.The methods demonstrate strong adaptability to complex environments and provide reliable subsurface information,supporting safer and more efficient tunnel construction.展开更多
With China and Africa having worked hand in hand for mutual benefits for a long time,China-Africa economic and trade cooperation has developed steadily,achieving significant progress in many fields.However,at the same...With China and Africa having worked hand in hand for mutual benefits for a long time,China-Africa economic and trade cooperation has developed steadily,achieving significant progress in many fields.However,at the same time,the environment in which China-Africa economic and trade cooperation operates is becoming increasingly complex.Risks and challenges from different levels are worth noticing.展开更多
In response to the problems of low sampling efficiency,strong randomness of sampling points,and the tortuous shape of the planned path in the traditional rapidly-exploring random tree(RRT)algorithm and bidirectional R...In response to the problems of low sampling efficiency,strong randomness of sampling points,and the tortuous shape of the planned path in the traditional rapidly-exploring random tree(RRT)algorithm and bidirectional RRT algorithm used for unmanned aerial vehicle(UAV)path planning in complex environments,an improved bidirectional RRT algorithm was proposed.The algorithm firstly adopted a goal-oriented strategy to guide the sampling points towards the target point,and then the artificial potential field acted on the random tree nodes to avoid collision with obstacles and reduced the length of the search path,and the random tree node growth also combined the UAV’s own flight constraints,and by combining the triangulation method to remove the redundant node strategy and the third-order B-spline curve for the smoothing of the trajectory,the planned path was better.The planned paths were more optimized.Finally,the simulation experiments in complex and dynamic environments showed that the algorithm effectively improved the speed of trajectory planning and shortened the length of the trajectory,and could generate a safe,smooth and fast trajectory in complex environments,which could be applied to online trajectory planning.展开更多
Underwater imaging is frequently influenced by factors such as illumination,scattering,and refraction,which can result in low image contrast and blurriness.Moreover,the presence of numerous small,overlapping targets r...Underwater imaging is frequently influenced by factors such as illumination,scattering,and refraction,which can result in low image contrast and blurriness.Moreover,the presence of numerous small,overlapping targets reduces detection accuracy.To address these challenges,first,green channel images are preprocessed to rectify color bias while improving contrast and clarity.Se-cond,the YOLO-DBS network that employs deformable convolution is proposed to enhance feature learning from underwater blurry images.The ECA attention mechanism is also introduced to strengthen feature focus.Moreover,a bidirectional feature pyramid net-work is utilized for efficient multilayer feature fusion while removing nodes that contribute minimally to detection performance.In addition,the SIoU loss function that considers factors such as angular error and distance deviation is incorporated into the network.Validation on the RUOD dataset demonstrates that YOLO-DBS achieves approximately 3.1%improvement in mAP@0.5 compared with YOLOv8n and surpasses YOLOv9-tiny by 1.3%.YOLO-DBS reduces parameter count by 32%relative to YOLOv8n,thereby demonstrating superior performance in real-time detection on underwater observation platforms.展开更多
Mid-Year Marine Economy Report Developing the marine economy and building China into a maritime powerhouse are of great significance for China’s socio-economic sustainable development,as well as for advancing its mod...Mid-Year Marine Economy Report Developing the marine economy and building China into a maritime powerhouse are of great significance for China’s socio-economic sustainable development,as well as for advancing its modernization drive.Recently released data from the Ministry of Natural Resources shows that during the first half of 2025,despite a complex and volatile external environment,China’s marine economy withstood the pressure and maintained a steady and positive development trend.展开更多
This paper presents a 3D path planning algorithm for an unmanned aerial vehicle （UAV） in complex environments. In this algorithm, the environments are divided into voxels by octree algorithm. In order to satisfy the...This paper presents a 3D path planning algorithm for an unmanned aerial vehicle （UAV） in complex environments. In this algorithm, the environments are divided into voxels by octree algorithm. In order to satisfy the safety requirement of the UAV, free space is represented by free voxels, which have enough space margin for the UAV to pass through. A bounding box array is created in the whole 3D space to evaluate the free voxel connectivity. The probabilistic roadmap method （PRM） is improved by random sampling in the bounding box array to ensure a more efficient distribution of roadmap nodes in 3D space. According to the connectivity evaluation, the roadmap is used to plan a feasible path by using A＊ algorithm. Experimental results indicate that the proposed algorithm is valid in complex 3D environments.展开更多
Reinforcement learning(RL) has roots in dynamic programming and it is called adaptive/approximate dynamic programming(ADP) within the control community. This paper reviews recent developments in ADP along with RL and ...Reinforcement learning(RL) has roots in dynamic programming and it is called adaptive/approximate dynamic programming(ADP) within the control community. This paper reviews recent developments in ADP along with RL and its applications to various advanced control fields. First, the background of the development of ADP is described, emphasizing the significance of regulation and tracking control problems. Some effective offline and online algorithms for ADP/adaptive critic control are displayed, where the main results towards discrete-time systems and continuous-time systems are surveyed, respectively.Then, the research progress on adaptive critic control based on the event-triggered framework and under uncertain environment is discussed, respectively, where event-based design, robust stabilization, and game design are reviewed. Moreover, the extensions of ADP for addressing control problems under complex environment attract enormous attention. The ADP architecture is revisited under the perspective of data-driven and RL frameworks,showing how they promote ADP formulation significantly.Finally, several typical control applications with respect to RL and ADP are summarized, particularly in the fields of wastewater treatment processes and power systems, followed by some general prospects for future research. Overall, the comprehensive survey on ADP and RL for advanced control applications has d emonstrated its remarkable potential within the artificial intelligence era. In addition, it also plays a vital role in promoting environmental protection and industrial intelligence.展开更多
In recent decades,path planning for unmanned surface vehicles(USVs)in complex environments,such as harbours and coastlines,has become an important concern.The existing algorithms for real-time path planning for USVs a...In recent decades,path planning for unmanned surface vehicles(USVs)in complex environments,such as harbours and coastlines,has become an important concern.The existing algorithms for real-time path planning for USVs are either too slow at replanning or unreliable in changing environments with multiple dynamic obstacles.In this study,we developed a novel path planning method based on the D^(*) lite algorithm for real-time path planning of USVs in complex environments.The proposed method has the following advantages:(1)the computational time for replanning is reduced significantly owing to the use of an incremental algorithm and a new method for modelling dynamic obstacles;(2)a constrained artificial potential field method is employed to enhance the safety of the planned paths;and(3)the method is practical in terms of vehicle performance.The performance of the proposed method was evaluated through simulations and compared with those of existing algorithms.The simulation results confirmed the efficiency of the method for real-time path planning of USVs in complex environments.展开更多
A switching variability index （SVl） constant false alarm rate （CFAR） detector is proposed for improving the detection performance of VI-CFAR detectors in multiple targets backgrounds. When the presence of non-homo...A switching variability index （SVl） constant false alarm rate （CFAR） detector is proposed for improving the detection performance of VI-CFAR detectors in multiple targets backgrounds. When the presence of non-homogeneity in CFAR reference windows is indicated by a VI-CFAR detector, a switching- CFAR detector is introduced to optimize the performance of the VI-CFAR detector in homogeneous, multiple targets and clutter edge backgrounds. The structure and parameters selection method of the SVI-CFAR detector is presented. Comparisons with classic CFAR detectors and recently proposed detectors are also given. Theoretical analysis and simulation results show that SVICFAR detector maintains the good performance of the VI-CFAR detector in homogeneous and clutter edge backgrounds, while greatly improving the capacity of anti-multi targets.展开更多
With the explosion of the number of meteoroid/orbital debris in terrestrial space in recent years, the detection environment of spacecraft becomes more complex. This phenomenon causes most current detection methods ba...With the explosion of the number of meteoroid/orbital debris in terrestrial space in recent years, the detection environment of spacecraft becomes more complex. This phenomenon causes most current detection methods based on machine learning intractable to break through the two difficulties of solving scale transformation problem of the targets in image and accelerating detection rate of high-resolution images. To overcome the two challenges, we propose a novel noncooperative target detection method using the framework of deep convolutional neural network.Firstly, a specific spacecraft simulation dataset using over one thousand images to train and test our detection model is built. The deep separable convolution structure is applied and combined with the residual network module to improve the network’s backbone. To count the different shapes of the spacecrafts in the dataset, a particular prior-box generation method based on K-means cluster algorithm is designed for each detection head with different scales. Finally, a comprehensive loss function is presented considering category confidence, box parameters, as well as box confidence. The experimental results verify that the proposed method has strong robustness against varying degrees of luminance change, and can suppress the interference caused by Gaussian noise and background complexity. The mean accuracy precision of our proposed method reaches 93.28%, and the global loss value is 13.252. The comparative experiment results show that under the same epoch and batchsize, the speed of our method is compressed by about 20% in comparison of YOLOv3, the detection accuracy is increased by about 12%, and the size of the model is reduced by nearly 50%.展开更多
Studying and analyzing the dynamic behavior of offshore wind turbines are of great importance to ensure the safety and improve the efficiency of such expensive equipments.In this work,a tapered beam model is proposed ...Studying and analyzing the dynamic behavior of offshore wind turbines are of great importance to ensure the safety and improve the efficiency of such expensive equipments.In this work,a tapered beam model is proposed to investigate the dynamic response of an offshore wind turbine tower on the monopile foundation assembled with rotating blades in the complex ocean environment.Several environment factors like wind,wave,current,and soil resistance are taken into account.The proposed model is ana-lytically solved with the Galerkin method.Based on the numerical results,the effects of various structure parameters including the taper angle,the height and thickness of the tower,the depth,and the diameter and the cement filler of the monopile on the funda-mental natural frequency of the wind turbine tower system are investigated in detail.It is found that the fundamental natural frequency decreases with the increase in the taper angle and the height and thickness of the tower,and increases with the increase in the diameter of the monopile.Moreover,filling cement into the monopile can effectively im-prove the fundamental natural frequency of the wind turbine tower system,but there is a critical value of the amount of cement maximizing the property of the monopile.This research may be helpful in the design and safety evaluation of offshore wind turbines.展开更多
In virtue of effect of N-S intensive ground stress and mining disturbance to +579E2EB_(1+2) mining site at Weihuliang Mine,the dip angle and section height is 65° and 52 m,respectively,the collapses happed freque...In virtue of effect of N-S intensive ground stress and mining disturbance to +579E2EB_(1+2) mining site at Weihuliang Mine,the dip angle and section height is 65° and 52 m,respectively,the collapses happed frequently during mining.Firstly,mining condi- tions,spatial structure and parameters were investigated.Then physical simulation and dynamic numerical tracing and elaborate simulation relating roof and top-coal were ap- plied based on 2D-Block Program and quantitative regularity of stress at variable depths had been estimated.Furthermore,it was manifested that effective measures,i.e.,fast mining,control symmetrical top-coal-caving at dip and strike directions,optimizing ventila- tion system,active-stereo preventing gas were performed successfully in mining practice. Ultimately,the derived dynamic hazard were prevented so as to safety mining.展开更多
With the rapid development in the service,medical,logistics and other industries,and the increasing demand for unmanned mobile devices,mobile robots with the ability of independent mapping,localization and navigation ...With the rapid development in the service,medical,logistics and other industries,and the increasing demand for unmanned mobile devices,mobile robots with the ability of independent mapping,localization and navigation capabilities have become one of the research hotspots.An accurate map construction is a prerequisite for a mobile robot to achieve autonomous localization and navigation.However,the problems of blurring and missing the borders of obstacles and map boundaries are often faced in the Gmapping algorithm when constructing maps in complex indoor environments.In this pursuit,the present work proposes the development of an improved Gmapping algorithm based on the sparse pose adjustment(SPA)optimizations.The improved Gmapping algorithm is then applied to construct the map of a mobile robot based on single-line Lidar.Experiments show that the improved algorithm could build a more accurate and complete map,reduce the number of particles required for Gmapping,and lower the hardware requirements of the platform,thereby saving and minimizing the computing resources.展开更多
With the increasing global demand for renewable energy,the application of photovoltaic power generation in mountainous areas is gradually increasing.However,the complex wind environment in mountainous areas poses seve...With the increasing global demand for renewable energy,the application of photovoltaic power generation in mountainous areas is gradually increasing.However,the complex wind environment in mountainous areas poses severe challenges to the design and optimization of solar photovoltaic brackets.Traditional design methods are difficult to cope with the changeable wind speed and direction in mountainous areas,resulting in structural instability or material waste.Researchers have identified the key factors affecting wind response through parametric research and dynamic wind response analysis,so as to optimize the brackets design and improve its adaptability and stability in complex wind environments.In this paper,the complexity of wind speed,wind direction and turbulence characteristics in mountainous areas and their influence on brackets design are explored.Through static and dynamic wind load analysis,the geometrical shape and material selection of the bracket are optimized to enhance its wind resistance.The application of multi-objective optimization model and intelligent optimization algorithm provides an effective solution for the design of solar photovoltaic brackets,ensuring their safety and reliability in complex wind environments.展开更多
The past decade has witnessed a huge increase in the number of proposed middleware solutions for robotic fleets operating in unstructured environments. As a result, it has become difficult to decide which middleware i...The past decade has witnessed a huge increase in the number of proposed middleware solutions for robotic fleets operating in unstructured environments. As a result, it has become difficult to decide which middleware is the most appropriate for a specific application or application domain. In this paper we first extract a set of common and specific challenges that middlewares address, and group them according to the source domain they have originated within. These challenges are derived from a specific precision agriculture use-case based on the robotic fleet for weed control elaborated within the European project RHEA-robot fleets for highly effective agriculture and forestry management. Furthermore, the paper provides an analysis of a number of different middlewares and suggests a set of criteria for systemizing representative solutions. The aim of this analysis is to assist the process of finding an adequate middleware for a specific application domain.展开更多
Recycled aggregate concrete refers to a new type of concrete material made by processing waste concrete materials through grading,crushing,and cleaning,and then mixing them with cement,water,and other materials in a c...Recycled aggregate concrete refers to a new type of concrete material made by processing waste concrete materials through grading,crushing,and cleaning,and then mixing them with cement,water,and other materials in a certain gradation or proportion.This type of concrete is highly suitable for modern construction waste disposal and reuse and has been widely used in various construction projects.It can also be used as an environmentally friendly permeable brick material to promote the development of modern green buildings.However,practical applications have found that compared to ordinary concrete,the durability of this type of concrete is more susceptible to high-temperature and complex environments.Based on this,this paper conducts theoretical research on its durability in high-temperature and complex environments,including the current research status,existing problems,and application prospects of recycled aggregate concrete’s durability in such environments.It is hoped that this analysis can provide some reference for studying the influence of high-temperature and complex environments on recycled aggregate concrete and its subsequent application strategies.展开更多
文摘Background:Based on the principle of“joint consultation,co-building,and sharing”,with the aim of creating an energetic new model of economic growth,the Belt and Road Initiative achieves connectivity and mutual benefit.However,the degree of coordinated development of innovation subjects directly affects the improvement and optimization of the Belt and Road Initiative’s strategy implementation environment,and technology efficiency needs improvement.Methods:In this study,a data envelopment analysis model based on the environmental noise elimination algorithm(traditional Chinese medicine-Belt and Road Initiative)was used to identify the technical efficiency of the traditional Chinese medicine industry of Belt and Road Initiative by eliminating the impact of environmental factors.Results:Pure technical ineffectiveness,regional impact,and environmental factors represented by policy responses have a non-linear impact on technical efficiency.The overall technical efficiency of the traditional Chinese medicine industry in the countries along the route shows a trend of annual increases,technical efficiency and scale efficiency are relatively high,and operational efficiency is influenced by the degree of response of the countries along the route and its supporting policies.Conclusion:Pure technical inefficiency is the main factor affecting total technical loss.Geographical advantage is the key factor in operational efficiency.External environmental factors have a significant influence on the operational efficiency of the traditional Chinese medicine industry.
文摘With the continuous development of drone technology,rapid exploration strategies are of significant importance for tasks such as search and rescue and surveying.Current autonomous exploration systems often face issues of partial small-area information omission in cluttered environments,leading to repeated visits by drones.This paper proposes an improved multi-drone autonomous exploration system,which introduces a novel mode-switching mechanism based on a rapid autonomous exploration framework.This mechanism dynamically adjusts the exploration mode of the drones using the density information of surrounding obstacles.By doing so,drones can avoid missing small pieces of information that result in repeated visits in complex environments,while maintaining high exploration efficiency in simpler environments.This flexible exploration planning approach effectively addresses varying levels of environmental complexity.Evaluations conducted in three different environments of varying complexity demonstrate that the proposed method achieves higher exploration efficiency and reconstruction quality.
文摘In modern industrial production,foreign object detection in complex environments is crucial to ensure product quality and production safety.Detection systems based on deep-learning image processing algorithms often face challenges with handling high-resolution images and achieving accurate detection against complex backgrounds.To address these issues,this study employs the PatchCore unsupervised anomaly detection algorithm combined with data augmentation techniques to enhance the system’s generalization capability across varying lighting conditions,viewing angles,and object scales.The proposed method is evaluated in a complex industrial detection scenario involving the bogie of an electric multiple unit(EMU).A dataset consisting of complex backgrounds,diverse lighting conditions,and multiple viewing angles is constructed to validate the performance of the detection system in real industrial environments.Experimental results show that the proposed model achieves an average area under the receiver operating characteristic curve(AUROC)of 0.92 and an average F1 score of 0.85.Combined with data augmentation,the proposed model exhibits improvements in AUROC by 0.06 and F1 score by 0.03,demonstrating enhanced accuracy and robustness for foreign object detection in complex industrial settings.In addition,the effects of key factors on detection performance are systematically analyzed,providing practical guidance for parameter selection in real industrial applications.
基金supported by the National Natural Science Foundation of China(No.52106080)the Jilin City Science and Technology Innovation Development Plan Project(No.20240302014)+2 种基金the Jilin Provincial Department of Education Science and Technology Research Project(No.JJKH20230135K)the Jilin Province Science and Technology Development Plan Project(No.YDZJ202401640ZYTS)the Northeast Electric Power University Teaching Reform Research Project(No.J2427)。
文摘The continuous decrease in global fishery resources has increased the importance of precise and efficient underwater fish monitoring technology.First,this study proposes an improved underwater target detection framework based on YOLOv8,with the aim of enhancing detection accuracy and the ability to recognize multi-scale targets in blurry and complex underwater environments.A streamlined Vision Transformer(ViT)model is used as the feature extraction backbone,which retains global self-attention feature extraction and accelerates training efficiency.In addition,a detection head named Dynamic Head(DyHead)is introduced,which enhances the efficiency of processing various target sizes through multi-scale feature fusion and adaptive attention modules.Furthermore,a dynamic loss function adjustment method called SlideLoss is employed.This method utilizes sliding window technology to adaptively adjust parameters,which optimizes the detection of challenging targets.The experimental results on the RUOD dataset show that the proposed improved model not only significantly enhances the accuracy of target detection but also increases the efficiency of target detection.
基金supported by the National Natural Science Foundation of China(Grant Nos.52021005,52325904,and 51991391)。
文摘Geological prospecting and the identification of adverse geological features are essential in tunnel construction,providing critical information to ensure safety and guide engineering decisions.As tunnel projects extend into deeper and more mountainous terrains,engineers face increasingly complex geological conditions,including high water pressure,intense geo-stress,elevated geothermal gradients,and active fault zones.These conditions pose substantial risks such as high-pressure water inrush,largescale collapses,and tunnel boring machine(TBM)blockages.Addressing these challenges requires advanced detection technologies capable of long-distance,high-precision,and intelligent assessments of adverse geology.This paper presents a comprehensive review of recent advancements in tunnel geological ahead prospecting methods.It summarizes the fundamental principles,technical maturity,key challenges,development trends,and real-world applications of various detection techniques.Airborne and semi-airborne geophysical methods enable large-scale reconnaissance for initial surveys in complex terrain.Tunnel-and borehole-based approaches offer high-resolution detection during excavation,including seismic ahead prospecting(SAP),TBM rock-breaking source seismic methods,fulltime-domain tunnel induced polarization(TIP),borehole electrical resistivity,and ground penetrating radar(GPR).To address scenarios involving multiple,coexisting adverse geologies,intelligent inversion and geological identification methods have been developed based on multi-source data fusion and artificial intelligence(AI)techniques.Overall,these advances significantly improve detection range,resolution,and geological characterization capabilities.The methods demonstrate strong adaptability to complex environments and provide reliable subsurface information,supporting safer and more efficient tunnel construction.
文摘With China and Africa having worked hand in hand for mutual benefits for a long time,China-Africa economic and trade cooperation has developed steadily,achieving significant progress in many fields.However,at the same time,the environment in which China-Africa economic and trade cooperation operates is becoming increasingly complex.Risks and challenges from different levels are worth noticing.
基金supported by Gansu Provincial Science and Technology Program Project(No.23JRRA868)Lanzhou Municipal Talent Innovation and Entrepreneurship Project(No.2019-RC-103)。
文摘In response to the problems of low sampling efficiency,strong randomness of sampling points,and the tortuous shape of the planned path in the traditional rapidly-exploring random tree(RRT)algorithm and bidirectional RRT algorithm used for unmanned aerial vehicle(UAV)path planning in complex environments,an improved bidirectional RRT algorithm was proposed.The algorithm firstly adopted a goal-oriented strategy to guide the sampling points towards the target point,and then the artificial potential field acted on the random tree nodes to avoid collision with obstacles and reduced the length of the search path,and the random tree node growth also combined the UAV’s own flight constraints,and by combining the triangulation method to remove the redundant node strategy and the third-order B-spline curve for the smoothing of the trajectory,the planned path was better.The planned paths were more optimized.Finally,the simulation experiments in complex and dynamic environments showed that the algorithm effectively improved the speed of trajectory planning and shortened the length of the trajectory,and could generate a safe,smooth and fast trajectory in complex environments,which could be applied to online trajectory planning.
基金funded by the Jilin City Science and Technology Innovation Development Plan Project(No.20240302014)the Jilin Provincial Department of Educa-tion Science and Technology Research Project(No.JJKH 20250879KJ)the Jilin Province Science and Tech-nology Development Plan Project(No.YDZJ202401640 ZYTS).
文摘Underwater imaging is frequently influenced by factors such as illumination,scattering,and refraction,which can result in low image contrast and blurriness.Moreover,the presence of numerous small,overlapping targets reduces detection accuracy.To address these challenges,first,green channel images are preprocessed to rectify color bias while improving contrast and clarity.Se-cond,the YOLO-DBS network that employs deformable convolution is proposed to enhance feature learning from underwater blurry images.The ECA attention mechanism is also introduced to strengthen feature focus.Moreover,a bidirectional feature pyramid net-work is utilized for efficient multilayer feature fusion while removing nodes that contribute minimally to detection performance.In addition,the SIoU loss function that considers factors such as angular error and distance deviation is incorporated into the network.Validation on the RUOD dataset demonstrates that YOLO-DBS achieves approximately 3.1%improvement in mAP@0.5 compared with YOLOv8n and surpasses YOLOv9-tiny by 1.3%.YOLO-DBS reduces parameter count by 32%relative to YOLOv8n,thereby demonstrating superior performance in real-time detection on underwater observation platforms.
文摘Mid-Year Marine Economy Report Developing the marine economy and building China into a maritime powerhouse are of great significance for China’s socio-economic sustainable development,as well as for advancing its modernization drive.Recently released data from the Ministry of Natural Resources shows that during the first half of 2025,despite a complex and volatile external environment,China’s marine economy withstood the pressure and maintained a steady and positive development trend.
基金supported by National Natural Science Foundation of China(No.61305128)Fundamental Research Funds for the Central Universities,and U.S.Army Research Ofce(No.W911NF-091-0565)
文摘This paper presents a 3D path planning algorithm for an unmanned aerial vehicle （UAV） in complex environments. In this algorithm, the environments are divided into voxels by octree algorithm. In order to satisfy the safety requirement of the UAV, free space is represented by free voxels, which have enough space margin for the UAV to pass through. A bounding box array is created in the whole 3D space to evaluate the free voxel connectivity. The probabilistic roadmap method （PRM） is improved by random sampling in the bounding box array to ensure a more efficient distribution of roadmap nodes in 3D space. According to the connectivity evaluation, the roadmap is used to plan a feasible path by using A＊ algorithm. Experimental results indicate that the proposed algorithm is valid in complex 3D environments.
基金supported in part by the National Natural Science Foundation of China(62222301, 62073085, 62073158, 61890930-5, 62021003)the National Key Research and Development Program of China (2021ZD0112302, 2021ZD0112301, 2018YFC1900800-5)Beijing Natural Science Foundation (JQ19013)。
文摘Reinforcement learning(RL) has roots in dynamic programming and it is called adaptive/approximate dynamic programming(ADP) within the control community. This paper reviews recent developments in ADP along with RL and its applications to various advanced control fields. First, the background of the development of ADP is described, emphasizing the significance of regulation and tracking control problems. Some effective offline and online algorithms for ADP/adaptive critic control are displayed, where the main results towards discrete-time systems and continuous-time systems are surveyed, respectively.Then, the research progress on adaptive critic control based on the event-triggered framework and under uncertain environment is discussed, respectively, where event-based design, robust stabilization, and game design are reviewed. Moreover, the extensions of ADP for addressing control problems under complex environment attract enormous attention. The ADP architecture is revisited under the perspective of data-driven and RL frameworks,showing how they promote ADP formulation significantly.Finally, several typical control applications with respect to RL and ADP are summarized, particularly in the fields of wastewater treatment processes and power systems, followed by some general prospects for future research. Overall, the comprehensive survey on ADP and RL for advanced control applications has d emonstrated its remarkable potential within the artificial intelligence era. In addition, it also plays a vital role in promoting environmental protection and industrial intelligence.
基金financially supported by the Cultivation of Scientific Research Ability of Young Talents of Shanghai Jiao Tong University(Grant No.19X100040072)the Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education(Grant No.MIES-2020-07)。
文摘In recent decades,path planning for unmanned surface vehicles(USVs)in complex environments,such as harbours and coastlines,has become an important concern.The existing algorithms for real-time path planning for USVs are either too slow at replanning or unreliable in changing environments with multiple dynamic obstacles.In this study,we developed a novel path planning method based on the D^(*) lite algorithm for real-time path planning of USVs in complex environments.The proposed method has the following advantages:(1)the computational time for replanning is reduced significantly owing to the use of an incremental algorithm and a new method for modelling dynamic obstacles;(2)a constrained artificial potential field method is employed to enhance the safety of the planned paths;and(3)the method is practical in terms of vehicle performance.The performance of the proposed method was evaluated through simulations and compared with those of existing algorithms.The simulation results confirmed the efficiency of the method for real-time path planning of USVs in complex environments.
基金supported by the National Natural Science Foundation of China(61102158)the China Postdoctoral Science Foundation(2011M500667)
文摘A switching variability index （SVl） constant false alarm rate （CFAR） detector is proposed for improving the detection performance of VI-CFAR detectors in multiple targets backgrounds. When the presence of non-homogeneity in CFAR reference windows is indicated by a VI-CFAR detector, a switching- CFAR detector is introduced to optimize the performance of the VI-CFAR detector in homogeneous, multiple targets and clutter edge backgrounds. The structure and parameters selection method of the SVI-CFAR detector is presented. Comparisons with classic CFAR detectors and recently proposed detectors are also given. Theoretical analysis and simulation results show that SVICFAR detector maintains the good performance of the VI-CFAR detector in homogeneous and clutter edge backgrounds, while greatly improving the capacity of anti-multi targets.
基金supported by the National Natural Science Foundation of China(No.61473100)。
文摘With the explosion of the number of meteoroid/orbital debris in terrestrial space in recent years, the detection environment of spacecraft becomes more complex. This phenomenon causes most current detection methods based on machine learning intractable to break through the two difficulties of solving scale transformation problem of the targets in image and accelerating detection rate of high-resolution images. To overcome the two challenges, we propose a novel noncooperative target detection method using the framework of deep convolutional neural network.Firstly, a specific spacecraft simulation dataset using over one thousand images to train and test our detection model is built. The deep separable convolution structure is applied and combined with the residual network module to improve the network’s backbone. To count the different shapes of the spacecrafts in the dataset, a particular prior-box generation method based on K-means cluster algorithm is designed for each detection head with different scales. Finally, a comprehensive loss function is presented considering category confidence, box parameters, as well as box confidence. The experimental results verify that the proposed method has strong robustness against varying degrees of luminance change, and can suppress the interference caused by Gaussian noise and background complexity. The mean accuracy precision of our proposed method reaches 93.28%, and the global loss value is 13.252. The comparative experiment results show that under the same epoch and batchsize, the speed of our method is compressed by about 20% in comparison of YOLOv3, the detection accuracy is increased by about 12%, and the size of the model is reduced by nearly 50%.
基金Project supported by the National Natural Science Foundation of China(Nos.11872233,11727804,and 11472163)the National Key Basic Research Project of China(No.2014CB046203)the Innovation Program of Shanghai Municipal Education Commission(No.2017-01-07-00-09-E00019)。
文摘Studying and analyzing the dynamic behavior of offshore wind turbines are of great importance to ensure the safety and improve the efficiency of such expensive equipments.In this work,a tapered beam model is proposed to investigate the dynamic response of an offshore wind turbine tower on the monopile foundation assembled with rotating blades in the complex ocean environment.Several environment factors like wind,wave,current,and soil resistance are taken into account.The proposed model is ana-lytically solved with the Galerkin method.Based on the numerical results,the effects of various structure parameters including the taper angle,the height and thickness of the tower,the depth,and the diameter and the cement filler of the monopile on the funda-mental natural frequency of the wind turbine tower system are investigated in detail.It is found that the fundamental natural frequency decreases with the increase in the taper angle and the height and thickness of the tower,and increases with the increase in the diameter of the monopile.Moreover,filling cement into the monopile can effectively im-prove the fundamental natural frequency of the wind turbine tower system,but there is a critical value of the amount of cement maximizing the property of the monopile.This research may be helpful in the design and safety evaluation of offshore wind turbines.
基金the National Natural Science Foundation of China(10402033,10772144)
文摘In virtue of effect of N-S intensive ground stress and mining disturbance to +579E2EB_(1+2) mining site at Weihuliang Mine,the dip angle and section height is 65° and 52 m,respectively,the collapses happed frequently during mining.Firstly,mining condi- tions,spatial structure and parameters were investigated.Then physical simulation and dynamic numerical tracing and elaborate simulation relating roof and top-coal were ap- plied based on 2D-Block Program and quantitative regularity of stress at variable depths had been estimated.Furthermore,it was manifested that effective measures,i.e.,fast mining,control symmetrical top-coal-caving at dip and strike directions,optimizing ventila- tion system,active-stereo preventing gas were performed successfully in mining practice. Ultimately,the derived dynamic hazard were prevented so as to safety mining.
基金National Key Research and Development of China(No.2019YFB1600700)Sichuan Science and Technology Planning Project(No.2021YFSY0003)。
文摘With the rapid development in the service,medical,logistics and other industries,and the increasing demand for unmanned mobile devices,mobile robots with the ability of independent mapping,localization and navigation capabilities have become one of the research hotspots.An accurate map construction is a prerequisite for a mobile robot to achieve autonomous localization and navigation.However,the problems of blurring and missing the borders of obstacles and map boundaries are often faced in the Gmapping algorithm when constructing maps in complex indoor environments.In this pursuit,the present work proposes the development of an improved Gmapping algorithm based on the sparse pose adjustment(SPA)optimizations.The improved Gmapping algorithm is then applied to construct the map of a mobile robot based on single-line Lidar.Experiments show that the improved algorithm could build a more accurate and complete map,reduce the number of particles required for Gmapping,and lower the hardware requirements of the platform,thereby saving and minimizing the computing resources.
文摘With the increasing global demand for renewable energy,the application of photovoltaic power generation in mountainous areas is gradually increasing.However,the complex wind environment in mountainous areas poses severe challenges to the design and optimization of solar photovoltaic brackets.Traditional design methods are difficult to cope with the changeable wind speed and direction in mountainous areas,resulting in structural instability or material waste.Researchers have identified the key factors affecting wind response through parametric research and dynamic wind response analysis,so as to optimize the brackets design and improve its adaptability and stability in complex wind environments.In this paper,the complexity of wind speed,wind direction and turbulence characteristics in mountainous areas and their influence on brackets design are explored.Through static and dynamic wind load analysis,the geometrical shape and material selection of the bracket are optimized to enhance its wind resistance.The application of multi-objective optimization model and intelligent optimization algorithm provides an effective solution for the design of solar photovoltaic brackets,ensuring their safety and reliability in complex wind environments.
文摘The past decade has witnessed a huge increase in the number of proposed middleware solutions for robotic fleets operating in unstructured environments. As a result, it has become difficult to decide which middleware is the most appropriate for a specific application or application domain. In this paper we first extract a set of common and specific challenges that middlewares address, and group them according to the source domain they have originated within. These challenges are derived from a specific precision agriculture use-case based on the robotic fleet for weed control elaborated within the European project RHEA-robot fleets for highly effective agriculture and forestry management. Furthermore, the paper provides an analysis of a number of different middlewares and suggests a set of criteria for systemizing representative solutions. The aim of this analysis is to assist the process of finding an adequate middleware for a specific application domain.
基金Chongqing Municipal Education Commission Science and Technology Research Project(Project No.KJQN202301910).
文摘Recycled aggregate concrete refers to a new type of concrete material made by processing waste concrete materials through grading,crushing,and cleaning,and then mixing them with cement,water,and other materials in a certain gradation or proportion.This type of concrete is highly suitable for modern construction waste disposal and reuse and has been widely used in various construction projects.It can also be used as an environmentally friendly permeable brick material to promote the development of modern green buildings.However,practical applications have found that compared to ordinary concrete,the durability of this type of concrete is more susceptible to high-temperature and complex environments.Based on this,this paper conducts theoretical research on its durability in high-temperature and complex environments,including the current research status,existing problems,and application prospects of recycled aggregate concrete’s durability in such environments.It is hoped that this analysis can provide some reference for studying the influence of high-temperature and complex environments on recycled aggregate concrete and its subsequent application strategies.
