Every day walking consists of frequent voluntary modifications in the gait pattern to negotiate obstacles.After spinal cord injury,stepping over an obstacle becomes challenging.Stepping over an obstacle requires senso...Every day walking consists of frequent voluntary modifications in the gait pattern to negotiate obstacles.After spinal cord injury,stepping over an obstacle becomes challenging.Stepping over an obstacle requires sensorimotor transformations in several structures of the brain,including the parietal cortex,premotor cortex,and motor cortex.Sensory information and planning are transformed into motor commands,which are sent from the motor cortex to spinal neuronal circuits to alter limb trajectory,coordinate the limbs,and maintain balance.After spinal cord injury,bidirectional communication between the brain and spinal cord is disrupted and animals,including humans,fail to voluntarily modify limb trajectory to step over an obstacle.Therefore,in this review,we discuss the neuromechanical control of stepping over an obstacle,why it fails after spinal cord injury,and how it recovers to a certain extent.展开更多
Introduction: Vaccination faces several obstacles in the fight against COVID-19, yet it has been identified as one of the most effective means of preventing new epidemics of COVID-19. The aim was to contribute to impr...Introduction: Vaccination faces several obstacles in the fight against COVID-19, yet it has been identified as one of the most effective means of preventing new epidemics of COVID-19. The aim was to contribute to improving vaccination coverage against COVID-19 in the Kindu health zone. Method: We conducted a cross-sectional descriptive study with an analytical focus, using a questionnaire that enabled us to carry out a survey from October 03 to 30, 2022. Our target study population was residents of the Kindu health zone. A total of 420 subjects participated in our study, including 42 per site. Results: The study revealed a low proportion of vaccinated subjects (38.3%) and a high proportion of non-vaccinated subjects (61.70%). Non-belief in the efficacy of vaccines (p = 0.001), infodemia (p = 0.001) and respect for ethnic norms (p = 0.001) were identified as perceived barriers to vaccination. Fear of being branded with the “666” beast badge (p = 0.004) as the perceived severity. Respondents’ perceptions of mass vaccination against COVID-19 are mixed, and their opinions and expectations of COVID-19 vaccination in the town of Kindu are divided. Conclusion: In order to increase the proportion of people vaccinated against COVID-19, it is suggested here to increase the population’s ability to detect false information through a well-structured communication and health education program.展开更多
In the context of security systems,adequate signal coverage is paramount for the communication between security personnel and the accurate positioning of personnel.Most studies focus on optimizing base station deploym...In the context of security systems,adequate signal coverage is paramount for the communication between security personnel and the accurate positioning of personnel.Most studies focus on optimizing base station deployment under the assumption of static obstacles,aiming to maximize the perception coverage of wireless RF(Radio Frequency)signals and reduce positioning blind spots.However,in practical security systems,obstacles are subject to change,necessitating the consideration of base station deployment in dynamic environments.Nevertheless,research in this area still needs to be conducted.This paper proposes a Dynamic Indoor Environment Beacon Deployment Algorithm(DIE-BDA)to address this problem.This algorithm considers the dynamic alterations in obstacle locations within the designated area.It determines the requisite number of base stations,the requisite time,and the area’s practical and overall signal coverage rates.The experimental results demonstrate that the algorithm can calculate the deployment strategy in 0.12 s following a change in obstacle positions.Experimental results show that the algorithm in this paper requires 0.12 s to compute the deployment strategy after the positions of obstacles change.With 13 base stations,it achieves an effective coverage rate of 93.5%and an overall coverage rate of 97.75%.The algorithm can rapidly compute a revised deployment strategy in response to changes in obstacle positions within security systems,thereby ensuring the efficacy of signal coverage.展开更多
The flow field architecture of the proton exchange membrane fuel cell(PEMFC)cathode critically determines its performance.To enhance PEMFC operation through structural optimization,trapezoidal obstacles were implement...The flow field architecture of the proton exchange membrane fuel cell(PEMFC)cathode critically determines its performance.To enhance PEMFC operation through structural optimization,trapezoidal obstacles were implemented in the cathode flow channels.The height dependence of these obstacles was systematically investigated,revealing that a 0.7 mm obstacle height enhanced mass transfer from channels to the gas diffusion layer(GDL)compared to conventional triple-serpentine designs.This configuration achieved a 12.08%increase in limiting current density alongside improved water management.Subsequent studies on obstacle distribution density identified 75%density as optimal,delivering maximum net power density with 10.6%lower pressure drop than full-density arrangements.展开更多
In recent years, the uncontrollable risks of urban production-living-ecological(PLE)space have increased sharply, making resilience enhancement essential for sustainable urban development. Based on the social-ecologic...In recent years, the uncontrollable risks of urban production-living-ecological(PLE)space have increased sharply, making resilience enhancement essential for sustainable urban development. Based on the social-ecological system(SES) theory, this study constructs an assessment framework for urban PLE space resilience by analyzing its inherent characteristics. The central urban area of Ganzhou city is taken as a case study to evaluate urban PLE space resilience and diagnose its obstacles. The results are as follows: The PLE space resilience in the central urban area of Ganzhou exhibits gradations and substantial spatial differentiation. The ecological space resilience in the study area was the highest, followed by that of production space, while living space resilience was the lowest. The primary factors influencing PLE space resilience are concentrated in the dimensions of robustness and adaptability. In particular, the robustness of the PLE space is relatively low. Based on these results, targeted spatial resilience governance strategies for the PLE space have been proposed. These strategies serve as theoretical and technical references for the study area. By adopting the PLE space perspective, this paper enriches resilience research and provide theoretical support for sustainable urban development.展开更多
A three-dimensional path-planning approach has been developed to coordinate multiple fixed-wing unmanned aerial vehicles(UAVs)while avoiding collisions.The hierarchical path-planning architecture that divides the path...A three-dimensional path-planning approach has been developed to coordinate multiple fixed-wing unmanned aerial vehicles(UAVs)while avoiding collisions.The hierarchical path-planning architecture that divides the path-planning process into two layers is proposed by designing the velocityobstacle strategy for satisfying timeliness and effectiveness.The upper-level layer focuses on creating an efficient Dubins initial path considering the dynamic constraints of the fixed wing.Subsequently,the lower-level layer detects potential collisions and adjusts its flight paths to avoid collisions by using the threedimensional velocity obstacle method,which describes the maneuvering space of collision avoidance as the intersection space of half space.To further handle the dynamic and collisionavoidance constraints,a priority mechanism is designed to ensure that the adjusted path is still feasible for fixed-wing UAVs.Simulation experiments demonstrate the effectiveness of the proposed method.展开更多
Autonomous trucks have the potential to enhance both safety and convenience in intelligent transportation.However,their maximum speed and ability to navigate a variety of driving conditions,particularly uneven roads,a...Autonomous trucks have the potential to enhance both safety and convenience in intelligent transportation.However,their maximum speed and ability to navigate a variety of driving conditions,particularly uneven roads,are limited by a high center of gravity,which increases the risk of rollover.Road bulges,sinkholes,and unexpected debris all present additional challenges for autonomous trucks’operational design,which current perception and decisionmaking algorithms often overlook.To mitigate rollover risks and improve adaptability to damaged roads,this paper presents a novel Road Obstacle-Involved Trajectory Planner(ROITP).The planner categorizes road obstacles using a learning-based algorithm.A discrete optimization algorithm selects a multi-objective optimal trajectory while taking into account constraints and objective functions derived from truck dynamics.Validation across various scenarios on a hardware-in-loop platform demonstrates that the proposed planner is effective and feasible for real-time implementation.展开更多
Despite its immense potential,the application of digital twin technology in real industrial scenarios still faces numerous challenges.This study focuses on industrial assembly lines in sectors such as microelectronics...Despite its immense potential,the application of digital twin technology in real industrial scenarios still faces numerous challenges.This study focuses on industrial assembly lines in sectors such as microelectronics,pharmaceuticals,and food packaging,where precision and speed are paramount,applying digital twin technology to the robotic assembly process.The innovation of this research lies in the development of a digital twin architecture and system for Delta robots that is suitable for real industrial environments.Based on this system,a deep reinforcement learning algorithm for obstacle avoidance path planning in Delta robots has been developed,significantly enhancing learning efficiency through an improved intermediate reward mechanism.Experiments on communication and interaction between the digital twin system and the physical robot validate the effectiveness of this method.The system not only enhances the integration of digital twin technology,deep reinforcement learning and robotics,offering an efficient solution for path planning and target grasping inDelta robots,but also underscores the transformative potential of digital twin technology in intelligent manufacturing,with extensive applicability across diverse industrial domains.展开更多
[Objectives]This study was conducted to comprehensively understand the changes in gene expression of plants under environmental stress during different growth and development stages.[Methods]The effects of continuous ...[Objectives]This study was conducted to comprehensively understand the changes in gene expression of plants under environmental stress during different growth and development stages.[Methods]The effects of continuous cropping on the roots and leaves of Polygonatum sibiricum were investigated using transcriptome sequencing.Normally-grown first crop P.sibiricum was used as the control group,while continuous cropping plants served as the treatment group.Transcriptomic differences in roots and leaves under different conditions were compared.[Results]The leaf materials of first crop and continuous cropping P.sibiricum(CCLZ vs FCLZ)showed 21916 differentially expressed genes(DEGs),while the root materials of first crop and continuous cropping P.sibiricum(CCRZ vs FCRZ)exhibited 12726 DEGs(the lowest DEG count)(12726).Among them,1896 DEGs were common.GO enrichment analysis revealed that DEGs were mainly enriched in metabolism,cell wall degradation,and pathogen defense.KEGG enrichment analysis indicated that DEGs in CCLZ vs FCLZ and CCRZ vs FCRZ primarily affected hormone signal transduction and pathogen interaction pathways.[Conclusions]This study preliminarily elucidate the regulatory mechanisms in the roots and leaves of continuous cropping P.sibiricum at the molecular level,providing reference for research on its adaptation to continuous cropping.展开更多
Under the new development pattern,promoting the balanced development of the regional life service level is the key to attaining the goal of meeting people’s need for an improved life.This study constructed an index s...Under the new development pattern,promoting the balanced development of the regional life service level is the key to attaining the goal of meeting people’s need for an improved life.This study constructed an index system with six dimensions,namely,economic base,innovation drive,living environment,transportation,public services and life security,and explored the balanced characteristics and obstacles of the life service level in the Yangtze River Delta,China in 2020 using the Gini coefficient,the standard deviation ellipse,the global spatial autocorrelation,the equilibrium entropy and the obstacle degree model.Results show that:1)the current overall level of life services in the Yangtze River Delta is in relative equilibrium,and the Gini coefficient of three dimensions,namely,economic base,innovation drive and life security,is relatively low and on the verge of imbalance.2)The spatial pattern of the six dimensions of the overall level of the life service is oriented toward the‘southeast-northwest’direction with significant spatial differentiation and spatial agglomeration.3)At present,most of the cities have a comparative advantage in the coordination of their life services,and the potential of their life service system shows room for further improvement in the future.4)Currently,the quality of economic development,talent concentration,innovation inputs,innovation outputs,basic education,health care,cultural sharing,the living standards of the urban and rural residents and the construction of a transportation system are the main factors constraining the improvement of the level of life services in the Yangtze River Delta.This study attempts to research on the evaluation and measurement of regional life service level in the new era,and provides a reference for the promotion of regional coordination and sustainable development.展开更多
Current developments in magnetohydrodynamic(MHD)convection and nanofluid engineering technology have have greatly enhanced heat transfer performance in process systems,particularly through the use of carbon nanotube(C...Current developments in magnetohydrodynamic(MHD)convection and nanofluid engineering technology have have greatly enhanced heat transfer performance in process systems,particularly through the use of carbon nanotube(CNT)–based fluids that offer exceptional thermal conductivity.Despite extensive research on MHD natural convection in enclosures,the combined effects of complex obstacle geometries,magnetic fields,and CNT nanofluids in three-dimensional configurations remain insufficiently explored.This research investigates MHD natural convection of carbon nanotube(CNT)-water nanofluid within a three-dimensional cavity.The study considers an inclined cross-shaped hot obstacle,a configuration not extensively explored in previous works.The work aims to elucidate the combined effects of CNT nanofluid concentration,magnetic field strength,and obstacle inclination on fluid flow patterns and heat transfer characteristics.Numerical simulations are performed using the finite element method(FEM)based on the Galerkin Weighted Residual approach.The analysis systematically considers variations in Rayleigh number(Ra),Hartmann number(Ha),nanoparticle volume fraction(Φ),and obstacle inclination angle(θ).Results show that increasing Ra from 103 to 106 enhances convective heat transfer by up to 228%,while raising the CNT volume fraction to 4.5%improves heat transfer by about 64%.In contrast,strengthening the magnetic field from Ha=0 to Ha=100 suppresses fluid motion and reduces heat transfer by nearly 67%,whereas varying the obstacle inclination from 0○to 45○leads to a 4.6%decrease in efficiency.The addition of nanoparticles slightly increases viscosity,reducing flow intensity by 8.3%when Ha=0.Furthermore,a novel multiparametric correlation is proposed,accurately predicting the average Nusselt number as a function of Ra,Ha,ϕ,andθ,with an R2 of 0.98.These findings provide new insights into the role of geometry,magnetic effects,and nanofluids in heat transfer enhancement,offering practical guidance for the design and optimization of advanced thermal systems.展开更多
Rural resilience,a core capability for addressing systemic risks and enabling sustainable development,is increasingly vital to promoting urban-rural integrated development and rural revitalization strategies.However,c...Rural resilience,a core capability for addressing systemic risks and enabling sustainable development,is increasingly vital to promoting urban-rural integrated development and rural revitalization strategies.However,current research lacks exploration of the collaborative mechanisms between rural economic resilience(RER)and rural social resilience(RSR)in ecologically vulnerable areas.Based on the practical context of rural sustainable development in such regions,this study investigates the interaction between RER and RSR from a resilience coordination perspective.In this paper,a rural resilience evaluation framework for collaborative development of economic and social resilience was established.By employing the coupling coordination degree model,obstacle degree model,and equilibrium entropy model,this paper examines the synergies,constraints,and potential of rural resilience subsystems in Jinchang City,Gansu Province,China,in 2020.The results reveal that:1)RER contributes to RSR by stabilizing the economy,enhancing community adaptability,and driving modernization.In turn,RSR strengthens RER by mitigating instability,building social capital,and fostering confidence—together forming a mutually reinforcing coupling mechanism.2)The rural economic and social resilience level in Jinchang City remains generally low with spatially clustered patterns,while the coupling coordination degree is at an intermediate level overall,with 62.59%of villages exhibiting unbalanced development between rural economic and social resilience.3)RER and RSR demonstrate synergistic degradation in ecologically vulnerable areas,where low-level rural economic and social resilience induce integrated systemic deterioration.4)Considering the unbalanced development of rural economic and social resilience in ecologically fragile areas,differentiated coordination pathways are proposed for three village typologies:RER-lagging villages,RSR-lagging villages,and villages where RER and RSR develop synchronously but lack effective coordination.These findings offer spatial governance strategies and practical guidance for enhancing rural resilience and advancing sustainable development in ecologically vulnerable regions.展开更多
First at all, it introduced the concept and the damages of continuous cropping obstacle. Then, it analyzed the causes of continuous cropping obstacles for Atractylodes macrocephala Koidz. In the end, in order to provi...First at all, it introduced the concept and the damages of continuous cropping obstacle. Then, it analyzed the causes of continuous cropping obstacles for Atractylodes macrocephala Koidz. In the end, in order to provide guidance for pro- moting sustainable development of Atractylodes macrocephala Koidz industry in Pingjiang County, it put forward some control methods for eliminating continuous cropping obstacles of Atractylodes macrocephala Koidz, including breeding varieties with high resistance; applying rotation cropping and intercropping reasonable; rational fertilization and soil disinfection; introducing antagonistic bacterial and eliminating au- tointoxication.展开更多
A robot intelligent path planning system RIPPS is developed, which can be utilized for a robot off line programming tool. The system consists of three parts: geometric modeler, kinematic modeler and path planer. The...A robot intelligent path planning system RIPPS is developed, which can be utilized for a robot off line programming tool. The system consists of three parts: geometric modeler, kinematic modeler and path planer. The geometric modeler is used to construct the robot working environment cluttered with obstacles and the robot kinematic modeler to define robot manipulators by the input parameters. Giving robot start and the goal configurations, the path planer can produce a quasi optimal path. By transforming obstacles into the C space to form C obstacles, the path searching is performed in C space. The planning simulations are performed on a SGI workstation, the future research is to implement the planer on a commercial robot manipulators.展开更多
Listening has been playing an essential role in daily communication.However,listening is the most difficult part and has been an obstacle in the process of learning English for most of learners for a variety of reason...Listening has been playing an essential role in daily communication.However,listening is the most difficult part and has been an obstacle in the process of learning English for most of learners for a variety of reasons.The paper mainly discusses the linguistic and non—linguistic obstacles in the process of listening and aims to help English learners find out their own shortcomings and put forward some corresponding solutions to improve learners' listening ability.展开更多
English reading,a key procedure of English learning and teaching in middle school,is an essential way of getting information from the globe and communicating with others.Therefore,efficient comprehension on reading ma...English reading,a key procedure of English learning and teaching in middle school,is an essential way of getting information from the globe and communicating with others.Therefore,efficient comprehension on reading materials will directly serve for accepting the information.And it is extremely important for middle school students to acquire certain reading ability.At present,great attention has been paid to the course of reading in the instruction of English by the Chinese Education Department.But middle school students'read ing ability is still much lower than the target they should reach because of a set of existing obstacles that prevent them from being effective English readers.What are these obstacles? How to break them down? This paper will first point out and then analyze the obstacles that af fect middle school students'reading ability from two aspects:linguistic obstacles(obstacles of lexicon,grammar and background knowl edge) and non-linguistic obstacles(obstacles of psychology,interest,skill,and habit).After demonstrating different obstacles,the paper also come up with some corresponding strategies in the hope of helping middle school students to be effective English readers.展开更多
In Cross-cultural communication,the ability of the languages and the ability of the cultures are the crucial factors in the communicating activities.People with the same cultural background communicate with each other...In Cross-cultural communication,the ability of the languages and the ability of the cultures are the crucial factors in the communicating activities.People with the same cultural background communicate with each other easily and smoothly,and understand each other better,and there are fewer or no obstacles in their communication at all.The different cultural backgrounds and traditions,the different social customs and everyday living habits,and the different values all will affect the communication quality and will surely result in obstacles in cross-cultural communication. The obstacles which frequently occur in the cross-cultural communication are:ethnocentrism,stereotyping, prejudice,and the different cultural backgrounds.In order to do away with the obstacles and to make the communication smoothly and successfully,the communicating parties both should observe the cooperative principles and politeness principles.And what's more,they must discard their own prejudices,and respect others,together to fulfill the cross-cultural communicating activities.展开更多
This paper gives the local regularity result for solutions to obstacle problems of A-harmonic equation divA(x, ξu(x)) = 0, |A.(x,ξ)|≈|?|p-1, when 1 < p < n and the obstacle function (?)≥0.
Formation control and obstacle avoidance for multi-agent systems have attracted more and more attention. In this paper, the problems of formation control and obstacle avoidance are investigated by means of a consensus...Formation control and obstacle avoidance for multi-agent systems have attracted more and more attention. In this paper, the problems of formation control and obstacle avoidance are investigated by means of a consensus algorithm. A novel distributed control model is proposed for the multi-agent system to form the anticipated formation as well as achieve obstacle avoidance. Based on the consensus algorithm, a distributed control function consisting of three terms （formation control term, velocity matching term, and obstacle avoidance term） is presented. By establishing a novel formation control matrix, a formation control term is constructed such that the agents can converge to consensus and reach the anticipated formation. A new obstacle avoidance function is developed by using the modified potential field approach to make sure that obstacle avoidance can be achieved whether the obstacle is in a dynamic state or a stationary state. A velocity matching term is also put forward to guarantee that the velocities of all agents converge to the same value. Furthermore, stability of the control model is proven. Simulation results are provided to demonstrate the effectiveness of the proposed control.展开更多
Obstacle avoidance becomes a very challenging task for an autonomous underwater vehicle(AUV)in an unknown underwater environment during exploration process.Successful control in such case may be achieved using the mod...Obstacle avoidance becomes a very challenging task for an autonomous underwater vehicle(AUV)in an unknown underwater environment during exploration process.Successful control in such case may be achieved using the model-based classical control techniques like PID and MPC but it required an accurate mathematical model of AUV and may fail due to parametric uncertainties,disturbance,or plant model mismatch.On the other hand,model-free reinforcement learning(RL)algorithm can be designed using actual behavior of AUV plant in an unknown environment and the learned control may not get affected by model uncertainties like a classical control approach.Unlike model-based control model-free RL based controller does not require to manually tune controller with the changing environment.A standard RL based one-step Q-learning based control can be utilized for obstacle avoidance but it has tendency to explore all possible actions at given state which may increase number of collision.Hence a modified Q-learning based control approach is proposed to deal with these problems in unknown environment.Furthermore,function approximation is utilized using neural network(NN)to overcome the continuous states and large statespace problems which arise in RL-based controller design.The proposed modified Q-learning algorithm is validated using MATLAB simulations by comparing it with standard Q-learning algorithm for single obstacle avoidance.Also,the same algorithm is utilized to deal with multiple obstacle avoidance problems.展开更多
文摘Every day walking consists of frequent voluntary modifications in the gait pattern to negotiate obstacles.After spinal cord injury,stepping over an obstacle becomes challenging.Stepping over an obstacle requires sensorimotor transformations in several structures of the brain,including the parietal cortex,premotor cortex,and motor cortex.Sensory information and planning are transformed into motor commands,which are sent from the motor cortex to spinal neuronal circuits to alter limb trajectory,coordinate the limbs,and maintain balance.After spinal cord injury,bidirectional communication between the brain and spinal cord is disrupted and animals,including humans,fail to voluntarily modify limb trajectory to step over an obstacle.Therefore,in this review,we discuss the neuromechanical control of stepping over an obstacle,why it fails after spinal cord injury,and how it recovers to a certain extent.
文摘Introduction: Vaccination faces several obstacles in the fight against COVID-19, yet it has been identified as one of the most effective means of preventing new epidemics of COVID-19. The aim was to contribute to improving vaccination coverage against COVID-19 in the Kindu health zone. Method: We conducted a cross-sectional descriptive study with an analytical focus, using a questionnaire that enabled us to carry out a survey from October 03 to 30, 2022. Our target study population was residents of the Kindu health zone. A total of 420 subjects participated in our study, including 42 per site. Results: The study revealed a low proportion of vaccinated subjects (38.3%) and a high proportion of non-vaccinated subjects (61.70%). Non-belief in the efficacy of vaccines (p = 0.001), infodemia (p = 0.001) and respect for ethnic norms (p = 0.001) were identified as perceived barriers to vaccination. Fear of being branded with the “666” beast badge (p = 0.004) as the perceived severity. Respondents’ perceptions of mass vaccination against COVID-19 are mixed, and their opinions and expectations of COVID-19 vaccination in the town of Kindu are divided. Conclusion: In order to increase the proportion of people vaccinated against COVID-19, it is suggested here to increase the population’s ability to detect false information through a well-structured communication and health education program.
文摘In the context of security systems,adequate signal coverage is paramount for the communication between security personnel and the accurate positioning of personnel.Most studies focus on optimizing base station deployment under the assumption of static obstacles,aiming to maximize the perception coverage of wireless RF(Radio Frequency)signals and reduce positioning blind spots.However,in practical security systems,obstacles are subject to change,necessitating the consideration of base station deployment in dynamic environments.Nevertheless,research in this area still needs to be conducted.This paper proposes a Dynamic Indoor Environment Beacon Deployment Algorithm(DIE-BDA)to address this problem.This algorithm considers the dynamic alterations in obstacle locations within the designated area.It determines the requisite number of base stations,the requisite time,and the area’s practical and overall signal coverage rates.The experimental results demonstrate that the algorithm can calculate the deployment strategy in 0.12 s following a change in obstacle positions.Experimental results show that the algorithm in this paper requires 0.12 s to compute the deployment strategy after the positions of obstacles change.With 13 base stations,it achieves an effective coverage rate of 93.5%and an overall coverage rate of 97.75%.The algorithm can rapidly compute a revised deployment strategy in response to changes in obstacle positions within security systems,thereby ensuring the efficacy of signal coverage.
文摘The flow field architecture of the proton exchange membrane fuel cell(PEMFC)cathode critically determines its performance.To enhance PEMFC operation through structural optimization,trapezoidal obstacles were implemented in the cathode flow channels.The height dependence of these obstacles was systematically investigated,revealing that a 0.7 mm obstacle height enhanced mass transfer from channels to the gas diffusion layer(GDL)compared to conventional triple-serpentine designs.This configuration achieved a 12.08%increase in limiting current density alongside improved water management.Subsequent studies on obstacle distribution density identified 75%density as optimal,delivering maximum net power density with 10.6%lower pressure drop than full-density arrangements.
基金Social Science Foundation Project of Jiangxi Province,No.24GL61D。
文摘In recent years, the uncontrollable risks of urban production-living-ecological(PLE)space have increased sharply, making resilience enhancement essential for sustainable urban development. Based on the social-ecological system(SES) theory, this study constructs an assessment framework for urban PLE space resilience by analyzing its inherent characteristics. The central urban area of Ganzhou city is taken as a case study to evaluate urban PLE space resilience and diagnose its obstacles. The results are as follows: The PLE space resilience in the central urban area of Ganzhou exhibits gradations and substantial spatial differentiation. The ecological space resilience in the study area was the highest, followed by that of production space, while living space resilience was the lowest. The primary factors influencing PLE space resilience are concentrated in the dimensions of robustness and adaptability. In particular, the robustness of the PLE space is relatively low. Based on these results, targeted spatial resilience governance strategies for the PLE space have been proposed. These strategies serve as theoretical and technical references for the study area. By adopting the PLE space perspective, this paper enriches resilience research and provide theoretical support for sustainable urban development.
基金supported by the National Science Fund for Distinguished Young Scholars(52425211)BIT Research Fund Program for Young Scholars(XSQD-202201005).
文摘A three-dimensional path-planning approach has been developed to coordinate multiple fixed-wing unmanned aerial vehicles(UAVs)while avoiding collisions.The hierarchical path-planning architecture that divides the path-planning process into two layers is proposed by designing the velocityobstacle strategy for satisfying timeliness and effectiveness.The upper-level layer focuses on creating an efficient Dubins initial path considering the dynamic constraints of the fixed wing.Subsequently,the lower-level layer detects potential collisions and adjusts its flight paths to avoid collisions by using the threedimensional velocity obstacle method,which describes the maneuvering space of collision avoidance as the intersection space of half space.To further handle the dynamic and collisionavoidance constraints,a priority mechanism is designed to ensure that the adjusted path is still feasible for fixed-wing UAVs.Simulation experiments demonstrate the effectiveness of the proposed method.
基金Supported by National Natural Science Foundation of China (Grant Nos. 52072215, 52221005, 52272386)Beijing Municipal Natrual Science Foundation (Grant No. L243025)+2 种基金National Key R&D Program of China (Grant No. 2022YFB2503003)State Key Laboratory of Intelligent Green Vehicle and Mobilityfundamental Research Funds for the Central Universities
文摘Autonomous trucks have the potential to enhance both safety and convenience in intelligent transportation.However,their maximum speed and ability to navigate a variety of driving conditions,particularly uneven roads,are limited by a high center of gravity,which increases the risk of rollover.Road bulges,sinkholes,and unexpected debris all present additional challenges for autonomous trucks’operational design,which current perception and decisionmaking algorithms often overlook.To mitigate rollover risks and improve adaptability to damaged roads,this paper presents a novel Road Obstacle-Involved Trajectory Planner(ROITP).The planner categorizes road obstacles using a learning-based algorithm.A discrete optimization algorithm selects a multi-objective optimal trajectory while taking into account constraints and objective functions derived from truck dynamics.Validation across various scenarios on a hardware-in-loop platform demonstrates that the proposed planner is effective and feasible for real-time implementation.
基金supported in part by the National Natural Science Foundation of China under Grants 62303098 and 62173073in part by China Postdoctoral Science Foundation under Grant 2022M720679+1 种基金in part by the Central University Basic Research Fund of China under Grant N2304021in part by the Liaoning Provincial Science and Technology Plan Project-Technology Innovation Guidance of the Science and Technology Department under Grant 2023JH1/10400011.
文摘Despite its immense potential,the application of digital twin technology in real industrial scenarios still faces numerous challenges.This study focuses on industrial assembly lines in sectors such as microelectronics,pharmaceuticals,and food packaging,where precision and speed are paramount,applying digital twin technology to the robotic assembly process.The innovation of this research lies in the development of a digital twin architecture and system for Delta robots that is suitable for real industrial environments.Based on this system,a deep reinforcement learning algorithm for obstacle avoidance path planning in Delta robots has been developed,significantly enhancing learning efficiency through an improved intermediate reward mechanism.Experiments on communication and interaction between the digital twin system and the physical robot validate the effectiveness of this method.The system not only enhances the integration of digital twin technology,deep reinforcement learning and robotics,offering an efficient solution for path planning and target grasping inDelta robots,but also underscores the transformative potential of digital twin technology in intelligent manufacturing,with extensive applicability across diverse industrial domains.
基金Supported by Agricultural Science and Technology Innovation Fund of Hunan Province(XCNZ[2021]No.15)Loudi Science and Technology Innovation Program(LKF[2022]29)+1 种基金Applied Characteristic Discipline Construction Project of Hunan Province:Plant ProtectionPostgraduate Research and Innovation Project of Hunan University of Humanities,Science and Technology(ZSCX2022Y12).
文摘[Objectives]This study was conducted to comprehensively understand the changes in gene expression of plants under environmental stress during different growth and development stages.[Methods]The effects of continuous cropping on the roots and leaves of Polygonatum sibiricum were investigated using transcriptome sequencing.Normally-grown first crop P.sibiricum was used as the control group,while continuous cropping plants served as the treatment group.Transcriptomic differences in roots and leaves under different conditions were compared.[Results]The leaf materials of first crop and continuous cropping P.sibiricum(CCLZ vs FCLZ)showed 21916 differentially expressed genes(DEGs),while the root materials of first crop and continuous cropping P.sibiricum(CCRZ vs FCRZ)exhibited 12726 DEGs(the lowest DEG count)(12726).Among them,1896 DEGs were common.GO enrichment analysis revealed that DEGs were mainly enriched in metabolism,cell wall degradation,and pathogen defense.KEGG enrichment analysis indicated that DEGs in CCLZ vs FCLZ and CCRZ vs FCRZ primarily affected hormone signal transduction and pathogen interaction pathways.[Conclusions]This study preliminarily elucidate the regulatory mechanisms in the roots and leaves of continuous cropping P.sibiricum at the molecular level,providing reference for research on its adaptation to continuous cropping.
基金Under the auspices of National Natural Science Foundation of China(No.42371185)。
文摘Under the new development pattern,promoting the balanced development of the regional life service level is the key to attaining the goal of meeting people’s need for an improved life.This study constructed an index system with six dimensions,namely,economic base,innovation drive,living environment,transportation,public services and life security,and explored the balanced characteristics and obstacles of the life service level in the Yangtze River Delta,China in 2020 using the Gini coefficient,the standard deviation ellipse,the global spatial autocorrelation,the equilibrium entropy and the obstacle degree model.Results show that:1)the current overall level of life services in the Yangtze River Delta is in relative equilibrium,and the Gini coefficient of three dimensions,namely,economic base,innovation drive and life security,is relatively low and on the verge of imbalance.2)The spatial pattern of the six dimensions of the overall level of the life service is oriented toward the‘southeast-northwest’direction with significant spatial differentiation and spatial agglomeration.3)At present,most of the cities have a comparative advantage in the coordination of their life services,and the potential of their life service system shows room for further improvement in the future.4)Currently,the quality of economic development,talent concentration,innovation inputs,innovation outputs,basic education,health care,cultural sharing,the living standards of the urban and rural residents and the construction of a transportation system are the main factors constraining the improvement of the level of life services in the Yangtze River Delta.This study attempts to research on the evaluation and measurement of regional life service level in the new era,and provides a reference for the promotion of regional coordination and sustainable development.
基金Deputyship for Research&Innovation,Ministry of Education in Saudi Arabia for funding this research work through the project number RI-44-0451.
文摘Current developments in magnetohydrodynamic(MHD)convection and nanofluid engineering technology have have greatly enhanced heat transfer performance in process systems,particularly through the use of carbon nanotube(CNT)–based fluids that offer exceptional thermal conductivity.Despite extensive research on MHD natural convection in enclosures,the combined effects of complex obstacle geometries,magnetic fields,and CNT nanofluids in three-dimensional configurations remain insufficiently explored.This research investigates MHD natural convection of carbon nanotube(CNT)-water nanofluid within a three-dimensional cavity.The study considers an inclined cross-shaped hot obstacle,a configuration not extensively explored in previous works.The work aims to elucidate the combined effects of CNT nanofluid concentration,magnetic field strength,and obstacle inclination on fluid flow patterns and heat transfer characteristics.Numerical simulations are performed using the finite element method(FEM)based on the Galerkin Weighted Residual approach.The analysis systematically considers variations in Rayleigh number(Ra),Hartmann number(Ha),nanoparticle volume fraction(Φ),and obstacle inclination angle(θ).Results show that increasing Ra from 103 to 106 enhances convective heat transfer by up to 228%,while raising the CNT volume fraction to 4.5%improves heat transfer by about 64%.In contrast,strengthening the magnetic field from Ha=0 to Ha=100 suppresses fluid motion and reduces heat transfer by nearly 67%,whereas varying the obstacle inclination from 0○to 45○leads to a 4.6%decrease in efficiency.The addition of nanoparticles slightly increases viscosity,reducing flow intensity by 8.3%when Ha=0.Furthermore,a novel multiparametric correlation is proposed,accurately predicting the average Nusselt number as a function of Ra,Ha,ϕ,andθ,with an R2 of 0.98.These findings provide new insights into the role of geometry,magnetic effects,and nanofluids in heat transfer enhancement,offering practical guidance for the design and optimization of advanced thermal systems.
基金Under the auspices of National Natural Science Foundation of China(No.42271222)Natural Science Foundation of Gansu Province(No.22JR5RA130)。
文摘Rural resilience,a core capability for addressing systemic risks and enabling sustainable development,is increasingly vital to promoting urban-rural integrated development and rural revitalization strategies.However,current research lacks exploration of the collaborative mechanisms between rural economic resilience(RER)and rural social resilience(RSR)in ecologically vulnerable areas.Based on the practical context of rural sustainable development in such regions,this study investigates the interaction between RER and RSR from a resilience coordination perspective.In this paper,a rural resilience evaluation framework for collaborative development of economic and social resilience was established.By employing the coupling coordination degree model,obstacle degree model,and equilibrium entropy model,this paper examines the synergies,constraints,and potential of rural resilience subsystems in Jinchang City,Gansu Province,China,in 2020.The results reveal that:1)RER contributes to RSR by stabilizing the economy,enhancing community adaptability,and driving modernization.In turn,RSR strengthens RER by mitigating instability,building social capital,and fostering confidence—together forming a mutually reinforcing coupling mechanism.2)The rural economic and social resilience level in Jinchang City remains generally low with spatially clustered patterns,while the coupling coordination degree is at an intermediate level overall,with 62.59%of villages exhibiting unbalanced development between rural economic and social resilience.3)RER and RSR demonstrate synergistic degradation in ecologically vulnerable areas,where low-level rural economic and social resilience induce integrated systemic deterioration.4)Considering the unbalanced development of rural economic and social resilience in ecologically fragile areas,differentiated coordination pathways are proposed for three village typologies:RER-lagging villages,RSR-lagging villages,and villages where RER and RSR develop synchronously but lack effective coordination.These findings offer spatial governance strategies and practical guidance for enhancing rural resilience and advancing sustainable development in ecologically vulnerable regions.
文摘First at all, it introduced the concept and the damages of continuous cropping obstacle. Then, it analyzed the causes of continuous cropping obstacles for Atractylodes macrocephala Koidz. In the end, in order to provide guidance for pro- moting sustainable development of Atractylodes macrocephala Koidz industry in Pingjiang County, it put forward some control methods for eliminating continuous cropping obstacles of Atractylodes macrocephala Koidz, including breeding varieties with high resistance; applying rotation cropping and intercropping reasonable; rational fertilization and soil disinfection; introducing antagonistic bacterial and eliminating au- tointoxication.
文摘A robot intelligent path planning system RIPPS is developed, which can be utilized for a robot off line programming tool. The system consists of three parts: geometric modeler, kinematic modeler and path planer. The geometric modeler is used to construct the robot working environment cluttered with obstacles and the robot kinematic modeler to define robot manipulators by the input parameters. Giving robot start and the goal configurations, the path planer can produce a quasi optimal path. By transforming obstacles into the C space to form C obstacles, the path searching is performed in C space. The planning simulations are performed on a SGI workstation, the future research is to implement the planer on a commercial robot manipulators.
文摘Listening has been playing an essential role in daily communication.However,listening is the most difficult part and has been an obstacle in the process of learning English for most of learners for a variety of reasons.The paper mainly discusses the linguistic and non—linguistic obstacles in the process of listening and aims to help English learners find out their own shortcomings and put forward some corresponding solutions to improve learners' listening ability.
文摘English reading,a key procedure of English learning and teaching in middle school,is an essential way of getting information from the globe and communicating with others.Therefore,efficient comprehension on reading materials will directly serve for accepting the information.And it is extremely important for middle school students to acquire certain reading ability.At present,great attention has been paid to the course of reading in the instruction of English by the Chinese Education Department.But middle school students'read ing ability is still much lower than the target they should reach because of a set of existing obstacles that prevent them from being effective English readers.What are these obstacles? How to break them down? This paper will first point out and then analyze the obstacles that af fect middle school students'reading ability from two aspects:linguistic obstacles(obstacles of lexicon,grammar and background knowl edge) and non-linguistic obstacles(obstacles of psychology,interest,skill,and habit).After demonstrating different obstacles,the paper also come up with some corresponding strategies in the hope of helping middle school students to be effective English readers.
文摘In Cross-cultural communication,the ability of the languages and the ability of the cultures are the crucial factors in the communicating activities.People with the same cultural background communicate with each other easily and smoothly,and understand each other better,and there are fewer or no obstacles in their communication at all.The different cultural backgrounds and traditions,the different social customs and everyday living habits,and the different values all will affect the communication quality and will surely result in obstacles in cross-cultural communication. The obstacles which frequently occur in the cross-cultural communication are:ethnocentrism,stereotyping, prejudice,and the different cultural backgrounds.In order to do away with the obstacles and to make the communication smoothly and successfully,the communicating parties both should observe the cooperative principles and politeness principles.And what's more,they must discard their own prejudices,and respect others,together to fulfill the cross-cultural communicating activities.
文摘This paper gives the local regularity result for solutions to obstacle problems of A-harmonic equation divA(x, ξu(x)) = 0, |A.(x,ξ)|≈|?|p-1, when 1 < p < n and the obstacle function (?)≥0.
基金supported by the National High Technology Research and Development Program of China(Grant No.2011AA040103)the Research Foundationof Shanghai Institute of Technology,China(Grant No.B504)
文摘Formation control and obstacle avoidance for multi-agent systems have attracted more and more attention. In this paper, the problems of formation control and obstacle avoidance are investigated by means of a consensus algorithm. A novel distributed control model is proposed for the multi-agent system to form the anticipated formation as well as achieve obstacle avoidance. Based on the consensus algorithm, a distributed control function consisting of three terms （formation control term, velocity matching term, and obstacle avoidance term） is presented. By establishing a novel formation control matrix, a formation control term is constructed such that the agents can converge to consensus and reach the anticipated formation. A new obstacle avoidance function is developed by using the modified potential field approach to make sure that obstacle avoidance can be achieved whether the obstacle is in a dynamic state or a stationary state. A velocity matching term is also put forward to guarantee that the velocities of all agents converge to the same value. Furthermore, stability of the control model is proven. Simulation results are provided to demonstrate the effectiveness of the proposed control.
基金the support of Centre of Excellence (CoE) in Complex and Nonlinear dynamical system (CNDS), through TEQIP-II, VJTI, Mumbai, India
文摘Obstacle avoidance becomes a very challenging task for an autonomous underwater vehicle(AUV)in an unknown underwater environment during exploration process.Successful control in such case may be achieved using the model-based classical control techniques like PID and MPC but it required an accurate mathematical model of AUV and may fail due to parametric uncertainties,disturbance,or plant model mismatch.On the other hand,model-free reinforcement learning(RL)algorithm can be designed using actual behavior of AUV plant in an unknown environment and the learned control may not get affected by model uncertainties like a classical control approach.Unlike model-based control model-free RL based controller does not require to manually tune controller with the changing environment.A standard RL based one-step Q-learning based control can be utilized for obstacle avoidance but it has tendency to explore all possible actions at given state which may increase number of collision.Hence a modified Q-learning based control approach is proposed to deal with these problems in unknown environment.Furthermore,function approximation is utilized using neural network(NN)to overcome the continuous states and large statespace problems which arise in RL-based controller design.The proposed modified Q-learning algorithm is validated using MATLAB simulations by comparing it with standard Q-learning algorithm for single obstacle avoidance.Also,the same algorithm is utilized to deal with multiple obstacle avoidance problems.
