Servicing is applied periodically in practice with the aim of restoring the system state and prolonging the lifetime. It is generally seen as an imperfect maintenance action which has a chief influence on the maintena...Servicing is applied periodically in practice with the aim of restoring the system state and prolonging the lifetime. It is generally seen as an imperfect maintenance action which has a chief influence on the maintenance strategy. In order to model the maintenance effect of servicing, this study analyzes the deterioration characteristics of system under scheduled servicing. And then the deterioration model is established from the failure mechanism by compound Poisson process. On the basis of the system damage value and failure mechanism, the failure rate refresh factor is proposed to describe the maintenance effect of servicing. A maintenance strategy is developed which combines the benefits of scheduled servicing and preventive maintenance. Then the optimization model is given to determine the optimal servicing period and preventive maintenance time, with an objective to minimize the system expected life-cycle cost per unit time and a constraint on system survival probability for the duration of mission time. Subject to mission time, it can control the ability of accomplishing the mission at any time so as to ensure the high dependability. An example of water pump rotor relating to scheduled servicing is introduced to illustrate the failure rate refresh factor and the proposed maintenance strategy. Compared with traditional methods, the numerical results show that the failure rate refresh factor can describe the maintenance effect of servicing more intuitively and objectively. It also demonstrates that this maintenance strategy can prolong the lifetime, reduce the total lifetime maintenance cost and guarantee the dependability of system.展开更多
This paper deals with a type of servicing machines model, which service station has a life time of the kth Er-langian distribution and can be repaired just like a new one. The cyclic time and the inefficiency quantiti...This paper deals with a type of servicing machines model, which service station has a life time of the kth Er-langian distribution and can be repaired just like a new one. The cyclic time and the inefficiency quantities of this system in equilibrium are obtained.展开更多
Effectiveness-based system development is an essential technology developing concept advanced by some countries,such as the U.S.A.Making use of Analytic Hierarchy Process,this paper brings forward a methodology for or...Effectiveness-based system development is an essential technology developing concept advanced by some countries,such as the U.S.A.Making use of Analytic Hierarchy Process,this paper brings forward a methodology for orbital optimization based on effectiveness in the case of the orbital deployment for the Servicing Spacecraft(SSC),which needs to accomplish many types of tasks and whose orbit is affected by kinds of factors with contradictions in orbital parameter selection.Firstly,the possible tasks of SSC are decomposed and their degrees of importance are given by the times,probabilities,values of their applications.Then,the supporting capabilities are discussed from the viewpoint of orbit design,and the determination of their weights is put forward.Finally,the relationships between the orbital parameters and the effectiveness are established by using effective function,and three synthesizing methods for a single task and its capabilities are presented.展开更多
On-orbit servicing, such as spacecraft maintenance, on-orbit assembly, refueling, and de-orbiting, can reduce the cost of space missions, improve the performance of spacecraft, and extend its life span. The relative s...On-orbit servicing, such as spacecraft maintenance, on-orbit assembly, refueling, and de-orbiting, can reduce the cost of space missions, improve the performance of spacecraft, and extend its life span. The relative state between the servicing and target spacecraft is vital for on-orbit servicing missions, especially the final approaching stage. The major challenge of this stage is that the observed features of the target are incomplete or are constantly changing due to the short distance and limited Field of View (FOV) of camera. Different from cooperative spacecraft, non-cooperative target does not have artificial feature markers. Therefore, contour features, including triangle supports of solar array, docking ring, and corner points of the spacecraft body, are used as the measuring features. To overcome the drawback of FOV limitation and imaging ambiguity of the camera, a "selfie stick" structure and a self-calibration strategy were implemented, ensuring that part of the contour features could be observed precisely when the two spacecraft approached each other. The observed features were constantly changing as the relative distance shortened. It was difficult to build a unified measurement model for different types of features, including points, line segments, and circle. Therefore, dual quaternion was implemented to model the relative dynamics and measuring features. With the consideration of state uncertainty of the target, a fuzzy adaptive strong tracking filter( FASTF) combining fuzzy logic adaptive controller (FLAC) with strong tracking filter(STF) was designed to robustly estimate the relative states between the servicing spacecraft and the target. Finally, the effectiveness of the strategy was verified by mathematical simulation. The achievement of this research provides a theoretical and technical foundation for future on-orbit servicing missions.展开更多
Randomization-based motion planning algorithms are presented to solve problems of servicing spacecraft maneuvering in proximity to servicing targets on an elliptical orbit.The feasible trajectories of position and att...Randomization-based motion planning algorithms are presented to solve problems of servicing spacecraft maneuvering in proximity to servicing targets on an elliptical orbit.The feasible trajectories of position and attitude for spacecraft are obtained by these algorithms under a variety of constraints.The state transition matrix is applied to computation of relative motion on elliptical orbits without performing numerical integration.The pseudo body coordinate system is built for identifying the planners on three coordinate axes with different functions.Finally,motion planning algorithm for translation and attitude taking account of the dependent variable (i.e.time) is used to obtain feasible trajectories.As the simulation examples indicate,the effectiveness of these methods is verified for relative motion while getting close to large structures,and the paper concludes with a detailed analysis of the results.展开更多
Recently,with the rapid development of aerospace technology,an increasing number of spacecraft is being launched into space.Additionally,the demands for on-orbit servicing(OOS)missions are rapidly increasing.Space rob...Recently,with the rapid development of aerospace technology,an increasing number of spacecraft is being launched into space.Additionally,the demands for on-orbit servicing(OOS)missions are rapidly increasing.Space robotics is one of the most promising approaches for various OOS missions;thus,research on space robotics technologies for OOS has attracted increased attention from space agencies and universities worldwide.In this paper,we review the structures,ground verification,and onorbit kinematics calibration technologies of space robotic systems for OOS.First,we systematically summarize the development of space robotic systems and OOS programs based on space robotics.Then,according to the structures and applications,these systems are divided into three categories:large space manipulators,humanoid space robots,and small space manipulators.According to the capture mechanisms adopted,the end-effectors are systematically analyzed.Furthermore,the ground verification facilities used to simulate a microgravity environment are summarized and compared.Additionally,the on-orbit kinematics calibration technologies are discussed and analyzed compared with the kinematics calibration technologies of industrial manipulators with regard to four aspects.Finally,the development trends of the structures,verification,and calibration technologies are discussed to extend this review work.展开更多
This review paper presents a comprehensive evaluation and forward-looking perspective on the underexplored topic of servicing target objects using spacecraft swarms.Such targets can be known or unknown,cooperative or ...This review paper presents a comprehensive evaluation and forward-looking perspective on the underexplored topic of servicing target objects using spacecraft swarms.Such targets can be known or unknown,cooperative or uncooperative,and pose significant challenges in modern space operations due to their inherent complexity and unpredictability.Successfully servicing space objects is vital for active debris removal and broader on-orbit servicing tasks such as satellite maintenance,repair,refueling,orbital assembly,and construction.Significant effort has been invested in the literature to explore the servicing of targets using a single spacecraft.Given its advantages and benefits,this paper expands the discussion to encompass a swarm approach to the problem.This review covers various single-spacecraft approaches and presents a critical examination of the existing,although limited,body of work dedicated to servicing orbital objects using multiple spacecraft.The focus is also broadened to include some influential studies concerning the characterization,capture,and manipulation of physical objects by general multiagent systems,a subject with significant parallels to the core interest of this manuscript.Furthermore,this article also delves into the realm of simultaneous localization and mapping,highlighting its application within close-proximity operations in space,especially when dealing with unknown uncooperative targets.Special attention is paid to the benefits that this field can receive from distributed multiagent architectures.Finally,an exploration of the promising field of swarm robotics is presented,with an emphasis on its potential to revolutionize the servicing of orbital target objects.Concurrently,a survey of general research directly engaging swarms in the orbital context is conducted.This review aims to bridge the knowledge gap and stimulate further research in the underexplored domain of servicing space targets with spacecraft swarms.展开更多
Common mental disorders(CMDs),such as depressive and anxiety disorders,constitute a significant public health problem in low-and middle-income countries,such as India,where they rank among the leading causes of disabi...Common mental disorders(CMDs),such as depressive and anxiety disorders,constitute a significant public health problem in low-and middle-income countries,such as India,where they rank among the leading causes of disability and impaired quality of life.Outcomes are further compromised by a large treatment gap,poor adherence to therapeutic regimens,and high attrition rates.The prevalence and severity of CMDs are disproportionately higher in women.Additionally,structural factors influencing healthcare access,along with sociocultural factors,such as gender-based violence,limited autonomy in healthcare decisions,and greater levels of discrimination and stigma,result in poorer outcomes among women with CMDs.Therefore,there is a pressing need for care packages that are culturally sensitive,gender-responsive,and designed to address these structural and sociocultural factors,as highlighted in the literature from India.展开更多
In Wuhu,urban renewal has not only transformed the development process,but improved people’s lives.DURING the 14th Five-Year Plan period(2021-2025),urban renewal has served as a crucial measure to promote high-qualit...In Wuhu,urban renewal has not only transformed the development process,but improved people’s lives.DURING the 14th Five-Year Plan period(2021-2025),urban renewal has served as a crucial measure to promote high-quality urban development and continuously meet people’s growing aspirations for a better life.Wuhu,in central China’s Anhui Province,has consistently enhanced its urban functions and services to build a modern,people-oriented city that is innovative,livable,beautiful,resilient,and smart.展开更多
Wuyuan Bay marina is the rising star as a yachting sports and leisure center in Xiamen City, southeast China’s Fujian Province. China (Xiamen) International Boat Show 2011 was held between
In this paper the model of servicing machines with repairable facility is further studied.By standard conditioning decomposition argument,two reliability indices-the probability that the service facility fails at time...In this paper the model of servicing machines with repairable facility is further studied.By standard conditioning decomposition argument,two reliability indices-the probability that the service facility fails at time t and the expected number of failure occurring during（0,t] are discussed.Some important relations of them are given.Furthermore,some new reliability problems are presented and discussed as follows：1） The numbers of the service facility failures during the generalized service time and the generalized busy period;2） The asymptotic expansion of the expected failure number of the service facility during（0,t].A series of new reliability results of the service facility are obtained.展开更多
The rapid population and land urbanization not only promoted economic development but also affected the ecosystem service value(ESV).In the context of new-type urbanization and green development,it’s essential to inv...The rapid population and land urbanization not only promoted economic development but also affected the ecosystem service value(ESV).In the context of new-type urbanization and green development,it’s essential to investigate the impacts of urbanization on ESV in China.However,a comprehensive and dynamic framework to reveal the relationship between ESV and urbanization processes is lacking.This study adopted multi-source datasets to portray China’s urbanization process by integrating population,land,and economic urbanization,eval-uated the ESV changes of 10 categories by gross ecosystem product(GEP)methods,and explored ESV changes within different urbanization scales and speeds.The results showed rapid urbanization in the population,land,and economic dimensions in China,with a faster process of economic urbanization.The ESV also exhibited an increasing trend,with higher levels in the southeastern coastal regions and lower levels in the northwestern regions.Urbanization had positive impacts on ESV across various research units,but the ESV exhibited heteroge-neous changes across different urbanization scales,speeds,and their interactive effects.The response of ESV to dynamic urbanization processes was influenced by socio-economic,ecological,and policy factors;it is essential to combine targeted measures with general ecological product value realization methods in each unit to maximize social-economic-ecological benefits.展开更多
Human well-being and livelihoods depend on natural ecosystem services(ESs).Following the increment of population,ESs have been deteriorated over time.Ultimately,land use/land cover(LULC)changes have a profound impact ...Human well-being and livelihoods depend on natural ecosystem services(ESs).Following the increment of population,ESs have been deteriorated over time.Ultimately,land use/land cover(LULC)changes have a profound impact on the change of ecosystem.The primary goal of this study is to determine the impacts of LULC changes on ecosystem service values(ESVs)in the upper Gilgel Abbay watershed,Ethiopia.Changes in LULC types were studied using three Landsat images representing 1986,2003,and 2021.The Landsat images were classified using a supervised image classification technique in Earth Resources Data Analysis System(ERDAS)Imagine 2014.We classified ESs in this study into four categories(including provisioning,regulating,supporting,and cultural services)based on global ES classification scheme.The adjusted ESV coefficient benefit approach was employed to measure the impacts of LULC changes on ESVs.Five LULC types were identified in this study,including cultivated land,forest,shrubland,grassland,and water body.The result revealed that the area of cultivated land accounted for 64.50%,71.50%,and 61.50%of the total area in 1986,2003,and 2021,respectively.The percentage of the total area covered by forest was 9.50%,5.90%,and 14.80%in 1986,2003,and 2021,respectively.Result revealed that the total ESV decreased from 7.42×10^(7) to 6.44×10^(7) USD between 1986 and 2003.This is due to the expansion of cultivated land at the expense of forest and shrubland.However,the total ESV increased from 6.44×10^(7) to 7.76×10^(7) USD during 2003-2021,because of the increment of forest and shrubland.The expansion of cultivated land and the reductions of forest and shrubland reduced most individual ESs during 1986-2003.Nevertheless,the increase in forest and shrubland at the expense of cultivated land enhanced many ESs during 2003-2021.Therefore,the findings suggest that appropriate land use practices should be scaled-up to sustainably maintain ESs.展开更多
In GNSS denied environments,pseudolites have to rely on prior information,such as ground anchoring points,terrain matching or other multi-source means for positioning.This paper proposes a method of dynamic networking...In GNSS denied environments,pseudolites have to rely on prior information,such as ground anchoring points,terrain matching or other multi-source means for positioning.This paper proposes a method of dynamic networking of UAVs pseudolites for accurate navigation with only inertial navigation during GNSS denied area,which can provide accurate positioning services without prior information like anchor points.On this basis,this paper proposes a mathematical model of UAV pseudolite networking to describe the relationship of UAV flight altitude,network service coverage and anti-jamming capabilities.This model demonstrates excellent anti-interference ability,which can achieve a maximum power enhancement of up to 54.58 dB.And it can also offer another operating mode with a maximum coverage range of up to 2675.47 km^(2),while still ensuring a power enhancement of 37.57dB.This method can effectively solve the problem of providing continuous positioning services as an alternative GNSS,and is also a powerful support solution for resilient Positioning,Navigation,and Timing(PNT)^([1]).展开更多
Objective Systematically integrate nurses’experience with“Internet Nursing Service”to analysis the nurses’experiences with“Internet Nursing Service”,and to provide a theoretical reference for formulating a more ...Objective Systematically integrate nurses’experience with“Internet Nursing Service”to analysis the nurses’experiences with“Internet Nursing Service”,and to provide a theoretical reference for formulating a more rational“Internet Nursing Service”model.Methods A systematic search in PubMed,Embase,Web of Science,the Cochrane Library,CINAHL,China National Knowledge Infrastructure(CNKI),Wanfang Database,and Chinese Biomedical Literature Database was conducted to collect qualitative research on nurses’experiences with“Internet Nursing Service,”with a retrieval time limit from December 2019 to June 2024.Qualitative meta-synthesis was performed through line-by-line coding of relevant quotes,organization of codes into descriptive themes,and development of analytical themes.Results A total of 19 studies were included,one study was rated as Grade A in quality evaluation,and the remaining studies were rated as Grade B.Collectively synthesized into three integrated results:Harvest and growth,Difficulties and challenges,and Expectations and support.Harvest and growth,include 1)manifestation of self-value,2)enhancing nursing capabilities,3)optimizing nursing resources;Difficulties and challenges,include 1)lack of safety guarantee,2)role conflict;Expectations and support include,1)expectation for professional knowledge and skill training,2)expectations for service platform optimization,3)expectation for reasonable charges,4)expectation for related policy support.Conclusion“Internet Nursing Service”model benefits both nurses and patients,but still full of challenges.It aids in the decentralization of medical resources.Management departments still need to encourage nurses to actively invest in“Internet Nursing Service”while ensuring their safety and interests.展开更多
The Qinghai-Xizang Plateau(QXP)serves as a crucial ecological barrier in China and Asia,exerting profound influences on global climate and biodiversity conservation.Gannan Tibetan Autonomous Prefecture(hereinafter ref...The Qinghai-Xizang Plateau(QXP)serves as a crucial ecological barrier in China and Asia,exerting profound influences on global climate and biodiversity conservation.Gannan Tibetan Autonomous Prefecture(hereinafter referred as Gannan Prefecture),located on the northeastern edge of the QXP,represents a fragile alpine ecosystem in which land use change significantly impacts ecosystem services(ESs).This study established a comprehensive framework,utilizing the Patch-generating Land-Use Simulation(PLUS)model coupled with the Integrated Valuation of Ecosystem Services and Tradeoffs(InVEST)model to predict land use patterns under the natural development scenario,cultivated land protection scenario,and ecological protection scenario for Gannan Prefecture by 2030 and evaluated four critical ESs:habitat quality(HQ),water yield(WY),soil retention(SR),and carbon storage(CS).The primary aim is to elucidate the impacts of dynamic land use change on ESs.The results revealed that,from 2000 to 2020,HQ exhibited minimal variation,whereas CS experienced a slight decline.Conversely,WY and SR showed significant improvements.Under the natural development scenario,construction land was projected to increase by 4247.74 hm^(2),primarily at the expense of forest land.The cultivated land protection scenario anticipated an increase in farmland by 2634.36 hm^(2),which was crucial for maintaining food security.The ecological protection scenario predicted a notable expansion of forest land,accompanied by a restrained development rate of construction land.The ecological protection scenario also showed an increase in the ecosystem service index(ESI),encompassing 26.07%of the region.Forest land and grassland emerged as the primary contributors to ESs,while construction land substantially impacted WY.Water bodies exhibited minimal contribution to ESs.This study enhanced the understanding of land use change impacts on ESs in fragile and high-altitude ecosystems,offering essential theoretical frameworks and practical direction for forthcoming ecological policy and regional planning endeavors.展开更多
Quantifying and mapping how ecosystem services impact agricultural competitiveness is crucial for attaining the Sustainable Development Goals of United Nations.However,few study quantified agricultural competitiveness...Quantifying and mapping how ecosystem services impact agricultural competitiveness is crucial for attaining the Sustainable Development Goals of United Nations.However,few study quantified agricultural competitiveness and mapped the effects of ecosystem services on agricultural competitiveness using multiple models.In this study,multi-source data from 2000 to 2020 were utilized to establish the indicator system of agricultural competitiveness;five ecosystem services were quantified using computation models;Geographic Information System(GIS)spatial analysis was used to explore the spatial patterns of agricultural competitiveness and ecosystem services;geographic detector models were applied to investigate the effects and driving mechanisms of ecosystem services on agricultural competitiveness.Shandong Province of China was selected as the case study area.The results demonstrated that:1)there was a significant increase in agricultural competitiveness during the study period,with high levels observed mainly in the east region of the study area.2)The spatial distribution patterns of ecosystem services and agricultural competitiveness primarily exhibited High-High and Low-Low Cluster types.3)Habitat quality emerged as the main driving factor of agricultural competitiveness in 2000 and 2020,while water yield played a substantial role in 2010.4)The coupling of two ecosystem services exerted a greater effect on agricultural competitiveness compared to individual ecosystem service.The innovations of this study are constructing an indicator system to quantify agricultural competitiveness,and exploring the effects of ecosystem services on agricultural competitiveness.This study proposed an indicator system to quantify agricultural competitiveness,which can be applied in other regions,and explored the effects of ecosystem services on agricultural competitiveness.The findings of this study can serve as valuable insights for policymakers to formulate tailored agricultural development policies that take into account the synergistic effects of ecosystem services on agricultural competitiveness.展开更多
With the deployment of ultra-dense low earth orbit(LEO)satellite constellations,LEO satellite access network(LEO-SAN)is envisioned to achieve global Internet coverage.Meanwhile,the civil aviation communications have i...With the deployment of ultra-dense low earth orbit(LEO)satellite constellations,LEO satellite access network(LEO-SAN)is envisioned to achieve global Internet coverage.Meanwhile,the civil aviation communications have increased dramatically,especially for providing airborne Internet services.However,due to dynamic service demands and onboard LEO resources over time and space,it poses huge challenges in satellite-aircraft access and service management in ultra-dense LEO satellite networks(UDLSN).In this paper,we propose a deep reinforcement learning-based approach for ultra-dense LEO satellite-aircraft access and service management.Firstly,we develop an airborne Internet architecture based on UDLSN and design a management mechanism including medium earth orbit satellites to guarantee lightweight management.Secondly,considering latency-sensitive and latency-tolerant services,we formulate the problem of satellite-aircraft access and service management for civil aviation to ensure service continuity.Finally,we propose a proximal policy optimization-based access and service management algorithm to solve the formulated problem.Simulation results demonstrate the convergence and effectiveness of the proposed algorithm with satisfying the service continuity when applying to the UDLSN.展开更多
Background:People working outdoors in the Map Ta Phut pollution control area of Thailand require comprehen-sive health monitoring.In the past,studies have been done on the health effects of pollutants.However,there ar...Background:People working outdoors in the Map Ta Phut pollution control area of Thailand require comprehen-sive health monitoring.In the past,studies have been done on the health effects of pollutants.However,there are few studies on musculoskeletal disorders(MSDs),and Thailand is struggling to meet the Sustainable Development Goals.Methods:This cross-sectional study examines access to health services and factors affecting MSDs among outdoor pollution workers(OPWs).The sample group includes OPWs,including local fisherman,street vendors,public car drivers,and traffic police.We studied 50 people from each of these groups,for a total of 200 people.Data were analyzed with inferential statistics using Chi-square test,McNemar test,and Univariate logistic regression.Results:The OPWs reported experiencing significantly more total MSDs pain than they did in the past(P<0.05).Factors affecting current MSDs pain,including occupation and working days per week,were significant(P<0.05).The street vendor group and public car driver group had(odds ratio[OR]=2.253,95%confidence interval[CI]:1.101 to 5.019)and(OR=2.681,95%CI:1.191 to 6.032)times higher risks of MSDs pain,respectively.OPWs who work>5 days per week had a(OR=1.464,95%CI:1.093 to 2.704)times higher risk of MSDs pain.52.7%of OPWs with MSDs,pain(n=110)had received an annual health check-up.In the past year,50.9%had minor illnesses and 21.8%had severe illnesses.OPWs receiving free treatment and visiting health service stations for no cost comprised 77.3%and 51.8%,respectively.60.9%used their right to receive treatment with universal health insurance cards.Conclusions:The study indicates that occupational groups with MSDs pain problems should exercise this right,according to the worker protection law.Local health agencies should organize activities or create accessible media to promote preventive medicine services,as many OPWs believe that health services can only be accessed when illness occurs.展开更多
基金supported by the National Defence Preresearch Foundation of China(Nos.51327020105,51304010206)
文摘Servicing is applied periodically in practice with the aim of restoring the system state and prolonging the lifetime. It is generally seen as an imperfect maintenance action which has a chief influence on the maintenance strategy. In order to model the maintenance effect of servicing, this study analyzes the deterioration characteristics of system under scheduled servicing. And then the deterioration model is established from the failure mechanism by compound Poisson process. On the basis of the system damage value and failure mechanism, the failure rate refresh factor is proposed to describe the maintenance effect of servicing. A maintenance strategy is developed which combines the benefits of scheduled servicing and preventive maintenance. Then the optimization model is given to determine the optimal servicing period and preventive maintenance time, with an objective to minimize the system expected life-cycle cost per unit time and a constraint on system survival probability for the duration of mission time. Subject to mission time, it can control the ability of accomplishing the mission at any time so as to ensure the high dependability. An example of water pump rotor relating to scheduled servicing is introduced to illustrate the failure rate refresh factor and the proposed maintenance strategy. Compared with traditional methods, the numerical results show that the failure rate refresh factor can describe the maintenance effect of servicing more intuitively and objectively. It also demonstrates that this maintenance strategy can prolong the lifetime, reduce the total lifetime maintenance cost and guarantee the dependability of system.
文摘This paper deals with a type of servicing machines model, which service station has a life time of the kth Er-langian distribution and can be repaired just like a new one. The cyclic time and the inefficiency quantities of this system in equilibrium are obtained.
基金Sponsored by the National High Technology Research and Development Program of China(Grant No. 2008AA7045007)
文摘Effectiveness-based system development is an essential technology developing concept advanced by some countries,such as the U.S.A.Making use of Analytic Hierarchy Process,this paper brings forward a methodology for orbital optimization based on effectiveness in the case of the orbital deployment for the Servicing Spacecraft(SSC),which needs to accomplish many types of tasks and whose orbit is affected by kinds of factors with contradictions in orbital parameter selection.Firstly,the possible tasks of SSC are decomposed and their degrees of importance are given by the times,probabilities,values of their applications.Then,the supporting capabilities are discussed from the viewpoint of orbit design,and the determination of their weights is put forward.Finally,the relationships between the orbital parameters and the effectiveness are established by using effective function,and three synthesizing methods for a single task and its capabilities are presented.
基金Sponsored by the National Natural Science Foundation of China(Grant No.61973153)
文摘On-orbit servicing, such as spacecraft maintenance, on-orbit assembly, refueling, and de-orbiting, can reduce the cost of space missions, improve the performance of spacecraft, and extend its life span. The relative state between the servicing and target spacecraft is vital for on-orbit servicing missions, especially the final approaching stage. The major challenge of this stage is that the observed features of the target are incomplete or are constantly changing due to the short distance and limited Field of View (FOV) of camera. Different from cooperative spacecraft, non-cooperative target does not have artificial feature markers. Therefore, contour features, including triangle supports of solar array, docking ring, and corner points of the spacecraft body, are used as the measuring features. To overcome the drawback of FOV limitation and imaging ambiguity of the camera, a "selfie stick" structure and a self-calibration strategy were implemented, ensuring that part of the contour features could be observed precisely when the two spacecraft approached each other. The observed features were constantly changing as the relative distance shortened. It was difficult to build a unified measurement model for different types of features, including points, line segments, and circle. Therefore, dual quaternion was implemented to model the relative dynamics and measuring features. With the consideration of state uncertainty of the target, a fuzzy adaptive strong tracking filter( FASTF) combining fuzzy logic adaptive controller (FLAC) with strong tracking filter(STF) was designed to robustly estimate the relative states between the servicing spacecraft and the target. Finally, the effectiveness of the strategy was verified by mathematical simulation. The achievement of this research provides a theoretical and technical foundation for future on-orbit servicing missions.
基金Sponsored by the Harbin Technological Innovative Talent Foundation (Grant No. 2008RFQXG047)
文摘Randomization-based motion planning algorithms are presented to solve problems of servicing spacecraft maneuvering in proximity to servicing targets on an elliptical orbit.The feasible trajectories of position and attitude for spacecraft are obtained by these algorithms under a variety of constraints.The state transition matrix is applied to computation of relative motion on elliptical orbits without performing numerical integration.The pseudo body coordinate system is built for identifying the planners on three coordinate axes with different functions.Finally,motion planning algorithm for translation and attitude taking account of the dependent variable (i.e.time) is used to obtain feasible trajectories.As the simulation examples indicate,the effectiveness of these methods is verified for relative motion while getting close to large structures,and the paper concludes with a detailed analysis of the results.
基金the National Key R&D Program of China(Grant No.2017YFB1300400)the National Natural Science Foundation of China(Grant Nos.91748201 and 51775011)Beijing Natural Science Foundation(Gran No.3192017)。
文摘Recently,with the rapid development of aerospace technology,an increasing number of spacecraft is being launched into space.Additionally,the demands for on-orbit servicing(OOS)missions are rapidly increasing.Space robotics is one of the most promising approaches for various OOS missions;thus,research on space robotics technologies for OOS has attracted increased attention from space agencies and universities worldwide.In this paper,we review the structures,ground verification,and onorbit kinematics calibration technologies of space robotic systems for OOS.First,we systematically summarize the development of space robotic systems and OOS programs based on space robotics.Then,according to the structures and applications,these systems are divided into three categories:large space manipulators,humanoid space robots,and small space manipulators.According to the capture mechanisms adopted,the end-effectors are systematically analyzed.Furthermore,the ground verification facilities used to simulate a microgravity environment are summarized and compared.Additionally,the on-orbit kinematics calibration technologies are discussed and analyzed compared with the kinematics calibration technologies of industrial manipulators with regard to four aspects.Finally,the development trends of the structures,verification,and calibration technologies are discussed to extend this review work.
基金supported by the Discovery Grant(RGPIN-2018-05991)Collaborative Research and Training Experience Program Grant(555425-2021)the Natural Sciences and Engineering Research Council of Canada.
文摘This review paper presents a comprehensive evaluation and forward-looking perspective on the underexplored topic of servicing target objects using spacecraft swarms.Such targets can be known or unknown,cooperative or uncooperative,and pose significant challenges in modern space operations due to their inherent complexity and unpredictability.Successfully servicing space objects is vital for active debris removal and broader on-orbit servicing tasks such as satellite maintenance,repair,refueling,orbital assembly,and construction.Significant effort has been invested in the literature to explore the servicing of targets using a single spacecraft.Given its advantages and benefits,this paper expands the discussion to encompass a swarm approach to the problem.This review covers various single-spacecraft approaches and presents a critical examination of the existing,although limited,body of work dedicated to servicing orbital objects using multiple spacecraft.The focus is also broadened to include some influential studies concerning the characterization,capture,and manipulation of physical objects by general multiagent systems,a subject with significant parallels to the core interest of this manuscript.Furthermore,this article also delves into the realm of simultaneous localization and mapping,highlighting its application within close-proximity operations in space,especially when dealing with unknown uncooperative targets.Special attention is paid to the benefits that this field can receive from distributed multiagent architectures.Finally,an exploration of the promising field of swarm robotics is presented,with an emphasis on its potential to revolutionize the servicing of orbital target objects.Concurrently,a survey of general research directly engaging swarms in the orbital context is conducted.This review aims to bridge the knowledge gap and stimulate further research in the underexplored domain of servicing space targets with spacecraft swarms.
文摘Common mental disorders(CMDs),such as depressive and anxiety disorders,constitute a significant public health problem in low-and middle-income countries,such as India,where they rank among the leading causes of disability and impaired quality of life.Outcomes are further compromised by a large treatment gap,poor adherence to therapeutic regimens,and high attrition rates.The prevalence and severity of CMDs are disproportionately higher in women.Additionally,structural factors influencing healthcare access,along with sociocultural factors,such as gender-based violence,limited autonomy in healthcare decisions,and greater levels of discrimination and stigma,result in poorer outcomes among women with CMDs.Therefore,there is a pressing need for care packages that are culturally sensitive,gender-responsive,and designed to address these structural and sociocultural factors,as highlighted in the literature from India.
文摘In Wuhu,urban renewal has not only transformed the development process,but improved people’s lives.DURING the 14th Five-Year Plan period(2021-2025),urban renewal has served as a crucial measure to promote high-quality urban development and continuously meet people’s growing aspirations for a better life.Wuhu,in central China’s Anhui Province,has consistently enhanced its urban functions and services to build a modern,people-oriented city that is innovative,livable,beautiful,resilient,and smart.
文摘Wuyuan Bay marina is the rising star as a yachting sports and leisure center in Xiamen City, southeast China’s Fujian Province. China (Xiamen) International Boat Show 2011 was held between
基金Supported by the National Natural Science Foundation of China (No.70871084)the Specialized Research Fund for the Doctoral Profram of Higher Education of China (No.200806360001)
文摘In this paper the model of servicing machines with repairable facility is further studied.By standard conditioning decomposition argument,two reliability indices-the probability that the service facility fails at time t and the expected number of failure occurring during（0,t] are discussed.Some important relations of them are given.Furthermore,some new reliability problems are presented and discussed as follows：1） The numbers of the service facility failures during the generalized service time and the generalized busy period;2） The asymptotic expansion of the expected failure number of the service facility during（0,t].A series of new reliability results of the service facility are obtained.
基金supported by the Key Program of the National Natural Science Foundation of China(Grant No.41931293)the National Natural Science Foundation of China(Grant No.42271275).
文摘The rapid population and land urbanization not only promoted economic development but also affected the ecosystem service value(ESV).In the context of new-type urbanization and green development,it’s essential to investigate the impacts of urbanization on ESV in China.However,a comprehensive and dynamic framework to reveal the relationship between ESV and urbanization processes is lacking.This study adopted multi-source datasets to portray China’s urbanization process by integrating population,land,and economic urbanization,eval-uated the ESV changes of 10 categories by gross ecosystem product(GEP)methods,and explored ESV changes within different urbanization scales and speeds.The results showed rapid urbanization in the population,land,and economic dimensions in China,with a faster process of economic urbanization.The ESV also exhibited an increasing trend,with higher levels in the southeastern coastal regions and lower levels in the northwestern regions.Urbanization had positive impacts on ESV across various research units,but the ESV exhibited heteroge-neous changes across different urbanization scales,speeds,and their interactive effects.The response of ESV to dynamic urbanization processes was influenced by socio-economic,ecological,and policy factors;it is essential to combine targeted measures with general ecological product value realization methods in each unit to maximize social-economic-ecological benefits.
文摘Human well-being and livelihoods depend on natural ecosystem services(ESs).Following the increment of population,ESs have been deteriorated over time.Ultimately,land use/land cover(LULC)changes have a profound impact on the change of ecosystem.The primary goal of this study is to determine the impacts of LULC changes on ecosystem service values(ESVs)in the upper Gilgel Abbay watershed,Ethiopia.Changes in LULC types were studied using three Landsat images representing 1986,2003,and 2021.The Landsat images were classified using a supervised image classification technique in Earth Resources Data Analysis System(ERDAS)Imagine 2014.We classified ESs in this study into four categories(including provisioning,regulating,supporting,and cultural services)based on global ES classification scheme.The adjusted ESV coefficient benefit approach was employed to measure the impacts of LULC changes on ESVs.Five LULC types were identified in this study,including cultivated land,forest,shrubland,grassland,and water body.The result revealed that the area of cultivated land accounted for 64.50%,71.50%,and 61.50%of the total area in 1986,2003,and 2021,respectively.The percentage of the total area covered by forest was 9.50%,5.90%,and 14.80%in 1986,2003,and 2021,respectively.Result revealed that the total ESV decreased from 7.42×10^(7) to 6.44×10^(7) USD between 1986 and 2003.This is due to the expansion of cultivated land at the expense of forest and shrubland.However,the total ESV increased from 6.44×10^(7) to 7.76×10^(7) USD during 2003-2021,because of the increment of forest and shrubland.The expansion of cultivated land and the reductions of forest and shrubland reduced most individual ESs during 1986-2003.Nevertheless,the increase in forest and shrubland at the expense of cultivated land enhanced many ESs during 2003-2021.Therefore,the findings suggest that appropriate land use practices should be scaled-up to sustainably maintain ESs.
基金National Social Science Fund of China(No.2023-SKJJ-B-069).
文摘In GNSS denied environments,pseudolites have to rely on prior information,such as ground anchoring points,terrain matching or other multi-source means for positioning.This paper proposes a method of dynamic networking of UAVs pseudolites for accurate navigation with only inertial navigation during GNSS denied area,which can provide accurate positioning services without prior information like anchor points.On this basis,this paper proposes a mathematical model of UAV pseudolite networking to describe the relationship of UAV flight altitude,network service coverage and anti-jamming capabilities.This model demonstrates excellent anti-interference ability,which can achieve a maximum power enhancement of up to 54.58 dB.And it can also offer another operating mode with a maximum coverage range of up to 2675.47 km^(2),while still ensuring a power enhancement of 37.57dB.This method can effectively solve the problem of providing continuous positioning services as an alternative GNSS,and is also a powerful support solution for resilient Positioning,Navigation,and Timing(PNT)^([1]).
基金supported by the General Project of the Cultivation Project of the Chinese Hospital Reform and Development Research Institute of Nanjing University(NDYG2022072)。
文摘Objective Systematically integrate nurses’experience with“Internet Nursing Service”to analysis the nurses’experiences with“Internet Nursing Service”,and to provide a theoretical reference for formulating a more rational“Internet Nursing Service”model.Methods A systematic search in PubMed,Embase,Web of Science,the Cochrane Library,CINAHL,China National Knowledge Infrastructure(CNKI),Wanfang Database,and Chinese Biomedical Literature Database was conducted to collect qualitative research on nurses’experiences with“Internet Nursing Service,”with a retrieval time limit from December 2019 to June 2024.Qualitative meta-synthesis was performed through line-by-line coding of relevant quotes,organization of codes into descriptive themes,and development of analytical themes.Results A total of 19 studies were included,one study was rated as Grade A in quality evaluation,and the remaining studies were rated as Grade B.Collectively synthesized into three integrated results:Harvest and growth,Difficulties and challenges,and Expectations and support.Harvest and growth,include 1)manifestation of self-value,2)enhancing nursing capabilities,3)optimizing nursing resources;Difficulties and challenges,include 1)lack of safety guarantee,2)role conflict;Expectations and support include,1)expectation for professional knowledge and skill training,2)expectations for service platform optimization,3)expectation for reasonable charges,4)expectation for related policy support.Conclusion“Internet Nursing Service”model benefits both nurses and patients,but still full of challenges.It aids in the decentralization of medical resources.Management departments still need to encourage nurses to actively invest in“Internet Nursing Service”while ensuring their safety and interests.
基金funded by the National Natural Science Foundation of China(42101276)the Major Project of Key Research Bases for Humanities and Social Sciences Funded by the Ministry of Education of China(22JJD790015)the Science and Technology Project of Gansu Province,China(20JR5RA529).
文摘The Qinghai-Xizang Plateau(QXP)serves as a crucial ecological barrier in China and Asia,exerting profound influences on global climate and biodiversity conservation.Gannan Tibetan Autonomous Prefecture(hereinafter referred as Gannan Prefecture),located on the northeastern edge of the QXP,represents a fragile alpine ecosystem in which land use change significantly impacts ecosystem services(ESs).This study established a comprehensive framework,utilizing the Patch-generating Land-Use Simulation(PLUS)model coupled with the Integrated Valuation of Ecosystem Services and Tradeoffs(InVEST)model to predict land use patterns under the natural development scenario,cultivated land protection scenario,and ecological protection scenario for Gannan Prefecture by 2030 and evaluated four critical ESs:habitat quality(HQ),water yield(WY),soil retention(SR),and carbon storage(CS).The primary aim is to elucidate the impacts of dynamic land use change on ESs.The results revealed that,from 2000 to 2020,HQ exhibited minimal variation,whereas CS experienced a slight decline.Conversely,WY and SR showed significant improvements.Under the natural development scenario,construction land was projected to increase by 4247.74 hm^(2),primarily at the expense of forest land.The cultivated land protection scenario anticipated an increase in farmland by 2634.36 hm^(2),which was crucial for maintaining food security.The ecological protection scenario predicted a notable expansion of forest land,accompanied by a restrained development rate of construction land.The ecological protection scenario also showed an increase in the ecosystem service index(ESI),encompassing 26.07%of the region.Forest land and grassland emerged as the primary contributors to ESs,while construction land substantially impacted WY.Water bodies exhibited minimal contribution to ESs.This study enhanced the understanding of land use change impacts on ESs in fragile and high-altitude ecosystems,offering essential theoretical frameworks and practical direction for forthcoming ecological policy and regional planning endeavors.
基金Under the auspices of the National Key Research and Development Program of China(No.2022YFC3204404)。
文摘Quantifying and mapping how ecosystem services impact agricultural competitiveness is crucial for attaining the Sustainable Development Goals of United Nations.However,few study quantified agricultural competitiveness and mapped the effects of ecosystem services on agricultural competitiveness using multiple models.In this study,multi-source data from 2000 to 2020 were utilized to establish the indicator system of agricultural competitiveness;five ecosystem services were quantified using computation models;Geographic Information System(GIS)spatial analysis was used to explore the spatial patterns of agricultural competitiveness and ecosystem services;geographic detector models were applied to investigate the effects and driving mechanisms of ecosystem services on agricultural competitiveness.Shandong Province of China was selected as the case study area.The results demonstrated that:1)there was a significant increase in agricultural competitiveness during the study period,with high levels observed mainly in the east region of the study area.2)The spatial distribution patterns of ecosystem services and agricultural competitiveness primarily exhibited High-High and Low-Low Cluster types.3)Habitat quality emerged as the main driving factor of agricultural competitiveness in 2000 and 2020,while water yield played a substantial role in 2010.4)The coupling of two ecosystem services exerted a greater effect on agricultural competitiveness compared to individual ecosystem service.The innovations of this study are constructing an indicator system to quantify agricultural competitiveness,and exploring the effects of ecosystem services on agricultural competitiveness.This study proposed an indicator system to quantify agricultural competitiveness,which can be applied in other regions,and explored the effects of ecosystem services on agricultural competitiveness.The findings of this study can serve as valuable insights for policymakers to formulate tailored agricultural development policies that take into account the synergistic effects of ecosystem services on agricultural competitiveness.
基金supported in part by the National Key R&D Program of China under Grant 2020YFB1806104in part by Innovation and Entrepreneurship of Jiangsu Province High-level Talent Program+1 种基金in part by Natural Sciences and Engineering Research Council of Canada (NSERC)the support from Huawei
文摘With the deployment of ultra-dense low earth orbit(LEO)satellite constellations,LEO satellite access network(LEO-SAN)is envisioned to achieve global Internet coverage.Meanwhile,the civil aviation communications have increased dramatically,especially for providing airborne Internet services.However,due to dynamic service demands and onboard LEO resources over time and space,it poses huge challenges in satellite-aircraft access and service management in ultra-dense LEO satellite networks(UDLSN).In this paper,we propose a deep reinforcement learning-based approach for ultra-dense LEO satellite-aircraft access and service management.Firstly,we develop an airborne Internet architecture based on UDLSN and design a management mechanism including medium earth orbit satellites to guarantee lightweight management.Secondly,considering latency-sensitive and latency-tolerant services,we formulate the problem of satellite-aircraft access and service management for civil aviation to ensure service continuity.Finally,we propose a proximal policy optimization-based access and service management algorithm to solve the formulated problem.Simulation results demonstrate the convergence and effectiveness of the proposed algorithm with satisfying the service continuity when applying to the UDLSN.
基金grant Fundamental Fund of National Science Research and Innovation Fund(NSRF)via Burapha University of Thailand(Grant number 52/2024).
文摘Background:People working outdoors in the Map Ta Phut pollution control area of Thailand require comprehen-sive health monitoring.In the past,studies have been done on the health effects of pollutants.However,there are few studies on musculoskeletal disorders(MSDs),and Thailand is struggling to meet the Sustainable Development Goals.Methods:This cross-sectional study examines access to health services and factors affecting MSDs among outdoor pollution workers(OPWs).The sample group includes OPWs,including local fisherman,street vendors,public car drivers,and traffic police.We studied 50 people from each of these groups,for a total of 200 people.Data were analyzed with inferential statistics using Chi-square test,McNemar test,and Univariate logistic regression.Results:The OPWs reported experiencing significantly more total MSDs pain than they did in the past(P<0.05).Factors affecting current MSDs pain,including occupation and working days per week,were significant(P<0.05).The street vendor group and public car driver group had(odds ratio[OR]=2.253,95%confidence interval[CI]:1.101 to 5.019)and(OR=2.681,95%CI:1.191 to 6.032)times higher risks of MSDs pain,respectively.OPWs who work>5 days per week had a(OR=1.464,95%CI:1.093 to 2.704)times higher risk of MSDs pain.52.7%of OPWs with MSDs,pain(n=110)had received an annual health check-up.In the past year,50.9%had minor illnesses and 21.8%had severe illnesses.OPWs receiving free treatment and visiting health service stations for no cost comprised 77.3%and 51.8%,respectively.60.9%used their right to receive treatment with universal health insurance cards.Conclusions:The study indicates that occupational groups with MSDs pain problems should exercise this right,according to the worker protection law.Local health agencies should organize activities or create accessible media to promote preventive medicine services,as many OPWs believe that health services can only be accessed when illness occurs.
