To adapt to the uncertainty of new energy,increase new energy consumption,and reduce carbon emissions,a high-voltage distribution network energy storage planning model based on robustness-oriented planning and distrib...To adapt to the uncertainty of new energy,increase new energy consumption,and reduce carbon emissions,a high-voltage distribution network energy storage planning model based on robustness-oriented planning and distributed new energy consumption is proposed.Firstly,the spatio-temporal correlation of large-scale wind-photovoltaic energy is modeled based on the Vine Copula model,and the spatial correlation of the generated wind-photovoltaic power generation is corrected to get the spatio-temporal correlation of wind-photovoltaic power generation scenarios.Finally,considering the subsequent development of new energy on demand for high-voltage distribution network peaking margin and the economy of the system peaking,we propose the optimization model of high-voltage distribution network energy storage plant siting and capacity setting for source-storage cooperative peaking.The simulation results show that the proposed energy storage plant planning method can effectively alleviate the branch circuit blockage,promote new energy consumption,reduce the burden of the main grid peak shifting,and leave sufficient peak shifting margin for the subsequent development of a new energy distribution network while ensuring the economy.展开更多
BACKGROUND Kidney transplantation is one of the most effective treatments for patients with end-stage renal disease.However,many regions face low deceased donor rates and limited ABO-compatible transplant availability...BACKGROUND Kidney transplantation is one of the most effective treatments for patients with end-stage renal disease.However,many regions face low deceased donor rates and limited ABO-compatible transplant availability,which increases reliance on living donors.These regional challenges necessitate the implementation of kidney paired donation(KPD)programs to overcome incompatibilities such as ABO mismatch or positive cross-matching,even when suitable and willing donors are available.AIM To evaluate the effectiveness of a single-center domino KPD model in both operational planning and clinical management processes and to assess its impact on clinical outcomes.METHODS Between April 2020 and January 2024,we retrospectively evaluated patients enrolled in our center’s domino kidney transplantation program.Donor-recipient pairs unable to proceed due to ABO incompatibility or positive cross-matching with their own living donors were included.Donors and recipients were assessed based on blood group compatibility,HLA tissue typing,and negative cross-match results.A specialized computer algorithm grouped patients into three-way,fourway,and five-way chains.All surgical procedures were performed on the same day at a single center.RESULTS A total of 169 kidney transplants were performed,forming 52 domino chains.These domino KPD transplants accounted for a notable proportion of our center’s overall transplant activity,which included both living donor kidney transplants and deceased donor transplants.Among these chains,the primary reasons for participation were ABO incompatibility(74%),positive cross-matching(10%),and the desire to improve HLA mismatch(16%).Improved HLA mismatch profiles and high graft survival(96%at 1 year,92%at 3 years)and patient survival(98%at 1 year,94%at 3 years)rates were observed,as well as low acute rejection episodes.CONCLUSION The single-center domino KPD model enhanced transplant opportunities for incompatible donor-recipient pairs while maintaining excellent clinical outcomes.By providing a framework that addresses regional challenges,improves operational efficiency,and optimizes clinical management,this model offers actionable insights to reduce waiting lists and improve patient outcomes.展开更多
Spanish scholars decode China’s five-year planning as a strategic governance model that ensures long-term national development through continuity,popular participation,and adaptability,offering valuable insights for ...Spanish scholars decode China’s five-year planning as a strategic governance model that ensures long-term national development through continuity,popular participation,and adaptability,offering valuable insights for global governance.展开更多
Under the current background of an information society,the digital transformation of enterprises has become a necessary means to enhance the competitiveness of enterprises.This article is based on the industrial Inter...Under the current background of an information society,the digital transformation of enterprises has become a necessary means to enhance the competitiveness of enterprises.This article is based on the industrial Internet platform,the digital planning and architecture of enterprises research.First,we analyze the current challenges of digital transformation and the development opportunities brought by the industrial Internet.Then,we propose a digital planning method based on the industrial Internet platform,which takes the full connectivity of people,machine and things and intelligent decision making as the core,takes data collection,processing,analysis and application as the main line,and finally forms the top-level design of the digital transformation of enterprises.At the same time,we also built an industrial Internet platform architecture model,including the previous end perception layer,network transmission layer,platform service layer,and application innovation layer for four levels,to support enterprises in innovative applications and decision support under the industrial Internet environment.Research shows that this kind of enterprise digital planning and architecture based on an industrial Internet platform can effectively promote enterprises to achieve business model innovation,system innovation,and strengthen the flexibility and agility of enterprises to respond to market changes.The results of this research not only have important theoretical and practical significance for guiding enterprises to carry out digital planning and build an industrial Internet platform,but also provide useful reference for relevant policy formulation.展开更多
Rational distribution network planning optimizes power flow distribution,reduces grid stress,enhances voltage quality,promotes renewable energy utilization,and reduces costs.This study establishes a distribution netwo...Rational distribution network planning optimizes power flow distribution,reduces grid stress,enhances voltage quality,promotes renewable energy utilization,and reduces costs.This study establishes a distribution network planning model incorporating distributed wind turbines(DWT),distributed photovoltaics(DPV),and energy storage systems(ESS).K-means++is employed to partition the distribution network based on electrical distance.Considering the spatiotemporal correlation of distributed generation(DG)outputs in the same region,a joint output model of DWT and DPV is developed using the Frank-Copula.Due to the model’s high dimensionality,multiple constraints,and mixed-integer characteristics,bilevel programming theory is utilized to structure the model.The model is solved using a mixed-integer particle swarmoptimization algorithm(MIPSO)to determine the optimal location and capacity of DG and ESS integrated into the distribution network to achieve the best economic benefits and operation quality.The proposed bilevel planning method for distribution networks is validated through simulations on the modified IEEE 33-bus system.The results demonstrate significant improvements,with the proposedmethod reducing the annual comprehensive cost by 41.65%and 13.98%,respectively,compared to scenarios without DG and ESS or with only DG integration.Furthermore,it reduces the daily average voltage deviation by 24.35%and 10.24%and daily network losses by 55.72%and 35.71%.展开更多
The purpose of this paper is to study the planning and design of campus plant communities from the perspective of vegetation carbon sink capacity.During the research period,based on literature review and material inve...The purpose of this paper is to study the planning and design of campus plant communities from the perspective of vegetation carbon sink capacity.During the research period,based on literature review and material investigation,the quantitative calculation of the carbon sink capacity of the vegetation of the campus of the case study university was carried out using the i-Tree model,and the shortcomings of the carbon sink level of the campus vegetation community were pointed out based on the calculation results.Subsequently,with the goal of improving the carbon sink capacity,the park is oriented to the planning and design of vegetation communities,and the feasibility of the program is demonstrated with the support of the data on the level of carbon sink capacity after the implementation of the program.It is hoped that this paper can provide technical reference for the managers of universities and urban landscape departments in China,and actively promote the optimization of vegetation communities,enhance the carbon sink capacity,and promote the full implementation of the goal of sustainable development.展开更多
1Introduction To date,in model-based gait-planning methods,the dynamics of the center of mass(COM)of bipedal robots have been analyzed by establishing their linear inverted pendulum model(LIPM)or extended forms(Owaki ...1Introduction To date,in model-based gait-planning methods,the dynamics of the center of mass(COM)of bipedal robots have been analyzed by establishing their linear inverted pendulum model(LIPM)or extended forms(Owaki et al.,2010;Englsberger et al.,2015;Xie et al.,2020).With regard to model-based gait-generation methods for uphill and downhill terrain,Kuo(2007)simulated human gait using an inverted pendulum,which provided a circular trajectory for the COM rather than a horizontal trajectory.He found that a horizontal COM trajectory consumed more muscle energy.Massah et al.(2012)utilized a 3D LIPM and the concept of zero moment point(ZMP).They developed a trajectory planner using the semi-elliptical motion equations of an NAO humanoid robot and simulated walking on various sloped terrains using the Webots platform.展开更多
The rapid evolution of unmanned aerial vehicle(UAV)technology and autonomous capabilities has positioned UAV as promising last-mile delivery means.Vehicle and onboard UAV collaborative delivery is introduced as a nove...The rapid evolution of unmanned aerial vehicle(UAV)technology and autonomous capabilities has positioned UAV as promising last-mile delivery means.Vehicle and onboard UAV collaborative delivery is introduced as a novel delivery mode.Spatiotemporal collaboration,along with energy consumption with payload and wind conditions play important roles in delivery route planning.This paper introduces the traveling salesman problem with time window and onboard UAV(TSPTWOUAV)and emphasizes the consideration of real-world scenarios,focusing on time collaboration and energy consumption with wind and payload.To address this,a mixed integer linear programming(MILP)model is formulated to minimize the energy consumption costs of vehicle and UAV.Furthermore,an adaptive large neighborhood search(ALNS)algorithm is applied to identify high-quality solutions efficiently.The effectiveness of the proposed model and algorithm is validated through numerical tests on real geographic instances and sensitivity analysis of key parameters is conducted.展开更多
Cloud Computing is an uprising technology in the rapid growing IT world. The adaptation of cloud computing is increasing in very large scale business organizations to small institutions rapidly due to many advanced fe...Cloud Computing is an uprising technology in the rapid growing IT world. The adaptation of cloud computing is increasing in very large scale business organizations to small institutions rapidly due to many advanced features of cloud computing, such as SaaS, PaaS and IaaS service models. So, nowadays, many organizations are trying to implement Cloud Computing based ERP system to enjoy the benefits of cloud computing. To implement any ERP system, an organization usually faces many challenges. As a result, this research has introduced how easily this cloud system can be implemented in an organization. By using this ERP system, an organization can be benefited in many ways;especially Small and Medium Enterprises (SMEs) can enjoy the highest possible benefits from this system.展开更多
Based on the synchronous joint gravity and magnetic inversion of single interface by Pilkington and the need of revealing Cenozoic and crystalline basement thickness in the new round of oil-gas exploration, we propose...Based on the synchronous joint gravity and magnetic inversion of single interface by Pilkington and the need of revealing Cenozoic and crystalline basement thickness in the new round of oil-gas exploration, we propose a joint gravity and magnetic inversion methodfor two-layer models by concentrating on the relationship between the change of thicknessI and position of the middle layer and anomaly and discuss the effects of the key parameters. Model tests and application to field data show the validity of this method.展开更多
Decision-making and motion planning are extremely important in autonomous driving to ensure safe driving in a real-world environment.This study proposes an online evolutionary decision-making and motion planning frame...Decision-making and motion planning are extremely important in autonomous driving to ensure safe driving in a real-world environment.This study proposes an online evolutionary decision-making and motion planning framework for autonomous driving based on a hybrid data-and model-driven method.First,a data-driven decision-making module based on deep reinforcement learning(DRL)is developed to pursue a rational driving performance as much as possible.Then,model predictive control(MPC)is employed to execute both longitudinal and lateral motion planning tasks.Multiple constraints are defined according to the vehicle’s physical limit to meet the driving task requirements.Finally,two principles of safety and rationality for the self-evolution of autonomous driving are proposed.A motion envelope is established and embedded into a rational exploration and exploitation scheme,which filters out unreasonable experiences by masking unsafe actions so as to collect high-quality training data for the DRL agent.Experiments with a high-fidelity vehicle model and MATLAB/Simulink co-simulation environment are conducted,and the results show that the proposed online-evolution framework is able to generate safer,more rational,and more efficient driving action in a real-world environment.展开更多
The trend towards automation and intelligence in aircraft final assembly testing has led to a new demand for autonomous perception of unknown cockpit operation scenes in robotic collaborative airborne system testing.T...The trend towards automation and intelligence in aircraft final assembly testing has led to a new demand for autonomous perception of unknown cockpit operation scenes in robotic collaborative airborne system testing.To address this demand,a robotic automated 3D reconstruction cell which enables to autonomously plan the robot end-camera’s trajectory is developed for image acquisition and 3D modeling of the cockpit operation scene.A continuous viewpoint path planning algorithm is proposed that incorporates both 3D reconstruction quality and robot path quality into optimization process.Smoothness metrics for viewpoint position paths and orientation paths are introduced together for the first time in 3D reconstruction.To ensure safe and effective movement,two spatial constraints,Domain of View Admissible Position(DVAP)and Domain of View Admissible Orientation(DVAO),are implemented to account for robot reachability and collision avoidance.By using diffeomorphism mapping,the orientation path is transformed into 3D,consistent with the position path.Both orientation and position paths can be optimized in a unified framework to maximize the gain of reconstruction quality and path smoothness within DVAP and DVAO.The reconstruction cell is capable of automatic data acquisition and fine scene modeling,using the generated robot C-space trajectory.Simulation and physical scene experiments have confirmed the effectiveness of the proposed method to achieve highprecision 3D reconstruction while optimizing robot motion quality.展开更多
An increasing number of drivers are relying on digital map navigation systems in vehicles or mobile phones to select optimal driving routes in order to save time and improve safety. In the near future, digital map nav...An increasing number of drivers are relying on digital map navigation systems in vehicles or mobile phones to select optimal driving routes in order to save time and improve safety. In the near future, digital map navigation systems are expected to play more important roles in transportation systems. In order to extend current navigation systems to more applications, two fundamental problems must be resolved: the lane-level map model and lane-level route planning. This study proposes solutions to both problems. The current limitation of the lane-level map model is not its accuracy but its flexibility;this study proposes a novel seven-layer map structure, called as Tsinghua map model, which is able to support autonomous driving in a flexible and efficient way. For lane-level route planning, we propose a hierarchical route-searching algorithm to accelerate the planning process, even in the presence of complicated lane networks. In addition, we model the travel costs allocated for lane-level road networks by analyzing vehicle maneuvers in traversing lanes, changing lanes, and turning at intersections. Tests were performed on both a grid network and a real lane-level road network to demonstrate the validity and efficiency of the proposed algorithm.展开更多
Considering the urban characteristics, a customized multi-scale numerical modeling system is established to simulate the urban meteorological environment. The system mainly involves three spatial scales: the urban sca...Considering the urban characteristics, a customized multi-scale numerical modeling system is established to simulate the urban meteorological environment. The system mainly involves three spatial scales: the urban scale, urban sub-domain scale, and single to few buildings scale. In it, different underlying surface types are employed, the building drag factor is used to replace its roughness in the influence on the urban wind field, the effects of building distribution, azimuth and screening of shortwave radiation are added, and the influence of anthropogenic heating is also taken into account. All the numerical tests indicate that the simulated results are reasonably in agreement with the observational data, so the system can be used to simulate the urban meteorological environment. Making use of it, the characteristics of the meteorological environment from the urban to urban sub-domain scales, even the among-buildings scale, can be recognized. As long as the urban planning scheme is given, the corresponding simulated results can be obtained so as to meet the need of optimizing urban planning.展开更多
This paper firstly investigated the land-use and land-cover change （LUCC） in the Hun-Taizi River water- shed, Northeast China from 1988 to 2004 based on remotely sensed images and geographic information systems （GI...This paper firstly investigated the land-use and land-cover change （LUCC） in the Hun-Taizi River water- shed, Northeast China from 1988 to 2004 based on remotely sensed images and geographic information systems （GIS） technology. Then, using the famous land-use change model of Conversion of Land Use and its Effects at Small re- gional extent （CLUE-S）, this paper simulated the land use changes under historical trend （HT）, urban planning （UP） and ecological protection （EP） scenarios considering urban planning and ecological protection over the next 20 years. The simulated results under UP scenario in 2020 were compared with the planning map to assess the feasibility of us- ing land-use change model to guide regional planning. Results show that forest land, dry farmland, paddy, and shrub land were the main land-use categories. Paddy and dry farmland being converted to urban area and rural settlement characterized the land-use change from 1988 to 2004. The main land-use categories changed over time. Landscape-pattem fragmentation will be worse under HT and UP scenarios, but better in EP scenario. The comparing results of simulated map with planning map in 2020 show that land-use change model is powerful tool to guide regional planning. Land-use scenarios can support regional planning and policy-making through analyzing future consequences scientifically.展开更多
An Approximate Voronoi Boundary Network is constructed as the environmental model by way of enlar-ging the obstacle raster. The connectivity of the path network under complex environment is ensured through build-ing t...An Approximate Voronoi Boundary Network is constructed as the environmental model by way of enlar-ging the obstacle raster. The connectivity of the path network under complex environment is ensured through build-ing the second order Approximate Voronoi Boundary Network after adding virtual obstacles at joint-close grids. Thismethod embodies the network structure of the free area of environment with less nodes, so the complexity of pathplanning problem is reduced largely. An optimized path for mobile robot under complex environment is obtainedthrough the Genetic Algorithm based on the elitist rule and re-optimized by using the path-tightening method. Sincethe elitist one has the only authority of crossover, the management of one group becomes simple, which makes forobtaining the optimized path quickly. The Approximate Voronoi Boundary Network has a good tolerance to the im-precise a priori information and the noises of sensors under complex environment. Especially it is robust in dealingwith the local or partial changes, so a small quantity of dynamic obstacles is difficult to alter the overall character ofits connectivity, which means that it can also be adopted in dynamic environment by fusing the local path planning.展开更多
A weak nonlinear model of a two-layer barotropic ocean with Rayleigh dissipation is built.The analytic asymptotic solution is derived in the mid-latitude stationary wind field,and the physical meaning of the correspon...A weak nonlinear model of a two-layer barotropic ocean with Rayleigh dissipation is built.The analytic asymptotic solution is derived in the mid-latitude stationary wind field,and the physical meaning of the corresponding problem is discussed.展开更多
In order to enhance the capability of tracking targets autonomously of unmanned aerial vehicle (UAV), the partially observable Markov decision process (POMDP) model for UAV path planning is established based on the PO...In order to enhance the capability of tracking targets autonomously of unmanned aerial vehicle (UAV), the partially observable Markov decision process (POMDP) model for UAV path planning is established based on the POMDP framework. The elements of the POMDP model are analyzed and described. The state transfer law in the model can be described by the method of interactive multiple model (IMM) due to the diversity of the target motion law, which is used to switch the motion model to accommodate target maneuvers, and hence improving the tracking accuracy. The simulation results show that the model can achieve efficient planning for the UAV route, and effective tracking for the target. Furthermore, the path planned by this model is more reasonable and efficient than that by using the single state transition law.展开更多
A theoretical approach of ordered emergency tasks generation is proposed for dealing with a specific emergency event rapidly, exactly and effectively. According to the general principles of an emergency plan developed...A theoretical approach of ordered emergency tasks generation is proposed for dealing with a specific emergency event rapidly, exactly and effectively. According to the general principles of an emergency plan developed to response to an emergency management, a workflow model is employed to complete the formal modeling of concrete emergency plan firstly. Then the HTN planning system SHOP2 is introduced, the transformation method of domain knowledge from emergency domain to SHOP2 domain is studied. At last, the general procedure to solve the emergency decision prob-lems and to generate executive emergency tasks is set up drawing support from SHOP2 planning system, which will combine the principles (or knowledge) of emergency plan and the real emergency situations.展开更多
This paper presents an effective way to support motion planning of legged mobile robots—Inverted Modelling,based on the equivalent metamorphic mechanism concept.The difference from the previous research is that we he...This paper presents an effective way to support motion planning of legged mobile robots—Inverted Modelling,based on the equivalent metamorphic mechanism concept.The difference from the previous research is that we herein invert the equivalent parallel mechanism.Assuming the leg mechanisms are hybrid links,the body of robot being considered as fixed platform,and ground as moving platform.The motion performance is transformed and measured in the body frame.Terrain and joint limits are used as input parameters to the model,resulting in the representation which is independent of terrains and particular poses in Inverted Modelling.Hence,it can universally be applied to any kind of legged robots as global motion performance framework.Several performance measurements using Inverted Modelling are presented and used in motion performance evaluation.According to the requirements of actual work like motion continuity and stability,motion planning of legged robot can be achieved using different measurements on different terrains.Two cases studies present the simulations of quadruped and hexapod robots walking on rugged roads.The results verify the correctness and effectiveness of the proposed method.展开更多
基金supported by State Grid Anhui Electric Power Co.,Ltd.Research Program(B3120923000C).
文摘To adapt to the uncertainty of new energy,increase new energy consumption,and reduce carbon emissions,a high-voltage distribution network energy storage planning model based on robustness-oriented planning and distributed new energy consumption is proposed.Firstly,the spatio-temporal correlation of large-scale wind-photovoltaic energy is modeled based on the Vine Copula model,and the spatial correlation of the generated wind-photovoltaic power generation is corrected to get the spatio-temporal correlation of wind-photovoltaic power generation scenarios.Finally,considering the subsequent development of new energy on demand for high-voltage distribution network peaking margin and the economy of the system peaking,we propose the optimization model of high-voltage distribution network energy storage plant siting and capacity setting for source-storage cooperative peaking.The simulation results show that the proposed energy storage plant planning method can effectively alleviate the branch circuit blockage,promote new energy consumption,reduce the burden of the main grid peak shifting,and leave sufficient peak shifting margin for the subsequent development of a new energy distribution network while ensuring the economy.
文摘BACKGROUND Kidney transplantation is one of the most effective treatments for patients with end-stage renal disease.However,many regions face low deceased donor rates and limited ABO-compatible transplant availability,which increases reliance on living donors.These regional challenges necessitate the implementation of kidney paired donation(KPD)programs to overcome incompatibilities such as ABO mismatch or positive cross-matching,even when suitable and willing donors are available.AIM To evaluate the effectiveness of a single-center domino KPD model in both operational planning and clinical management processes and to assess its impact on clinical outcomes.METHODS Between April 2020 and January 2024,we retrospectively evaluated patients enrolled in our center’s domino kidney transplantation program.Donor-recipient pairs unable to proceed due to ABO incompatibility or positive cross-matching with their own living donors were included.Donors and recipients were assessed based on blood group compatibility,HLA tissue typing,and negative cross-match results.A specialized computer algorithm grouped patients into three-way,fourway,and five-way chains.All surgical procedures were performed on the same day at a single center.RESULTS A total of 169 kidney transplants were performed,forming 52 domino chains.These domino KPD transplants accounted for a notable proportion of our center’s overall transplant activity,which included both living donor kidney transplants and deceased donor transplants.Among these chains,the primary reasons for participation were ABO incompatibility(74%),positive cross-matching(10%),and the desire to improve HLA mismatch(16%).Improved HLA mismatch profiles and high graft survival(96%at 1 year,92%at 3 years)and patient survival(98%at 1 year,94%at 3 years)rates were observed,as well as low acute rejection episodes.CONCLUSION The single-center domino KPD model enhanced transplant opportunities for incompatible donor-recipient pairs while maintaining excellent clinical outcomes.By providing a framework that addresses regional challenges,improves operational efficiency,and optimizes clinical management,this model offers actionable insights to reduce waiting lists and improve patient outcomes.
文摘Spanish scholars decode China’s five-year planning as a strategic governance model that ensures long-term national development through continuity,popular participation,and adaptability,offering valuable insights for global governance.
文摘Under the current background of an information society,the digital transformation of enterprises has become a necessary means to enhance the competitiveness of enterprises.This article is based on the industrial Internet platform,the digital planning and architecture of enterprises research.First,we analyze the current challenges of digital transformation and the development opportunities brought by the industrial Internet.Then,we propose a digital planning method based on the industrial Internet platform,which takes the full connectivity of people,machine and things and intelligent decision making as the core,takes data collection,processing,analysis and application as the main line,and finally forms the top-level design of the digital transformation of enterprises.At the same time,we also built an industrial Internet platform architecture model,including the previous end perception layer,network transmission layer,platform service layer,and application innovation layer for four levels,to support enterprises in innovative applications and decision support under the industrial Internet environment.Research shows that this kind of enterprise digital planning and architecture based on an industrial Internet platform can effectively promote enterprises to achieve business model innovation,system innovation,and strengthen the flexibility and agility of enterprises to respond to market changes.The results of this research not only have important theoretical and practical significance for guiding enterprises to carry out digital planning and build an industrial Internet platform,but also provide useful reference for relevant policy formulation.
基金This research was funded by“Chunhui Program”Collaborative Scientific Research Project of the Ministry of Education of the People’s Republic of China(Project No.HZKY20220242)the S&T Program of Hebei(Project No.225676163GH).
文摘Rational distribution network planning optimizes power flow distribution,reduces grid stress,enhances voltage quality,promotes renewable energy utilization,and reduces costs.This study establishes a distribution network planning model incorporating distributed wind turbines(DWT),distributed photovoltaics(DPV),and energy storage systems(ESS).K-means++is employed to partition the distribution network based on electrical distance.Considering the spatiotemporal correlation of distributed generation(DG)outputs in the same region,a joint output model of DWT and DPV is developed using the Frank-Copula.Due to the model’s high dimensionality,multiple constraints,and mixed-integer characteristics,bilevel programming theory is utilized to structure the model.The model is solved using a mixed-integer particle swarmoptimization algorithm(MIPSO)to determine the optimal location and capacity of DG and ESS integrated into the distribution network to achieve the best economic benefits and operation quality.The proposed bilevel planning method for distribution networks is validated through simulations on the modified IEEE 33-bus system.The results demonstrate significant improvements,with the proposedmethod reducing the annual comprehensive cost by 41.65%and 13.98%,respectively,compared to scenarios without DG and ESS or with only DG integration.Furthermore,it reduces the daily average voltage deviation by 24.35%and 10.24%and daily network losses by 55.72%and 35.71%.
基金Chongqing Municipal Education Commission Science and Technology Research ProjectResearch on Zero-Emission Campus Construction Based on Plant Community Optimization(Project No.KJQN202305605)。
文摘The purpose of this paper is to study the planning and design of campus plant communities from the perspective of vegetation carbon sink capacity.During the research period,based on literature review and material investigation,the quantitative calculation of the carbon sink capacity of the vegetation of the campus of the case study university was carried out using the i-Tree model,and the shortcomings of the carbon sink level of the campus vegetation community were pointed out based on the calculation results.Subsequently,with the goal of improving the carbon sink capacity,the park is oriented to the planning and design of vegetation communities,and the feasibility of the program is demonstrated with the support of the data on the level of carbon sink capacity after the implementation of the program.It is hoped that this paper can provide technical reference for the managers of universities and urban landscape departments in China,and actively promote the optimization of vegetation communities,enhance the carbon sink capacity,and promote the full implementation of the goal of sustainable development.
基金supported by the National Natural Science Foundation of China(No.12332023)the Zhejiang Provincial Natural Science Foundation of China(No.LY23E050010).
文摘1Introduction To date,in model-based gait-planning methods,the dynamics of the center of mass(COM)of bipedal robots have been analyzed by establishing their linear inverted pendulum model(LIPM)or extended forms(Owaki et al.,2010;Englsberger et al.,2015;Xie et al.,2020).With regard to model-based gait-generation methods for uphill and downhill terrain,Kuo(2007)simulated human gait using an inverted pendulum,which provided a circular trajectory for the COM rather than a horizontal trajectory.He found that a horizontal COM trajectory consumed more muscle energy.Massah et al.(2012)utilized a 3D LIPM and the concept of zero moment point(ZMP).They developed a trajectory planner using the semi-elliptical motion equations of an NAO humanoid robot and simulated walking on various sloped terrains using the Webots platform.
基金Fundamental Research Funds for the Central Universities(2024JBZX038)National Natural Science F oundation of China(62076023)。
文摘The rapid evolution of unmanned aerial vehicle(UAV)technology and autonomous capabilities has positioned UAV as promising last-mile delivery means.Vehicle and onboard UAV collaborative delivery is introduced as a novel delivery mode.Spatiotemporal collaboration,along with energy consumption with payload and wind conditions play important roles in delivery route planning.This paper introduces the traveling salesman problem with time window and onboard UAV(TSPTWOUAV)and emphasizes the consideration of real-world scenarios,focusing on time collaboration and energy consumption with wind and payload.To address this,a mixed integer linear programming(MILP)model is formulated to minimize the energy consumption costs of vehicle and UAV.Furthermore,an adaptive large neighborhood search(ALNS)algorithm is applied to identify high-quality solutions efficiently.The effectiveness of the proposed model and algorithm is validated through numerical tests on real geographic instances and sensitivity analysis of key parameters is conducted.
文摘Cloud Computing is an uprising technology in the rapid growing IT world. The adaptation of cloud computing is increasing in very large scale business organizations to small institutions rapidly due to many advanced features of cloud computing, such as SaaS, PaaS and IaaS service models. So, nowadays, many organizations are trying to implement Cloud Computing based ERP system to enjoy the benefits of cloud computing. To implement any ERP system, an organization usually faces many challenges. As a result, this research has introduced how easily this cloud system can be implemented in an organization. By using this ERP system, an organization can be benefited in many ways;especially Small and Medium Enterprises (SMEs) can enjoy the highest possible benefits from this system.
基金Supported by the National Natural Science Foundation of China(Grant No.40674063)National Hi-tech Research and Development Program of China(863Program)(Grant No.2006AA09Z311)
文摘Based on the synchronous joint gravity and magnetic inversion of single interface by Pilkington and the need of revealing Cenozoic and crystalline basement thickness in the new round of oil-gas exploration, we propose a joint gravity and magnetic inversion methodfor two-layer models by concentrating on the relationship between the change of thicknessI and position of the middle layer and anomaly and discuss the effects of the key parameters. Model tests and application to field data show the validity of this method.
基金the financial support of the National Key Research and Development Program of China(2020AAA0108100)the Shanghai Municipal Science and Technology Major Project(2021SHZDZX0100)the Shanghai Gaofeng and Gaoyuan Project for University Academic Program Development for funding。
文摘Decision-making and motion planning are extremely important in autonomous driving to ensure safe driving in a real-world environment.This study proposes an online evolutionary decision-making and motion planning framework for autonomous driving based on a hybrid data-and model-driven method.First,a data-driven decision-making module based on deep reinforcement learning(DRL)is developed to pursue a rational driving performance as much as possible.Then,model predictive control(MPC)is employed to execute both longitudinal and lateral motion planning tasks.Multiple constraints are defined according to the vehicle’s physical limit to meet the driving task requirements.Finally,two principles of safety and rationality for the self-evolution of autonomous driving are proposed.A motion envelope is established and embedded into a rational exploration and exploitation scheme,which filters out unreasonable experiences by masking unsafe actions so as to collect high-quality training data for the DRL agent.Experiments with a high-fidelity vehicle model and MATLAB/Simulink co-simulation environment are conducted,and the results show that the proposed online-evolution framework is able to generate safer,more rational,and more efficient driving action in a real-world environment.
基金supported by the National Key Research and Development Program of China(2019YFB1707505)the National Natural Science Foundation of China(Grant No.52005436)。
文摘The trend towards automation and intelligence in aircraft final assembly testing has led to a new demand for autonomous perception of unknown cockpit operation scenes in robotic collaborative airborne system testing.To address this demand,a robotic automated 3D reconstruction cell which enables to autonomously plan the robot end-camera’s trajectory is developed for image acquisition and 3D modeling of the cockpit operation scene.A continuous viewpoint path planning algorithm is proposed that incorporates both 3D reconstruction quality and robot path quality into optimization process.Smoothness metrics for viewpoint position paths and orientation paths are introduced together for the first time in 3D reconstruction.To ensure safe and effective movement,two spatial constraints,Domain of View Admissible Position(DVAP)and Domain of View Admissible Orientation(DVAO),are implemented to account for robot reachability and collision avoidance.By using diffeomorphism mapping,the orientation path is transformed into 3D,consistent with the position path.Both orientation and position paths can be optimized in a unified framework to maximize the gain of reconstruction quality and path smoothness within DVAP and DVAO.The reconstruction cell is capable of automatic data acquisition and fine scene modeling,using the generated robot C-space trajectory.Simulation and physical scene experiments have confirmed the effectiveness of the proposed method to achieve highprecision 3D reconstruction while optimizing robot motion quality.
基金the National Key Research and Development Program of China (2018YFB0105000)the National Natural Science Foundation of China (61773234 and U1864203)+2 种基金the Project of Tsinghua University and Toyota Joint Research Center for AI Technology of Automated Vehicle (TT2018-02)the International Science and Technology Cooperation Program of China (2016YFE0102200)the software developed in the Beijing Municipal Science and Technology Program (D171100005117001 and Z181100005918001).
文摘An increasing number of drivers are relying on digital map navigation systems in vehicles or mobile phones to select optimal driving routes in order to save time and improve safety. In the near future, digital map navigation systems are expected to play more important roles in transportation systems. In order to extend current navigation systems to more applications, two fundamental problems must be resolved: the lane-level map model and lane-level route planning. This study proposes solutions to both problems. The current limitation of the lane-level map model is not its accuracy but its flexibility;this study proposes a novel seven-layer map structure, called as Tsinghua map model, which is able to support autonomous driving in a flexible and efficient way. For lane-level route planning, we propose a hierarchical route-searching algorithm to accelerate the planning process, even in the presence of complicated lane networks. In addition, we model the travel costs allocated for lane-level road networks by analyzing vehicle maneuvers in traversing lanes, changing lanes, and turning at intersections. Tests were performed on both a grid network and a real lane-level road network to demonstrate the validity and efficiency of the proposed algorithm.
基金sponsored by the Key Project(96-920-34-07)of the Ministry of Science and Technology,Chinathe Nationa1 Natura1 Science Foundation of China(40333027).
文摘Considering the urban characteristics, a customized multi-scale numerical modeling system is established to simulate the urban meteorological environment. The system mainly involves three spatial scales: the urban scale, urban sub-domain scale, and single to few buildings scale. In it, different underlying surface types are employed, the building drag factor is used to replace its roughness in the influence on the urban wind field, the effects of building distribution, azimuth and screening of shortwave radiation are added, and the influence of anthropogenic heating is also taken into account. All the numerical tests indicate that the simulated results are reasonably in agreement with the observational data, so the system can be used to simulate the urban meteorological environment. Making use of it, the characteristics of the meteorological environment from the urban to urban sub-domain scales, even the among-buildings scale, can be recognized. As long as the urban planning scheme is given, the corresponding simulated results can be obtained so as to meet the need of optimizing urban planning.
基金Under the auspices of National Natural Science Foundation of China(No.40801069)Special Research Program for Public-welfare Forestry of China(No.200804001)
文摘This paper firstly investigated the land-use and land-cover change （LUCC） in the Hun-Taizi River water- shed, Northeast China from 1988 to 2004 based on remotely sensed images and geographic information systems （GIS） technology. Then, using the famous land-use change model of Conversion of Land Use and its Effects at Small re- gional extent （CLUE-S）, this paper simulated the land use changes under historical trend （HT）, urban planning （UP） and ecological protection （EP） scenarios considering urban planning and ecological protection over the next 20 years. The simulated results under UP scenario in 2020 were compared with the planning map to assess the feasibility of us- ing land-use change model to guide regional planning. Results show that forest land, dry farmland, paddy, and shrub land were the main land-use categories. Paddy and dry farmland being converted to urban area and rural settlement characterized the land-use change from 1988 to 2004. The main land-use categories changed over time. Landscape-pattem fragmentation will be worse under HT and UP scenarios, but better in EP scenario. The comparing results of simulated map with planning map in 2020 show that land-use change model is powerful tool to guide regional planning. Land-use scenarios can support regional planning and policy-making through analyzing future consequences scientifically.
基金Project (60234030) supported by the National Natural Science Foundation of China
文摘An Approximate Voronoi Boundary Network is constructed as the environmental model by way of enlar-ging the obstacle raster. The connectivity of the path network under complex environment is ensured through build-ing the second order Approximate Voronoi Boundary Network after adding virtual obstacles at joint-close grids. Thismethod embodies the network structure of the free area of environment with less nodes, so the complexity of pathplanning problem is reduced largely. An optimized path for mobile robot under complex environment is obtainedthrough the Genetic Algorithm based on the elitist rule and re-optimized by using the path-tightening method. Sincethe elitist one has the only authority of crossover, the management of one group becomes simple, which makes forobtaining the optimized path quickly. The Approximate Voronoi Boundary Network has a good tolerance to the im-precise a priori information and the noises of sensors under complex environment. Especially it is robust in dealingwith the local or partial changes, so a small quantity of dynamic obstacles is difficult to alter the overall character ofits connectivity, which means that it can also be adopted in dynamic environment by fusing the local path planning.
基金Project supported by the National Basic Research Program of China (Grant No. 2011CB403501)the National Natural Science Foundation of China (GrantNos. 41175058,41275062,and 11202106)
文摘A weak nonlinear model of a two-layer barotropic ocean with Rayleigh dissipation is built.The analytic asymptotic solution is derived in the mid-latitude stationary wind field,and the physical meaning of the corresponding problem is discussed.
基金supported by the Aeronautical Science Foundation of China(20135153031 20135553035 2017ZC53033)
文摘In order to enhance the capability of tracking targets autonomously of unmanned aerial vehicle (UAV), the partially observable Markov decision process (POMDP) model for UAV path planning is established based on the POMDP framework. The elements of the POMDP model are analyzed and described. The state transfer law in the model can be described by the method of interactive multiple model (IMM) due to the diversity of the target motion law, which is used to switch the motion model to accommodate target maneuvers, and hence improving the tracking accuracy. The simulation results show that the model can achieve efficient planning for the UAV route, and effective tracking for the target. Furthermore, the path planned by this model is more reasonable and efficient than that by using the single state transition law.
文摘A theoretical approach of ordered emergency tasks generation is proposed for dealing with a specific emergency event rapidly, exactly and effectively. According to the general principles of an emergency plan developed to response to an emergency management, a workflow model is employed to complete the formal modeling of concrete emergency plan firstly. Then the HTN planning system SHOP2 is introduced, the transformation method of domain knowledge from emergency domain to SHOP2 domain is studied. At last, the general procedure to solve the emergency decision prob-lems and to generate executive emergency tasks is set up drawing support from SHOP2 planning system, which will combine the principles (or knowledge) of emergency plan and the real emergency situations.
基金National Natural Science Foundation of China(Grant No.51735009)。
文摘This paper presents an effective way to support motion planning of legged mobile robots—Inverted Modelling,based on the equivalent metamorphic mechanism concept.The difference from the previous research is that we herein invert the equivalent parallel mechanism.Assuming the leg mechanisms are hybrid links,the body of robot being considered as fixed platform,and ground as moving platform.The motion performance is transformed and measured in the body frame.Terrain and joint limits are used as input parameters to the model,resulting in the representation which is independent of terrains and particular poses in Inverted Modelling.Hence,it can universally be applied to any kind of legged robots as global motion performance framework.Several performance measurements using Inverted Modelling are presented and used in motion performance evaluation.According to the requirements of actual work like motion continuity and stability,motion planning of legged robot can be achieved using different measurements on different terrains.Two cases studies present the simulations of quadruped and hexapod robots walking on rugged roads.The results verify the correctness and effectiveness of the proposed method.
