The development of the Internet has provided firms with the ideal opportunity to make up for the knowledge gap for achieving internal knowledge generation(IKG)and external knowledge acquisition(EKA).It is worth explor...The development of the Internet has provided firms with the ideal opportunity to make up for the knowledge gap for achieving internal knowledge generation(IKG)and external knowledge acquisition(EKA).It is worth exploring how Internet resources can be used to satisfy organizational knowledge needs efficiently to adapt to dynamic environments.Thus,according to the resource-based view,knowledge-based view,and contingency theory,we study the impact of different types of Internet resources on the two modes of knowledge creation(IKG and EKA),as well as the moderating effect of environmental dynamism(ED)on this relationship.The hypothesized relationships were tested using the hierarchical regression analysis method with survey data collected from 399 Chinese firms.We found that Internet relationship resource and Internet human resource can simultaneously facilitate IKG and EKA,while Internet infrastructure resource positively affects IKG but has no significant impact on EKA.Furthermore,ED positively moderates the relationship between Internet relationship resource and IKG and EKA,but negatively moderates the relationship between Internet human resource and EKA.展开更多
Human activities lead to the accumulation of a large amount of nitrogen and phosphorus in sediments in rivers.Simultaneously,nitrogen and phosphorus can be affected by environment and re-enter the upper water body,cau...Human activities lead to the accumulation of a large amount of nitrogen and phosphorus in sediments in rivers.Simultaneously,nitrogen and phosphorus can be affected by environment and re-enter the upper water body,causing secondary pollution of the river water.In this study,laboratory simulation experiments were conducted initially to investigate the release of nitrogen and phosphorus from river sediments in Urumqi City and the surrounding areas in Xinjiang Uygur Autonomous Region of China and determine the factors that influence their release.The results of this study showed significant short-term differences in nitrogen and phosphorus release characteristics from sediments at different sampling points.The proposed secondary kinetics model(i.e.,pseudo-second-order kinetics model)better fitted the release process of sediment nitrogen and phosphorus.The release of nitrogen and phosphorus from sediments is a complex process driven by multiple factors,therefore,we tested the influence of three factors(pH,temperature,and disturbance intensity)on the release of nitrogen and phosphorus from sediments in this study.The most amount of nitrate nitrogen(NO_(3)^(–)-N)was released under neutral conditions,while the most significant release of ammonia nitrogen(NH_(4)^(+)-N)occurred under acidic and alkaline conditions.The release of nitrite nitrogen(NO_(2)^(-)-N)was less affected by pH.The dissolved total phosphorus(DTP)released significantly in the alkaline water environment,while the release of dissolved organic phosphorus(DOP)was more significant in acidic water.The release amount of soluble reactive phosphorus(SRP)increased with an increase in pH.The sediments released nitrogen and phosphorus at higher temperatures,particularly NH_(4)^(+)-N,NO_(3)^(–)-N,and SRP.The highest amount of DOP was released at 15.0℃.An increase in disturbance intensity exacerbated the release of nitrogen and phosphorus from sediments.NH_(4)^(+)-N,DTP,and SRP levels increased linearly with the intensity of disturbance,while NO_(3)^(–)-N and NO_(2)^(–)-N were more stable.This study provides valuable information for protecting and restoring the water environment in arid areas and has significant practical reference value.展开更多
A project entitled‘Development of a Global High-resolution Marine Dynamic Environmental Forecasting System’has been funded by‘The Program on Marine Environmental Safety Guarantee’of The National Key Research and D...A project entitled‘Development of a Global High-resolution Marine Dynamic Environmental Forecasting System’has been funded by‘The Program on Marine Environmental Safety Guarantee’of The National Key Research and Development Program of China.This project will accomplish its objectives through basic theoretical research,model development and expansion,and system establishment and application,with a focus on four key issues separated into nine tasks.A series of research achievements have already been obtained,including datasets,observations,theories,and model results.展开更多
This study investigates robot path planning for multiple agents,focusing on the critical requirement that agents can pursue concurrent pathways without collisions.Each agent is assigned a task within the environment t...This study investigates robot path planning for multiple agents,focusing on the critical requirement that agents can pursue concurrent pathways without collisions.Each agent is assigned a task within the environment to reach a designated destination.When the map or goal changes unexpectedly,particularly in dynamic and unknown environments,it can lead to potential failures or performance degradation in various ways.Additionally,priority inheritance plays a significant role in path planning and can impact performance.This study proposes a ConflictBased Search(CBS)approach,introducing a unique hierarchical search mechanism for planning paths for multiple robots.The study aims to enhance flexibility in adapting to different environments.Three scenarios were tested,and the accuracy of the proposed algorithm was validated.In the first scenario,path planning was applied in unknown environments,both stationary and mobile,yielding excellent results in terms of time to arrival and path length,with a time of 2.3 s.In the second scenario,the algorithm was applied to complex environments containing sharp corners and unknown obstacles,resulting in a time of 2.6 s,with the algorithm also performing well in terms of path length.In the final scenario,the multi-objective algorithm was tested in a warehouse environment containing fixed,mobile,and multi-targeted obstacles,achieving a result of up to 100.4 s.Based on the results and comparisons with previous work,the proposed method was found to be highly effective,efficient,and suitable for various environments.展开更多
Structural health monitoring is widely utilized in outdoor environments,especially under harsh conditions,which can introduce noise into the monitoring system.Therefore,designing an effective denoising strategy to enh...Structural health monitoring is widely utilized in outdoor environments,especially under harsh conditions,which can introduce noise into the monitoring system.Therefore,designing an effective denoising strategy to enhance the performance of guided wave damage detection in noisy environments is crucial.This paper introduces a local temporal principal component analysis(PCA)reconstruction approach for denoising guided waves prior to implementing unsupervised damage detection,achieved through novel autoencoder-based reconstruction.Experimental results demonstrate that the proposed denoising method significantly enhances damage detection performance when guided waves are contaminated by noise,with SNR values ranging from 10 to-5 dB.Following the implementation of the proposed denoising approach,the AUC score can elevate from 0.65 to 0.96 when dealing with guided waves corrputed by noise at a level of-5 dB.Additionally,the paper provides guidance on selecting the appropriate number of components used in the denoising PCA reconstruction,aiding in the optimization of the damage detection in noisy conditions.展开更多
Coal and gas outburst is an extremely complex dynamic disaster in coal mine production process which will damage casualties and equipment facilities, and disorder the ventilation system by suddenly ejecting a great am...Coal and gas outburst is an extremely complex dynamic disaster in coal mine production process which will damage casualties and equipment facilities, and disorder the ventilation system by suddenly ejecting a great amount of coal and gas into roadway or working face. This paper analyzed the interaction among the three essential elements of coal and gas outburst dynamic system. A stress-seepage-damage coupling model was established which can be used to simulate the evolution of the dynamical system, and then the size scale of coal and gas outburst dynamical system was investigated. Results show that the dynam- ical system is consisted of three essential elements, coal-gas medium （material basis）, geology dynamic environment （internal motivation） and mining disturbance （external motivation）. On the case of CI 3 coal seam in Panyi Mine, the dynamical system exists in the range of 8-12 m in front of advancing face. The size scale will be larger where there are large geologic structures. This research plays an important guid- ing role for developing measures of coal and gas outburst prediction and prevention.展开更多
The grain-size distribution of surface sediments in the Bohai Sea(BS) and the northern Yellow Sea(NYS), and its relationship with sediment supply and hydrodynamic environment were investigated based on grain-size comp...The grain-size distribution of surface sediments in the Bohai Sea(BS) and the northern Yellow Sea(NYS), and its relationship with sediment supply and hydrodynamic environment were investigated based on grain-size compositions of surface sediments and modern sedimentation rates. The results showed that the surface sediments in the BS and the NYS were primarily composed of silty sand and clayey silt with a dominant size of silt. In addition, the Yellow River delivered high amount of water and sediments to the BS, and they are dominated in surface sediments(mainly silt) in the Bohai Bay, the Yellow River mouth, the center of the BS, and the north coast of Shandong Peninsula. The coarse-grained sediments were mainly deposited at the river mouth due to the estuarine filtration and physical sorting. Meanwhile, there was a significant relationship among the modern sedimentation rate, the surface sediment grain size distribution and sediment transport pattern. The areas with coarser surface sediments generally corresponded low sedimentation rates because of strong erosion;whereas the sedimentation rate was relatively high at the place that the surface sediments were fine-grained. Furthermore, the grain-size trend analysis showed that the areas with fine-grained surface sediments such as the mud area in the central BS and the upper Liaodong Bay were the convergent centers of surface sediments, except for the Bohai Bay and the subaqueous Yellow River Delta where offshore sediment transport was evident.展开更多
Path planning of a mobile robot in the presence of multiple moving obstacles is found to be a complicated problem.A planning algorithm capable of negotiating both static and moving obstacles in an unpredictable(on-lin...Path planning of a mobile robot in the presence of multiple moving obstacles is found to be a complicated problem.A planning algorithm capable of negotiating both static and moving obstacles in an unpredictable(on-line)environment is proposed.The proposed incremental algorithm plans the path by considering the quadrants in which the current positions of obstacles as well as target are situated.Also,the governing equations for the shortest path are derived.The proposed mathematical model describes the motion(satisfying constraints of the mobile robot)along a collision-free path.Further,the algorithm is applicable to dynamic environments with fixed or moving targets.Simulation results show the effectiveness of the proposed algorithm.Comparison of results with the improved artificial potential field(iAPF)algorithm shows that the proposed algorithm yields shorter path length with less computation time.展开更多
Design of a robust production facility layout with minimum handling cost （MHC） presents an appropriate approach to tackle facility layout problems in a dynamic volatile environment, in which product demands randomly...Design of a robust production facility layout with minimum handling cost （MHC） presents an appropriate approach to tackle facility layout problems in a dynamic volatile environment, in which product demands randomly change in each planning period. The objective of the design is to find the robust facility layout with minimum total material handling cost over the entire multiperiod planning horizon. This paper proposes a new mathematical model for designing robust machine layout in the stochastic dynamic environment of manufacturing systems using quadratic assignment problem （QAP） formulation. In this investigation, product demands are assumed to be normally distributed random variables with known expected value, variance, and covariance that randomly change from period to period. The proposed model was verified and validated using randomly generated numerical data and benchmark examples. The effect of dependent product demands and varying interest rate on the total cost function of the proposed model has also been investigated. Sensitivity analysis on the proposed model has been performed. Dynamic programming and simulated annealing optimization algorithms were used in solving the modeled example problems.展开更多
A weighted time-based global hierarchical path planning method is proposed to obtain the global optimal path from the starting point to the destination with time optimal control. First, the grid-or graph-based modelin...A weighted time-based global hierarchical path planning method is proposed to obtain the global optimal path from the starting point to the destination with time optimal control. First, the grid-or graph-based modeling is performed and the environment is divided into a set of grids or nodes. Then two time-based features of time interval and time cost are presented. The time intervals for each grid are built, during each interval the condition of the grid remains stable, and a time cost of passing through the grid is defined and assigned to each interval. Furthermore, the weight is introduced for taking both time and distance into consideration, and thus a sequence of multiscale paths with total time cost can be achieved. Experimental results show that the proposed method can handle the complex dynamic environment, obtain the global time optimal path and has the potential to be applied to the autonomous robot navigation and traffic environment.展开更多
To tackle the problem of simultaneous localization and mapping(SLAM) in dynamic environments, a novel algorithm using landscape theory of aggregation is presented. By exploiting the coherent explanation how actors for...To tackle the problem of simultaneous localization and mapping(SLAM) in dynamic environments, a novel algorithm using landscape theory of aggregation is presented. By exploiting the coherent explanation how actors form alignments in a game provided by the landscape theory of aggregation, the algorithm is able to explicitly deal with the ever-changing relationship between the static objects and the moving objects without any prior models of the moving objects. The effectiveness of the method has been validated by experiments in two representative dynamic environments: the campus road and the urban road.展开更多
In this article,the progress of marine geographic information system(MGIS) in China during 2006?2010 is reviewed with emphases on generic MGIS,advanced MGIS and MGIS-based applications.Generic MGIS can be divided into...In this article,the progress of marine geographic information system(MGIS) in China during 2006?2010 is reviewed with emphases on generic MGIS,advanced MGIS and MGIS-based applications.Generic MGIS can be divided into two categories:data-oriented MGIS and user-oriented MGIS,recent achievements of which by Chinese researchers are summarized respectively.Advanced MGIS mainly involves the establishment of 3D virtual marine environment and 'Digital Ocean'.An overview of the 3D MGIS based simulations in the context of ocean phenomena,ocean engineering and ocean battlefield is also presented.Several sug-gestions for future development of MGIS in China are proposed,and trends of development are addressed.展开更多
In order to solve the problem of path planning of mobile robots in a dynamic environment,an improved rapidly-exploring random tree^(*)(RRT^(*))algorithm is proposed in this paper.First,the target bias sampling is intr...In order to solve the problem of path planning of mobile robots in a dynamic environment,an improved rapidly-exploring random tree^(*)(RRT^(*))algorithm is proposed in this paper.First,the target bias sampling is introduced to reduce the randomness of the RRT^(*)algorithm,and then the initial path planning is carried out in a static environment.Secondly,apply the path in a dynamic environment,and use the initially planned path as the path cache.When a new obstacle appears in the path,the invalid path is clipped and the path is replanned.At this time,there is a certain probability to select the point in the path cache as the new node,so that the new path maintains the trend of the original path to a greater extent.Finally,MATLAB is used to carry out simulation experiments for the initial planning and replanning algorithms,respectively.More specifically,compared with the original RRT^(*)algorithm,the simulation results show that the number of nodes used by the new improved algorithm is reduced by 43.19%on average.展开更多
This study presents a statistical landslide susceptibility assessment(LSA) in a dynamic environment. The study area is located in the eastern part of Lanzhou, NW China. The Lanzhou area has exhibited rapid urbanizatio...This study presents a statistical landslide susceptibility assessment(LSA) in a dynamic environment. The study area is located in the eastern part of Lanzhou, NW China. The Lanzhou area has exhibited rapid urbanization rates over the past decade associated with greening, continuous land use change, and geomorphic reshaping activities. To consider the dynamics of the environment in the LSA, multitemporal data for landslide inventories and the corresponding causal factors were collected. The weights of evidence(Wof E) method was used to perform the LSA. Three time stamps, i.e., 2000, 2012, and 2016, were selected to assess the state of landslide susceptibility over time. The results show a clear evolution of the landslide susceptibility patterns that was mainly governed by anthropogenic activities directed toward generating safer building grounds for civil infrastructure. The low and very low susceptibility areas increased by approximately 10% between 2000 and 2016. At the same time, areas of medium, high and very high susceptibility zones decreased proportionally. Based on the results, an approach to design the statistical LSA under dynamic conditions is proposed, the issues and limitations of this approach are also discussed. The study shows that under dynamic conditions, the requirements for data quantity and quality increase significantly. A dynamic environment requires greater effort to estimate the causal relations between the landslides and controlling factors as well as for model validation.展开更多
With the increasing oil demand, the construction of oil energy reserves in China needs to be further strengthened. However, given that there has been no research on the main influencing factors of crude oil temperatur...With the increasing oil demand, the construction of oil energy reserves in China needs to be further strengthened. However, given that there has been no research on the main influencing factors of crude oil temperature drop in storage tanks under actual dynamically changing environments, this paper considers the influence of dynamic thermal environment and internal crude oil physical properties on the fluctuating changes in crude oil temperature. A theoretical model of the unsteady-state temperature drop heat transfer process is developed from a three-dimensional perspective. According to the temperature drop variation law of crude oil storage tank under the coupling effect of various heat transfer modes such as external forced convection, thermal radiation, and internal natural convection, the external dynamic thermal environment influence zone, the internal crude oil physical property influence zone, and the intermediate transition zone of the tank are proposed. And the multiple non-linear regression method is used to quantitatively characterize the influence of external ambient temperature, solar radiation, wind speed, internal crude oil density, viscosity, and specific heat capacity on the temperature drop of crude oil in each influencing zone. The results of this paper not only quantitatively explain the main influencing factors of the oil temperature drop in the top, wall, and bottom regions of the tank, but also provide a theoretical reference for oil security reserves under a dynamic thermal environment.展开更多
Emerging technologies of wireless and mobile communication enable people to accumulate a large volume of time-stamped locations,which appear in the form of a continuous moving object trajectory.How to accurately predi...Emerging technologies of wireless and mobile communication enable people to accumulate a large volume of time-stamped locations,which appear in the form of a continuous moving object trajectory.How to accurately predict the uncertain mobility of objects becomes an important and challenging problem.Existing algorithms for trajectory prediction in moving objects databases mainly focus on identifying frequent trajectory patterns,and do not take account of the effect of essential dynamic environmental factors.In this study,a general schema for predicting uncertain trajectories of moving objects with dynamic environment awareness is presented,and the key techniques in trajectory prediction arc addressed in detail.In order to accurately predict the trajectories,a trajectory prediction algorithm based on continuous time Bayesian networks（CTBNs） is improved and applied,which takes dynamic environmental factors into full consideration.Experiments conducted on synthetic trajectory data verify the effectiveness of the improved algorithm,which also guarantees the time performance as well.展开更多
In order to overcome the drawbacks of conventional artificial potential fields (APF) based methods for the motion planning problems of mobile robots in dynamic uncertain environments, an artificial coordinating fields...In order to overcome the drawbacks of conventional artificial potential fields (APF) based methods for the motion planning problems of mobile robots in dynamic uncertain environments, an artificial coordinating fields (ACF) based method has been proposed recently. This paper deals with the reachability problem of the ACF, that is, how to design and choose the parameters of the ACF and how the environment should be such that the robot can reach its goal without being trapped in local minima. Some sufficient conditions for these purposes are developed theoretically. Theoretical analyses show that, the ACF can effectively remove local minima in dynamic uncertain environments with V-shape or U-shape obstacles, and guide the mobile robot to reach its goal with some necessary environment constraints and based on the methods provided in this paper to properly choose the parameters of the ACF. Comparisons between the ACF and APF, and simulations are provided to illustrate the advantages of the ACF.展开更多
A low frequency dynamic environment prediction of spacecraft using dynamic substructu- ring is presented. The dynamic environment could be used to describe the level of the excitation on the spacecraft itself and auxi...A low frequency dynamic environment prediction of spacecraft using dynamic substructu- ring is presented. The dynamic environment could be used to describe the level of the excitation on the spacecraft itself and auxiliary equipment. In addition, the dynamic environment is a criterion for the structural dynamic design as well as the ground verification test. The proposed prediction method could solve two major problems. The first is the time consumption of analyzing the whole spacecraft model due to the huge amount of degrees of freedom, and the second is multi-source for component structural dynamic models from distributive departments. To demonstrate the feasibility and efficien- cy, the proposed prediction method is applied to resolve a launching satellite case, and the results were compared with those obtained by the traditional prediction technology using the finite element method.展开更多
Moving humans,agents,and subjects bring many challenges to robot self‐localisation and environment perception.To adapt to dynamic environments,SLAM researchers typically apply several deep learning image segmentation...Moving humans,agents,and subjects bring many challenges to robot self‐localisation and environment perception.To adapt to dynamic environments,SLAM researchers typically apply several deep learning image segmentation models to eliminate these moving obstacles.However,these moving obstacle segmentation methods cost too much computation resource for the onboard processing of mobile robots.In the current industrial environment,mobile robot collaboration scenario,the noise of mobile robots could be easily found by on‐board audio‐sensing processors and the direction of sound sources can be effectively acquired by sound source estimation algorithms,but the distance estimation of sound sources is difficult.However,in the field of visual perception,the 3D structure information of the scene is relatively easy to obtain,but the recognition and segmentation of moving objects is more difficult.To address these problems,a novel vision‐audio fusion method that combines sound source localisation methods with a visual SLAM scheme is proposed,thereby eliminating the effect of dynamic obstacles on multi‐agent systems.Several heterogeneous robots experiments in different dynamic scenes indicate very stable self‐localisation and environment reconstruction performance of our method.展开更多
Ocean satellites have realized multi-satellite networked operation.The HY-1D satellite launched in June 2020 realized networked with HY-1C satellite,and completed the construction of ocean color satellite constellatio...Ocean satellites have realized multi-satellite networked operation.The HY-1D satellite launched in June 2020 realized networked with HY-1C satellite,and completed the construction of ocean color satellite constellation.The HY-2D satellite launched in May 2021 is networked with the on orbit HY-2B and HY-2C satellites to complete the construction of marine dynamic environment satellite constellation.The 1 mC-SAR satellite 01 launched in November 2021 is networked with GF-3,which initially forms the marine monitoring satellite constellation.This year,the networking of 1 mC-SAR satellite 02 with satellite 01 and GF-3 is realized,and the construction of marine monitoring satellite constellation is completed.At present,the ocean satellites have the operational application capabilities of remote sensing investigation,monitoring,evaluation and supervision of marine ecology,marine disaster prevention and reduction,global oceans and Polar Regions,Sea Islands,rights and interests maintenance.展开更多
基金This work was supported by the National Social Science Foundation of China(No.15FGL005)the National Natural Science Foundation of China(Nos.71403052 and 71403055)the Social Science Planning Project of Fujian Province of China(No.FJ2016C030).
文摘The development of the Internet has provided firms with the ideal opportunity to make up for the knowledge gap for achieving internal knowledge generation(IKG)and external knowledge acquisition(EKA).It is worth exploring how Internet resources can be used to satisfy organizational knowledge needs efficiently to adapt to dynamic environments.Thus,according to the resource-based view,knowledge-based view,and contingency theory,we study the impact of different types of Internet resources on the two modes of knowledge creation(IKG and EKA),as well as the moderating effect of environmental dynamism(ED)on this relationship.The hypothesized relationships were tested using the hierarchical regression analysis method with survey data collected from 399 Chinese firms.We found that Internet relationship resource and Internet human resource can simultaneously facilitate IKG and EKA,while Internet infrastructure resource positively affects IKG but has no significant impact on EKA.Furthermore,ED positively moderates the relationship between Internet relationship resource and IKG and EKA,but negatively moderates the relationship between Internet human resource and EKA.
基金the Xinjiang Science and Technology Support Project Plan(2022E02026)the Xinjiang Agricultural University Graduate Research and Innovation Programme(XJAUGRI2023049).
文摘Human activities lead to the accumulation of a large amount of nitrogen and phosphorus in sediments in rivers.Simultaneously,nitrogen and phosphorus can be affected by environment and re-enter the upper water body,causing secondary pollution of the river water.In this study,laboratory simulation experiments were conducted initially to investigate the release of nitrogen and phosphorus from river sediments in Urumqi City and the surrounding areas in Xinjiang Uygur Autonomous Region of China and determine the factors that influence their release.The results of this study showed significant short-term differences in nitrogen and phosphorus release characteristics from sediments at different sampling points.The proposed secondary kinetics model(i.e.,pseudo-second-order kinetics model)better fitted the release process of sediment nitrogen and phosphorus.The release of nitrogen and phosphorus from sediments is a complex process driven by multiple factors,therefore,we tested the influence of three factors(pH,temperature,and disturbance intensity)on the release of nitrogen and phosphorus from sediments in this study.The most amount of nitrate nitrogen(NO_(3)^(–)-N)was released under neutral conditions,while the most significant release of ammonia nitrogen(NH_(4)^(+)-N)occurred under acidic and alkaline conditions.The release of nitrite nitrogen(NO_(2)^(-)-N)was less affected by pH.The dissolved total phosphorus(DTP)released significantly in the alkaline water environment,while the release of dissolved organic phosphorus(DOP)was more significant in acidic water.The release amount of soluble reactive phosphorus(SRP)increased with an increase in pH.The sediments released nitrogen and phosphorus at higher temperatures,particularly NH_(4)^(+)-N,NO_(3)^(–)-N,and SRP.The highest amount of DOP was released at 15.0℃.An increase in disturbance intensity exacerbated the release of nitrogen and phosphorus from sediments.NH_(4)^(+)-N,DTP,and SRP levels increased linearly with the intensity of disturbance,while NO_(3)^(–)-N and NO_(2)^(–)-N were more stable.This study provides valuable information for protecting and restoring the water environment in arid areas and has significant practical reference value.
基金funded by "The Program on Marine Environmental Safety Guarantee" of "The National Key Research and Development Program of China"[grant number2016YFC1401409]
文摘A project entitled‘Development of a Global High-resolution Marine Dynamic Environmental Forecasting System’has been funded by‘The Program on Marine Environmental Safety Guarantee’of The National Key Research and Development Program of China.This project will accomplish its objectives through basic theoretical research,model development and expansion,and system establishment and application,with a focus on four key issues separated into nine tasks.A series of research achievements have already been obtained,including datasets,observations,theories,and model results.
文摘This study investigates robot path planning for multiple agents,focusing on the critical requirement that agents can pursue concurrent pathways without collisions.Each agent is assigned a task within the environment to reach a designated destination.When the map or goal changes unexpectedly,particularly in dynamic and unknown environments,it can lead to potential failures or performance degradation in various ways.Additionally,priority inheritance plays a significant role in path planning and can impact performance.This study proposes a ConflictBased Search(CBS)approach,introducing a unique hierarchical search mechanism for planning paths for multiple robots.The study aims to enhance flexibility in adapting to different environments.Three scenarios were tested,and the accuracy of the proposed algorithm was validated.In the first scenario,path planning was applied in unknown environments,both stationary and mobile,yielding excellent results in terms of time to arrival and path length,with a time of 2.3 s.In the second scenario,the algorithm was applied to complex environments containing sharp corners and unknown obstacles,resulting in a time of 2.6 s,with the algorithm also performing well in terms of path length.In the final scenario,the multi-objective algorithm was tested in a warehouse environment containing fixed,mobile,and multi-targeted obstacles,achieving a result of up to 100.4 s.Based on the results and comparisons with previous work,the proposed method was found to be highly effective,efficient,and suitable for various environments.
基金National Science Foundation of Zhejiang under Contract(LY23E010001)。
文摘Structural health monitoring is widely utilized in outdoor environments,especially under harsh conditions,which can introduce noise into the monitoring system.Therefore,designing an effective denoising strategy to enhance the performance of guided wave damage detection in noisy environments is crucial.This paper introduces a local temporal principal component analysis(PCA)reconstruction approach for denoising guided waves prior to implementing unsupervised damage detection,achieved through novel autoencoder-based reconstruction.Experimental results demonstrate that the proposed denoising method significantly enhances damage detection performance when guided waves are contaminated by noise,with SNR values ranging from 10 to-5 dB.Following the implementation of the proposed denoising approach,the AUC score can elevate from 0.65 to 0.96 when dealing with guided waves corrputed by noise at a level of-5 dB.Additionally,the paper provides guidance on selecting the appropriate number of components used in the denoising PCA reconstruction,aiding in the optimization of the damage detection in noisy conditions.
基金funded by the National Natural Science Foundation of China(No.51674132)the State Key Research Development Program of China(No.2016YFC0801407-2)+2 种基金the Open Projects of State Key Laboratory for Geo Mechanics and Deep Underground Engineering of China(No.SKLGDUEK1510)the Open Projects of State Key Laboratory of Coal Resources and Safe Mining of China(No.SKLCRSM15KF04)the Research Fund of State and Local Joint Engineering Laboratory for Gas Drainage&Ground Control of Deep Mines(Henan Polytechnic University)(No.G201602)
文摘Coal and gas outburst is an extremely complex dynamic disaster in coal mine production process which will damage casualties and equipment facilities, and disorder the ventilation system by suddenly ejecting a great amount of coal and gas into roadway or working face. This paper analyzed the interaction among the three essential elements of coal and gas outburst dynamic system. A stress-seepage-damage coupling model was established which can be used to simulate the evolution of the dynamical system, and then the size scale of coal and gas outburst dynamical system was investigated. Results show that the dynam- ical system is consisted of three essential elements, coal-gas medium （material basis）, geology dynamic environment （internal motivation） and mining disturbance （external motivation）. On the case of CI 3 coal seam in Panyi Mine, the dynamical system exists in the range of 8-12 m in front of advancing face. The size scale will be larger where there are large geologic structures. This research plays an important guid- ing role for developing measures of coal and gas outburst prediction and prevention.
基金supported by the National Natural Science Foundation of China (No.41525021)the Ministry of Science and Technology of People's Republic of China (Nos.2016YFA0600903 and 2017YFC0405502)。
文摘The grain-size distribution of surface sediments in the Bohai Sea(BS) and the northern Yellow Sea(NYS), and its relationship with sediment supply and hydrodynamic environment were investigated based on grain-size compositions of surface sediments and modern sedimentation rates. The results showed that the surface sediments in the BS and the NYS were primarily composed of silty sand and clayey silt with a dominant size of silt. In addition, the Yellow River delivered high amount of water and sediments to the BS, and they are dominated in surface sediments(mainly silt) in the Bohai Bay, the Yellow River mouth, the center of the BS, and the north coast of Shandong Peninsula. The coarse-grained sediments were mainly deposited at the river mouth due to the estuarine filtration and physical sorting. Meanwhile, there was a significant relationship among the modern sedimentation rate, the surface sediment grain size distribution and sediment transport pattern. The areas with coarser surface sediments generally corresponded low sedimentation rates because of strong erosion;whereas the sedimentation rate was relatively high at the place that the surface sediments were fine-grained. Furthermore, the grain-size trend analysis showed that the areas with fine-grained surface sediments such as the mud area in the central BS and the upper Liaodong Bay were the convergent centers of surface sediments, except for the Bohai Bay and the subaqueous Yellow River Delta where offshore sediment transport was evident.
文摘Path planning of a mobile robot in the presence of multiple moving obstacles is found to be a complicated problem.A planning algorithm capable of negotiating both static and moving obstacles in an unpredictable(on-line)environment is proposed.The proposed incremental algorithm plans the path by considering the quadrants in which the current positions of obstacles as well as target are situated.Also,the governing equations for the shortest path are derived.The proposed mathematical model describes the motion(satisfying constraints of the mobile robot)along a collision-free path.Further,the algorithm is applicable to dynamic environments with fixed or moving targets.Simulation results show the effectiveness of the proposed algorithm.Comparison of results with the improved artificial potential field(iAPF)algorithm shows that the proposed algorithm yields shorter path length with less computation time.
基金Supported by the Ministry of Higher Education of Malaysia through the Foundation Research(Grant Scheme no.FRGS/1/2012/TK01/MMU/02/2)
文摘Design of a robust production facility layout with minimum handling cost （MHC） presents an appropriate approach to tackle facility layout problems in a dynamic volatile environment, in which product demands randomly change in each planning period. The objective of the design is to find the robust facility layout with minimum total material handling cost over the entire multiperiod planning horizon. This paper proposes a new mathematical model for designing robust machine layout in the stochastic dynamic environment of manufacturing systems using quadratic assignment problem （QAP） formulation. In this investigation, product demands are assumed to be normally distributed random variables with known expected value, variance, and covariance that randomly change from period to period. The proposed model was verified and validated using randomly generated numerical data and benchmark examples. The effect of dependent product demands and varying interest rate on the total cost function of the proposed model has also been investigated. Sensitivity analysis on the proposed model has been performed. Dynamic programming and simulated annealing optimization algorithms were used in solving the modeled example problems.
基金Supported by the National Natural Science Foundation of China(No.61100143,No.61370128)the Program for New Century Excellent Talents in University of the Ministry of Education of China(NCET-13-0659)Beijing Higher Education Young Elite Teacher Project(YETP0583)
文摘A weighted time-based global hierarchical path planning method is proposed to obtain the global optimal path from the starting point to the destination with time optimal control. First, the grid-or graph-based modeling is performed and the environment is divided into a set of grids or nodes. Then two time-based features of time interval and time cost are presented. The time intervals for each grid are built, during each interval the condition of the grid remains stable, and a time cost of passing through the grid is defined and assigned to each interval. Furthermore, the weight is introduced for taking both time and distance into consideration, and thus a sequence of multiscale paths with total time cost can be achieved. Experimental results show that the proposed method can handle the complex dynamic environment, obtain the global time optimal path and has the potential to be applied to the autonomous robot navigation and traffic environment.
基金Project(XK100070532)supported by Beijing Education Committee Cooperation Building Foundation,China
文摘To tackle the problem of simultaneous localization and mapping(SLAM) in dynamic environments, a novel algorithm using landscape theory of aggregation is presented. By exploiting the coherent explanation how actors form alignments in a game provided by the landscape theory of aggregation, the algorithm is able to explicitly deal with the ever-changing relationship between the static objects and the moving objects without any prior models of the moving objects. The effectiveness of the method has been validated by experiments in two representative dynamic environments: the campus road and the urban road.
基金supported by the Natural Science Foundation of China under projects 40730530 and 41076115the National Basic Research Program of China under project 2009CB723903the National High-Tech Research and Development Program of China under project 2008AA121701
文摘In this article,the progress of marine geographic information system(MGIS) in China during 2006?2010 is reviewed with emphases on generic MGIS,advanced MGIS and MGIS-based applications.Generic MGIS can be divided into two categories:data-oriented MGIS and user-oriented MGIS,recent achievements of which by Chinese researchers are summarized respectively.Advanced MGIS mainly involves the establishment of 3D virtual marine environment and 'Digital Ocean'.An overview of the 3D MGIS based simulations in the context of ocean phenomena,ocean engineering and ocean battlefield is also presented.Several sug-gestions for future development of MGIS in China are proposed,and trends of development are addressed.
基金National Natural Science Foundation of China(No.61903291)。
文摘In order to solve the problem of path planning of mobile robots in a dynamic environment,an improved rapidly-exploring random tree^(*)(RRT^(*))algorithm is proposed in this paper.First,the target bias sampling is introduced to reduce the randomness of the RRT^(*)algorithm,and then the initial path planning is carried out in a static environment.Secondly,apply the path in a dynamic environment,and use the initially planned path as the path cache.When a new obstacle appears in the path,the invalid path is clipped and the path is replanned.At this time,there is a certain probability to select the point in the path cache as the new node,so that the new path maintains the trend of the original path to a greater extent.Finally,MATLAB is used to carry out simulation experiments for the initial planning and replanning algorithms,respectively.More specifically,compared with the original RRT^(*)algorithm,the simulation results show that the number of nodes used by the new improved algorithm is reduced by 43.19%on average.
基金the framework of a scientific-technical cooperation project between the Federal Institute for Geosciences and Natural Resources(BGR)and the China Geological Survey(CGS)co-funded by the German Ministry of the Economic Affairs and Energy(BMWi)and Ministry of Land and Resources of the People's Republik of China
文摘This study presents a statistical landslide susceptibility assessment(LSA) in a dynamic environment. The study area is located in the eastern part of Lanzhou, NW China. The Lanzhou area has exhibited rapid urbanization rates over the past decade associated with greening, continuous land use change, and geomorphic reshaping activities. To consider the dynamics of the environment in the LSA, multitemporal data for landslide inventories and the corresponding causal factors were collected. The weights of evidence(Wof E) method was used to perform the LSA. Three time stamps, i.e., 2000, 2012, and 2016, were selected to assess the state of landslide susceptibility over time. The results show a clear evolution of the landslide susceptibility patterns that was mainly governed by anthropogenic activities directed toward generating safer building grounds for civil infrastructure. The low and very low susceptibility areas increased by approximately 10% between 2000 and 2016. At the same time, areas of medium, high and very high susceptibility zones decreased proportionally. Based on the results, an approach to design the statistical LSA under dynamic conditions is proposed, the issues and limitations of this approach are also discussed. The study shows that under dynamic conditions, the requirements for data quantity and quality increase significantly. A dynamic environment requires greater effort to estimate the causal relations between the landslides and controlling factors as well as for model validation.
基金supported by the National Natural Science Foundation of China(52104064)(52074089)the China Postdoctoral Science Foundation(2020M681074)+3 种基金Heilongjiang Provincial Natural Science Foundation of China(YQ2023E006)University Nursing Program for Young Scholars with Creative Talents in Heilongjiang Province(UNPYSCT-2020152)Postdoctoral Science Foundation of Heilongjiang Province in China(LBH-TZ2106)(LBH-Z20122)Northeast Petroleum University Talents Introduction Fund(2019KQ18).
文摘With the increasing oil demand, the construction of oil energy reserves in China needs to be further strengthened. However, given that there has been no research on the main influencing factors of crude oil temperature drop in storage tanks under actual dynamically changing environments, this paper considers the influence of dynamic thermal environment and internal crude oil physical properties on the fluctuating changes in crude oil temperature. A theoretical model of the unsteady-state temperature drop heat transfer process is developed from a three-dimensional perspective. According to the temperature drop variation law of crude oil storage tank under the coupling effect of various heat transfer modes such as external forced convection, thermal radiation, and internal natural convection, the external dynamic thermal environment influence zone, the internal crude oil physical property influence zone, and the intermediate transition zone of the tank are proposed. And the multiple non-linear regression method is used to quantitatively characterize the influence of external ambient temperature, solar radiation, wind speed, internal crude oil density, viscosity, and specific heat capacity on the temperature drop of crude oil in each influencing zone. The results of this paper not only quantitatively explain the main influencing factors of the oil temperature drop in the top, wall, and bottom regions of the tank, but also provide a theoretical reference for oil security reserves under a dynamic thermal environment.
基金supported by the National Natural Science Foundation of China (Nos.61100045,61165013,61003142,60902023,and 61171096)the China Postdoctoral Science Foundation (Nos.20090461346,201104697)+3 种基金the Youth Foundation for Humanities and Social Sciences of Ministry of Education of China (No.10YJCZH117)the Fundamental Research Funds for the Central Universities (Nos.SWJTU09CX035,SWJTU11ZT08)Zhejiang Provincial Natural Science Foundation of China (Nos.Y1100589,Y1080123)the Natural Science Foundation of Ningbo,China (No.2011A610175)
文摘Emerging technologies of wireless and mobile communication enable people to accumulate a large volume of time-stamped locations,which appear in the form of a continuous moving object trajectory.How to accurately predict the uncertain mobility of objects becomes an important and challenging problem.Existing algorithms for trajectory prediction in moving objects databases mainly focus on identifying frequent trajectory patterns,and do not take account of the effect of essential dynamic environmental factors.In this study,a general schema for predicting uncertain trajectories of moving objects with dynamic environment awareness is presented,and the key techniques in trajectory prediction arc addressed in detail.In order to accurately predict the trajectories,a trajectory prediction algorithm based on continuous time Bayesian networks（CTBNs） is improved and applied,which takes dynamic environmental factors into full consideration.Experiments conducted on synthetic trajectory data verify the effectiveness of the improved algorithm,which also guarantees the time performance as well.
基金This paper was partly supported by the National Natural Science Foundation (No.60131160741,60334010) of China.
文摘In order to overcome the drawbacks of conventional artificial potential fields (APF) based methods for the motion planning problems of mobile robots in dynamic uncertain environments, an artificial coordinating fields (ACF) based method has been proposed recently. This paper deals with the reachability problem of the ACF, that is, how to design and choose the parameters of the ACF and how the environment should be such that the robot can reach its goal without being trapped in local minima. Some sufficient conditions for these purposes are developed theoretically. Theoretical analyses show that, the ACF can effectively remove local minima in dynamic uncertain environments with V-shape or U-shape obstacles, and guide the mobile robot to reach its goal with some necessary environment constraints and based on the methods provided in this paper to properly choose the parameters of the ACF. Comparisons between the ACF and APF, and simulations are provided to illustrate the advantages of the ACF.
基金Supported by the Ministerial Level Foundation(2012021)
文摘A low frequency dynamic environment prediction of spacecraft using dynamic substructu- ring is presented. The dynamic environment could be used to describe the level of the excitation on the spacecraft itself and auxiliary equipment. In addition, the dynamic environment is a criterion for the structural dynamic design as well as the ground verification test. The proposed prediction method could solve two major problems. The first is the time consumption of analyzing the whole spacecraft model due to the huge amount of degrees of freedom, and the second is multi-source for component structural dynamic models from distributive departments. To demonstrate the feasibility and efficien- cy, the proposed prediction method is applied to resolve a launching satellite case, and the results were compared with those obtained by the traditional prediction technology using the finite element method.
基金supported by the Shenzhen Science and Technology Program(JSGG20220606142803007)the Shenzhen Institute of Artificial Intelligence and Robotics for Society(AIRS).
文摘Moving humans,agents,and subjects bring many challenges to robot self‐localisation and environment perception.To adapt to dynamic environments,SLAM researchers typically apply several deep learning image segmentation models to eliminate these moving obstacles.However,these moving obstacle segmentation methods cost too much computation resource for the onboard processing of mobile robots.In the current industrial environment,mobile robot collaboration scenario,the noise of mobile robots could be easily found by on‐board audio‐sensing processors and the direction of sound sources can be effectively acquired by sound source estimation algorithms,but the distance estimation of sound sources is difficult.However,in the field of visual perception,the 3D structure information of the scene is relatively easy to obtain,but the recognition and segmentation of moving objects is more difficult.To address these problems,a novel vision‐audio fusion method that combines sound source localisation methods with a visual SLAM scheme is proposed,thereby eliminating the effect of dynamic obstacles on multi‐agent systems.Several heterogeneous robots experiments in different dynamic scenes indicate very stable self‐localisation and environment reconstruction performance of our method.
文摘Ocean satellites have realized multi-satellite networked operation.The HY-1D satellite launched in June 2020 realized networked with HY-1C satellite,and completed the construction of ocean color satellite constellation.The HY-2D satellite launched in May 2021 is networked with the on orbit HY-2B and HY-2C satellites to complete the construction of marine dynamic environment satellite constellation.The 1 mC-SAR satellite 01 launched in November 2021 is networked with GF-3,which initially forms the marine monitoring satellite constellation.This year,the networking of 1 mC-SAR satellite 02 with satellite 01 and GF-3 is realized,and the construction of marine monitoring satellite constellation is completed.At present,the ocean satellites have the operational application capabilities of remote sensing investigation,monitoring,evaluation and supervision of marine ecology,marine disaster prevention and reduction,global oceans and Polar Regions,Sea Islands,rights and interests maintenance.
