Three-dimensional multi-constraint route planning of unmanned aerial vehicle low-altitude penetration based on coevolutionary multi-agent genetic algorithm

To address the issue of premature convergence and slow convergence rate in three-dimensional (3D) route planning of unmanned aerial vehicle (UAV) low-altitude penetration,a novel route planning method was proposed.First and foremost,a coevolutionary multi-agent genetic algorithm (CE-MAGA) was formed by introducing coevolutionary mechanism to multi-agent genetic algorithm (MAGA),an efficient global optimization algorithm.A dynamic route representation form was also adopted to improve the flight route accuracy.Moreover,an efficient constraint handling method was used to simplify the treatment of multi-constraint and reduce the time-cost of planning computation.Simulation and corresponding analysis show that the planning results of CE-MAGA have better performance on terrain following,terrain avoidance,threat avoidance (TF/TA2) and lower route costs than other existing algorithms.In addition,feasible flight routes can be acquired within 2 s,and the convergence rate of the whole evolutionary process is very fast.

Occurrence Regularity of Tobacco Cutworm Moth (Spodoptera Litura) in Low-Altitude Tobacco Cultivation Areas in Lincang

[ Objective ] The paper was to study the occurrence and damage regularity of tobacco cutworm moth （Spodoptera Litura Fabricius） in low-altitude area in Lincang city. [ Method] The adult sex attractant monitoring, field investigation of occurrence and damage, and observation of continuous generation development of natural populations were carried out in natural flue-cured tobacco fields. [ Result] In field growth period of flue-cured tobacco under low-altitude of 1 000 - 1300 m, tobacco cutworm moth occurred for 4 generations, the duration of each generation was about 33 d, and the main injurious generation was the third generation. [ Conclusion] The paper provided reference for comprehensive control of tobacco cutworm moth in the low altitude areas.

Analysis of Low-Altitude Inversion Characteristics of Coal-Fired Power Projects Based on Tethered Balloon Observation

Atmospheric inversion phenomenon directly affects the vertical movement of air, which causes the cooling heat of the cooling tower in the power plant to be blocked. Therefore, it is necessary to analyze the atmospheric inversion characteristics of the research project during the design of the air cooling system. Using the low-altitude observing system of the tethered balloon, the on-site observation of the temperature below 300 m in summer is carried out for a coal-fired power integration project in Yulin, Shaanxi, China. Observations were made at 10 fixed times per day, with a cumulative observation of 46 days and 247 effective detections. The data were quality-controlled, and then linearly interpolated. According to the requirements of the project designer, the temperature data of 20, 50, 100, 150, 200, 250, 300 m was used for low-temperature inversion analysis. The research shows that the grounding inversion and low-altitude inversion can be observed at the same time. In the time and space changes, the grounding inversion temperature and intensity are significantly higher than the low-altitude inversion. The maximum inversion of grounding inversion and low-altitude inversion is 2.3?C/hm, 1.0?C/hm. Grounding inversion temperature occurs every time, the frequency is the highest at 20 o’clock, the average intensity is maximum at 17 o’clock, and the average height, maximum intensity and maximum height are maximum at 7 o’clock. When the low-altitude inversion temperature is 18 o’clock, other times can occur, and the frequency is the highest at 15 o’clock, but the inversion layer is shallow, the bottom is high and the intensity is small. Grounding inversion and low-altitude inversion can occur in all levels, and as the height increases, the grounding inversion decreases and the low-temperature inversion increases. The design of the project air cooling tower needs to fully consider the impact caused by the inverse temperature below 300 m.

Pangenome and multi-tissue gene atlas provide new insights into the domestication and highland adaptation of yaks

Background The genetic diversity of yak,a key domestic animal on the Qinghai-Tibetan Plateau(QTP),is a vital resource for domestication and breeding efforts.This study presents the first yak pangenome obtained through the de novo assembly of 16 yak genomes.Results We discovered 290 Mb of nonreference sequences and 504 new genes.Our pangenome-wide presence and absence variation(PAV)analysis revealed 5,120 PAV-related genes,highlighting a wide range of variety-specific genes and genes with varying frequencies across yak populations.Principal component analysis(PCA)based on binary gene PAV data classified yaks into three new groups:wild,domestic,and Jinchuan.Moreover,we pro-posed a‘two-haplotype genomic hybridization model'for understanding the hybridization patterns among breeds by integrating gene frequency,heterozygosity,and gene PAV data.A gene PAV-GWAS identified a novel gene(Bos-Gru3G009179)that may be associated with the multirib trait in Jinchuan yaks.Furthermore,an integrated transcrip-tome and pangenome analysis highlighted the significant differences in the expression of core genes and the muta-tional burden of differentially expressed genes between yaks from high and low altitudes.Transcriptome analysis across multiple species revealed that yaks have the most unique differentially expressed m RNAs and lnc RNAs(between high-and low-altitude regions),especially in the heart and lungs,when comparing high-and low-altitude adaptations.Conclusions The yak pangenome offers a comprehensive resource and new insights for functional genomic studies,supporting future biological research and breeding strategies.

The exploration and practice of low-altitude airspace flight service and traffic management in China

Due to the inherent nature of being highly digitalized,networked and intelligent,Unmanned Aerial System(UAS)operations pose a huge challenge to traditional aviation regulation and technical systems.How to keep safe,efficient and integrated operation for different Airspace users has become a pressing issue faced by civil aviation around the world.This paper focuses on the main operational scenarios and characteristics of unmanned aviation development in China.New operational characteristics and associated challenges due to diverse low-altitude users are analyzed,including operation concepts,UAS traffic management,technological test and verification,and standards.Drawing light on the practices in Europe and the United States,this paper summarizes China's practices and progress in low-altitude operations management,and analyzes future technological development needs and trends,as well as feasible implementation pathways and measures based on actual needs.

西风带影响下的跨半球航班最优航线分析

提出一种利用大气背景西风设计最优航线的计算方法,并给出判定所适用航线的标准,量化最优航线相较于大圆航线所节省的时间。研究结果表明,对于一些跨东西半球的航线,去程和返程都顺着西风飞行比按照原路返回航线所需时间短。以北京与纽约之间的航线为例,目前采用的去程(北京至纽约)向东顺风,返程(纽约至北京)向西逆风,计算结果表明,如果返程也向东顺风飞行,所需时间比原路向西逆风飞行短。进一步的分析结果表明,这种设计对很多跨东西半球城市之间的航线都适用。研究结果可以帮助民航系统优化航线,减少航空燃油消耗,节约成本和减少碳排放。

Winter Asia Jetstream and Seasonal Precipitation in East China

The monthly mean geostrophic wind fields for January during 1951 - 1990 period are calculated by using data of500 hpa monthly mean height. The relation between Asia jetstream in winter and the important seasonal precipitationin East China is analysed. The analysis shows that the south branch of jetstream is stronger (weaker) in winter, therainfall will be more (less) than normal in the subsequent spring in South China, and summer rainfall in North Chinawill be more (less). too; these important rainy seasons are related to each other; the indian summer monsoon is notonly related to the summer rainfall in North China, but also related to the spring rainfall in South China and thesouth branch of jetstream in winter.

Climate Change in the Subtropical Jetstream during 1950–2009

A study of six decades（1950–2009） of reanalysis data reveals that the subtropical jetstream（STJ） of the Southern（Northern） Hemisphere between longitudes 0°E and 180°E has weakened（strengthened） during both the boreal winter（January,February） and summer（July, August） seasons. The temperature of the upper troposphere of the midlatitudes has a warming trend in the Southern Hemisphere and a cooling trend in the Northern Hemisphere. Correspondingly, the north–south temperature gradient in the upper troposphere has a decreasing trend in the Southern Hemisphere and an increasing trend in the Northern Hemisphere, which affects the strength of the STJ through the thermal wind relation. We devised a method of isotach analysis in intervals of 0.1 m s-1in vertical sections of hemispheric mean winds to study the climate change in the STJ core wind speed, and also core height and latitude. We found that the upper tropospheric cooling of the Asian mid-latitudes has a role in the strengthening of the STJ over Asia, while throughout the rest of the globe the upper troposphere has a warming trend that weakens the STJ. Available studies show that the mid-latitude cooling of the upper troposphere over Asia is caused by anthropogenic aerosols（particularly sulphate aerosols） and the warming over the rest of the global mid-latitude upper troposphere is due to increased greenhouse gases in the atmosphere.

奥西公司首台奥西JetStream 1000印刷系统落户亚洲

奥西公司于10月25日宣布，DocuXPert公司成为亚洲第一家开始应用奥西JetStream1000连续纸喷墨印刷系统进行Transpromo的外包公司。

Application of 3D Digital Modeling Technology in the Construction of Digital Cities

The concepts of “digital twins”, “3D real scene”, “metacosm” and others were the technical paths for building digital cities with the development of emerging surveying and mapping science and technology, which was to build a digital and virtualized city that matched the real physical world, to achieve a one-to-one correspondence between all elements of the physical world and the digital virtual world. And one of its basic geographic information data was a highly similar, virtual simulation of the 3D real scene. After exploring the traditional manual 3DsMax modeling, UAV low-altitude digital oblique photogrammetry modeling, airborne laser scanning modeling and other single modeling technologies, this paper discussed the 3D digital modeling technology used by the UAV airborne laser scanning point cloud and low-altitude digital oblique photogrammetry for complementary integration, constructing the 3D scene of the digital city. This paper expounded the technical route and production process of 3D digital modeling, in order to provide technical references for related projects.

南疆盆地翻山型沙尘暴环流动力结构分析

2003年4月8日至9日发生了一次超极地冷空气入侵新疆并翻越天山造成南疆盆地大范围强沙尘暴过程,分析沙尘暴强盛期的高度场、高空急流异变、螺旋度场、散度场和不稳定发展,揭示了该类沙尘暴强盛期的环流动力结构。结果表明:①伊朗高压的爆发性发展与乌拉尔山脊叠加形成长波脊,导致泰米尔半岛的极地强冷空气南下,并直插新疆越过天山到达塔里木盆地,造成大范围沙尘暴天气;②强沙尘暴天气产生的根本原因是西西伯利亚地面冷高压爆发性南下并强烈发展;③高空西风急流发生异变在南疆盆地上空形成急流区,并通过动量下传导致地面大风,是大范围沙尘暴发生的动力条件;④沙尘暴区上空螺旋度垂直分布低层为正值、高层为负值,揭示强的旋转上升运动是大范围沙尘暴发生的动力条件。⑤低层辐合高层辐散的垂直结构,易于发生近地面大风和上升气流;⑥该次沙尘暴是一次大范围强对流天气,大气层结处于对流中性或对流不稳定状态,但都有强的斜压不稳定发展,并冷暖空气交换剧烈。沙尘暴影响前塔里木盆地有一个能量明显聚集期,但聚集时间很短。

喷射强化传热的试验研究

本文介绍了一种喷射元件,通过气流的喷射来提高气体的流速,以达到增强传热的目的,同时通过试验来验证喷射元件的可靠性。

京津唐水资源分析及预测

分析了京津唐水资源与海滦河流域４０站夏季降水量的关系。结果表明，水资源总量与降水量的逐年变化是相当一致的，降水对京津唐水资源有显著影响的区域在滦河中下游、永定河、大清河上游及滏阳新河。建立了显著影响区域降水量与水资源量的关系方程，复相关系数达０．９６。还指出，受气候变化影响京津唐水资源逐年代递减趋势是非常明显的，尤以入境水的减少最为突出，应引起足够的重视。还探讨了水资源的预测方法，以冬季南支急流指数、赤道东太平洋海温为预报因子，分析其与水资源量的关系，建立了预报方程，结果表明冬季南支急流和海温的变化对水资源总量有很好的预报意义。

Initial Analysis on the Effect of High-low Altitude Jet Stream on Heavy Precipitation in Guangxi

By using the routine observation data,a heavy precipitation process which happened in Guangxi on May 27,2006 was analyzed.The results that this heavy precipitation occurred in the common coordination weather system which included the high-altitude trough,the shear line and the ground cold front.The ascent branch of subtropical longitude circle circulation and the polar front jet stream longitude circle circulation had the important role for the formation of rainstorm area.The coupling effect of southerly jet,low-altitude westerly jet and high-altitude westerly jet in the boundary layer was the important reason of rainstorm occurrence.

梅雨期江淮季风暴雨过程分析

本文对梅雨期间江淮流域出现的一次典型的热带季风暴雨过程进行了分析。发现此次暴雨过程与中纬度环流的经向发展和一次南海台风登陆越南的过程有关，中纬度高原槽前暖气流的东进，其暖平流效应吸引台风外围的低空急流北上、加强。热带季风的深入大陆，其湿过程效应促使１００ｈＰａ层上强辐散中心及其相应的上升运动中心迅速形成，从而导致大暴雨产生。

一次暴雨过程多普勒天气雷达风场资料分析

通过对１９９５年７月１４日的大—暴雨天气过程所获取的３８２４多普勒天气雷达平均径向风场资料的分析，发现边界层急流（ＳＥ）与较强的降水相伴。

塔克拉玛干沙漠腹地夜间稳定边界层观测个例分析

利用塔克拉玛干沙漠腹地2016年7月13-14日和26-27日GPS探空和地面气象观测资料,分析了塔克拉玛干沙漠夏季晴天夜间各气象要素垂直廓线特征。结果表明:夜间(21:00至次日08:00,北京时,下同)稳定边界层的厚度达到240 m。残余混合层最大厚度与前一天对流混合层厚度相当,随时间推移其厚度到10:15损耗近三分之一,残余逆温层顶盖厚度达到400 m;在残余逆温层顶盖和稳定边界层顶附近有风速极大值出现,而07:15稳定边界层顶附近有低空急流发展,其最大风速达到10.8 m·s^(-1);夜间低空处比湿的变化趋势是先增后减小再增大的过程,其最小值为2.95 g·kg^(-1),出现在04:15的稳定边界层顶附近。残余混合层内比湿随高度略微增大;夜间逆温层对水汽通量有阻挡和聚合的作用,使其在稳定边界层顶和残余混合层顶附近出现极大值,并于07:15达到最大值。垂直水汽通量于04:15在残余混合层中下部做下沉运动、上部和残余逆温层顶盖中做上升运动;同时,夜间陆面过程中,存在较强的辐射冷却和较小的摩擦速度,这也是形成较为浅薄的夜间稳定边界层主要的热力因素和湍流动力因素。

蒙古气旋引发的一次山西沙尘天气分析

利用常规气象观测资料和NECP再分析资料，对2013年3月9日出现在山西的沙尘天气进行了分析。结果表明：①前期降水偏少、气温偏高是此次沙尘天气发生的有利背景，蒙古气旋、冷锋、副冷锋是此次沙尘天气的主要影响系统。②地面3h变压的正的大值区和强的阵风发生区域有很好的对应关系。③500hPa的水平螺旋度正值对地面气旋的移动有指示意义；沙尘天气出现在500hPa水平螺旋度正值范围偏西、偏西南区域。④300hPa以上的高空急流为双急流型，急流中心风速相对较小、垂直运动相对较弱以及混合层高度相对较低是没有发生大范围沙尘暴的主要原因。

应用多普勒雷达资料对成都地区暴雨的研究

利用多普勒天气雷达资料结合其它实测资料,分析研究了2003年8月28～31日发生在大成都地区的区域性暴雨过程。从回波的强度、结构、风场以及影响系统等方面得知:由冷锋激发的絮状回波有利于区域性降水的产生;回波强度、VIL和RZ值与降水有很好的相关性;当近地层具有低空急流和强烈垂直风切变以及低层径向速度辐合时对暴雨的发展十分有利。

Development and evaluation of low-altitude remote sensing systems for crop production management

Precision agriculture accounts for within-field variability for targeted treatment rather than uniform treatment of an entire field.It is built on agricultural mechanization and state-of-the-art technologies of geographical information systems(GIS),global positioning systems(GPS)and remote sensing,and is used to monitor soil,crop growth,weed infestation,insects,diseases,and water status in farm fields to provide data and information to guide agricultural management practices.Precision agriculture began with mapping of crop fields at different scales to support agricultural planning and decision making.With the development of variable-rate technology,precision agriculture focuses more on tactical actions in controlling variable-rate seeding,fertilizer and pesticide application,and irrigation in real-time or within the crop season instead of mapping a field in one crop season to make decisions for the next crop season.With the development of aerial variable-rate systems,low-altitude airborne systems can provide high-resolution data for prescription variable-rate operations.Airborne systems for multispectral imaging using a number of imaging sensors(cameras)were developed.Unmanned aerial vehicles(UAVs)provide a unique platform for remote sensing of crop fields at slow speeds and low-altitudes,and they are efficient and more flexible than manned agricultural airplanes,which often cannot provide images at both low altitude and low speed for capture of high-quality images.UAVs are also more universal in their applicability than agricultural aircraft since the latter are used only in specific regions.This study presents the low-altitude remote sensing systems developed for detection of crop stress caused by multiple factors.UAVs,as a special platform,were discussed for crop sensing based on the researchers'studies.