Function Evolution and Landscape Planning Strategy of Inland Rivers in Beilun Port City of Ningbo

In the history, the main roles of inland rivers in Beilun Port City of Ningbo were desalination,blocking tides, shipping, and flood control. Nowadays, with the continuous spread and deepening ofurbanization, the ecological environment of river courses has been destroyed. In the past, remediationmeasures based on engineering and technology played a certain role, but can not “cure the root cause”. Itshould respect the historical evolution process of river courses, and highlight the ecological service functionand leisure tourism value of river courses from the coordination perspective of urban and rural ecologicalenvironment, economic industries, society and culture in the planning ideas of ecology, production, andlife integration. Four aspects of the measures are as below: protecting and repairing the ecological matrixof river courses;building green space system and maintaining flood control functions through the waternetwork;protecting cultural heritage along the rivers;developing waterfront leisure tourism scenic area.

EVOLUTION OF URBAN SYSTEM IN NEW ECONOMIC CIRCUMSTANCES AND PLANNING COUNTERMEASURES

Urban system is the spatial reflection of the inner-deep social economic movement. New economic circumstances not only make the evolution of urban system present one brand-new landscape, but also put forward a new subject for planning of urban system. This article analyzes the properties of the traditional economic process and its essential effect on urban system; it makes a complete survey on the properties of new economic circumstances and its effect on re-forming of urban system; the complicated influential process and result are concluded into the aspects, such as new growth motive force, new economic organization, new location factor and new spatial phenomenon, and its inner effect mechanism in shown as well. In this article, the change process of urban system space is explained in four aspects: (1) dissimulation in the process of spatial agglomeration and diffusion; (2) change of “center-periphery” effect; (3) acceleration growth of axial regions; (4) re-forming of the world and regional urban system. Based on the above theoretical analysis and the properties & requests of new economic circumstances, this article finally puts forward four philosophies emphasized by urban system planning, and forms the new frame for drawing-up of urban system planning.

Analysis of System Value Evolution Trends of Energy Storage in Decarbonization Process

With the continuous expansion of the scale of renewable energy installation,the demand for energy storage has increased significantly.However,there are significant differences in the value of energy storage in different scenarios,and the phenomenon of diminishing marginal benefits of energy storage is becoming more apparent.Therefore,themulti-dimensional value evolution trend of energy storage has become a key issue.This study selects indicators from three dimensions of energy storage:low-carbon emission reduction,smoothing wind and solar power fluctuations,and saving generation costs,quantifying the economic,environmental,and technical values of energy storage.This forms a quantitative evaluation system for energy storage value.By comparing the calculated system values under different energy storage capacities,the marginal value evolution trend of energy storage is obtained.Meanwhile,considering factors such as the utilization rate of renewable energy,the change in energy storage value under different scenarios is analyzed.The results show that the value of long-duration energy storage is significantly affected by the energy storage capacity.Specifically,when the charge-discharge efficiency of longduration energy storage reaches 0.6 or above,the system value increases significantly.Additionally,appropriately reducing the cost of energy storage capacity also helps to improve its system value.

Self-adapting control parameters modifieddifferential evolution for trajectoryplanning of manipulators

Control parameters of original differential evolution （DE） are kept fixed throughout the entire evolutionary process. However, it is not an easy task to properly set control parameters in DE for different optiinization problems. According to the relative position of two different individual vectors selected to generate a difference vector in the searching place, a self-adapting strategy for the scale factor F of the difference vector is proposed. In terms of the convergence status of the target vector in the current population, a self-adapting crossover probability constant CR strategy is proposed. Therefore, good target vectors have a lower CFI while worse target vectors have a large CFI. At the same time, the mutation operator is modified to improve the convergence speed. The performance of these proposed approaches are studied with the use of some benchmark problems and applied to the trajectory planning of a three-joint redundant manipulator. Finally, the experiment results show that the proposed approaches can greatly improve robustness and convergence speed.

Multi-path planning algorithm based on fitness sharing and species evolution

A new algorithm is proposed for underwater vehicles multi-path planning. This algorithm is based on fitness sharing genetic algorithm, clustering and evolution of multiple populations, which can keep the diversity of the solution path, and decrease the operating time because of the independent evolution of each subpopulation. The multi-path planning algorithm is demonstrated by a number of two-dimensional path planning problems. The results show that the multi-path planning algorithm has the following characteristics: high searching capability, rapid convergence and high reliability.

Evolutional Algorithm Based Cascade Long Reach Passive Optical Networks Planning

In this paper, we propose a mathe- matical model for long reach Passive Optical Networks （PON） planning. The model consid- ers the traffic demand, user requirements and physical constraints. It can support conven- tional star-like topologies as well as cascade PON networks. Then a two-stage evolutional algorithm is described to solve this problem. The first stage was to find a proper splitter can- didate site set, composing the outer loop. The second stage aimed to get the optimal topology when the splitter locations were selected, com- posing the internal loop. In this algorithm, the Pr/ifer sequence is used to build up a one-to-one correspondence between a PON network configuration and a chromosome. Compared with the results obtained by the enumeration method, the proposed model and algorithm are shown to be effective and accu- rate.

An eikonal equation based path planning method using polygon decomposition and curve evolution

Path planning is a key technique of autonomous navigation for robots,and the velocity field is an important part.Constructing velocity field in a complex workspace is still challenging.In this paper,an inner normal guided segmentation algorithm in a complex polygon is proposed to decompose the complex workspace in this paper.The artificial potential field model based on probability theory is then used to calculate the potential field of the decomposed workspace,and the velocity field is obtained by utilizing the potential field of this workspace.Path optimization is implemented by curve evolution,during which the internal force generated in the smoothing process of the initial path by a mean filter and the external force is obtained from the gradient of the workspace potential field.The parameter selection principle is deduced by analyzing the influence of several parameters on the path length and smoothness.Simulation results show that the designed polygon decomposition algorithm can effectively segment complex workspace and that the path optimization algorithm can shorten and smoothen paths.

Efficient AUV Path Planning in Time-Variant Underwater Environment Using Differential Evolution Algorithm

Robust and efficient AUV path planning is a key element for persistence AUV maneuvering in variable underwater environments. To develop such a path planning system, in this study, differential evolution(DE) algorithm is employed. The performance of the DE-based planner in generating time-efficient paths to direct the AUV from its initial conditions to the target of interest is investigated within a complexed 3D underwater environment incorporated with turbulent current vector fields, coastal area,islands, and static/dynamic obstacles. The results of simulations indicate the inherent efficiency of the DE-based path planner as it is capable of extracting feasible areas of a real map to determine the allowed spaces for the vehicle deployment while coping undesired current disturbances, exploiting desirable currents, and avoiding collision boundaries in directing the vehicle to its destination. The results are implementable for a realistic scenario and on-board real AUV as the DE planner satisfies all vehicular and environmental constraints while minimizing the travel time/distance, in a computationally efficient manner.

Evolutionary Trajectory Planning for an Industrial Robot

This paper presents a novel general method for computing optimal motions of an industrial robot manipulator （AdeptOne XL robot） in the presence of fixed and oscillating obstacles. The optimization model considers the nonlinear manipulator dynamics, actuator constraints, joint limits, and obstacle avoidance. The problem has 6 objective functions, 88 variables, and 21 constraints. Two evolutionary algorithms, namely, elitist non-dominated sorting genetic algorithm （NSGA-II） and multi-objective differential evolution （MODE）, have been used for the optimization. Two methods （normalized weighting objective functions and average fitness factor） are used to select the best solution tradeoffs. Two multi-objective performance measures, namely solution spread measure and ratio of non-dominated individuals, are used to evaluate the Pareto optimal fronts. Two multi-objective performance measures, namely, optimizer overhead and algorithm effort, are used to find the computational effort of the optimization algorithm. The trajectories are defined by B-spline functions. The results obtained from NSGA-II and MODE are compared and analyzed.

Path planning for unmanned aerial vehicles in surveillance tasks under wind fields

The optimal path planning for fixed-wing unmanned aerial vehicles(UAVs) in multi-target surveillance tasks(MTST) in the presence of wind is concerned.To take into account the minimal turning radius of UAVs,the Dubins model is used to approximate the dynamics of UAVs.Based on the assumption,the path planning problem of UAVs in MTST can be formulated as a Dubins traveling salesman problem(DTSP).By considering its prohibitively high computational cost,the Dubins paths under terminal heading relaxation are introduced,which leads to significant reduction of the optimization scale and difficulty of the whole problem.Meanwhile,in view of the impact of wind on UAVs' paths,the notion of virtual target is proposed.The application of the idea successfully converts the Dubins path planning problem from an initial configuration to a target in wind into a problem of finding the minimal root of a transcendental equation.Then,the Dubins tour is derived by using differential evolution(DE) algorithm which employs random-key encoding technique to optimize the visiting sequence of waypoints.Finally,the effectiveness and efficiency of the proposed algorithm are demonstrated through computational experiments.Numerical results exhibit that the proposed algorithm can produce high quality solutions to the problem.

CARACaS无人自主框架及其感知、控制与协同技术综述

针对CARACaS(Control Architecture for Robotic Agent Command and Sensing)无人自主框架、核心组件、示范验证和应用发展情况进行综述。首先,简要描述了自主框架的组成及其软件架构的设计原则和思路,对行为、动态规划和感知三类引擎的技术特征进行分析,讨论了世界模型的构建原则和方式;其次,较为详细地分析了CARACaS技术典型示范验证和拓展应用情况,讨论了水面无人艇自主导航应用中CARACaS感知系统技术演化和发展;然后,考虑CARACaS技术示范验证与美国无人行业领军代表——空间集成系统公司SIS(Spatial Integrated Systems)集成开发工作密切相关,概要总结了SIS集成技术特点和最新进展;最后,结合美军在无人领域重点研究技术的发展情况,给出了几点启示。

在探索发展中创新深化:全国干部教育培训规划的主题演化——基于LDA模型的分析

改革开放以来,我国共颁布了8个全国干部教育培训规划。基于LDA主题模型,对文本内容进行主题聚类。根据5个主题的强度变化,将我国干部教育培训划分为3个时期。在奠基夯实时期,以科学化和本土化为核心,注重科学系统建构;在稳步发展时期,本土化和多元化逐渐强化并达到峰值,指标化同步兴起,开始逐渐成熟;在创新深化时期,指标化和创新化凸显,实现培训内容、培训方式等多维度创新。全国干部教育培训规划既坚持核心内容,又紧密结合时代发展持续优化,实现了系统性整合,中国特色日益彰显。

Global Financial Planning Education Standards

Financial planning may not meet all the accepted criteria of traditional professions such as divinity and law, it does, however, fit the post-modernist view of professions characterized by the role played by professional associations. The hallmark of a profession is the presence of a common body of knowledge and it can be claimed that a theoretical body of knowledge for the ＂financial planning profession＂ has always existed, although it has only been in recent times that agreement has been reached on a common understanding of the theoretical basis of the financial planning profession. This common body of knowledge is the basis upon which the Financial Planning Standards Board [FPSB] is attempting to develop a global curriculum as part of the certification process for financial planners. The FPSB has developed a curriculum framework to be applied by its affiliate members to ensure consistency in global education standards. A review of Certified Financial Planner （CFP） certification in Australia, China, India and the United States exposes differences in how this is approached. The Intemational Organization for Standardization [ISO] has also emerged as another forum in which global financial planning education standards have been set. Although the FPSB＇s global financial planning education standards has a high degree of compatibility with the ISO standard, the ISO standard has largely remained as a shelf reference.

Regional Renewable Energy Optimization Based on Economic Benefits and Carbon Emissions

With increasing renewable energy utilization,the industry needs an accurate tool to select and size renewable energy equipment and evaluate the corresponding renewable energy plans.This study aims to bring new insights into sustainable and energy-efficient urban planning by developing a practical method for optimizing the production of renewable energy and carbon emission in urban areas.First,we provide a detailed formulation to calculate the renewable energy demand based on total energy demand.Second,we construct a dual-objective optimization model that represents the life cycle cost and carbon emission of renewable energy systems,after which we apply the differential evolution algorithmto solve the optimization result.Finally,we conduct a case study in Qingdao,China,to demonstrate the effectiveness of this optimizationmodel.Compared to the baseline design,the proposedmodel reduced annual costs and annual carbon emissions by 14.39%and 72.65%,respectively.These results revealed that dual-objective optimization is an effective method to optimize economic benefits and reduce carbon emissions.Overall,this study will assist energy planners in evaluating the impacts of urban renewable energy projects on the economy and carbon emissions during the planning stage.

Dynamic reactive power planning method for CSP-PV hybrid power generation system

Aiming at the faults of some weak nodes in the concentrated solar power-photovoltaic(CSP-PV)hybrid power generation system,it is impossible to restore the transient voltage only relying on the reactive power regulation capability of the system itself.We propose a dynamic reactive power planning method suitable for CSP-PV hybrid power generation system.The method determines the installation node of the dynamic reactive power compensation device and its compensation capacity based on the reactive power adjustment capability of the system itself.The critical fault node is determined by the transient voltage stability recovery index,and the weak node of the system is initially determined.Based on this,the sensitivity index is used to determine the installation node of the dynamic reactive power compensation device.Dynamic reactive power planning optimization model is established with the lowest investment cost of dynamic reactive power compensation device and the improvement of system transient voltage stability.Furthermore,the component of the reactive power compensation node is optimized by particle swarm optimization based on differential evolution(DE-PSO).The simulation results of the example system show that compared with the dynamic position compensation device installation location optimization method,the proposed method can improve the transient voltage stability of the system under the same reactive power compensation cost.

Research on Innovation of Modern Apprenticeship Talent Training Model for Art and Design Majors in Higher Vocational Education under the Background of "Double High"

In order to cultivate more excellent talents in art and design majors following the requirements of the"13th Five-Year Plan"national education development,this paper analyzes in-depth on the current status of higher vocational education in art design profession under the background of the"Double High"plan and the challenges faced,and proposes the building of school-enterprise"Double Subject"education system and the establishment of a"diversified"evaluation system.Deepening the integration of industry and education,schools and enterprises jointly explore modern apprenticeship talent training models for innovative art and design majors,and provide a strong guarantee for the implementation of the"Double High"plan modern apprenticeship talent training model.

Bilevel Optimal Infrastructure Planning Method for the Inland Battery Swapping Stations and Battery-Powered Ships

Green shipping and electrification have been the main topics in the shipping industry.In this process,the pure battery-powered ship is developed,which is zero-emission and well-suited for inland shipping.Currently,battery swapping stations and ships are being explored since battery charging ships may not be feasible for inland long-distance trips.However,improper infrastructure planning for battery swapping stations and ships will increase costs and decrease operation efficiency.Therefore,a bilevel optimal infrastructure planning method is proposed in this paper for battery swapping stations and ships.First,the energy consumption model for the battery swapping ship is established considering the influence of the sailing environment.Second,a bilevel optimization model is proposed to minimize the total cost.Specifically,the battery swapping station(BSS)location problem is investigated at the upper level.The optimization of battery size in each battery swapping station and ship and battery swapping scheme are studied at the lower level based on speed and energy optimization.Finally,the bilevel self-adaptive differential evolution algorithm(BlSaDE)is proposed to solve this problem.The simulation results show that total cost could be reduced by 5.9%compared to the original results,and the effectiveness of the proposed method is confirmed.

Evolutional AtHtude Based on Option Prioritization for Conflict Analysis of Urban Transport Planning in Pakistan

This paper constructs a dynamic conflict model that considers Decision Makers'(DMs)evolutional attitude using the option prioritization.The proposed evolutional attitude approach is based on the framework of the Graph Model for Conflict Resolution(GMCR).Compared with the existing state-based preference,the option prioritization is a more convenient and efficient approach to analyze larger models with consideration of the evolutional attitude,which exists broadly in the evolutional conflicts in reallife.This study reveals how the evolutional attitude of a DM succeeds in the overall evolution of conflict.The analysis unfolds that DMs change their attitude(s)consequent upon the changes in DMs and options available to them as conflict evolves from one level to the next.The changes in attitude of DMs during dynamic conflict situation have substantial effects on the equilibrium outcomes of a conflict.The proposed evaluation attitude-based approach is employed to analyze the conflict between the Punjab Government(G)and Heritage Campaigner and the Public(P)in Pakistan that appeared due to the inappropriate design,planning,and construction of an urban transport system project in Lahore,Pakistan.The present study demonstrates the modeling procedure of a two-level evolutional attitude-based conflict analysis.The results of the stability analysis reveal that improper(negative)attitude may result in undesirable and unexpected consequences,such as project temporalities and delays.This research provides a foundation for future research in urban project planning that employs strategic ways to avoid disputes caused by DMs'attitudes.

一种三维多UAV协同航迹规划的空间模糊文化算法

针对多无人机在三维环境下航迹规划搜索空间大、多机协同困难等问题,提出一种基于空间模糊表示和差分进化相结合的文化算法.该方法首先用模糊集合表示三维空间网格点,提高关键路径点的被关注度;然后组合空间模糊信息、历史信息和协同信息成为文化算法的信念空间,用以剪枝规划的搜索空间;在文化算法的种群空间则利用差分进化生成满足多机协同约束的优解,并用差分获得的未知领域知识扩展信念空间,保证进化种群的多样性;最后,通过共享信息促进知识的积累和修正搜索的方向.仿真实验表明,该方法提高了关键路径点选取的效率,能够探索空间中更多的未知区域,避免求解陷入局部最优,更符合多机协同的需求,有助于快速规划出多条可行的协同航迹.

考虑电力系统规划的OPA模型及自组织临界特性分析

为便于对电网连锁故障进行研究,介绍了与电网升级演化的触发息息相关的电力系统发展诊断指标,在此基础上提出一种改进OPA模型。该模型在慢动态环节加入电网规划的作用,模拟负荷变化、发电厂新建扩容、变电站新建扩容、输电线路新建改造等较长时间尺度上的电网演化升级过程;在快动态环节充分考虑调度、继电保护等在连锁故障过程中采取的措施及发挥的作用,模拟由于线路开断或短路、发电机退出运行等故障引发的连锁故障。利用所提模型对河南开封商丘地区220 kV及以上主干电网进行仿真测试,在长时间尺度上模拟电网演化升级的过程,同时统计不同升级触发阈值下的故障规模分布,从而求得系统临界状态所对应的触发阈值。仿真结果表明,文中所提的考虑电力系统规划的OPA模型能够较好地模拟电网生长演化,反映连锁故障产生和传播的过程,对未来的电网建设及大停电的整体预防有一定指导意义。