Real-time interaction with uncertain and dynamic environments is essential for robotic systems to achieve functions such as visual perception,force interaction,spatial obstacle avoidance,and motion planning.To ensure ...Real-time interaction with uncertain and dynamic environments is essential for robotic systems to achieve functions such as visual perception,force interaction,spatial obstacle avoidance,and motion planning.To ensure the reliability and determinism of system execution,a flexible real-time control system architecture and interaction algorithm are required.The ROS framework was designed to improve the reusability of robotic software development by providing a distributed structure,hardware abstraction,message-passing mechanism,and application prototypes.Rich ecosystems for robotic development have been built around ROS1 and ROS2 architectures based on the Linux system.However,because of the fairness scheduling principle of the default Linux system design and the complexity of the kernel,the system does not have real-time computing.To achieve a balance between real-time and non-real-time computing,this paper uses the transmission mechanism of ROS2,combines it with the scheduling mechanism of the Linux operating system,and uses Preempt_RT to enhance the real-time computing of ROS1 and ROS2.The real-time performance evaluation of ROS1 and ROS2 is conducted from multiple perspectives,including throughput,transmission mode,QoS service quality,frequency,number of subscription nodes and EtherCAT master.This paper makes two significant contributions:firstly,it employs Preempt_RT to optimize the native ROS2 system,effectively enhancing the real-time performance of native ROS2 message transmission;secondly,it conducts a comprehensive evaluation of the real-time performance of both native and optimized ROS2 systems.This comparison elucidates the benefits of the optimized ROS2 architecture regarding real-time performance,with results vividly demonstrated through illustrative figures.展开更多
To evaluate and improve the real-time performance of Ethernet for plant automation(EPA) industrial Ethernet,the real-time performance of EPA periodic data transmission was theoretically and experimentally studied.By...To evaluate and improve the real-time performance of Ethernet for plant automation(EPA) industrial Ethernet,the real-time performance of EPA periodic data transmission was theoretically and experimentally studied.By analyzing information transmission regularity and EPA deterministic scheduling mechanism,periodic messages were categorized as different modes according to their entering-queue time.The scheduling characteristics and delivery time of each mode and their interacting relations were studied,during which the models of real-time performance of periodic information transmission in EPA system were established.On this basis,an experimental platform is developed to test the delivery time of periodic messages transmission in EPA system.According to the analysis and the experiment,the main factors that limit the real-time performance of EPA periodic data transmission and the improvement methods were proposed.展开更多
System optimization plays a crucial role in developing VR system after 3D modeling, affecting the system's Immersion and Interaction performance enormously. In this article, several key techniques of optimizing a ...System optimization plays a crucial role in developing VR system after 3D modeling, affecting the system's Immersion and Interaction performance enormously. In this article, several key techniques of optimizing a virtual mining system were discussed: optimizing 3D models to keep the polygon number in VR system within target hardware's processing ability; optimizing texture database to save texture memory with perfect visual effect; optimizing database hierarchy structure to accelerate model retrieval; and optimizing LOD hierarchy structure to speed up rendering.展开更多
Recently,switched Ethernet has become an active area of research because of its wide uses in industry.However,its uses have various real-time constraints on data communications.This paper analyzes the performance of t...Recently,switched Ethernet has become an active area of research because of its wide uses in industry.However,its uses have various real-time constraints on data communications.This paper analyzes the performance of the line topology switched Ethernet as a data acquisition network.Network calculus theory,which has been successfully applied to assess the real-time performance of packet-switched networks,is used to analyze the networks.To properly describe the activity of switches,a novel approach of modeling data flows into or out of switches is addressed.Based on our model,a concisely analytical expression of the maximal end-to-end delay in line topology switched Ethernet is derived.Finally,the relative simulation results are demonstrated.These results agree well with the analytical results,and thus they validate the data flow modeling techniques.展开更多
The hydropower running and performance can be displayed and analyzed by the real-time remote system. Real-time performance data of the hydraulic turbine unit can be obtained through the analysis of real-time operating...The hydropower running and performance can be displayed and analyzed by the real-time remote system. Real-time performance data of the hydraulic turbine unit can be obtained through the analysis of real-time operating data of the hydraulic turbine unit. It can not only guide significance for long-term operation of hydraulic turbine unit, but also provide a reference for improving the Hydropower hydro efficiency, economic dispatch of hydraulic turbine unit and performance comparison before and after the overhaul.展开更多
A technology called solar energy is a very promising technique, and is considered as the cleanest and the most abundant renewable resource that is naturally available every day. In this paper, a MATLAB environment has...A technology called solar energy is a very promising technique, and is considered as the cleanest and the most abundant renewable resource that is naturally available every day. In this paper, a MATLAB environment has been developed to calculate real-time power incidence on a PV system. It takes into account the time, location, PV tilt, and azimuth angles, and weather conditions to estimate incident power. In this paper, one case study is considered at New York State location. It has been applied to a newly installed 8 kW residential system located in Inwood. The solar panels are made up of silicon HIT (Heterojunction with Intrinsic Thin Layer) cells by Panasonic and solar cell rated at 19%. The result shows that the system is performing at its rated efficiency. The calculations involve the determination of direct, diffused and reflected radiation on the panels taking into account the time of the day, location, PV area, and orientations and weather conditions. The cloudiness index may be estimated based on the weather data and included in the calculations. After performing the irradiance calculations, the output power is estimated based on the rated efficiency at its temperature and compared with the generated output power. The real-time assessment of a PV system performance, during the operational time monitors the health of the PV system. The data obtained by this calculator may accompany production data provided to the consumer by the utility company.展开更多
Fire rescue challenges and solutions have evolved from straightfor-ward plane rescue to encompass 3D space due to the rise of high-rise city buildings.Hence,this study facilitates a system with quick and simplified on...Fire rescue challenges and solutions have evolved from straightfor-ward plane rescue to encompass 3D space due to the rise of high-rise city buildings.Hence,this study facilitates a system with quick and simplified on-site launching and generates real-time location data,enabling fire rescuers to arrive at the intended spot faster and correctly for effective and precise rescue.Auto-positioning with step-by-step instructions is proposed when launching the locating system,while no extra measuring instrument like Total Station(TS)is needed.Real-time location tracking is provided via a 3D space real-time locating system(RTLS)constructed using Ultra-wide Bandwidth technology(UWB),which requires electromagnetic waves to pass through concrete walls.A hybrid weighted least squares with a time difference of arrival(WLS/TDOA)positioning method is proposed to address real path-tracking issues in 3D space and to meet RTLS requirements for quick computing in real-world applications.The 3D WLS/TDOA algorithm is theoretically constructed with the Cramer-Rao lower bound(CRLB).The computing complexity is reduced to the lower bound for embedded hardware to directly compute the time differential of the arriving signals using the time-to-digital converter(TDC).The results of the experiments show that the errors are controlled when the positioning algorithm is applied in various complicated situations to fulfill the requirements of engineering applications.The statistical analysis of the data reveals that the proposed UWB RTLS auto-positioning system can track target tags with an accuracy of 0.20 m.展开更多
Light levels determine regeneration in stands and a key concern is how to regulate the light environment of different stand types to the requirements of the understory.In this study,we selected three stands typical in...Light levels determine regeneration in stands and a key concern is how to regulate the light environment of different stand types to the requirements of the understory.In this study,we selected three stands typical in south China(a Cryptomeria japonica plantation,a Quercus acutissima plantation,and a mixed stand of both)and three thinning intensities to determine the best understory light environ-ment for 3-year-old Phoebe bournei seedlings.The canopy structure,understory light environment,and photosynthe-sis and growth indicators were assessed following thin-ning.Thinning improved canopy structure and understory light availability of each stand;species composition was the reason for differences in the understory light environ-ment.Under the same thinning intensity,the mixed stand had the greatest light radiation and most balanced spectral composition.P.bournei photosynthesis and growth were closely related to the light environment;all three stands required heavy thinning to create an effective and sustained understory light environment.In a suitable understory light environment,the efficiency of light interception,absorption,and use by seedlings was enhanced,resulting in a higher carbon assimilation the main limiting factor was stomatal conductance.As a shade-avoidance signal,red/far-red radia-tion is a critical factor driving changes in photosynthesis and growth of P.bournei seedlings,and a reduction increased light absorption and use capacity and height:diameter ratios.The growth advantage transformed from diameter to height,enabling seedlings to access more light.Our findings suggest that the regeneration of shade-tolerant species such as P.bournei could be enhanced if a targeted approach to thinning based on stand type was adopted.展开更多
Extrapolation of implosion performance between different laser energy scales is investigated for indirect drive through a semi-hydroequivalent design.Since radiation transport is non-hydro-equivalent,the peak radiatio...Extrapolation of implosion performance between different laser energy scales is investigated for indirect drive through a semi-hydroequivalent design.Since radiation transport is non-hydro-equivalent,the peak radiation temperature of the hohlraum and the ablation velocity of the capsule ablator are not scale-invariant when the sizes of the hohlraum and the capsule are scale-varied.A semi-hydro-equivalent design method that keeps the implosion velocity V_(i),adiabat α_(F),and P_(L)/R_(hc)^(2) (where P_(L) is the laser power and R_(hc) is the hohlraum and capsule scale length)scale-invariant,is proposed to create hydrodynamically similar implosions.The semi-hydro-equivalent design and the scaled implosion performance are investigated for the 100 kJ Laser Facility(100 kJ-scale)and the National Ignition Facility(NIF-scale)with about 2 MJ laser energy.It is found that the one-dimensional implosion performance is approximately hydro-equivalent when V_(i) and α_(F) are kept the same.Owing to the non-hydro-equivalent radiation transport,the yield-over-clean without α-particle heating(YOC_(noα))is slightly lower at 100 kJ-scale than at NIF-scale for the same scaled radiation asymmetry or the same initial perturbation of the hydrodynamic instability.The overall scaled two-dimensional implosion performance is slightly lower at 100 kJ-scale.The general Lawson criterion factor scales asχ_(noα) ^(2D)∼S^(1.06±0.04)(where S is the scale-variation factor)for the semi-hydro-equivalent implosion design with a moderate YOC_(noα).Our study indicates that χ_(noα)≈0.379 is the minimum requirement for the 100 kJ-scale implosion to demonstrate the ability to achieve marginal ignition at NIF-scale.展开更多
To address the impact of wind-power fluctuations on the stability of power systems,we propose a comprehensive approach that integrates multiple strategies and methods to enhance the efficiency and reliability of a sys...To address the impact of wind-power fluctuations on the stability of power systems,we propose a comprehensive approach that integrates multiple strategies and methods to enhance the efficiency and reliability of a system.First,we employ a strategy that restricts long-and short-term power output deviations to smoothen wind power fluctuations in real time.Second,we adopt the sliding window instantaneous complete ensemble empirical mode decomposition with adaptive noise(SW-ICEEMDAN)strategy to achieve real-time decomposition of the energy storage power,facilitating internal power distribution within the hybrid energy storage system.Finally,we introduce a rule-based multi-fuzzy control strategy for the secondary adjustment of the initial power allocation commands for different energy storage components.Through simulation validation,we demonstrate that the proposed comprehensive control strategy can smoothen wind power fluctuations in real time and decompose energy storage power.Compared with traditional empirical mode decomposition(EMD),ensemble empirical mode decomposition(EEMD),and complete ensemble empirical mode decomposition with adaptive noise(CEEMDAN)decomposition strategies,the configuration of the energy storage system under the SW-ICEEMDAN control strategy is more optimal.Additionally,the state-of-charge of energy storage components fluctuates within a reasonable range,enhancing the stability of the power system and ensuring the secure operation of the energy storage system.展开更多
The real-time detection and instance segmentation of strawberries constitute fundamental components in the development of strawberry harvesting robots.Real-time identification of strawberries in an unstructured envi-r...The real-time detection and instance segmentation of strawberries constitute fundamental components in the development of strawberry harvesting robots.Real-time identification of strawberries in an unstructured envi-ronment is a challenging task.Current instance segmentation algorithms for strawberries suffer from issues such as poor real-time performance and low accuracy.To this end,the present study proposes an Efficient YOLACT(E-YOLACT)algorithm for strawberry detection and segmentation based on the YOLACT framework.The key enhancements of the E-YOLACT encompass the development of a lightweight attention mechanism,pyramid squeeze shuffle attention(PSSA),for efficient feature extraction.Additionally,an attention-guided context-feature pyramid network(AC-FPN)is employed instead of FPN to optimize the architecture’s performance.Furthermore,a feature-enhanced model(FEM)is introduced to enhance the prediction head’s capabilities,while efficient fast non-maximum suppression(EF-NMS)is devised to improve non-maximum suppression.The experimental results demonstrate that the E-YOLACT achieves a Box-mAP and Mask-mAP of 77.9 and 76.6,respectively,on the custom dataset.Moreover,it exhibits an impressive category accuracy of 93.5%.Notably,the E-YOLACT also demonstrates a remarkable real-time detection capability with a speed of 34.8 FPS.The method proposed in this article presents an efficient approach for the vision system of a strawberry-picking robot.展开更多
This experiment was conducted to determine the performance of heat-stressed layers fed a diet containing the probiotic Lactobacillus plantarum RS5 or its products of fermentation (postbiotics). Twenty-week-old Isa Whi...This experiment was conducted to determine the performance of heat-stressed layers fed a diet containing the probiotic Lactobacillus plantarum RS5 or its products of fermentation (postbiotics). Twenty-week-old Isa White layers, were subdivided into six treatments of 32 individually caged birds. Half of the birds were reared under regular temperature conditions, while the other half was subjected to cyclic daily heat stress. Layers were offered one of three diets: 1) Control;2) Control + Lactobacillus plantarum RS5 probiotic;3) Control + Lactobacillus plantarum RS5 postbiotics. Birds were tested for performance and visceral organ development for 5 months. Heat stress negatively affected the birds’ feed intake, egg weight, shell weight percentage, Haugh unit, shell thickness, yolk color, body weight and spleen weight percentage. Postbiotics significantly increased egg production (p < 0.05) in comparison to the control and the probiotic fed group (94.8% vs 92.6% vs 93.1%, respectively). Birds under probiotic or postbiotic diet showed a significantly higher (p < 0.05) feed intake and egg weight, although the probiotic had a more pronounced and gradual effect. Specific gravity, yolk weight percentage and shell thickness didn’t show differences among dietary groups. The Haugh Unit was significantly higher (p < 0.05) in probiotic group which also showed a significantly lower yolk color index (p < 0.05). The different feed treatments did not impact the bird’s viscera weight percentage, except for the ileum that was significantly lower (p < 0.05) under postbiotic supplementation. Both probiotics and postbiotics could be used as a potential growth promoters and might alleviate heat stress impact in poultry industry.展开更多
In recent years,frequent fire disasters have led to enormous damage in China.Effective firefighting rescues can minimize the losses caused by fires.During the rescue processes,the travel time of fire trucks can be sev...In recent years,frequent fire disasters have led to enormous damage in China.Effective firefighting rescues can minimize the losses caused by fires.During the rescue processes,the travel time of fire trucks can be severely affected by traffic conditions,changing the effective coverage of fire stations.However,it is still challenging to determine the effective coverage of fire stations considering dynamic traffic conditions.This paper addresses this issue by combining the traveling time calculationmodelwith the effective coverage simulationmodel.In addition,it proposes a new index of total effective coverage area(TECA)based on the time-weighted average of the effective coverage area(ECA)to evaluate the urban fire services.It also selects China as the case study to validate the feasibility of the models,a fire station(FS-JX)in Changsha.FS-JX station and its surrounding 9,117 fire risk points are selected as the fire service supply and demand points,respectively.A total of 196 simulation scenarios throughout a consecutiveweek are analyzed.Eventually,1,933,815 sets of valid sample data are obtained.The results showed that the TECA of FS-JX is 3.27 km^(2),which is far below the standard requirement of 7.00 km^(2) due to the traffic conditions.The visualization results showed that three rivers around FS-JX interrupt the continuity of its effective coverage.The proposed method can provide data support to optimize the locations of fire stations by accurately and dynamically determining the effective coverage of fire stations.展开更多
Predicting students’academic achievements is an essential issue in education,which can benefit many stakeholders,for instance,students,teachers,managers,etc.Compared with online courses such asMOOCs,students’academi...Predicting students’academic achievements is an essential issue in education,which can benefit many stakeholders,for instance,students,teachers,managers,etc.Compared with online courses such asMOOCs,students’academicrelateddata in the face-to-face physical teaching environment is usually sparsity,and the sample size is relativelysmall.It makes building models to predict students’performance accurately in such an environment even morechallenging.This paper proposes a Two-WayNeuralNetwork(TWNN)model based on the bidirectional recurrentneural network and graph neural network to predict students’next semester’s course performance using only theirprevious course achievements.Extensive experiments on a real dataset show that our model performs better thanthe baselines in many indicators.展开更多
Most researches associated with target encircling control are focused on moving along a circular orbit under an ideal environment free from external disturbances.However,elliptical encirclement with a time-varying obs...Most researches associated with target encircling control are focused on moving along a circular orbit under an ideal environment free from external disturbances.However,elliptical encirclement with a time-varying observation radius,may permit a more flexible and high-efficacy enclosing solution,whilst the non-orthogonal property between axial and tangential speed components,non-ignorable environmental perturbations,and strict assignment requirements empower elliptical encircling control to be more challenging,and the relevant investigations are still open.Following this line,an appointed-time elliptical encircling control rule capable of reinforcing circumnavigation performances is developed to enable Unmanned Aerial Vehicles(UAVs)to move along a specified elliptical path within a predetermined reaching time.The remarkable merits of the designed strategy are that the relative distance controlling error can be guaranteed to evolve within specified regions with a designer-specified convergence behavior.Meanwhile,wind perturbations can be online counteracted based on an unknown system dynamics estimator(USDE)with only one regulating parameter and high computational efficiency.Lyapunov tool demonstrates that all involved error variables are ultimately limited,and simulations are implemented to confirm the usability of the suggested control algorithm.展开更多
Background Maternal nutrition is essential in keeping a highly efficient production system in the pig industry.Laminarin has been shown to improve antioxidant capacity,reduce the inflammatory response,and favor the ho...Background Maternal nutrition is essential in keeping a highly efficient production system in the pig industry.Laminarin has been shown to improve antioxidant capacity,reduce the inflammatory response,and favor the homeostasis of intestinal microbiota.However,the effect of dietary supplementation of laminarin on the reproductive performance of sows and the growth of suckling offspring remains unknown.Methods A total of 40 Landrace×Yorkshire multiparous sows on d 85 of gestation,similar in age,body weight(BW),parity and reproductive performance,were randomly divided into four dietary treatments with 10 sows per treatment,receiving a control diet(basal pregnancy or lactating diets)and a basal diet supplemented with 0.025%,0.05%and 0.10%laminarin,respectively.The experiment lasted from d 85 of gestation to d 21 of lactation.Results Laminarin supplementation linearly increased number born alive per litter(P=0.03),average daily feed intake(ADFI,P<0.01),and total milk yield of sows during the lactation of 1–21 d(P=0.02).Furthermore,maternal laminarin supplementation increased the average daily gain(ADG)of piglets while tending to reduce the culling and death rate before weaning.In addition,alterations to the composition of colostrum and milk,as well as to serum inflammatory cytokines and immunoglobulins of sows were observed.The fecal microbiota profile of sows supported the improvement of reproductive performance in sows and the growth performance in suckling offspring.Conclusions Dietary supplementation of laminarin during late pregnancy and lactation could significantly improve reproductive performance of sows and growth performance of piglets.展开更多
By replacing hexyl chains in poly(3-hexylthiophene)(P3HT)with 2-propoxyethyls,four poly(3-(2-propoxyethyl)thiophene)(P3POET)homopolymers with comparable polydispersity indexes(PDI)and regioregularities were prepared h...By replacing hexyl chains in poly(3-hexylthiophene)(P3HT)with 2-propoxyethyls,four poly(3-(2-propoxyethyl)thiophene)(P3POET)homopolymers with comparable polydispersity indexes(PDI)and regioregularities were prepared herein in addition with step increment of about 7 kDa on numberaverage molecular weight(M_(n))from around 11 to 32 kDa(accordingly denoted as P11k,P18k,P25k,and P32k).When doped in film by FeCl_(3)at the optimized conditions,the maximum power factor(PF_(max))increases greatly from 4.3μW·m^(-1)·K^(-2)for P11k to 8.8μW·m^(-1)·K^(-2)for P18k,and further to 9.7μW·m^(-1)·K^(-2)for P25k,followed by a slight decrease to 9.2μW·m^(-1)·K^(-2)for P32k.The close Seebeck coefficients(S)at PF_(max)are observed in these doped polymer films due to their consistent frontier orbital energy levels and Fermi levels.The main contribution to this PF_(max)evolution thus comes from the corresponding conductivities(σ).Theσvariation of the doped films can be rationally correlated with their microstructure evolution.展开更多
Purpose The aim of the study was to identify factors associated with prolonged time to return to full performance(RTFP)in athletes with recent severe acute respiratory syndrome coronavirus 2(SARS-CoV-2)infection.Metho...Purpose The aim of the study was to identify factors associated with prolonged time to return to full performance(RTFP)in athletes with recent severe acute respiratory syndrome coronavirus 2(SARS-CoV-2)infection.Methods Prospective cohort study with cross sectional analysis.A total of 84 athletes with confirmed SARS-CoV-2 infection assessed at a coronavirus disease 2019 recovery clinic gave a history of age,sex,type/level of sport,co-morbidities,pre-infection training hours,and 26 acute SARS-CoV-2 symptoms from 3 categories(“nose and throat”,“chest and neck”,and“whole body”/systemic).Data on days to RTFP were obtained by structured interviews.Factors associated with RTFP were demographics,sport participation,history of co-morbidities,pre-infection training history,and acute symptoms(type,number).Outcomes were:(a)days to RTFP(median,interquartile range(IQR))in asymptomatic(n=7)and symptomatic athletes(n=77),and(b)hazard ratios(HRs;95%confidence interval)for symptomatic athletes with vs.without a factor(univariate,multiple models).HR<1 was predictive of higher percentage chance of prolonged RTFP.Significance was p<0.05.Results Days to RTFP were 30 days(IQR:23–40)for asymptomatic and 64 days(IQR:42–91)for symptomatic participants(p>0.05).Factors associated with prolonged RTFP(univariate models)were:females(HR=0.57;p=0.014),endurance athletes(HR=0.41;p<0.0001),co-morbidity number(HR=0.75;p=0.001),and respiratory disease history(HR=0.54;p=0.026).In symptomatic athletes,prolonged RTFP(multiple models)was significantly associated with increased“chest and neck”(HR=0.85;p=0.017)and“nose and throat”(HR=0.84;p=0.013)symptoms,but the association was more profound between prolonged RFTP and increased total number of“all symptoms”(HR=0.91;p=0.001)and“whole body”/systemic(HR=0.82;p=0.007)symptoms.Conclusion A larger number of total symptoms and specifically“whole body”/systemic symptoms during the acute phase of SARS-CoV-2 infection in athletes is associated with prolonged RTFP.展开更多
基金Supported by National Key Research and Development Program of China(Grant No.2019YFB1309900)Institute for Guo Qiang,Tsinghua University of China(Grant No.2019GQG0007).
文摘Real-time interaction with uncertain and dynamic environments is essential for robotic systems to achieve functions such as visual perception,force interaction,spatial obstacle avoidance,and motion planning.To ensure the reliability and determinism of system execution,a flexible real-time control system architecture and interaction algorithm are required.The ROS framework was designed to improve the reusability of robotic software development by providing a distributed structure,hardware abstraction,message-passing mechanism,and application prototypes.Rich ecosystems for robotic development have been built around ROS1 and ROS2 architectures based on the Linux system.However,because of the fairness scheduling principle of the default Linux system design and the complexity of the kernel,the system does not have real-time computing.To achieve a balance between real-time and non-real-time computing,this paper uses the transmission mechanism of ROS2,combines it with the scheduling mechanism of the Linux operating system,and uses Preempt_RT to enhance the real-time computing of ROS1 and ROS2.The real-time performance evaluation of ROS1 and ROS2 is conducted from multiple perspectives,including throughput,transmission mode,QoS service quality,frequency,number of subscription nodes and EtherCAT master.This paper makes two significant contributions:firstly,it employs Preempt_RT to optimize the native ROS2 system,effectively enhancing the real-time performance of native ROS2 message transmission;secondly,it conducts a comprehensive evaluation of the real-time performance of both native and optimized ROS2 systems.This comparison elucidates the benefits of the optimized ROS2 architecture regarding real-time performance,with results vividly demonstrated through illustrative figures.
基金Supported by the National High Technology Research and Development Program of China (2006AA040301-4,2007AA041301-6)
文摘To evaluate and improve the real-time performance of Ethernet for plant automation(EPA) industrial Ethernet,the real-time performance of EPA periodic data transmission was theoretically and experimentally studied.By analyzing information transmission regularity and EPA deterministic scheduling mechanism,periodic messages were categorized as different modes according to their entering-queue time.The scheduling characteristics and delivery time of each mode and their interacting relations were studied,during which the models of real-time performance of periodic information transmission in EPA system were established.On this basis,an experimental platform is developed to test the delivery time of periodic messages transmission in EPA system.According to the analysis and the experiment,the main factors that limit the real-time performance of EPA periodic data transmission and the improvement methods were proposed.
文摘System optimization plays a crucial role in developing VR system after 3D modeling, affecting the system's Immersion and Interaction performance enormously. In this article, several key techniques of optimizing a virtual mining system were discussed: optimizing 3D models to keep the polygon number in VR system within target hardware's processing ability; optimizing texture database to save texture memory with perfect visual effect; optimizing database hierarchy structure to accelerate model retrieval; and optimizing LOD hierarchy structure to speed up rendering.
文摘Recently,switched Ethernet has become an active area of research because of its wide uses in industry.However,its uses have various real-time constraints on data communications.This paper analyzes the performance of the line topology switched Ethernet as a data acquisition network.Network calculus theory,which has been successfully applied to assess the real-time performance of packet-switched networks,is used to analyze the networks.To properly describe the activity of switches,a novel approach of modeling data flows into or out of switches is addressed.Based on our model,a concisely analytical expression of the maximal end-to-end delay in line topology switched Ethernet is derived.Finally,the relative simulation results are demonstrated.These results agree well with the analytical results,and thus they validate the data flow modeling techniques.
文摘The hydropower running and performance can be displayed and analyzed by the real-time remote system. Real-time performance data of the hydraulic turbine unit can be obtained through the analysis of real-time operating data of the hydraulic turbine unit. It can not only guide significance for long-term operation of hydraulic turbine unit, but also provide a reference for improving the Hydropower hydro efficiency, economic dispatch of hydraulic turbine unit and performance comparison before and after the overhaul.
文摘A technology called solar energy is a very promising technique, and is considered as the cleanest and the most abundant renewable resource that is naturally available every day. In this paper, a MATLAB environment has been developed to calculate real-time power incidence on a PV system. It takes into account the time, location, PV tilt, and azimuth angles, and weather conditions to estimate incident power. In this paper, one case study is considered at New York State location. It has been applied to a newly installed 8 kW residential system located in Inwood. The solar panels are made up of silicon HIT (Heterojunction with Intrinsic Thin Layer) cells by Panasonic and solar cell rated at 19%. The result shows that the system is performing at its rated efficiency. The calculations involve the determination of direct, diffused and reflected radiation on the panels taking into account the time of the day, location, PV area, and orientations and weather conditions. The cloudiness index may be estimated based on the weather data and included in the calculations. After performing the irradiance calculations, the output power is estimated based on the rated efficiency at its temperature and compared with the generated output power. The real-time assessment of a PV system performance, during the operational time monitors the health of the PV system. The data obtained by this calculator may accompany production data provided to the consumer by the utility company.
文摘Fire rescue challenges and solutions have evolved from straightfor-ward plane rescue to encompass 3D space due to the rise of high-rise city buildings.Hence,this study facilitates a system with quick and simplified on-site launching and generates real-time location data,enabling fire rescuers to arrive at the intended spot faster and correctly for effective and precise rescue.Auto-positioning with step-by-step instructions is proposed when launching the locating system,while no extra measuring instrument like Total Station(TS)is needed.Real-time location tracking is provided via a 3D space real-time locating system(RTLS)constructed using Ultra-wide Bandwidth technology(UWB),which requires electromagnetic waves to pass through concrete walls.A hybrid weighted least squares with a time difference of arrival(WLS/TDOA)positioning method is proposed to address real path-tracking issues in 3D space and to meet RTLS requirements for quick computing in real-world applications.The 3D WLS/TDOA algorithm is theoretically constructed with the Cramer-Rao lower bound(CRLB).The computing complexity is reduced to the lower bound for embedded hardware to directly compute the time differential of the arriving signals using the time-to-digital converter(TDC).The results of the experiments show that the errors are controlled when the positioning algorithm is applied in various complicated situations to fulfill the requirements of engineering applications.The statistical analysis of the data reveals that the proposed UWB RTLS auto-positioning system can track target tags with an accuracy of 0.20 m.
基金This study was supported by the National Natural Science Foundation of China(Grant No.31870613)Guizhou Province High-level Innovative Talents Training Plan Project(2016)5661.
文摘Light levels determine regeneration in stands and a key concern is how to regulate the light environment of different stand types to the requirements of the understory.In this study,we selected three stands typical in south China(a Cryptomeria japonica plantation,a Quercus acutissima plantation,and a mixed stand of both)and three thinning intensities to determine the best understory light environ-ment for 3-year-old Phoebe bournei seedlings.The canopy structure,understory light environment,and photosynthe-sis and growth indicators were assessed following thin-ning.Thinning improved canopy structure and understory light availability of each stand;species composition was the reason for differences in the understory light environ-ment.Under the same thinning intensity,the mixed stand had the greatest light radiation and most balanced spectral composition.P.bournei photosynthesis and growth were closely related to the light environment;all three stands required heavy thinning to create an effective and sustained understory light environment.In a suitable understory light environment,the efficiency of light interception,absorption,and use by seedlings was enhanced,resulting in a higher carbon assimilation the main limiting factor was stomatal conductance.As a shade-avoidance signal,red/far-red radia-tion is a critical factor driving changes in photosynthesis and growth of P.bournei seedlings,and a reduction increased light absorption and use capacity and height:diameter ratios.The growth advantage transformed from diameter to height,enabling seedlings to access more light.Our findings suggest that the regeneration of shade-tolerant species such as P.bournei could be enhanced if a targeted approach to thinning based on stand type was adopted.
基金funded by the National Natural Science Foundation of China(NSFC)under Grant No.11975056Science Challenge Project(SCP)No.TZ2016005。
文摘Extrapolation of implosion performance between different laser energy scales is investigated for indirect drive through a semi-hydroequivalent design.Since radiation transport is non-hydro-equivalent,the peak radiation temperature of the hohlraum and the ablation velocity of the capsule ablator are not scale-invariant when the sizes of the hohlraum and the capsule are scale-varied.A semi-hydro-equivalent design method that keeps the implosion velocity V_(i),adiabat α_(F),and P_(L)/R_(hc)^(2) (where P_(L) is the laser power and R_(hc) is the hohlraum and capsule scale length)scale-invariant,is proposed to create hydrodynamically similar implosions.The semi-hydro-equivalent design and the scaled implosion performance are investigated for the 100 kJ Laser Facility(100 kJ-scale)and the National Ignition Facility(NIF-scale)with about 2 MJ laser energy.It is found that the one-dimensional implosion performance is approximately hydro-equivalent when V_(i) and α_(F) are kept the same.Owing to the non-hydro-equivalent radiation transport,the yield-over-clean without α-particle heating(YOC_(noα))is slightly lower at 100 kJ-scale than at NIF-scale for the same scaled radiation asymmetry or the same initial perturbation of the hydrodynamic instability.The overall scaled two-dimensional implosion performance is slightly lower at 100 kJ-scale.The general Lawson criterion factor scales asχ_(noα) ^(2D)∼S^(1.06±0.04)(where S is the scale-variation factor)for the semi-hydro-equivalent implosion design with a moderate YOC_(noα).Our study indicates that χ_(noα)≈0.379 is the minimum requirement for the 100 kJ-scale implosion to demonstrate the ability to achieve marginal ignition at NIF-scale.
基金supported by the National Natural Science Foundation of China(Grant No.51677058)。
文摘To address the impact of wind-power fluctuations on the stability of power systems,we propose a comprehensive approach that integrates multiple strategies and methods to enhance the efficiency and reliability of a system.First,we employ a strategy that restricts long-and short-term power output deviations to smoothen wind power fluctuations in real time.Second,we adopt the sliding window instantaneous complete ensemble empirical mode decomposition with adaptive noise(SW-ICEEMDAN)strategy to achieve real-time decomposition of the energy storage power,facilitating internal power distribution within the hybrid energy storage system.Finally,we introduce a rule-based multi-fuzzy control strategy for the secondary adjustment of the initial power allocation commands for different energy storage components.Through simulation validation,we demonstrate that the proposed comprehensive control strategy can smoothen wind power fluctuations in real time and decompose energy storage power.Compared with traditional empirical mode decomposition(EMD),ensemble empirical mode decomposition(EEMD),and complete ensemble empirical mode decomposition with adaptive noise(CEEMDAN)decomposition strategies,the configuration of the energy storage system under the SW-ICEEMDAN control strategy is more optimal.Additionally,the state-of-charge of energy storage components fluctuates within a reasonable range,enhancing the stability of the power system and ensuring the secure operation of the energy storage system.
基金funded by Anhui Provincial Natural Science Foundation(No.2208085ME128)the Anhui University-Level Special Project of Anhui University of Science and Technology(No.XCZX2021-01)+1 种基金the Research and the Development Fund of the Institute of Environmental Friendly Materials and Occupational Health,Anhui University of Science and Technology(No.ALW2022YF06)Anhui Province New Era Education Quality Project(Graduate Education)(No.2022xscx073).
文摘The real-time detection and instance segmentation of strawberries constitute fundamental components in the development of strawberry harvesting robots.Real-time identification of strawberries in an unstructured envi-ronment is a challenging task.Current instance segmentation algorithms for strawberries suffer from issues such as poor real-time performance and low accuracy.To this end,the present study proposes an Efficient YOLACT(E-YOLACT)algorithm for strawberry detection and segmentation based on the YOLACT framework.The key enhancements of the E-YOLACT encompass the development of a lightweight attention mechanism,pyramid squeeze shuffle attention(PSSA),for efficient feature extraction.Additionally,an attention-guided context-feature pyramid network(AC-FPN)is employed instead of FPN to optimize the architecture’s performance.Furthermore,a feature-enhanced model(FEM)is introduced to enhance the prediction head’s capabilities,while efficient fast non-maximum suppression(EF-NMS)is devised to improve non-maximum suppression.The experimental results demonstrate that the E-YOLACT achieves a Box-mAP and Mask-mAP of 77.9 and 76.6,respectively,on the custom dataset.Moreover,it exhibits an impressive category accuracy of 93.5%.Notably,the E-YOLACT also demonstrates a remarkable real-time detection capability with a speed of 34.8 FPS.The method proposed in this article presents an efficient approach for the vision system of a strawberry-picking robot.
文摘This experiment was conducted to determine the performance of heat-stressed layers fed a diet containing the probiotic Lactobacillus plantarum RS5 or its products of fermentation (postbiotics). Twenty-week-old Isa White layers, were subdivided into six treatments of 32 individually caged birds. Half of the birds were reared under regular temperature conditions, while the other half was subjected to cyclic daily heat stress. Layers were offered one of three diets: 1) Control;2) Control + Lactobacillus plantarum RS5 probiotic;3) Control + Lactobacillus plantarum RS5 postbiotics. Birds were tested for performance and visceral organ development for 5 months. Heat stress negatively affected the birds’ feed intake, egg weight, shell weight percentage, Haugh unit, shell thickness, yolk color, body weight and spleen weight percentage. Postbiotics significantly increased egg production (p < 0.05) in comparison to the control and the probiotic fed group (94.8% vs 92.6% vs 93.1%, respectively). Birds under probiotic or postbiotic diet showed a significantly higher (p < 0.05) feed intake and egg weight, although the probiotic had a more pronounced and gradual effect. Specific gravity, yolk weight percentage and shell thickness didn’t show differences among dietary groups. The Haugh Unit was significantly higher (p < 0.05) in probiotic group which also showed a significantly lower yolk color index (p < 0.05). The different feed treatments did not impact the bird’s viscera weight percentage, except for the ileum that was significantly lower (p < 0.05) under postbiotic supplementation. Both probiotics and postbiotics could be used as a potential growth promoters and might alleviate heat stress impact in poultry industry.
基金support from the National Natural Science Foundation of China (No.52204202)the Hunan Provincial Natural Science Foundation of China (No.2023JJ40058)the Science and Technology Program of Hunan Provincial Departent of Transportation (No.202122).
文摘In recent years,frequent fire disasters have led to enormous damage in China.Effective firefighting rescues can minimize the losses caused by fires.During the rescue processes,the travel time of fire trucks can be severely affected by traffic conditions,changing the effective coverage of fire stations.However,it is still challenging to determine the effective coverage of fire stations considering dynamic traffic conditions.This paper addresses this issue by combining the traveling time calculationmodelwith the effective coverage simulationmodel.In addition,it proposes a new index of total effective coverage area(TECA)based on the time-weighted average of the effective coverage area(ECA)to evaluate the urban fire services.It also selects China as the case study to validate the feasibility of the models,a fire station(FS-JX)in Changsha.FS-JX station and its surrounding 9,117 fire risk points are selected as the fire service supply and demand points,respectively.A total of 196 simulation scenarios throughout a consecutiveweek are analyzed.Eventually,1,933,815 sets of valid sample data are obtained.The results showed that the TECA of FS-JX is 3.27 km^(2),which is far below the standard requirement of 7.00 km^(2) due to the traffic conditions.The visualization results showed that three rivers around FS-JX interrupt the continuity of its effective coverage.The proposed method can provide data support to optimize the locations of fire stations by accurately and dynamically determining the effective coverage of fire stations.
基金the National Natural Science Foundation of China under Grant Nos.U2268204,62172061 and 61662017National Key R&D Program of China under Grant Nos.2020YFB1711800 and 2020YFB1707900+1 种基金the Science and Technology Project of Sichuan Province under Grant Nos.2022YFG0155,2022YFG0157,2021GFW019,2021YFG0152,2021YFG0025,2020YFG0322the Guangxi Natural Science Foundation Project under Grant No.2021GXNSFAA220074.
文摘Predicting students’academic achievements is an essential issue in education,which can benefit many stakeholders,for instance,students,teachers,managers,etc.Compared with online courses such asMOOCs,students’academicrelateddata in the face-to-face physical teaching environment is usually sparsity,and the sample size is relativelysmall.It makes building models to predict students’performance accurately in such an environment even morechallenging.This paper proposes a Two-WayNeuralNetwork(TWNN)model based on the bidirectional recurrentneural network and graph neural network to predict students’next semester’s course performance using only theirprevious course achievements.Extensive experiments on a real dataset show that our model performs better thanthe baselines in many indicators.
基金National Natural Science Foundation of China(Grant Nos.61803348,62173312,51922009)Shanxi Province Key Laboratory of Quantum Sensing and Precision Measurement(Grant No.201905D121001).
文摘Most researches associated with target encircling control are focused on moving along a circular orbit under an ideal environment free from external disturbances.However,elliptical encirclement with a time-varying observation radius,may permit a more flexible and high-efficacy enclosing solution,whilst the non-orthogonal property between axial and tangential speed components,non-ignorable environmental perturbations,and strict assignment requirements empower elliptical encircling control to be more challenging,and the relevant investigations are still open.Following this line,an appointed-time elliptical encircling control rule capable of reinforcing circumnavigation performances is developed to enable Unmanned Aerial Vehicles(UAVs)to move along a specified elliptical path within a predetermined reaching time.The remarkable merits of the designed strategy are that the relative distance controlling error can be guaranteed to evolve within specified regions with a designer-specified convergence behavior.Meanwhile,wind perturbations can be online counteracted based on an unknown system dynamics estimator(USDE)with only one regulating parameter and high computational efficiency.Lyapunov tool demonstrates that all involved error variables are ultimately limited,and simulations are implemented to confirm the usability of the suggested control algorithm.
基金supported by the National Key Research and Development Program of China,2018YFD0500400。
文摘Background Maternal nutrition is essential in keeping a highly efficient production system in the pig industry.Laminarin has been shown to improve antioxidant capacity,reduce the inflammatory response,and favor the homeostasis of intestinal microbiota.However,the effect of dietary supplementation of laminarin on the reproductive performance of sows and the growth of suckling offspring remains unknown.Methods A total of 40 Landrace×Yorkshire multiparous sows on d 85 of gestation,similar in age,body weight(BW),parity and reproductive performance,were randomly divided into four dietary treatments with 10 sows per treatment,receiving a control diet(basal pregnancy or lactating diets)and a basal diet supplemented with 0.025%,0.05%and 0.10%laminarin,respectively.The experiment lasted from d 85 of gestation to d 21 of lactation.Results Laminarin supplementation linearly increased number born alive per litter(P=0.03),average daily feed intake(ADFI,P<0.01),and total milk yield of sows during the lactation of 1–21 d(P=0.02).Furthermore,maternal laminarin supplementation increased the average daily gain(ADG)of piglets while tending to reduce the culling and death rate before weaning.In addition,alterations to the composition of colostrum and milk,as well as to serum inflammatory cytokines and immunoglobulins of sows were observed.The fecal microbiota profile of sows supported the improvement of reproductive performance in sows and the growth performance in suckling offspring.Conclusions Dietary supplementation of laminarin during late pregnancy and lactation could significantly improve reproductive performance of sows and growth performance of piglets.
基金Funded by the State Key Laboratory of Advanced Technology for Materials Synthesis and Processing,Wuhan Univesity of Technology。
文摘By replacing hexyl chains in poly(3-hexylthiophene)(P3HT)with 2-propoxyethyls,four poly(3-(2-propoxyethyl)thiophene)(P3POET)homopolymers with comparable polydispersity indexes(PDI)and regioregularities were prepared herein in addition with step increment of about 7 kDa on numberaverage molecular weight(M_(n))from around 11 to 32 kDa(accordingly denoted as P11k,P18k,P25k,and P32k).When doped in film by FeCl_(3)at the optimized conditions,the maximum power factor(PF_(max))increases greatly from 4.3μW·m^(-1)·K^(-2)for P11k to 8.8μW·m^(-1)·K^(-2)for P18k,and further to 9.7μW·m^(-1)·K^(-2)for P25k,followed by a slight decrease to 9.2μW·m^(-1)·K^(-2)for P32k.The close Seebeck coefficients(S)at PF_(max)are observed in these doped polymer films due to their consistent frontier orbital energy levels and Fermi levels.The main contribution to this PF_(max)evolution thus comes from the corresponding conductivities(σ).Theσvariation of the doped films can be rationally correlated with their microstructure evolution.
基金supported by funding from the International Olympic Committee(IOC)CS received a scholarship made possible through funding by the South African Medical Research Council(SAMRC)through its Division of Research Capacity Development under the SAMRC Clinician Researcher ProgrammeResearch reported in this publication was also supported by the SAMRC under a Self-Initiated Research Grant to MS.
文摘Purpose The aim of the study was to identify factors associated with prolonged time to return to full performance(RTFP)in athletes with recent severe acute respiratory syndrome coronavirus 2(SARS-CoV-2)infection.Methods Prospective cohort study with cross sectional analysis.A total of 84 athletes with confirmed SARS-CoV-2 infection assessed at a coronavirus disease 2019 recovery clinic gave a history of age,sex,type/level of sport,co-morbidities,pre-infection training hours,and 26 acute SARS-CoV-2 symptoms from 3 categories(“nose and throat”,“chest and neck”,and“whole body”/systemic).Data on days to RTFP were obtained by structured interviews.Factors associated with RTFP were demographics,sport participation,history of co-morbidities,pre-infection training history,and acute symptoms(type,number).Outcomes were:(a)days to RTFP(median,interquartile range(IQR))in asymptomatic(n=7)and symptomatic athletes(n=77),and(b)hazard ratios(HRs;95%confidence interval)for symptomatic athletes with vs.without a factor(univariate,multiple models).HR<1 was predictive of higher percentage chance of prolonged RTFP.Significance was p<0.05.Results Days to RTFP were 30 days(IQR:23–40)for asymptomatic and 64 days(IQR:42–91)for symptomatic participants(p>0.05).Factors associated with prolonged RTFP(univariate models)were:females(HR=0.57;p=0.014),endurance athletes(HR=0.41;p<0.0001),co-morbidity number(HR=0.75;p=0.001),and respiratory disease history(HR=0.54;p=0.026).In symptomatic athletes,prolonged RTFP(multiple models)was significantly associated with increased“chest and neck”(HR=0.85;p=0.017)and“nose and throat”(HR=0.84;p=0.013)symptoms,but the association was more profound between prolonged RFTP and increased total number of“all symptoms”(HR=0.91;p=0.001)and“whole body”/systemic(HR=0.82;p=0.007)symptoms.Conclusion A larger number of total symptoms and specifically“whole body”/systemic symptoms during the acute phase of SARS-CoV-2 infection in athletes is associated with prolonged RTFP.