Improving path planning efficiency for underwater gravity-aided navigation based on a new depth sorting fast search algorithm

This study focuses on the improvement of path planning efficiency for underwater gravity-aided navigation.Firstly,a Depth Sorting Fast Search(DSFS)algorithm was proposed to improve the planning speed of the Quick Rapidly-exploring Random Trees*(Q-RRT*)algorithm.A cost inequality relationship between an ancestor and its descendants was derived,and the ancestors were filtered accordingly.Secondly,the underwater gravity-aided navigation path planning system was designed based on the DSFS algorithm,taking into account the fitness,safety,and asymptotic optimality of the routes,according to the gravity suitability distribution of the navigation space.Finally,experimental comparisons of the computing performance of the ChooseParent procedure,the Rewire procedure,and the combination of the two procedures for Q-RRT*and DSFS were conducted under the same planning environment and parameter conditions,respectively.The results showed that the computational efficiency of the DSFS algorithm was improved by about 1.2 times compared with the Q-RRT*algorithm while ensuring correct computational results.

Research on the special role of career planning in accelerating the efficiency of regular teaching for English major students

The teaching contents of English major need to be designed flexibly with revolving around career planning as it is helpful for teachers to acquire creative thoughts and ideas in teaching.Especially,this can surely guarantee the remarkable efficiency of English major teaching.

To Improve Energy Efficiency via Car Driving Deduction by Land Use Planning

Urban area consumes about main percentage of used energy. Cities need basic review in land management, structure and form to minimize the use of energy which creating environmental pollution. Urban planners and designers are looking for a solution and essential agreement in urban planning and designing principles that can decrease the pollution from rapid urbanization. Travelling is essential for daily needs of most people in urban area. Issues arise when one considers the amount of necessary fossil fuels used in the majority of daily commuting for accessibility to services. It is necessary to design a city to minimize the use of energy which creating environmental pollution. Research conducted in Subang Jaya in Malaysia in 2012 finds a variable which influences on use of car, propose of use of car and commuting distance by car. However it tried to find effect of train station and density on use of car for accessibility to this services and facilities. Findings illustrate neighbourhood distance from train station influences distance to facilities and services in neighbourhoods. However it illustrates derived distance by car was affected by residential lots distance from restaurant, work place, school, park, house area per person, and car ownership.

Energy-Efficient Trajectory Planning for UAV-Aided Secure Communication

Wireless communication with unmanned aerial vehicles(UAVs) has aroused great research interest recently. This paper is concerned with the UAV's trajectory planning problem for secrecy energy efficiency maximization(SEEM) in the UAV communication system. Specifically, we jointly consider the secrecy throughput and UAV's energy consumption in a three-node(fixed-wing UAV-aided source, destination, and eavesdropper) wiretap channel. By ignoring the energy consumption on radiation and signal processing, the system's secrecy energy efficiency is defined as the total secrecy rate normalized by the UAV's propulsion energy consumption within a given time horizon. Nonetheless, the SEEM problem is nonconvex and thus is intractable to solve. As a compromise, we propose an iterative algorithm based on sequential convex programming(SCP) and Dinkelbach's method to seek a suboptimal solution for SEEM. The algorithm only needs to solve convex problems, and thus is computationally efficient to implement. Additionally, we prove that the proposed algorithm has Karush-KuhnTucker(KKT) point convergence guarantee. Lastly, simulation results demonstrate the efficacy of our proposed algorithm in improving the secrecy energy efficiency for the UAV communication system.

Energy-Efficient Process Planning Using Improved Genetic Algorithm

Nowadays,energy consumption which closely contacts with environmental impacts of manufacturing processes has been highly commented as a new productivity criterion.However,little attention has paid to the development of process planning methods that take energy consumption into account.An energy-efficient process planning model that incorporates manufacturing time and energy consumption is proposed.For solving the problem,an improved genetic algorithm method is employed to explore the optimal solution.Finally,a case study for process planning is given.The experimental result generates interesting effort,and therefore allows improving the energy efficiency of manufacturing processes in process planning.

Investigation of Plans Shape and Glazing Percentage for the Energy Efficiency of Residential Buildings

The room’s plan shape,the area of the window,and the impact of the materials are significant parameters in determining the thermal needs of buildings.In traditional houses of the hot and dry climate of Iran,the plan shape of the room,the ratio of the window area to the floor area,and the comparison between traditional and prevalent materials have been less studied.This study investigated the thermal performance of seven different models of the plan shape,five different ratios of window area to plan area,and three material structures in a selected room of Yazd City using EnergyPlus software.Seven models have different plan shapes but the same floor area,whose thermal balance process calculations have been performed by the CTF method.The results show that the best thermal comfort conditions for the residents are at the window area to floor area ratio of 12%for the brick buildings and 15%for the buildings with thermal insulation and proposed materials.The lowest cooling and heating needs are obtained in a room with an east-west extension and a length-to-width ratio of about 1.38,which indicates the proper plan shape of the selected room.This research can be considered as a climatic strategy to improve the energy efficiency of residential buildings in Yazd.

Energy Efficiency Analysis of Quadruped Robot with Trot Gait and Combined Cycloid Foot Trajectory

Quadruped robots consume a lot of energy, which is one of the factors restricting their application. Energy efficiency is one of the key evaluating indicators for walking robots. The relationship between energy and elastic elements of walking robots have been studied, but different walking gait patterns and contact status have important influences on locomotion energy efficiency, and the energy efficiency considering the foot-end trajectory has not been reported. Therefore, the energy consumption and energy efficiency of quadruped robot with trot gait and combined cycloid foot trajectory are studied. The forward and inverse kinematics of quadruped robot is derived. The combined cycloid function is proposed to generate horizontal and vertical foot trajectory respectively, which can ensure the acceleration curve of the foot-end smoother and more successive, and reduce the contact force between feet and environment. Because of the variable topology mechanism characteristic of quadruped robot, the leg state is divided into three different phases which are swing phase, transition phase and stance phase during one trot gait cycle. The non-continuous variable constraint between feet and environment of quadruped robot is studied. The dynamic model of quadruped robot is derived considering the variable topology mechanism characteristic, the periodic contact and elastic elements of the robot. The total energy consumption of walking robot during one gait cycle is analyzed based on the dynamic model. The specific resistance is used to evaluate energy efficiency of quadruped robot. The calculation results show the relationships between specific resistance and gait parameters, which can be used to determine the reasonable gait parameters.

Developing and Applying a Ship Operation Energy Efficiency Evaluation Index Using SEEMP: a Case Study of South Korea

The CO2 emission reduction policy of the International Maritime Organization(IMO)recommends that the operation of ships,managed by maritime transport companies,should be energy-efficient.An evaluation method that can determine how successfully a ship implements the energy efficiency plan is proposed in this study.To develop this method,the measures required for energy-efficient ship operations according to the Ship Energy Efficiency Management Plan(SEEMP)operational guidelines were selected.The weights of the selected measures,which indicate how they contribute to the energy-efficient operation of a ship,were derived using a survey based on the analytic hierarchy process(AHP)method.Consequently,using these measures and their weights,a new evaluation method was proposed.This evaluation method was applied to shipping companies in South Korea,and their ship operation energy efficiency indices were derived and compared.This evaluation method will be useful to the government and shipping companies in assessing the energy efficiency of ship operations.

Trajectory Planning of High Precision Collaborative Robots

In order to satisfy the high efficiency and high precision of collaborative robots,this work presents a novel trajectory planning method.First,in Cartesian space,a novel velocity look-ahead control algorithm and a cubic polynomial are combined to construct the end-effector trajectory of robots.Then,the joint trajectories can be obtained through the inverse kinematics.In order to improve the smoothness and stability in joint space,the joint trajectories are further adjusted based on the velocity look-ahead control algorithm and quintic B-spline.Finally,the proposed trajectory planning method is tested on a 4-DOF serial collaborative robot.The experimental results indicate that the collaborative robot achieves the high efficiency and high precision,which validates the effectiveness of the proposed method.

Integration of Location-Allocation and Accessibility Models in GIS to Improve Urban Planning for Health Services in Al-Madinah Al-Munawwarah, Saudi Arabia

In this study, accessibility and location-allocation models have been integrated into GIS to improve spatial planning and environmental sustainability of health services in Al-Madinah Al-Munawwarah. This integration provides a planning framework in order to check the efficiency of the spatial allocation of health services and to generate alternatives either by proposing an active service or to improve an existing one. To achieve these objectives, the accessibility to the service area was analyzed within the analysis of health services networks, which are divided into eight types: public hospitals, specialized hospitals, health units, healthcare centers, infirmaries, clinic complexes, the Red Crescent Center, and ambulance facilities, with time intervals of (5 minutes - 10 minutes - 15 minutes) to access coverage ranges, and the location-allocation model was used based on the maximum coverage model within a response time not exceeding 15 minutes, The results of the study revealed the poor distribution of health services Al-Madinah Al-Munawwarah suffers from weak accessibility to health services coverage areas and is unable to meet the needs of its population at present. The current need for health services reached twenty-four locations, including two public hospitals, three specialized hospitals, two health centers, three ambulance facilities, four infirmaries, three clinic complexes, four health units, and three Red Crescent centers.

Energy Aware Data Collection with Route Planning for 6G Enabled UAV Communication

With technological advancements in 6G and Internet of Things(IoT), the incorporation of Unmanned Aerial Vehicles (UAVs) and cellularnetworks has become a hot research topic. At present, the proficient evolution of 6G networks allows the UAVs to offer cost-effective and timelysolutions for real-time applications such as medicine, tracking, surveillance,etc. Energy efficiency, data collection, and route planning are crucial processesto improve the network communication. These processes are highly difficultowing to high mobility, presence of non-stationary links, dynamic topology,and energy-restricted UAVs. With this motivation, the current research paperpresents a novel Energy Aware Data Collection with Routing Planning for6G-enabled UAV communication (EADCRP-6G) technique. The goal of theproposed EADCRP-6G technique is to conduct energy-efficient cluster-baseddata collection and optimal route planning for 6G-enabled UAV networks.EADCRP-6G technique deploys Improved Red Deer Algorithm-based Clustering (IRDAC) technique to elect an optimal set of Cluster Heads (CH) andorganize these clusters. Besides, Artificial Fish Swarm-based Route Planning(AFSRP) technique is applied to choose an optimum set of routes for UAVcommunication in 6G networks. In order to validated whether the proposedEADCRP-6G technique enhances the performance, a series of simulationswas performed and the outcomes were investigated under different dimensions.The experimental results showcase that the proposed model outperformed allother existing models under different evaluation parameters.

Applying systematic conservation planning to constitute a protection strategy for broad-leaved Korean pine forests in Changbai Mountains, China

The broad-leaved Korean pine(Pinus koraiensis) forest is one of the most biodiverse zonal communities in the North Temperate Zone and an important habitat for many endangered species.Broad-leaved Korean pine forests(BKPFs) are shrinking quickly due to deforestation and rapid urbanization. Thus, scientific protection strategies are urgently needed to change this status. Changbai Mountains contains one of the largest BKPFs and is considered a priority biodiversity conservation area in China. Guided by systematic conservation planning(SCP) methods and procedures, we chose representative species and communities in BKPFs ecosystem as priority conservation objects, and set quantitative conservation target, which is in the light of the biodiversity characteristic of BKPFs. The watershed area is used as planning unit. We used CPlan software to calculate the irreplaceability(Ir)value of each planning unit and the contribution value(Ti) of each conservation object to(1) assess the conservation efficiency;(2) identify the conservation gap of the existing conservation network. Then wecalculated a human disturbance index(HDI) for planning units in the conservation gaps and combine this with the Ir value to design three conservation scenarios to optimize the conservation network.Results show that planning units with high conservation value 14.16% of the total area, with3084.36 km2 were covered by the existing conservation network. 79.28% of planning units with high conservation value have not been protected which were concentrated mainly in the eight gap areas.Only 25.3% of protection objects achieved their conservation target with the existing conservation network. Conservation efficiency is low. Three conservation scenarios are constituted, each prioritizing a different aim:(1) ecological value;(2)species rescue; and(3) economical avoidance. The three conservation schemes potentially enable 93%,88% and 51% of conservation objects, respectively, to achieve identified conservation targets, thereby improving conservation efficiency significantly.

Deficient Developmental Planning Leading to Water Conflicts across Political Borders: The Way Forward

In this article, Turkey, Iran and Syria in the Middle East area are taken as examples for deficient planning and development of water resources shared with their downstream countries resulting in severe social, economic and political percussions to these neighbors. The current situation in the Middle East with wars against terrorism, uprising of population groups, and COVID-19 Pandemic have not allowed the affected countries Jordan, Iraq and Syria to properly react to the assaults of upstream water development and diversions on their fair shares in the transboundary waters. The rivers’ upstream developmental schemes have not taken advantages of recent advanced technological knowhow of water efficient development and use, seemingly because the arising water problems and catastrophes will not affect these upstream countries, but their downstream neighbors. Although, it is by now known that pressurized water conveyance system relative to canals saves 10% - 20% of the transmitted water, and drip and sprinkler irrigation require only 40% - 50% of the water used in surface and furrow irrigation, that is in addition to agricultural production increases when using advanced management strategies. As enhancing policies, tradeoffs between downstream and upstream countries are thought of as a strategic option to improve the water use efficiency in upstream countries in order to help downstream countries in obtaining their fair shares of the transboundary water resources.

Noise Action Plans for the Acoustic Protection of Urban Areas around the Athens International Airport （A.I.A.） Strategic Noise Maps 2006 ＆ 2011

Athens International Airport ＂Eleftherios Venizelos＂ （AIA） is considered a pioneer international Public-Private Partnership, being the first major int. airport constructed with the participation of the private sector with the BOOT method （Build, Own, Operate, and Transfer）. AIA＇s 1st day of operation was in March 2001 and the aircraft traffic on 2006 reached 191.000 movements ＆ 15.1 million passengers. According to the European Directive 49/2002 and the Joint Ministerial Decision 13586/724-28/3/06, Athens International Airport （AIA） is included in the category of＂large airports＂ and it consequently comes under the authority of the above mentioned legislation on the evaluation and management of environmental noise. A complete Study on Aircraft Noise [1], according to the European Directive 49/2002 [2] and Joint Ministerial Decision 13586/724-28/3/06 was undertaken under the auspices of the Ministry of Environment, Energy ＆ Climate Change, the Hellenic Civil Aviation Authority, and AIA S.A. In this article the following results are presented： （1） The 2006 Strategic Noise Map （SNM） of both indicators Lden and Lnight based on the ECAC.CEAC Doc 29 methodology ＂Report on Standard Method of Computing Noise Contours around Civil Airports＂, 1997 [3], （2） A statistical analysis of predicted vs measured noise levels based on the existing Noise Monitoring System, （3） Effects from the removal of marginally accepted chapter 3 aircraft, （4） A complete evaluation of results regarding calculation of area/land uses and number of individuals living in residences inside blocks exposed in various levels of noise, and （5） A full evaluation of Noise Action Plans （NAP） regrouping existing and foreseen actions FOR 2006 ＆ 2011 scenarios, especially regarding among others, noise abatement procedures, a comprehensive noise insulation legal framework.

Energy Planning in Small Municipalities Based on Monitoring Results and Demand Side Management

Recent estimates state that the European Union is on course to achieve only half of the 20% energy consumption reduction target by 2020. As the first governmental stakeholders involved in the implementation of energy saving initiatives, municipalities play a strategic role in the energy planning process. This paper focuses on establishment of an energy planning methodology for small municipalities with numbers of inhabitants in range of 1,000-10,000 which often face common problems associated with low efficient district heat supply systems and decreasing energy consumption in buildings. Particular attention is paid to DSM （demand side management） activities. DSM scheme includes legislative and financial flows with small investments from municipality side. Based on increased information and motivation it promotes reduction of energy consumption in all kinds of buildings. Practical experience has shown that application of DSM measures allows achieving 20% energy savings in municipal buildings during the first year.

High-efficiency inspecting method for mobile robots based on task planning for heat transfer tubes in a steam generator

Many heat transfer tubes are distributed on the tube plates of a steam generator that requires periodic inspection by robots.Existing inspection robots are usually involved in issues:Robots with manipulators need complicated installation due to their fixed base;tube mobile robots suffer from low running efficiency because of their structural restricts.Since there are thousands of tubes to be checked,task planning is essential to guarantee the precise,orderly,and efficient inspection process.Most in-service robots check the task tubes using row-by-row and column-bycolumn planning.This leads to unnecessary inspections,resulting in a long shutdown and affecting the regular operation of a nuclear power plant.Therefore,this paper introduces the structure and control system of a dexterous robot and proposes a task planning method.This method proceeds into three steps:task allocation,base position search,and sequence planning.To allocate the task regions,this method calculates the tool work matrix and proposes a criterion to evaluate a sub-region.And then all tasks contained in the sub-region are considered globally to search the base positions.Lastly,we apply an improved ant colony algorithm for base sequence planning and determine the inspection orders according to the planned path.We validated the optimized algorithm by conducting task planning experiments using our robot on a tube sheet.The results show that the proposed method can accomplish full task coverage with few repetitive or redundant inspections and it increases the efficiency by 33.31% compared to the traditional planning algorithms.

Machine learning inspired workflow to revise field development plan under uncertainty

We present an efficient and risk-informed closed-loop field development (CLFD) workflow for recurrently revising the field development plan (FDP) using the accrued information. To make the process practical, we integrated multiple concepts of machine learning, an intelligent selection process to discard the worst FDP options and a growing set of representative reservoir models. These concepts were combined and used with a cluster-based learning and evolution optimizer to efficiently explore the search space of decision variables. Unlike previous studies, we also added the execution time of the CLFD workflow and worked with more realistic timelines to confirm the utility of a CLFD workflow. To appreciate the importance of data assimilation and new well-logs in a CLFD workflow, we carried out researches at rigorous conditions without a reduction in uncertainty attributes. The proposed CLFD workflow was implemented on a benchmark analogous to a giant field with extensively time-consuming simulation models. The results underscore that an ensemble with as few as 100 scenarios was sufficient to gauge the geological uncertainty, despite working with a giant field with highly heterogeneous characteristics. It is demonstrated that the CLFD workflow can improve the efficiency by over 85% compared to the previously validated workflow. Finally, we present some acute insights and problems related to data assimilation for the practical application of a CLFD workflow.

国土空间规划的生态服务价值评估和方案优选——基于“土地利用+生态效能”的双维复合视角

生态文明建设是国土空间规划的核心价值观,但当前对于国土空间规划方案的生态效益却缺乏定量评估的相关方法。论文对谢高地等的生态服务价值评估方法做了一定改进,并应用于国土空间规划的多情景评估和优选,定量评估规划干预带来的生态效益。首先,认为生态服务价值受土地利用类型和生态服务效能这两个维度的复合作用,并探索了生态服务效能的修正指标和修正系数。其次,解析了国土空间规划作用于这两个维度的途径,即通过用地布局规划改变土地利用类型、通过生态措施影响生态服务效能,从而提出了国土空间规划多方案的生态服务价值评估方法,以及优选优化思路。最后,结合武汉市法泗街道案例的应用示例,为国土空间规划的编制与决策提供一定参考。

高职院校发挥社会服务功能的现实困境及效能优化路径

职教改革背景下社会服务已经成为衡量高职院校办学质量、发展水平的重要指标。当前高职院校社会服务呈现出服务范围地域性明显、服务内容以基础实践为主的特点。针对高职院校社会服务师资综合能力不强、组织执行机制不完善、外部环境支持认可不高等现实困境,应采取组建混编“链上师资团”,打造技能大师工作品牌,创新多元主体社会服务模式;制定“年度社会服务专项规划”,创设专职机构,挑选辅助机构,强化社会服务执行力度;深入工作场景,拓展志愿服务,匹配区域特色优化专业布局,营造良好场域环境,提升高职院校社会服务公众认知度等措施。

智能配电网技术在配电网规划中的应用

全面分析了智能配电网技术在配电网规划中的应用及其对电力系统现代化建设的推动作用。首先指出随着全球能源结构的转型和电力需求的增长,传统配电网面临前所未有的挑战,包括新能源接入的不确定性和负荷波动等,智能配电网技术通过整合先进的信息通信技术和综合管理策略为配电网的智能化管理和高效运行提供了新的思路。详细讨论了智能配电网技术的特点和优势,如提高电网效率及支持低碳发展,并通过技术分析展示了智能配电网对配电网规划的影响,包括规划方法的创新和规划策略的优化。