Path Planning and Tracking Control for Parking via Soft Actor-Critic Under Non-Ideal Scenarios

Parking in a small parking lot within limited space poses a difficult task. It often leads to deviations between the final parking posture and the target posture. These deviations can lead to partial occupancy of adjacent parking lots, which poses a safety threat to vehicles parked in these parking lots. However, previous studies have not addressed this issue. In this paper, we aim to evaluate the impact of parking deviation of existing vehicles next to the target parking lot(PDEVNTPL) on the automatic ego vehicle(AEV) parking, in terms of safety, comfort, accuracy, and efficiency of parking. A segmented parking training framework(SPTF) based on soft actor-critic(SAC) is proposed to improve parking performance. In the proposed method, the SAC algorithm incorporates strategy entropy into the objective function, to enable the AEV to learn parking strategies based on a more comprehensive understanding of the environment. Additionally, the SPTF simplifies complex parking tasks to maintain the high performance of deep reinforcement learning(DRL). The experimental results reveal that the PDEVNTPL has a detrimental influence on the AEV parking in terms of safety, accuracy, and comfort, leading to reductions of more than 27%, 54%, and 26%respectively. However, the SAC-based SPTF effectively mitigates this impact, resulting in a considerable increase in the parking success rate from 71% to 93%. Furthermore, the heading angle deviation is significantly reduced from 2.25 degrees to 0.43degrees.

Spatiotemporal characteristics of cultivated land use eco-efficiency and its influencing factors in China from 2000 to 2020

Improving cultivated land use eco-efficiency(CLUE)can effectively promote agricultural sustainability,particularly in developing countries where CLUE is generally low.This study used provincial-level data from China to evaluate the spatiotemporal evolution of CLUE from 2000 to 2020 and identified the influencing factors of CLUE by using a panel Tobit model.In addition,given the undesirable outputs of agricultural production,we incorporated carbon emissions and nonpoint source pollution into the global benchmark-undesirable output-super efficiency-slacks-based measure(GB-US-SBM)model,which combines global benchmark technology,undesirable output,super efficiency,and slacks-based measure.The results indicated that there was an upward trend in CLUE in China from 2000 to 2020,with an increase rate of 2.62%.The temporal evolution of CLUE in China could be classified into three distinct stages:a period of fluctuating decrease(2000-2007),a phase of gradual increase(2008-2014),and a period of rapid growth(2015-2020).The major grain-producing areas(MPAs)had a lower CLUE than their counterparts,namely,non-major grain-production areas(non-MPAs).The spatial agglomeration effect followed a northeast-southwest strip distribution;and the movement path of barycentre revealed a"P"shape,with Luoyang City,Henan Province,as the centre.In terms of influencing factors of CLUE,investment in science and technology played the most vital role in improving CLUE,while irrigation index had the most negative effect.It should be noted that these two influencing factors had different impacts on MPAs and non-MPAs.Therefore,relevant departments should formulate policies to enhance the level of science and technology,improve irrigation condition,and promote sustainable utilization of cultivated land.

A Distortion Self-Calibration Method for Binocular High Dynamic Light Adjusting and Imaging System Based on Digital Micromirror Device

Dear Editor,In order to realize the pixel level light adjusting control of the binocular high dynamic light adjusting and imaging system, this letter proposed a novel self-calibration method. By analyzing the optical design of the system, the causes of the distortion are given and a distortion model is established. Then, a quick and accurate self-calibration method is designed. The experiments indicate that the method can calibrate the two image sensors of the system at the same time,the average pixel deviation of the calibrated system is less than 0.5pixels and the maximum deviation is less than 1 pixel.

Spatiotemporal patterns and drivers of cultivated land conversion in Inner Mongolia Autonomous Region,northern China

Protection and optimization of cultivated land resources are of great significance to national food security.Cultivated land conversion in northern China has increased in recent years due to the industrialization and urbanization of society.However,the assessment of cultivated land conversion in this area is insufficient,posing a potential risk to cultivated land resources.This study evaluated the evolution and spatiotemporal patterns of cultivated land conversion in Inner Mongolia Autonomous Region,China,and the driving factors to improve rational utilization and to protect cultivated land resources.The spatiotemporal patterns of cultivated land conversion in Inner Mongolia were analyzed using the cultivated land conversion index,kernel density analysis,a standard deviation ellipse model,and a geographic detector.Results showed that from 2000 to 2020,the trends in cultivated land conversion area and rate in Inner Mongolia exhibited fluctuating growth,with the total area of cultivated land conversion reaching 7307.59 km^(2) at a rate of 6.69%.Spatial distribution of cultivated land conversion was primarily concentrated in the Hetao Plain,Nengjiang Plain,Liaohe Plain,and the Hohhot-Baotou-Ordos urban agglomeration.Moreover,the standard deviational ellipse of cultivated land conversion in Inner Mongolia exhibited a directional southwest-northeast-southwest-northeast distribution,with the northeast-southwest direction identified as the main driving force of spatial change in cultivated land conversion.Meanwhile,cultivated land conversion exhibited an increase-decrease-increase change process,indicating that spatial distribution of cultivated land conversion in Inner Mongolia became gradually apparent within the study period.The geographic detector results further revealed that the main driving factors of cultivated land conversion in Inner Mongolia were the share of secondary and tertiary industries and per-unit area yield of grain,with explanatory rates of 57.00%,55.00%,and 51.00%,respectively.Additionally,improved agricultural production efficiency and the coordinated development of population urbanization and industry resulted in cultivated land conversion.Collectively,the findings of this study indicated that,from 2000 to 2020,the cultivated land conversion in Inner Mongolia was significant and fluctuated in time,and had strong spatial heterogeneity.The primary drivers of these events included the effects of agriculture,population,and social economy.

Disentangling the influencing factors of spatiotemporal evolution of sloping farmland in the Yangtze River Economic Belt, China

Sloping farmland(SpF)is not only an important space for food production and supply in China’s hilly areas,but also a major source of soil erosion.Thus,it is important to achieve a healthy balance between regional food security and environmental protection.Yangtze River Economic Belt(YREB),an important grain production base where SpF concentrated in China,is also faced with serious soil erosion.However,research at the macro scale on the spatiotemporal change of SpF and its driving forces in YREB is still lacking.To bridge the gap,we first analyzed the long-term evolution characteristics of SpF in 1069 counties in the YREB and then explored the driving mechanism of SpF changes during 1980-2020.Results showed that the SpF in the YREB continuously decreased during the study period,with a total area decreasing by 26,300 km2.SpF was primarily concentrated in the upper reaches of the YREB while SpF use dynamic degree varied significantly with the most active change in the lower reaches,reaching to a maximum of 0.324%.The spatial gravity of SpF distribution relocated 20.15 km towards the southwest.As for the driving factors,the socioeconomic factors contributed greater to SpF changes in the whole YREB and its subregions.The intensity of human activities is the most crucial,with factor contribution rate constantly above 0.76.The interactive detection revealed that the prevailing interaction format was primarily bi-enhanced,supplemented with nonlinear-enhanced,which amplified the role of different factors after interacting with them.The pair-wise interaction involving socioeconomic factors had a more potential effect on SpF changes compared to those between physical geography and locational factors.The influence of the intensity of human activities on SpF changes is greatly enhanced after interacting with any factor.It dominated SpF changes in the YREB and its interaction with GDP played an important role at all times.These findings can enlighten differential management strategies of SpF use and ecological conservation in the YREB.

Computing large deviation prefactors of stochastic dynamical systems based on machine learning

We present a large deviation theory that characterizes the exponential estimate for rare events in stochastic dynamical systems in the limit of weak noise.We aim to consider a next-to-leading-order approximation for more accurate calculation of the mean exit time by computing large deviation prefactors with the aid of machine learning.More specifically,we design a neural network framework to compute quasipotential,most probable paths and prefactors based on the orthogonal decomposition of a vector field.We corroborate the higher effectiveness and accuracy of our algorithm with two toy models.Numerical experiments demonstrate its powerful functionality in exploring the internal mechanism of rare events triggered by weak random fluctuations.

Path Planning of Multi-Axis Robotic Arm Based on Improved RRT*

An improved RRT∗algorithm,referred to as the AGP-RRT∗algorithm,is proposed to address the problems of poor directionality,long generated paths,and slow convergence speed in multi-axis robotic arm path planning.First,an adaptive biased probabilistic sampling strategy is adopted to dynamically adjust the target deviation threshold and optimize the selection of random sampling points and the direction of generating new nodes in order to reduce the search space and improve the search efficiency.Second,a gravitationally adjustable step size strategy is used to guide the search process and dynamically adjust the step-size to accelerate the search speed of the algorithm.Finally,the planning path is processed by pruning,removing redundant points and path smoothing fitting using cubic B-spline curves to improve the flexibility of the robotic arm.Through the six-axis robotic arm path planning simulation experiments on the MATLAB platform,the results show that the AGP-RRT∗algorithm reduces 87.34%in terms of the average running time and 40.39%in terms of the average path cost;Meanwhile,under two sets of complex environments A and B,the average running time of the AGP-RRT∗algorithm is shortened by 94.56%vs.95.37%,and the average path cost is reduced by 55.28%vs.47.82%,which proves the effectiveness of the AGP-RRT∗algorithm in improving the efficiency of multi-axis robotic arm path planning.

Analysis of the Heavy Rainfall Process in Mangshi City on August 8, 2023

On August 7,2023,Mangshi City,Dehong Prefecture experienced a local heavy rainstorm,and the geological disaster caused by the heavy rainfall caused casualties and property losses.Based on the real-time observation data of automatic stations,Doppler weather radar detection and meteorological risk warning products,the disaster situation,social impact,forecast and early warning service,causes of heavy precipitation and forecast and early warning inspection were summarized and analyzed.The results show that the heavy rainfall was prominent locally,lasted for a long time and accumulated a large amount of rainfall.There were biases in model products,and it was difficult for forecasters to make subjective corrections in complex terrain.The analysis ideas and focus points of heavy rainfall forecast,the improvement ideas and technical schemes of forecast deviation,and the improvement ideas and suggestions of services were summarized.It provides a reference for the forecast and early warning of severe weather in the future.

Measures of Variability for Qualitative Variables Using the R Software

Although there are many measures of variability for qualitative variables, they are little used in social research, nor are they included in statistical software. The aim of this article is to present six measures of variation for qualitative variables of simple calculation, as well as to facilitate their use by means of the R software. The measures considered are, on the one hand, Freemans variation ratio, Morals universal variation ratio, Kvalseths standard deviation from the mode, and Wilcoxs variation ratio which are most affected by proximity to a constant random variable, where the measures of variability for qualitative variables reach their minimum value of 0. On the other hand, the Gibbs-Poston index of qualitative variation and Shannons relative entropy are included, which are more affected by the proximity to a uniform distribution, where the measures of variability for qualitative variables reach their maximum value of 1. Point and interval estimation are addressed. Bootstrap by the percentile and bias-corrected and accelerated percentile methods are used to obtain confidence intervals. Two calculation situations are presented: with a sample mode and with two or more modes. The standard deviation from the mode among the six considered measures, and the universal variation ratio among the three variation ratios, are particularly recommended for use.

Principles and Techniques of Post-Traumatic Rhinoplasty: A Review of the Literature

Post-traumatic rhinoplasty is the surgical treatment of the complex functional and aesthetic sequelae of nasal trauma. Correcting a post-traumatic nose is a challenging task, requiring the surgeon to employ a range of techniques and grafts to adequately address the deformities observed. The results of our research show that restoring pre-traumatic form and function remains complex, although many guidelines have been established to refine and optimize the management of the after-effects of nasal trauma. But it is achievable with the right techniques. The objective of our review is to highlight the various post-traumatic nasal sequelae, describe the fundamental principles in the field of post-traumatic rhinoplasty and provide the surgeon with the various existing surgical techniques and strategies so that he or she can make an appropriate choice for the patient.

Further Analysis of Machine Tool Dimensional Accuracy and Thermal Stability under Varying Floor Temperature

Machining is as old as humanity, and changes in temperature in both the machine’s internal and external environments can be of great concern as they affect the machine’s thermal stability and, thus, the machine’s dimensional accuracy. This paper is a continuation of our earlier work, which aimed to analyze the effect of the internal temperature of a machine tool as the machine is put into operation and vary the external temperature, the machine floor temperature. Some experiments are carried out under controlled conditions to study how machine tool components get heated up and how this heating up affects the machine’s accuracy due to thermally induced deviations. Additionally, another angle is added by varying the machine floor temperature. The parameters mentioned above are explored in line with the overall thermal stability of the machine tool and its dimensional accuracy. A Robodrill CNC machine tool is used. The CNC was first soaked with thermal energy by gradually raising the machine floor temperature to a certain level before putting the machine in operation. The machine was monitored, and analytical methods were deplored to evaluate thermal stability. Secondly, the machine was run idle for some time under raised floor temperature before it was put into operation. Data was also collected and analyzed. It is observed that machine thermal stability can be achieved in several ways depending on how the above parameters are joggled. This paper, in conclusion, reinforces the idea of machine tool warm-up process in conjunction with a carefully analyzed and established machine floor temperature variation for the approximation of the machine tool’s thermally stability to map the long-time behavior of the machine tool.

Construction Cost Control Strategy of Finished House Based on BIM-5D

Building Information Modeling(BIM)technology can not only achieve project refinement management of the construction process based on a 3D model but also form a BIM-5D model based on the fusion of progress data and cost data to achieve the dynamic control of the whole process of project cost.This paper discusses the application of BIM-5D in the cost control of finished house construction,aiming to provide technical reference for China’s finished house project units,so that they can master how to realize the construction of cost control system based on BIM,the monitoring of the key coefficients of the cost,corrective action,to ensure that the project cost deviation is within the controllable range,and to make an effective guarantee for the economic benefits of the project construction.

Spatial Morphology Evolution Characteristics Analysis of the Resident Population Distribution in Henan, China

The population spatial distribution pattern and its evolving pattern play an important role in regional allocation of social resources and production factors, formulation of regional development plans, construction of a better life society, and promotion of regional economic development. Based on the resident population statistics data of Henan province from 2006 to 2021, with county as the basic study unit, the paper studies the spatial morphology characteristics and its evolution patterns of resident population distribution, by using spatial analysis methods such as population distribution center, standard deviation ellipse, and spatial auto correlation analysis. The results show that: the resident population spatial distribution shows unbalanced state, the population agglomeration areas mainly distribute in the northeast part and north part, where the resident population growth rate is significantly higher than other regions, over time, this trend is gradually becoming significant. The resident population distribution has a trend of centripetal concentration, with the degree and trend of centripetal gradually strengthening. The resident population distribution has obvious directional characteristics, but the significance is not high, the weighted resident population average center is approximately located at (4.13740˚N, 113.8935˚E), and the azimuth of the distribution axis is approximately 11.19˚. The population distribution has obvious agglomeration characteristics, with the built-up areas of Zhengzhou and Luoyang as their centers, where have a significant siphon effect on the surrounding population. The southern and southwestern regions in the province form a relatively stable belt area of Low-Low agglomeration areas.

Study on the simulation of acoustic logging measurements in horizontal and deviated wells

The conventional acoustic logging interpretation method, which is based on vertical wells that penetrate isotropic formations, is not suitable for horizontal and deviated wells penetrating anisotropic formations. This unsuitability is because during horizontal and deviated well drilling, cuttings will splash on the well wall or fall into the borehole bottom and form a thin bed of cuttings. In addition, the high velocity layers at different depths and intrinsic anisotropy may affect acoustic logging measurements. In this study, we examine how these factors affect the acoustic wave slowness measured in horizontal and deviated wells that are surrounded by an anisotropic medium using numerical simulation. We use the staggered-grid finite difference method in time domain （FDTD） combined with hybrid-PML. First, we acquire the acoustic slowness using a simulated array logging system, and then, we analyze how various factors affect acoustic slowness measurements and the differences between the effects of these factors. The factors considered are high-velocity layers, thin beds of cuttings, dipping angle, formation thickness, and anisotropy. The simulation results show that these factors affect acoustic wave slowness measurements differently. We observe that when the wavelength is much smaller than the distance between the borehole wall and high velocity layer, the true slowness of the formation could be acquired. When the wavelengths are of the same order （i.e., in the near-field scenarios）, the geometrical acoustics theory is no longer applicable. Furthermore, when a thin bed of cuttings exists at the bottom of the borehole, Fermat＇s principle is still applicable, and true slowness can be acquired. In anisotropic formations, the measured slowness changes with increments in the dipping angle. Finally, for a measurement system with specific spacing, the slowness of a thin target layer can be acquired when the distance covered by the logging tool is sufficiently long. Based on systematical simulations with different dipping angles and anisotropy in homogenous TI media, slowness estimation charts are established to quantitatively determine the slowness at any dipping angle and for any value of the anisotropic ratio. Synthetic examples with different acoustic logging tools and different elastic parameters demonstrate that the acoustic slowness estimation method can be conveniently applied to horizontal and deviated wells in TI formations with high accuracy.

NONLINEAR BUCKLING ANALYSIS OF TUBING IN DEVIATED WELLS BY FINITE ELEMENT METHOD

The equilibrium equations and the functional for tubing buckling in arbitrary straight wells are derived. The entire buckling process of tubing in deviated wells is analyzed for the first time by utilizing the finite element method. The effects of gravity and torques on the buckling are included in the analyses and the calculated results are well compared with existing solutions. It is shown that the buckling only occurs at the lower portion of the tubing where the axial load is the largest, and the contact force of the well, the bending moment of the tubing and the buckling displacement of this portion vary periodically. The buckling spreads upwards from the bit with the increase of axial load. There is no buckling at the upper portion of the tubing where the bending moment is zero. And the contact force of this section increases only slightly with the increase of the axial load. With the increase of the deviation angle, the length of buckling portion and buckling displacement amplitude decrease, the contact force increases with the increase of load at the upper portion and its amplitude decreases at the lower buckling section, the bending moment remains zero at the upper portion and its amplitude decreases at the lower buckling portion. The buckling displacement increases with the increase of the torque, but the increment is very small.

三线减张技术治疗鼻中隔偏曲的疗效观察

鼻中隔偏曲矫正术是耳鼻咽喉科的常规手术。近年来,随着鼻内镜技术的日渐成熟,各种改良的鼻中隔矫正手术取得了迅猛的发展[1,2]。韩德民等[3]利用鼻中隔偏曲产生的生物力学规律,提出三线减张鼻中隔矫正术,符合鼻腔生理功能的需要及微创原则,减少了严重并发症的发生。我科自2009年6月～2010年7月利用三线减张技术治疗92例鼻中隔偏曲患者,疗效满意,现报道如下。

IMPROVED FOURIER ALGORITHM FOR CORRECTING POWER SYSTEM FREQUENCY DEVIATION

On the basis of high precision requirement for input signals in the power system protection and control system,this paper,only for the influence of power system frequency deviation on extracting fundamental harmonic,studies the amplitude error of Fourier algorithm,presents a method of correcting frequency deviation,and further derives the formulas of improved Fourier algorithm.The simulation results verified the effectiveness of the algorithm,it not only can greatly weaken the influence of frequency deviation,but also increase the precision of the power system protection and control.As a result the study in this paper has practical application value.

Climatic Factors for Limiting Northward Distribution of Eight Temperate Tree Species in Eastern North America

Eight temperate deciduous tree species, Acer rubrum L., A. saccharinum L., A. saccharum Marsh., Belluta alleghaniensis Britton., Fraxinus nigra Marsh., Quercus rubra L., Titia americana L., and Ulmus americana L. in eastern North America, were selected to explore relationship between the northward distribution of temperate tree species and climatic factors. For each species, more than 30 sites at their north limits of distribution were obtained from their distribution maps, and 11 climatic indices at the north limits were computed. The standardized standard deviation (SD) method, which compares the magnitude of variance of climatic indices, was used to detect which climatic parameter was the most important for explaining northward distribution of these species. We presume that the climatic parameter that has the smallest variance at the north limit would be assigned as the dominant climatic factor for limiting the distribution of this species. The results derived from the standardized SD method indicated that the SD value of warmth index (WI) and/or annual biotemperature (ABT) were the smallest among the 11 climatic indices. Since both WI and ABT represent growing season temperature, it suggested that growing season temperature was the most important climatic factor for explaining the northward distribution of these temperate tree species. The relationships between several climatic indices, WI, coldness index (CI), annual precipitation (AP), annual range of temperature (ART) and humid/arid index were also analyzed. As a result, at the north limits of all these species, both WI and CI decreased with an increase of AP, and CI increased with an increase of ART. Besides growing season temperature, precipitation and climatic continentality also have influence on the northward distribution of the temperate trees in eastern North America.

Study on the scales of heterogeneous geologic bodies in random media

In order to study the scale characteristics of heterogeneities in complex media, a random medium is constructed using a statistical method and by changing model parameters （autocorrelation lengths a and b）, the scales of heterogeneous geologic bodies in the horizontal and the vertical Cartesian directions may be varied in the medium. The autocorrelation lengths a and b represent the mean scale of heterogeneous geologic bodies in the horizontal and vertical Cartesian directions in the randQm medium, respectively. Based on this model, the relationship between model autocorrelation lengths and heterogeneous geologic body scales is studied by horizontal velocity variation and standard deviation. The horizontal velocity variation research shows that velocities are in random perturbation. The heterogeneous geologic body scale increases with increasing autocorrelation length. The recursion equation for the relationship between autocorrelation lengths and heterogeneous geologic body scales is determined from the velocity standard deviation research and the actual heterogeneous geologic body scale magnitude can be estimated by the equation.

Oscillation of Systems of Parabolic Differential Equations with Deviating Arguments

To study a class of boundary value problems of parabolic differential equations with deviating arguments, averaging technique, Green’s formula and symbol function sign(·) are used. The multi dimensional problem was reduced to a one dimensional oscillation problem for ordinary differential equations or inequalities. Two oscillatory criteria of solutions for systems of parabolic differential equations with deviating arguments are obtained.