Based on an analysis of the limitations of conventional production component methods for natural gas development planning,this study proposes a new one that uses life cycle models for the trend fitting and prediction ...Based on an analysis of the limitations of conventional production component methods for natural gas development planning,this study proposes a new one that uses life cycle models for the trend fitting and prediction of production.In this new method,the annual production of old and new wells is predicted by year first and then is summed up to yield the production for the planning period.It shows that the changes in the production of old wells in old blocks can be fitted and predicted using the vapor pressure model(VPM),with precision of 80%e95%,which is 6.6%e13.2%higher than that of other life cycle models.Furthermore,a new production prediction process and method for new wells have been established based on this life cycle model to predict the production of medium-to-shallow gas reservoirs in western Sichuan Basin,with predication error of production rate in 2021 and 2022 being 6%and 3%respectively.The new method can be used to guide the medium-and long-term planning or annual scheme preparation for gas development.It is also applicable to planning for large single gas blocks that require continuous infill drilling and adjustment to improve gas recovery.展开更多
A new dynamic path planning method in high dimensional workspace, radial based probabilistic roadmap motion (RBPRM) planning method, is presented. Different from general probabilistic roadmap motion planning methods, ...A new dynamic path planning method in high dimensional workspace, radial based probabilistic roadmap motion (RBPRM) planning method, is presented. Different from general probabilistic roadmap motion planning methods, it uses straight lines as long as possible to construct a path graph, so the final path obtained from the graph is relatively shorter and straighter. Experimental results show the efficiency of the algorithm in finding shorter paths in sparse environment.展开更多
The problem of the unmanned surface vessel (USV) path planning in static and dynamic obstacle environments is addressed in this paper. Multi-behavior fusion based potential field method is proposed, which contains thr...The problem of the unmanned surface vessel (USV) path planning in static and dynamic obstacle environments is addressed in this paper. Multi-behavior fusion based potential field method is proposed, which contains three behaviors: goal-seeking, boundary-memory following and dynamic-obstacle avoidance. Then, different activation conditions are designed to determine the current behavior. Meanwhile, information on the positions, velocities and the equation of motion for obstacles are detected and calculated by sensor data. Besides, memory information is introduced into the boundary following behavior to enhance cognition capability for the obstacles, and avoid local minima problem caused by the potential field method. Finally, the results of theoretical analysis and simulation show that the collision-free path can be generated for USV within different obstacle environments, and further validated the performance and effectiveness of the presented strategy.展开更多
To avoid impacts and vibrations during the processes of acceleration and deceleration while possessing flexible working ways for cable-suspended parallel robots(CSPRs),point-to-point trajectory planning demands an und...To avoid impacts and vibrations during the processes of acceleration and deceleration while possessing flexible working ways for cable-suspended parallel robots(CSPRs),point-to-point trajectory planning demands an under-constrained cable-suspended parallel robot(UCPR)with variable angle and height cable mast as described in this paper.The end-effector of the UCPR with three cables can achieve three translational degrees of freedom(DOFs).The inverse kinematic and dynamic modeling of the UCPR considering the angle and height of cable mast are completed.The motion trajectory of the end-effector comprising six segments is given.The connection points of the trajectory segments(except for point P3 in the X direction)are devised to have zero instantaneous velocities,which ensure that the acceleration has continuity and the planned acceleration curve achieves smooth transition.The trajectory is respectively planned using three algebraic methods,including fifth degree polynomial,cycloid trajectory,and double-S velocity curve.The results indicate that the trajectory planned by fifth degree polynomial method is much closer to the given trajectory of the end-effector.Numerical simulation and experiments are accomplished for the given trajectory based on fifth degree polynomial planning.At the points where the velocity suddenly changes,the length and tension variation curves of the planned and unplanned three cables are compared and analyzed.The OptiTrack motion capture system is adopted to track the end-effector of the UCPR during the experiment.The effectiveness and feasibility of fifth degree polynomial planning are validated.展开更多
In this paper we present two strategies of AUV (Autonomous Underwater Vehicle) region detection and an approach to decompose the detection region according to the direction of the ocean current. In the task of local d...In this paper we present two strategies of AUV (Autonomous Underwater Vehicle) region detection and an approach to decompose the detection region according to the direction of the ocean current. In the task of local detection and identification, the algorithm against the ocean current was proposed. In the tasks of closing obstacle, going back or moving, the fuzzy logic theory was used to solve the effect of ocean current. In one of our strategies the concept of weighted journey based on the angle between heading and ocean current is suggested and the TSP's exact optimal result is utilized to solve the global path planning. Simulations demonstrate the feasibility of this approach.展开更多
The spinors applied to describe position and attitude of robot are studied. In dual spaces, the terminal trace of robot is planned through the mapping point, of attitude spinors. As a handy method directly perceived t...The spinors applied to describe position and attitude of robot are studied. In dual spaces, the terminal trace of robot is planned through the mapping point, of attitude spinors. As a handy method directly perceived through the sense, the spinor method directly converges tracking error in the planning. It promotes the dynamic accuracy of trace operation. It is also suitable to the exerciser with redundant freedom.展开更多
An optimal motion planning scheme based on the quasi-Newton method is proposed for a rigid spacecraft with two momentum wheels. A cost functional is introduced to incorporate the control energy, the final state errors...An optimal motion planning scheme based on the quasi-Newton method is proposed for a rigid spacecraft with two momentum wheels. A cost functional is introduced to incorporate the control energy, the final state errors and the constraints on states. The motion planning for determining control inputs to minimize the cost functional is formulated as a nonlinear optimal control problem. Using the control parametrization, one can transform the infinite dimensional optimal control problem to a finite dimensional one that is solved via the quasi-Newton methods for a feasible trajectory which satisfies the nonholonomic constraint. The optimal motion planning scheme was applied to a rigid spacecraft with two momentum wheels. The simulation results show the effectiveness of the proposed optimal motion planning scheme.展开更多
After expatiating the guiding ideology,contents,standards and principles of eco-environment restoration based on enlarging terrace and de-farming,this paper discussed the planning method and technical flow of enlargin...After expatiating the guiding ideology,contents,standards and principles of eco-environment restoration based on enlarging terrace and de-farming,this paper discussed the planning method and technical flow of enlarging terrace and garden plot in a small catchment of loess hilly region by means of GIS spatial analysis technology,and then the planning method was applied in Yangou catchment.The result showed that it is practicabl,and the areas of newly-built terrace and garden plot in Yangou catchment are at least 295.06 and 4.61 hm2,so that the areas of basic farmland and garden plot reach 359.23 and 622.69 hm2.After the land use structure is regulated,the forest coverage is 48.87%,and the permanent vegetation coverage is about 75% in Yangou catchment,while sediment reduction benefit is above 80% in slope land.In agricultural development,Yangou catchment can yield 1 645.13 tons of food supplies,above 9 340 tons of apples,and can feed 7 500 sheep every year.展开更多
Taking the teaching practice of agricultural landscape planning for example,this paper uses the multi-modal teaching idea for teaching design based on traditional lecture-style teaching,including multi-modal teaching ...Taking the teaching practice of agricultural landscape planning for example,this paper uses the multi-modal teaching idea for teaching design based on traditional lecture-style teaching,including multi-modal teaching materials,multi-modal teaching methods and multi-modal teaching evaluation. The results show that this method can effectively improve students' interest in learning,reinforce the theoretical basis of agricultural landscape planning theory,and improve agricultural landscape planning practical skills. It is the active exploration of multi-modal teaching model and useful complement to traditional classroom teaching.展开更多
Autonomous-rail rapid transit(ART)is a new medium-capacity rapid transportation system with punctuality,comfort and convenience,but low-cost construction.Combined velocity planning is a critical approach to meet the r...Autonomous-rail rapid transit(ART)is a new medium-capacity rapid transportation system with punctuality,comfort and convenience,but low-cost construction.Combined velocity planning is a critical approach to meet the requirements of energy-saving and punctuality.An ART velocity pre-planning and re-planning strategy based on the combination of punctuality dynamic programming(PDP)and pseudospectral(PS)method is proposed in this paper.Firstly,the longitudinal dynamics model of ART is established by a multi-particle model.Secondly,the PDP algorithm with global optimal characteristics is adopted as the pre-planning strategy.A model for determining the number of collocation points of the real-time PS method is proposed to improve the energy-saving effect while ensuring computation efficiency.Then the enhanced PS method is utilized to design the velocity re-planning strategy.Finally,simulations are conducted in the typical scenario with sloping roads,traffic lights,and intrusion of the pedestrian.The simulation results indicate that the ART with the proposed velocity trajectory optimization strategy can meet the punctuality requirement,and obtain better economy efficiency compared with the punctuality green light optimal speed advisory(PGLOSA).展开更多
<strong>Introduction:</strong> Modern family planning methods (MFPM) prevent unwanted pregnancies, reduce fertility rate, and increase the interval between pregnancies. They prevent pregnancy by preventing...<strong>Introduction:</strong> Modern family planning methods (MFPM) prevent unwanted pregnancies, reduce fertility rate, and increase the interval between pregnancies. They prevent pregnancy by preventing fertilization or implantation of the fertilized ovum. MFPM include tubal ligation (TL), vasectomy, oral contraceptive pills, the intrauterine contraceptive device (IUCD), depot injections, sub-dermal implants, and male and female condoms. <strong>Objective: </strong>To determine the level of knowledge of modern family planning methods (MFPM) among women of reproductive age (18 - 49 years) at the Mathari North Health Center in Nairobi County, Kenya. <strong>Methods: </strong>The study conducted among women of reproductive age at Mathare North Health Center in Nairobi was a cross-sectional descriptive survey between March 2016 and November 2018. It provided both qualitative and quantitative data. The sample size comprised of 274 women of reproductive age,<em> i.e.</em> (18 - 49 years) attending antenatal and postnatal clinics at the facility. Those excluded were women below 18 years of age, as they could not give consent according to Kenyan Laws. The data were collected using an interviewer-administered structured questionnaire, which consisted of socio-demographic and characteristics, knowledge of modern family planning methods and distance from the facility. Likert scale was used to ensure that data was tabulated on daily basis and subjected to statistical manipulation using Statistical Package for Social Sciences (SPSS). <strong>Results:</strong> The four leading MFPM in use in order of acceptability were injectables, implants, intrauterine contraceptive device and pills in that order. 91% of respondents were aware or had heard about modern family planning methods. Level of education of mother and father were the two variables that influenced the uptake of MFPM with <em>p</em>-values of 0.0260 and 0.025, respectively. The study further found that knowledge of MFPM had a significant influence on their assimilation and utilization. All secondary variables considered in the research exhibit a substantial relationship concerning the use of MFPM. <strong>Conclusion:</strong> Communities around Mathari North Health Center need to be given information;education and counselling on MFPM to enable them make an informed decision and choice on their preferred method of family planning.展开更多
This work is an experimental approach based on the method of experimental plans to determine a specific formulation of a resin concrete. In this study, an unsaturated polyester resin (thermosetting resin) was used w...This work is an experimental approach based on the method of experimental plans to determine a specific formulation of a resin concrete. In this study, an unsaturated polyester resin (thermosetting resin) was used with two types of mineral fillers (dune sand and crushed sand), and with the addition of a marble powder to ensure the continuity of the particle size mixing granular. The lack of the methods for developing this kind of composite materials, had led us to perform an initial experimental approach to define the experimental field, that is to say determine the mass proportions of the various compounds of mixture of our study. In the second approach, we have established and implemented fully experimental plans with three factors namely: factor (1): sand, factor (2): resin, factor (3): marble powder. Test results being the density of polymer concrete and the mechanical resistances. Finally, multi-parameters regression allowed us to determine predictive mathematical models for the different responses of the study. Tests results showed that at three days we got a tensile strength of about 16 MPa with a resin concrete density of 1.9 g/cm3. This shows the advantages of this material.展开更多
For facing the challenges brought by large-scale renewable energy having access to the system and considering the key technologies of energy Internet,it is very necessary to put forward the location method of distribu...For facing the challenges brought by large-scale renewable energy having access to the system and considering the key technologies of energy Internet,it is very necessary to put forward the location method of distribution network equipment and capacity from the perspective of life cycle cost.Compared with the traditional energy network,the equipment capacity problem of energy interconnected distribution network which involves in electricity network,thermal energy network and natural gas network is comprehensively considered in this paper.On this basis,firstly,the operation architecture of energy interconnected distribution network is designed.Secondly,taking the grid connection location and configuration capacity of key equipment in the system as the control variables and the operation cost of system comprehensive planning in the whole life cycle as the goal,the equipment location and capacity optimization model of energy interconnected distribution network is established.Finally,an IEEE 33 bus energy mutual distribution grid system is taken for example analysis,and the improved chaotic particle swarmoptimization algorithm is used to solve it.The simulation results show that the method proposed in this paper is suitable for the equipment location and capacity planning of energy interconnected distribution network,and it can effectively improve the social and economic benefits of system operation.展开更多
The generation expansion planning is one of complex mixed-integer optimization problems, which involves a large number of continuous or discrete decision variables and constraints. In this paper, an interior point wit...The generation expansion planning is one of complex mixed-integer optimization problems, which involves a large number of continuous or discrete decision variables and constraints. In this paper, an interior point with cutting plane (IP/CP) method is proposed to solve the mixed-integer optimization problem of the electrical power generation expansion planning. The IP/CP method could improve the overall efficiency of the solution and reduce the computational time. Proposed method is combined with the Bender's decomposition technique in order to decompose the generation expansion problem into a master investment problem and a slave operational problem. The numerical example is presented to compare with the effectiveness of the proposed algorithm.展开更多
This paper aims to present a methodology for use in construction planning named the Repetitive Scheduling Method(RSM).Students on a graduate level construction management program can learn how to create a RSM schedule...This paper aims to present a methodology for use in construction planning named the Repetitive Scheduling Method(RSM).Students on a graduate level construction management program can learn how to create a RSM schedule to be applied to a real project.Typically,the Critical Path Method(CPM)is used to plan general construction projects.This paper presents a case study wherein a CPM diagram is transformed into a RSM schedule for use in the construction of a green condominium.RSM is the most suitable tool for planning repetitive projects like condominium buildings,apartment complexes,or real estate development projects.It utilizes an uninterrupted flow of resource concept in order to eliminate manpower-related resource wastage.As a result,construction productivity can be improved by using the right construction planning tool on the right project.Interested graduate students researching construction engineering can apply RSM on their repetitive projects in the future.展开更多
By integrating deep neural networks with reinforcement learning,the Double Deep Q Network(DDQN)algorithm overcomes the limitations of Q-learning in handling continuous spaces and is widely applied in the path planning...By integrating deep neural networks with reinforcement learning,the Double Deep Q Network(DDQN)algorithm overcomes the limitations of Q-learning in handling continuous spaces and is widely applied in the path planning of mobile robots.However,the traditional DDQN algorithm suffers from sparse rewards and inefficient utilization of high-quality data.Targeting those problems,an improved DDQN algorithm based on average Q-value estimation and reward redistribution was proposed.First,to enhance the precision of the target Q-value,the average of multiple previously learned Q-values from the target Q network is used to replace the single Q-value from the current target Q network.Next,a reward redistribution mechanism is designed to overcome the sparse reward problem by adjusting the final reward of each action using the round reward from trajectory information.Additionally,a reward-prioritized experience selection method is introduced,which ranks experience samples according to reward values to ensure frequent utilization of high-quality data.Finally,simulation experiments are conducted to verify the effectiveness of the proposed algorithm in fixed-position scenario and random environments.The experimental results show that compared to the traditional DDQN algorithm,the proposed algorithm achieves shorter average running time,higher average return and fewer average steps.The performance of the proposed algorithm is improved by 11.43%in the fixed scenario and 8.33%in random environments.It not only plans economic and safe paths but also significantly improves efficiency and generalization in path planning,making it suitable for widespread application in autonomous navigation and industrial automation.展开更多
Introduction: Postpartum family planning is the prevention of pregnancies during the 12 months following childbirth. Few studies have been devoted to postpartum family planning in Mali. Our work will contribute to red...Introduction: Postpartum family planning is the prevention of pregnancies during the 12 months following childbirth. Few studies have been devoted to postpartum family planning in Mali. Our work will contribute to reducing unmet need for family planning. Objective: To study the use of contraceptive methods in the postpartum period in the obstetrics and gynecology unit of Timbuktu hospital. Materials and Methods: This was a descriptive and analytical cross-sectional study with prospective collection of data from January 1, 2022 to December 31, 2023. All women who gave birth having chosen and benefited from a contraceptive method were included. The statistical test used was the Fisher test with a significance threshold fixed at 5%. Results: The frequency of contraception in the postpartum period was 17.03%. The average age of clients was 26.14% with extremes of 14 and 45 years. They were paupiparous at 56.4% with an inter-birth interval of less than 12 months at 12.3%. More than half of the counseling (58.5%) was done during postnatal visits. The methods chosen were implants at 48.1%, injectable progestins at 21.3%, intrauterine device at 14.7%, miro-progestin pills at 13.5%, tubal ligation at 1 .4% and condoms at 1%. The regular follow-up rate was 51.1% of cases and 25.6% had no follow-up. Conclusion: The overall rate of postpartum family planning of 17.08% remains low. Improving FP staff skills will reduce unmet needs and contribute to increasing contraceptive prevalence in Timbuktu.展开更多
基金funded by the project entitled Technical Countermeasures for the Quantitative Characterization and Adjustment of Residual Gas in Tight Sandstone Gas Reservoirs of the Daniudi Gas Field(P20065-1)organized by the Science&Technology R&D Department of Sinopec.
文摘Based on an analysis of the limitations of conventional production component methods for natural gas development planning,this study proposes a new one that uses life cycle models for the trend fitting and prediction of production.In this new method,the annual production of old and new wells is predicted by year first and then is summed up to yield the production for the planning period.It shows that the changes in the production of old wells in old blocks can be fitted and predicted using the vapor pressure model(VPM),with precision of 80%e95%,which is 6.6%e13.2%higher than that of other life cycle models.Furthermore,a new production prediction process and method for new wells have been established based on this life cycle model to predict the production of medium-to-shallow gas reservoirs in western Sichuan Basin,with predication error of production rate in 2021 and 2022 being 6%and 3%respectively.The new method can be used to guide the medium-and long-term planning or annual scheme preparation for gas development.It is also applicable to planning for large single gas blocks that require continuous infill drilling and adjustment to improve gas recovery.
文摘A new dynamic path planning method in high dimensional workspace, radial based probabilistic roadmap motion (RBPRM) planning method, is presented. Different from general probabilistic roadmap motion planning methods, it uses straight lines as long as possible to construct a path graph, so the final path obtained from the graph is relatively shorter and straighter. Experimental results show the efficiency of the algorithm in finding shorter paths in sparse environment.
基金financially supported by the National Natural Science Foundation of China(Grant No.51879049)DK-I Dynamic Positioning System Console Project
文摘The problem of the unmanned surface vessel (USV) path planning in static and dynamic obstacle environments is addressed in this paper. Multi-behavior fusion based potential field method is proposed, which contains three behaviors: goal-seeking, boundary-memory following and dynamic-obstacle avoidance. Then, different activation conditions are designed to determine the current behavior. Meanwhile, information on the positions, velocities and the equation of motion for obstacles are detected and calculated by sensor data. Besides, memory information is introduced into the boundary following behavior to enhance cognition capability for the obstacles, and avoid local minima problem caused by the potential field method. Finally, the results of theoretical analysis and simulation show that the collision-free path can be generated for USV within different obstacle environments, and further validated the performance and effectiveness of the presented strategy.
基金National Natural Science Foundation of China(Grant Nos.51925502,51575150).
文摘To avoid impacts and vibrations during the processes of acceleration and deceleration while possessing flexible working ways for cable-suspended parallel robots(CSPRs),point-to-point trajectory planning demands an under-constrained cable-suspended parallel robot(UCPR)with variable angle and height cable mast as described in this paper.The end-effector of the UCPR with three cables can achieve three translational degrees of freedom(DOFs).The inverse kinematic and dynamic modeling of the UCPR considering the angle and height of cable mast are completed.The motion trajectory of the end-effector comprising six segments is given.The connection points of the trajectory segments(except for point P3 in the X direction)are devised to have zero instantaneous velocities,which ensure that the acceleration has continuity and the planned acceleration curve achieves smooth transition.The trajectory is respectively planned using three algebraic methods,including fifth degree polynomial,cycloid trajectory,and double-S velocity curve.The results indicate that the trajectory planned by fifth degree polynomial method is much closer to the given trajectory of the end-effector.Numerical simulation and experiments are accomplished for the given trajectory based on fifth degree polynomial planning.At the points where the velocity suddenly changes,the length and tension variation curves of the planned and unplanned three cables are compared and analyzed.The OptiTrack motion capture system is adopted to track the end-effector of the UCPR during the experiment.The effectiveness and feasibility of fifth degree polynomial planning are validated.
基金Supported by the Research Fund for the Doctoral Program of Higher Education from the Ministry of Education
文摘In this paper we present two strategies of AUV (Autonomous Underwater Vehicle) region detection and an approach to decompose the detection region according to the direction of the ocean current. In the task of local detection and identification, the algorithm against the ocean current was proposed. In the tasks of closing obstacle, going back or moving, the fuzzy logic theory was used to solve the effect of ocean current. In one of our strategies the concept of weighted journey based on the angle between heading and ocean current is suggested and the TSP's exact optimal result is utilized to solve the global path planning. Simulations demonstrate the feasibility of this approach.
文摘The spinors applied to describe position and attitude of robot are studied. In dual spaces, the terminal trace of robot is planned through the mapping point, of attitude spinors. As a handy method directly perceived through the sense, the spinor method directly converges tracking error in the planning. It promotes the dynamic accuracy of trace operation. It is also suitable to the exerciser with redundant freedom.
基金Project supported by the National Natural Science Foundation of China (No. 10372014).
文摘An optimal motion planning scheme based on the quasi-Newton method is proposed for a rigid spacecraft with two momentum wheels. A cost functional is introduced to incorporate the control energy, the final state errors and the constraints on states. The motion planning for determining control inputs to minimize the cost functional is formulated as a nonlinear optimal control problem. Using the control parametrization, one can transform the infinite dimensional optimal control problem to a finite dimensional one that is solved via the quasi-Newton methods for a feasible trajectory which satisfies the nonholonomic constraint. The optimal motion planning scheme was applied to a rigid spacecraft with two momentum wheels. The simulation results show the effectiveness of the proposed optimal motion planning scheme.
基金Supported by National Natural Science Foundation of China(41171449)Key Project of Chinese Academy of Sciences(KZZD-EW-06-01)
文摘After expatiating the guiding ideology,contents,standards and principles of eco-environment restoration based on enlarging terrace and de-farming,this paper discussed the planning method and technical flow of enlarging terrace and garden plot in a small catchment of loess hilly region by means of GIS spatial analysis technology,and then the planning method was applied in Yangou catchment.The result showed that it is practicabl,and the areas of newly-built terrace and garden plot in Yangou catchment are at least 295.06 and 4.61 hm2,so that the areas of basic farmland and garden plot reach 359.23 and 622.69 hm2.After the land use structure is regulated,the forest coverage is 48.87%,and the permanent vegetation coverage is about 75% in Yangou catchment,while sediment reduction benefit is above 80% in slope land.In agricultural development,Yangou catchment can yield 1 645.13 tons of food supplies,above 9 340 tons of apples,and can feed 7 500 sheep every year.
基金Supported by Education and Teaching Reform and Research Project of Xi'an University of Science and Technology(JG14110)Cultivation Fund of Xi'an University of Science and Technology(201640)Science and Technology Innovation Team Fund of College of Architecture and Civil Engineering(17JGCXTD004)
文摘Taking the teaching practice of agricultural landscape planning for example,this paper uses the multi-modal teaching idea for teaching design based on traditional lecture-style teaching,including multi-modal teaching materials,multi-modal teaching methods and multi-modal teaching evaluation. The results show that this method can effectively improve students' interest in learning,reinforce the theoretical basis of agricultural landscape planning theory,and improve agricultural landscape planning practical skills. It is the active exploration of multi-modal teaching model and useful complement to traditional classroom teaching.
基金Supported by National Natural Science Foundation of China(Grant Nos.52072073 and 52025121)National Key R&D Program of China(Grant No.2018YFB1201602).
文摘Autonomous-rail rapid transit(ART)is a new medium-capacity rapid transportation system with punctuality,comfort and convenience,but low-cost construction.Combined velocity planning is a critical approach to meet the requirements of energy-saving and punctuality.An ART velocity pre-planning and re-planning strategy based on the combination of punctuality dynamic programming(PDP)and pseudospectral(PS)method is proposed in this paper.Firstly,the longitudinal dynamics model of ART is established by a multi-particle model.Secondly,the PDP algorithm with global optimal characteristics is adopted as the pre-planning strategy.A model for determining the number of collocation points of the real-time PS method is proposed to improve the energy-saving effect while ensuring computation efficiency.Then the enhanced PS method is utilized to design the velocity re-planning strategy.Finally,simulations are conducted in the typical scenario with sloping roads,traffic lights,and intrusion of the pedestrian.The simulation results indicate that the ART with the proposed velocity trajectory optimization strategy can meet the punctuality requirement,and obtain better economy efficiency compared with the punctuality green light optimal speed advisory(PGLOSA).
文摘<strong>Introduction:</strong> Modern family planning methods (MFPM) prevent unwanted pregnancies, reduce fertility rate, and increase the interval between pregnancies. They prevent pregnancy by preventing fertilization or implantation of the fertilized ovum. MFPM include tubal ligation (TL), vasectomy, oral contraceptive pills, the intrauterine contraceptive device (IUCD), depot injections, sub-dermal implants, and male and female condoms. <strong>Objective: </strong>To determine the level of knowledge of modern family planning methods (MFPM) among women of reproductive age (18 - 49 years) at the Mathari North Health Center in Nairobi County, Kenya. <strong>Methods: </strong>The study conducted among women of reproductive age at Mathare North Health Center in Nairobi was a cross-sectional descriptive survey between March 2016 and November 2018. It provided both qualitative and quantitative data. The sample size comprised of 274 women of reproductive age,<em> i.e.</em> (18 - 49 years) attending antenatal and postnatal clinics at the facility. Those excluded were women below 18 years of age, as they could not give consent according to Kenyan Laws. The data were collected using an interviewer-administered structured questionnaire, which consisted of socio-demographic and characteristics, knowledge of modern family planning methods and distance from the facility. Likert scale was used to ensure that data was tabulated on daily basis and subjected to statistical manipulation using Statistical Package for Social Sciences (SPSS). <strong>Results:</strong> The four leading MFPM in use in order of acceptability were injectables, implants, intrauterine contraceptive device and pills in that order. 91% of respondents were aware or had heard about modern family planning methods. Level of education of mother and father were the two variables that influenced the uptake of MFPM with <em>p</em>-values of 0.0260 and 0.025, respectively. The study further found that knowledge of MFPM had a significant influence on their assimilation and utilization. All secondary variables considered in the research exhibit a substantial relationship concerning the use of MFPM. <strong>Conclusion:</strong> Communities around Mathari North Health Center need to be given information;education and counselling on MFPM to enable them make an informed decision and choice on their preferred method of family planning.
文摘This work is an experimental approach based on the method of experimental plans to determine a specific formulation of a resin concrete. In this study, an unsaturated polyester resin (thermosetting resin) was used with two types of mineral fillers (dune sand and crushed sand), and with the addition of a marble powder to ensure the continuity of the particle size mixing granular. The lack of the methods for developing this kind of composite materials, had led us to perform an initial experimental approach to define the experimental field, that is to say determine the mass proportions of the various compounds of mixture of our study. In the second approach, we have established and implemented fully experimental plans with three factors namely: factor (1): sand, factor (2): resin, factor (3): marble powder. Test results being the density of polymer concrete and the mechanical resistances. Finally, multi-parameters regression allowed us to determine predictive mathematical models for the different responses of the study. Tests results showed that at three days we got a tensile strength of about 16 MPa with a resin concrete density of 1.9 g/cm3. This shows the advantages of this material.
基金The authors received specific funding for State Grid Corporation Headquarters Project Support,Key Technologies and Applications of Planning and Decision-Making Based on the Full Cost Chain of the Power Grid,Grant No.5205331800001.
文摘For facing the challenges brought by large-scale renewable energy having access to the system and considering the key technologies of energy Internet,it is very necessary to put forward the location method of distribution network equipment and capacity from the perspective of life cycle cost.Compared with the traditional energy network,the equipment capacity problem of energy interconnected distribution network which involves in electricity network,thermal energy network and natural gas network is comprehensively considered in this paper.On this basis,firstly,the operation architecture of energy interconnected distribution network is designed.Secondly,taking the grid connection location and configuration capacity of key equipment in the system as the control variables and the operation cost of system comprehensive planning in the whole life cycle as the goal,the equipment location and capacity optimization model of energy interconnected distribution network is established.Finally,an IEEE 33 bus energy mutual distribution grid system is taken for example analysis,and the improved chaotic particle swarmoptimization algorithm is used to solve it.The simulation results show that the method proposed in this paper is suitable for the equipment location and capacity planning of energy interconnected distribution network,and it can effectively improve the social and economic benefits of system operation.
文摘The generation expansion planning is one of complex mixed-integer optimization problems, which involves a large number of continuous or discrete decision variables and constraints. In this paper, an interior point with cutting plane (IP/CP) method is proposed to solve the mixed-integer optimization problem of the electrical power generation expansion planning. The IP/CP method could improve the overall efficiency of the solution and reduce the computational time. Proposed method is combined with the Bender's decomposition technique in order to decompose the generation expansion problem into a master investment problem and a slave operational problem. The numerical example is presented to compare with the effectiveness of the proposed algorithm.
文摘This paper aims to present a methodology for use in construction planning named the Repetitive Scheduling Method(RSM).Students on a graduate level construction management program can learn how to create a RSM schedule to be applied to a real project.Typically,the Critical Path Method(CPM)is used to plan general construction projects.This paper presents a case study wherein a CPM diagram is transformed into a RSM schedule for use in the construction of a green condominium.RSM is the most suitable tool for planning repetitive projects like condominium buildings,apartment complexes,or real estate development projects.It utilizes an uninterrupted flow of resource concept in order to eliminate manpower-related resource wastage.As a result,construction productivity can be improved by using the right construction planning tool on the right project.Interested graduate students researching construction engineering can apply RSM on their repetitive projects in the future.
基金funded by National Natural Science Foundation of China(No.62063006)Guangxi Science and Technology Major Program(No.2022AA05002)+1 种基金Key Laboratory of AI and Information Processing(Hechi University),Education Department of Guangxi Zhuang Autonomous Region(No.2022GXZDSY003)Central Leading Local Science and Technology Development Fund Project of Wuzhou(No.202201001).
文摘By integrating deep neural networks with reinforcement learning,the Double Deep Q Network(DDQN)algorithm overcomes the limitations of Q-learning in handling continuous spaces and is widely applied in the path planning of mobile robots.However,the traditional DDQN algorithm suffers from sparse rewards and inefficient utilization of high-quality data.Targeting those problems,an improved DDQN algorithm based on average Q-value estimation and reward redistribution was proposed.First,to enhance the precision of the target Q-value,the average of multiple previously learned Q-values from the target Q network is used to replace the single Q-value from the current target Q network.Next,a reward redistribution mechanism is designed to overcome the sparse reward problem by adjusting the final reward of each action using the round reward from trajectory information.Additionally,a reward-prioritized experience selection method is introduced,which ranks experience samples according to reward values to ensure frequent utilization of high-quality data.Finally,simulation experiments are conducted to verify the effectiveness of the proposed algorithm in fixed-position scenario and random environments.The experimental results show that compared to the traditional DDQN algorithm,the proposed algorithm achieves shorter average running time,higher average return and fewer average steps.The performance of the proposed algorithm is improved by 11.43%in the fixed scenario and 8.33%in random environments.It not only plans economic and safe paths but also significantly improves efficiency and generalization in path planning,making it suitable for widespread application in autonomous navigation and industrial automation.
文摘Introduction: Postpartum family planning is the prevention of pregnancies during the 12 months following childbirth. Few studies have been devoted to postpartum family planning in Mali. Our work will contribute to reducing unmet need for family planning. Objective: To study the use of contraceptive methods in the postpartum period in the obstetrics and gynecology unit of Timbuktu hospital. Materials and Methods: This was a descriptive and analytical cross-sectional study with prospective collection of data from January 1, 2022 to December 31, 2023. All women who gave birth having chosen and benefited from a contraceptive method were included. The statistical test used was the Fisher test with a significance threshold fixed at 5%. Results: The frequency of contraception in the postpartum period was 17.03%. The average age of clients was 26.14% with extremes of 14 and 45 years. They were paupiparous at 56.4% with an inter-birth interval of less than 12 months at 12.3%. More than half of the counseling (58.5%) was done during postnatal visits. The methods chosen were implants at 48.1%, injectable progestins at 21.3%, intrauterine device at 14.7%, miro-progestin pills at 13.5%, tubal ligation at 1 .4% and condoms at 1%. The regular follow-up rate was 51.1% of cases and 25.6% had no follow-up. Conclusion: The overall rate of postpartum family planning of 17.08% remains low. Improving FP staff skills will reduce unmet needs and contribute to increasing contraceptive prevalence in Timbuktu.