Harvard Plan Targets Low-Income Students

美国哈佛大学向美国的贫困或中等收入的家庭发出了一个信息:Wewant to send the strongest possible message that Harvard is open to talentedstudents from all economic backgrounds.所谓贫困家庭的学生,英语有一个委婉说法:students from disadvantaged(贫困的)backgrounds。其标准是:家庭的年收入在40,000到60,000美元之间。该大学将如何在经济上“照顾”这些学子呢?文章讲得很清楚,包括以下方面:it will waive(放弃)application fees,payfor travel for campus visits and make funds available for books,winter clothing,medical care and other extraordinary expenses.本文还出现了一个精彩表达,似乎一下子很难译成汉语:colleges with competitive admissions(在招生方面具有竞争力的学校)

THE NINTH FIVE-YEAR PLAN AND LONG-TERM TARGET BY 2010 FOR CHINA'S FOOD INDUSTRY

The"Ninth Five-Year Plan for theNational Economy and SocialDevelopment and the Long-TermTarget by the Year 2010" adopted at theFourth Session of the Eighth National People’sCongress have opened up a vast new worldfor the development of China’s food industry.The food industry should seize the opportunityto strengthen itself and speed up itsdevelopment for meeting the needs ofimproving the people’s living standards andperform well in modernized socialistconstruction.

Hybrid hierarchical trajectory planning for a fixed-wing UCAV performing air-to-surface multi-target attack

This paper considers the problem of generating a flight trajectory for a single fixed-wing unmanned combat aerial vehicle （UCAV） performing an air-to-surface multi-target attack （A/SMTA） mission using satellite-guided bombs. First, this problem is formulated as a variant of the traveling salesman problem （TSP）, called the dynamic-constrained TSP with neighborhoods （DCT- SPN）. Then, a hierarchical hybrid approach, which partitions the planning algorithm into a roadmap planning layer and an optimal control layer, is proposed to solve the DCTSPN. In the roadmap planning layer, a novel algorithm based on an updatable proba- bilistic roadmap （PRM） is presented, which operates by randomly sampling a finite set of vehicle states from continuous state space in order to reduce the complicated trajectory planning problem to planning on a finite directed graph. In the optimal control layer, a collision-free state-to-state trajectory planner based on the Gauss pseudospectral method is developed, which can generate both dynamically feasible and optimal flight trajectories. The entire process of solving a DCTSPN consists of two phases. First, in the offline preprocessing phase, the algorithm constructs a PRM, and then converts the original problem into a standard asymmet- ric TSP （ATSP）. Second, in the online querying phase, the costs of directed edges in PRM are updated first, and a fast heuristic searching algorithm is then used to solve the ATSP. Numerical experiments indicate that the algorithm proposed in this paper can generate both feasible and near-optimal solutions quickly for online purposes.

改进RRT算法的全向机器人路径规划

针对快速扩展随机树(RRT)算法在进行全局路径规划时生成路径时间长,长度长,在采样时缺乏目标导引性。所以改进了一种目标偏向采样策略,通过引入由初始点,终点,障碍物和随机点构成的虚拟力场,促使随机采样导向目标点。对于障碍物远近的影响,设定障碍物影响的阈值,引入了自适应系数λ,在扩展步长方面,加入了角度约束,根据偏向目标点角度,选择不同的扩展步长。引入冗余节点剔除策略,缩短路径长度,最后加入贪心策略,减少不必要采样节点的个数。首先,在MATLAB2018a仿真进行实验对比,其次在实际环境中进行实验。实验结果显示,在路径搜索时间,拐点数量以及路径距离等均有明显的提高。

Target for Power Construction in 9th Five-year Plan Period Set-up

According to the National Meeting on Power Construction and Cost Control held in Beijing on 26th August 1996, the target for power construction in the period of 9th Five- year Plan is set-up as follows:

China Attains Targets in National Human Rights Action Plan

In April 2009, after receiving ap- proval from the State Council, the Information Office of the State Council published the NationalHuman Rights Action Plan of China （2009-2010）. It is China＇s first national plan on the theme of human rights, and serves as a policy document of the current stage for advancing China＇s human rights in a comprehensive way. It is an important move to implement the constitutional principle of respect- ing and safeguarding human rights, and to promote sustainable development and social harmony. It is also a solemn commitment to the world made by the Chinese government on human rights.

目标区域引导的RRT^(*)机械臂路径规划算法

针对传统RRT^(*)算法在机械臂路径规划的过程中存在规划效率低、路径质量不佳、机械臂位姿不当等问题,提出一种目标区域引导的RRT^(*)机械臂路径规划算法(TA-RRT^(*))。在传统RRT^(*)算法基础上,引入目标偏向策略并使用球形子集约束采样,缩小采样范围并使新节点朝向目标点扩展,增强目标导向性;对新节点采用直连策略,让算法可以更快地收敛从而提升路径生成速度。对初始规划路径去除冗余点并使用三次B样条曲线转换成平滑路径,优化了路径质量。对机械臂进行位姿约束,通过机械臂逆运动学判断机械臂连杆位姿可达性,并利用包络盒模型判断机械臂是否与障碍物碰撞。实验结果表明,在二维以及三维场景下,TA-RRT^(*)算法在采样次数、规划时间、路径长度以及平滑度等方面的性能均优于RRT^(*)算法,验证了该方法的正确性及可行性。机械臂仿真实验以及在真实环境下的测试结果显示,加入位姿约束后机械臂运行规划好的轨迹时,机械臂各个关节在运行规划路径的过程中并未与障碍物发生碰撞且具有良好的稳定性。

融合目标检测与DWA算法的AGV路径

针对AGV(Automated Guided Vehicle)叉车处于环境信息未知或环境动态变化情况下的路径规划及导航问题,文中提出了一种由YOLOv5(You Only Look Once version 5)目标检测算法获取目标位置。根据目标位置规划出全局基础路径,再融合DWA(Dynamic Window Approach)局部动态路径规划算法进行AGV路径规划与导航,使AGV叉车在未知环境或局部环境信息未知的环境中能快速识别目标位置并完成路径规划到达目标位置。实验结果表明,相较于改进前方法,文中所提方法在路径长度、耗费时间以及AGV叉车航向误差方面均有良好表现,路径长度平均减少12%,耗费时间平均减少约5%且AGV航向与目标航向的平均误差在5°以内。所提方法提高了AGV叉车在未知环境中的工作效率以及工作灵活性。

Complex Target Volume Delineation and Treatment Planning in Radiotherapy for Malignant Pleural Mesothelioma (MPM)

Introduction: Radiotherapy alone or combined with surgery and/or chemotherapy is being investigated in the treatment of malignant pleural mesothelioma (MPM). This study aimed to simulate a Volumetric Modulated Arc Therapy (VMAT) treatment of a patient with MPM. Materials and Methods: CT images from a patient with intact lungs were imported via DICOM into the Pinnacle3 treatment planning (TP) system (TPS) and used as a model for MPM to delineate organs at risk (OAR) and both clinical and planning target volumes (CTV and PTV) with a margin of 5 mm. Elekta Synergy with 6 MV photons and 80 leafs MLCi2 was employed. VMAT plans were generated using two coplanar arcs with gantry rotation angles of 178° - 182°, the collimator angles of each arc were set to 90°, Octavius® 4D 729 was employed for quality assurance while the calculated and measured doses were compared using VeriSoft. Results: A TP was achieved. The Gamma volume analysis with criteria of 3 mm distance to agreement and 3% dose difference yielded the gamma passing rate = 99.9%. The reference isodose was 42.75 Gy with the coverage constraints for the PTV D95 and V95 = 95.0% of 45 Gy. The remaining dosimetric parameters met the recommendations from the clinically acceptable guidelines for the radiotherapy of MPM. Conclusion: Using well-defined TV and VMAT, a consistent TP compared to similar ones from publications was achieved. We obtained a high agreement between the 3D dose reconstructed and the dose calculated.

CEV模型下目标收益型养老金的最优投资和支付策略

该文研究了目标收益计划下养老金的最优投资策略和支付策略.养老金的支付取决于计划的财务状况,且风险由不同代人分担.养老基金可以投资于无风险资产和风险资产,其中风险资产价格由几何布朗运动模型推广为常方差弹性(CEV)模型来驱动.以最小化收益风险和福利风险的组合为目标,利用动态规划原理和HJB方程,推导出了最优投资策略和最优福利调整的闭型解.最后,数值实例分析了模型参数对控制问题的影响.

Evaluation of 3D-CRT and VMAT Radiotherapy Plans for Left Breast Cancer with Regional Lymph Nodes Irradiation

Introduction: Radiation therapy after breast surgery is an integral part of the treatment of early breast cancer. The goal of radiation therapy is to achieve the best possible coverage of the planning target volume (PTV), while reducing the dose to organs at risk (OARs) which are normal tissues whose sensitivity to irradiation could cause damage that can lead to modification of the treatment plan. In the last decade, radiation oncologist started to use the Intensity Modulated Radiotherapy (IMRT) and Volumetric Modulated Arc Therapy (VMAT) for irradiating the breast, in order to achieve better dose distribution and target dose to the PTV and OAR. The aim of this study is to compare 2 external radiotherapy techniques (VMAT vs 3D) for patients with node-positive left breast cancer. Patients and Methods: We randomly selected 10 cases of postoperative radiotherapy for breast cancer in our hospital. The patients are all female, the average age was 45.4 years old, and the primary lesions are left breast. The ANOVA test was used to compare the mean difference between subgroups, and the p value Results: Dose volume histogram (DVH) was used to analyze each evaluation dose of clinical target volume (CTV) and organs at risk (OARs). Compared to 3DCRT plans, VMAT provided more uniform coverage to the breast and regional lymph nodes. The max point dose for tVMAT was lower on average (106.4% for VMAT versus 109% for 3DCRT). OAR sparing was improved with tVMAT, with a lower average V17Gy for the left lung (27.91% for VMAT versus 30.04% for 3DCRT, p and lower for V28Gy (13.75% for VMAT versus 22.34% for 3DCRT, p = 0.01). We also found a lower V35Gy for the heart on VMAT plan (p = 0.02). On the contrary, dose of contralateral breast was lower in 3DCRT than VMAT (0.59 Gy vs 3.65 Gy, p = 0.00). Conclusion: The both types of plans can meet the clinical dosimetry demands of postoperative radiotherapy for left breast cancer. The VMAT plan has a better conformity, but 3CDRT can provide a lower dose to the contralateral organs (breast and lung) to avoid the risk of secondary cancers.

改进人工势场算法的路径规划

人工势场法是一种适用于局部路径规划的算法,针对人工势场法存在的目标不可达、局部极小值等固有缺陷,提出了一种改进后的人工势场法。首先针对目标不可达问题,将引力影响因子添加到斥力场的生成中,改进斥力场函数,从而避免引力与斥力合力为零的情况。针对局部极小值问题,通过设立虚拟目标点来引入额外外力,打破机器人的平衡问题。通过与其他算法的对比实验,仿真结果显示,改进人工势场法规划的路径长度和消耗时间都更短,稳定性更强。

目标教学法结合PDCA循环在呼吸科规培护士临床教学中的应用

目的探讨目标教学法结合计划(plan)、执行(do)、检查(check)和处理(act)(PDCA)管理模式在呼吸内科规培护士临床教学中的应用价值。方法选取2021年1月—2022年12月进入呼吸内科轮转的64名规培护士作为研究对象,根据入科时间分为对照组和试验组,各32名。对照组采用传统临床教学模式,试验组采用目标教学法结合PDCA管理临床教学模式。对比2组规培护士的考核评分、出科综合素质评分及满意度评分。结果试验组的操作成绩[(96.05±1.57)分],高于对照组[(94.91±1.51)分],差异有统计学意义(P<0.05)。试验组规培护士的沟通协调、专业知识、专业技能、安全意识、解决问题应急能力评分高于对照组,差异均有统计学意义(P<0.05)。试验组满意度平均分为(92.31±1.31)分,高于对照组的(91.07±0.59)分,差异有统计学意义(P<0.05)。结论目标教学法结合PDCA管理临床教学模式有助于提高呼吸内科规培护士的临床操作水平,利于高素质护理人才的培养,同时提升了规培护士的满意度。

基于改进人工势场算法的煤矿井下机器人路径规划

路径规划是煤矿机器人在煤矿井下狭小巷道空间中应用亟待解决的关键技术之一。针对传统人工势场(APF)算法在狭小巷道环境中规划出的路径可能离巷道边界过近,以及在障碍物附近易出现目标不可达和路径振荡等问题,提出了一种基于改进APF算法的煤矿机器人路径规划方法。参考《煤矿安全规程》有关规定建立了巷道两帮边界势场,将机器人行驶路径尽量规划在巷道中间,以提高机器人行驶安全性;在障碍物斥力势场中引入调节因子,以解决目标不可达问题;引入转角限制系数以平滑规划出的路径,减少振荡,提高规划效率,保证规划路径的安全性。仿真结果表明:当目标点离障碍物很近时,改进APF算法可成功规划出能够抵达目标点的路径;改进APF算法规划周期数较传统算法平均减少了14.48%,转向角度变化累计值平均减少了87.41%,曲率绝对值之和平均减少了78.09%,表明改进APF算法规划的路径更加平滑,路径长度更短,规划效率和安全性更高。

轻小型SAR卫星平飞模式设计

对于轻小型合成孔径雷达(SAR)卫星在轨使用时对重点区域多目标观测效能提升的需求,提出轻小型SAR卫星平飞模式设计方法。介绍了卫星平飞模式设计方法,提出载荷平面相控阵天线距离维大角度扫描能力设计;针对区域多目标,提出条件触发方式目标决策策略,以及星上雷达工作参数计算策略;基于建立的目标决策和任务规划模型,分别针对卫星左侧视、在侧视、平飞、左右机动侧视等4种工作模式下进行多目标观测效能评估仿真分析。结果表明:相比于卫星斜飞模式下,平飞模式目标观测效能可提升至41%;相比于卫星左右机动侧视模式下,平飞模式目标观测效能可提升至73%。因此,设计的卫星平飞模式可有效提升面向区域多目标的观测效能。

基于4D-CT的三种呼吸门控技术对肺癌立体定向放射治疗计划靶区及正常组织器官体积、受照剂量的影响

目的:探讨基于4D-CT的三种呼吸门控技术对肺癌立体定向放射治疗(SBRT)计划靶区及正常组织器官体积、受照剂量的影响。方法:收集108例肺癌患者的病例资料,比较患者在基于4D-CT的三种呼吸门控技术下接受SBRT治疗的肿瘤靶区(GTV)、计划靶区(PTV)体积和受照剂量,并比较三种呼吸门控技术下正常组织的受照剂量。结果:三种不同技术下,患者GTV与PTV体积比较存在统计学意义差异(均P<0.05),其中自由呼吸(FB)技术下的GTV与PTV体积较主动呼吸控制(ABC)、呼吸门控(RG)技术下高,RG技术下GTV与PTV体积较ABC技术下高(均P<0.05);三种不同技术下PTV受照剂量参数靶区适形度指数(CI)水平差异无统计学意义(均P>0.05);三种不同技术下PTV受照剂量参数靶区剂量均匀性指数(HI)、GI水平差异有统计学意义(均P<0.05);其中FB技术下的GI较ABC技术和RG技术下低,HI水平较ABC技术和RG技术下高,ABC技术下的HI水平较RG技术下低(均P<0.05);三种不同技术下心脏、大血管、气管、食管以及脊髓的受照剂量比较差异无统计学意义(均P>0.05);三种不同技术下双肺V_(5)、V_(20)以及平均照射剂量(MLD)比较差异有统计学意义(均P<0.05);FB技术下的V_(5)、V_(20)以及MLD较ABC、RG技术下高,RG技术下V_(5)、V_(20)以及MLD较ABC技术下高(均P<0.05)。结论:基于4D-CT的ABC与RG技术相较于FB技术更有利于缩小靶区体积,提高治疗剂量,同时更有利于降低病灶危及器官与组织的受照剂量。

辅助视障出行融合障碍物检测的路径规划研究进展

视障人士是社会中的弱势群体,独立出行面临重重障碍.为视障人士提供安全可靠的辅助设备体现了社会文明的进步.介绍了辅助视障出行有关的障碍物检测识别关键技术和路径规划相关算法.重点对障碍物检测之后的路径规划算法进行分析,综合对比各种技术的应用特点及场景并讨论了相关方法在视障辅助设备中的研究进展.总结了多技术融合使用在智能辅助设备中的应用现状.在此基础上,结合人工智能及嵌入式设备等技术的进步展望了未来辅助视障出行设备的发展方向.

基于鲁棒增广e约束法的综合能源系统多目标多阶段供能优化配置方法

综合能源园区供能优化配置是实践现代能源体系建设、实现能源高效清洁利用的重要技术手段,然而现有规划配置方法存在多能耦合转换模型各异、忽视建设时序性与缺乏多维目标选优上的不足。为此,该文建立综合能源系统多目标多阶段供能优化配置模型,该模型为一个多目标混合整数线性优化问题。为实现多目标问题的高效求解,提出了基于鲁棒增广e约束法(robust augmented e-constraint method,AUGMECON-R)的Pareto解集求解方法,并结合综合权重与逼近理想解排序法(technique for order preference by similarity to ideal solution,TOPSIS),选取最契合园区多维评价偏好的建设方案。通过算例仿真验证了所提模型和算法的有效性,该模型能适用于各地各类型园区的供能优化配置决策。

中国石油陆上中-高成熟度页岩油勘探现状、进展与未来思考

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