A new path planning method for mobile robots in globally unknown environment with moving obstacles is pre- sented. With an autoregressive (AR) model to predict the future positions of moving obstacles, and the predict...A new path planning method for mobile robots in globally unknown environment with moving obstacles is pre- sented. With an autoregressive (AR) model to predict the future positions of moving obstacles, and the predicted position taken as the next position of moving obstacles, a motion path in dynamic uncertain environment is planned by means of an on-line real-time path planning technique based on polar coordinates in which the desirable direction angle is taken into consideration as an optimization index. The effectiveness, feasibility, high stability, perfect performance of obstacle avoidance, real-time and optimization capability are demonstrated by simulation examples.展开更多
The research objective was to investigate past and current forest management practices in the Maluku archipelago, then to create a better management model to improve prosperity for local communities and to guarantee s...The research objective was to investigate past and current forest management practices in the Maluku archipelago, then to create a better management model to improve prosperity for local communities and to guarantee sustainability of forest ecosystems for future generations. Forest land use, the deforestation process, the potential for maintaining natural production forests and the need to establish a management unit for sustainability of natural production forests （PFMU） were analysed. The analysis model used Geographic Information System （GIS） and satellite imaging. The deforestation process was analysed using the multiple regression model. The research determined the importance of two concepts i.e., （1） A macro concept involving the integration of forest development with regional development and （2） A micro concept which detailed the format of the PFMU as a sub-set of the macro concept. The macro concept involves a new Forest Land Use Plan （FLUP）, and the micro concept is a more detailed analysis of a sustainable PFMU, a Management Unit for Protection Forest （PrFMU） and a Management Unit for Conservation Forest （CFMU）. Results showed that the existing FLUCP （Forest Land Use Consensus Plan） policy rather than guaranteeing the sustainability of forests, contributed to their deforestation. The integration of forest management and regional development strategies required the establishment of a new FLUP.展开更多
Usually, data on road traffic accidents in Algeria are not available to researchers. Fortunately, MICS4mthe Multiple Indicator Cluster Survey conducted by UNICEF during 2012-2013 has introduced a module on accidents a...Usually, data on road traffic accidents in Algeria are not available to researchers. Fortunately, MICS4mthe Multiple Indicator Cluster Survey conducted by UNICEF during 2012-2013 has introduced a module on accidents among children less than 15 years. In Algeria, the MICS4 survey targeted a sample of 28,000 households distributed over the national territory. These are the main results of polynomial logistic regression： Children in the richest quintile （B = .562, p 〈 .05）, are much less exposed than children in the poorest quintile. The odd ratio is 1.75. Compared to children aged 12 to 14, the younger children of 0-2 years （B = -1.059, p 〈 .05）, are three times less exposed （odd ratio = .347） to road traffic accidents; and children of 9-11 years （B = .520, p 〈 .05）, are most exposed with an odd ratio of 1.68. For territorial planning areas, with the South being taken as a reference category, the risk of traffic accidents for a child is the lowest in the West Highlanders （B = -1.257, p 〈 .05）, followed by the North Center （B = -1.163, p 〈 .05）, the East Highlands （B = -1.053, p 〈 .05）, the Northwest （B = -1.034, p 〈 .05）, and the Northeast （B = -.805, p 〈 .05）. Odd ratio values are respectively .29, .313, .349, .356, and .447.展开更多
文摘A new path planning method for mobile robots in globally unknown environment with moving obstacles is pre- sented. With an autoregressive (AR) model to predict the future positions of moving obstacles, and the predicted position taken as the next position of moving obstacles, a motion path in dynamic uncertain environment is planned by means of an on-line real-time path planning technique based on polar coordinates in which the desirable direction angle is taken into consideration as an optimization index. The effectiveness, feasibility, high stability, perfect performance of obstacle avoidance, real-time and optimization capability are demonstrated by simulation examples.
文摘The research objective was to investigate past and current forest management practices in the Maluku archipelago, then to create a better management model to improve prosperity for local communities and to guarantee sustainability of forest ecosystems for future generations. Forest land use, the deforestation process, the potential for maintaining natural production forests and the need to establish a management unit for sustainability of natural production forests （PFMU） were analysed. The analysis model used Geographic Information System （GIS） and satellite imaging. The deforestation process was analysed using the multiple regression model. The research determined the importance of two concepts i.e., （1） A macro concept involving the integration of forest development with regional development and （2） A micro concept which detailed the format of the PFMU as a sub-set of the macro concept. The macro concept involves a new Forest Land Use Plan （FLUP）, and the micro concept is a more detailed analysis of a sustainable PFMU, a Management Unit for Protection Forest （PrFMU） and a Management Unit for Conservation Forest （CFMU）. Results showed that the existing FLUCP （Forest Land Use Consensus Plan） policy rather than guaranteeing the sustainability of forests, contributed to their deforestation. The integration of forest management and regional development strategies required the establishment of a new FLUP.
文摘Usually, data on road traffic accidents in Algeria are not available to researchers. Fortunately, MICS4mthe Multiple Indicator Cluster Survey conducted by UNICEF during 2012-2013 has introduced a module on accidents among children less than 15 years. In Algeria, the MICS4 survey targeted a sample of 28,000 households distributed over the national territory. These are the main results of polynomial logistic regression： Children in the richest quintile （B = .562, p 〈 .05）, are much less exposed than children in the poorest quintile. The odd ratio is 1.75. Compared to children aged 12 to 14, the younger children of 0-2 years （B = -1.059, p 〈 .05）, are three times less exposed （odd ratio = .347） to road traffic accidents; and children of 9-11 years （B = .520, p 〈 .05）, are most exposed with an odd ratio of 1.68. For territorial planning areas, with the South being taken as a reference category, the risk of traffic accidents for a child is the lowest in the West Highlanders （B = -1.257, p 〈 .05）, followed by the North Center （B = -1.163, p 〈 .05）, the East Highlands （B = -1.053, p 〈 .05）, the Northwest （B = -1.034, p 〈 .05）, and the Northeast （B = -.805, p 〈 .05）. Odd ratio values are respectively .29, .313, .349, .356, and .447.
