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浅谈复杂环境下基坑降水对临近建筑结构的影响 被引量:1
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作者 范武 《建筑与预算》 2021年第3期80-82,共3页
本文详细介绍基坑降水的主要方式,通过专业的调查与研究,找出当前基坑降水的发展状态,借助相关试验将项目施工前后的结构进行详细比对,发现在复杂环境中不同程度的基坑降水给其临近建筑结构带来的影响,借助相关现实问题,施工人员应采取... 本文详细介绍基坑降水的主要方式,通过专业的调查与研究,找出当前基坑降水的发展状态,借助相关试验将项目施工前后的结构进行详细比对,发现在复杂环境中不同程度的基坑降水给其临近建筑结构带来的影响,借助相关现实问题,施工人员应采取针对性措施,从而提升临近建筑结构的稳定性。 展开更多
关键词 杂环境 基坑降水 临近建筑结构 建筑物沉降
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家庭环境纷杂度对农村幼儿安全感的影响:亲子沟通模式的调节作用
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作者 陈岚 郑福明 +1 位作者 麦日岸 刘思 《早期教育(幼教·教育科研)》 2023年第5期52-56,共5页
本研究采用家庭环境纷杂度量表、幼儿安全感家长问卷以及亲子沟通模式家长问卷对广东省农村幼儿家长进行调查,分析家庭环境纷杂度对幼儿安全感的影响,以及亲子沟通模式在其中的调节作用,收集有效问卷915份,在进行相关分析及多因素方差... 本研究采用家庭环境纷杂度量表、幼儿安全感家长问卷以及亲子沟通模式家长问卷对广东省农村幼儿家长进行调查,分析家庭环境纷杂度对幼儿安全感的影响,以及亲子沟通模式在其中的调节作用,收集有效问卷915份,在进行相关分析及多因素方差分析后,发现家庭环境纷杂度与安全感呈显著负相关,亲子沟通模式与安全感呈显著正相关,家庭环境纷杂度与亲子沟通模式间存在显著负相关。通过回归分析及方差分析可知:亲子沟通模式在家庭环境纷杂度对安全感的影响中起调节作用。研究启示有:要关注农村幼儿生存环境,发挥亲子沟通的调节作用,缓解农村幼儿不安全感。 展开更多
关键词 农村幼儿 家庭环境 亲子沟通模式 安全感
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儿童父母拒绝与同伴拒绝的关系:问题行为的中介作用和家庭环境纷杂度的调节作用 被引量:6
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作者 王靖民 郭明宇 常淑敏 《心理发展与教育》 CSSCI 北大核心 2021年第6期845-853,共9页
为探讨儿童父母拒绝、问题行为、家庭环境纷杂度和同伴拒绝的关系,该研究构建了一个有调节的中介模型。采用自我报告、母亲报告和同伴提名的方式对济南市三所小学4年级至6年级共307名被试进行测查,结果表明:(1)父母拒绝对儿童的同伴拒... 为探讨儿童父母拒绝、问题行为、家庭环境纷杂度和同伴拒绝的关系,该研究构建了一个有调节的中介模型。采用自我报告、母亲报告和同伴提名的方式对济南市三所小学4年级至6年级共307名被试进行测查,结果表明:(1)父母拒绝对儿童的同伴拒绝和外化问题行为均有显著的正向预测作用;(2)儿童的外化问题行为在父母拒绝与同伴拒绝之间起部分中介作用;(3)家庭环境纷杂度调节了父母拒绝通过儿童的外化问题行为影响同伴拒绝的中介过程的前半路径,即低家庭环境纷杂度可以作为一种保护因素,降低遭受父母拒绝的儿童出现外化问题行为的风险。 展开更多
关键词 父母拒绝 儿童问题行为 家庭环境 同伴拒绝
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家庭环境纷杂度、父母教养方式与儿童问题行为之间的关系 被引量:2
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作者 肖禾 何光英 《四川警察学院学报》 2020年第6期92-100,共9页
儿童的发展除受到自身影响外,还受到环境中多重因素的交互影响。家庭环境纷杂度是家庭环境的一个重要方面,是影响儿童问题行为的因素之一。影响儿童问题行为的因素还包含父母教养方式,父母教养方式被证明受家庭环境纷杂度的影响。对300... 儿童的发展除受到自身影响外,还受到环境中多重因素的交互影响。家庭环境纷杂度是家庭环境的一个重要方面,是影响儿童问题行为的因素之一。影响儿童问题行为的因素还包含父母教养方式,父母教养方式被证明受家庭环境纷杂度的影响。对300名小学生采用问卷调查的方式,探究父母教养方式在家庭环境纷杂度与儿童问题行为关系中的中介作用,结果显示:1.父母教养方式在性别、年级、户籍所在地和父母文化程度上存在差异。儿童问题行为,在性别、独生与否、年级和父母文化程度上存在的差异显著。2.家庭环境纷杂度与父母教养方式的各维度都存在相关。父母教养方式各维度均与儿童问题行为相关。3.父母教养方式在家庭环境纷杂度对儿童问题行为的影响中的中介作用不显著。 展开更多
关键词 家庭环境 父母教养方式 儿童问题行为
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家庭环境纷杂度对流动儿童安全感的影响:儿童性别的调节作用 被引量:12
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作者 常淑敏 宋育珊 郭惠 《中国特殊教育》 CSSCI 北大核心 2016年第4期66-70,78,共6页
为考察家庭环境纷杂度对流动儿童安全感的影响及性别在二者关系中的调节作用,本研究采用安全感量表(SecurityQuestionnaire)及家庭环境纷杂度量表(Confusion,HubbubandOrderScale),调查了370名5~8年级流动儿童及其家长。结果表... 为考察家庭环境纷杂度对流动儿童安全感的影响及性别在二者关系中的调节作用,本研究采用安全感量表(SecurityQuestionnaire)及家庭环境纷杂度量表(Confusion,HubbubandOrderScale),调查了370名5~8年级流动儿童及其家长。结果表明:(1)女生的人际安全感和确定控制感都显著高于男生,男生的家庭环境纷杂度水平显著高于女生;(2)控制儿童性别对安全感的影响后,家庭环境纷杂度能够显著负向预测流动儿童的人际安全感和确定控制感;(3)性别在家庭环境纷杂度与流动儿童人际安全感之间起调节作用,简单斜率检验分析表明,高家庭环境纷杂度对女生人际安全感的消极影响更大。 展开更多
关键词 家庭环境 安全感 流动儿童
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Simulation of Revised Puff Trajectory Model in Regional Atmospheric Environmental Risks 被引量:1
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作者 马明亮 申红艳 孔维强 《Agricultural Science & Technology》 CAS 2012年第10期2226-2230,共5页
[Objective] The aim was to research application of revised puff trajectory model in atmospheric environmental risks simulation.[Method] In the research,theory of puff trajectory model for pollution diffusion in atmosp... [Objective] The aim was to research application of revised puff trajectory model in atmospheric environmental risks simulation.[Method] In the research,theory of puff trajectory model for pollution diffusion in atmosphere in urban areas was analyzed and CALPUFF,a revised puff trajectory model,was applied in prediction on atmospheric environmental risks in Xining City.[Result] The simple puff trajectory model can not be applied for long-distance transport or in complex terrain and airflow field.In contrast,CALPUFF would be applied in urban areas,and complex terrain or underlying surface.With high resolution ratio,it would depict the beginning condition and detailed distribution of pollutants transport and diffusion.For prediction on atmospheric environmental risks in Xining City,northwest wind dominated in Huangshui Valley;north wind dominated in Beichuan Valley;temperature inversion occurred at high altitude.These had a significant effect on the downwind direction in Xining urban district.The simulation results indicated that puffs usually spread along Huangshui Valley and some non-steady phenomena occurred,such as blocking effect by mountains,deformation of puff by airflow field in ridges and influence of valley wind.[Conclusion] The research is of significance for precise prediction on characters,influence and extent of atmospheric environmental risks in cities. 展开更多
关键词 Puff trajectory Complicated terrain Urban district Environmental risks
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家庭社会经济地位对幼儿学习品质的影响:家庭环境纷杂度的调节作用
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作者 李静 李丽华 郝海鸥 《幼儿教育》 2022年第27期36-40,共5页
为考察家庭社会经济地位对幼儿学习品质的影响,探讨家庭环境纷杂度在社会经济地位与幼儿学习品质之间的调节作用,本研究对902名幼儿家长进行量表测查,结果发现:(1)家庭社会经济地位与幼儿学习品质呈显著正相关,家庭环境纷杂度与幼儿学... 为考察家庭社会经济地位对幼儿学习品质的影响,探讨家庭环境纷杂度在社会经济地位与幼儿学习品质之间的调节作用,本研究对902名幼儿家长进行量表测查,结果发现:(1)家庭社会经济地位与幼儿学习品质呈显著正相关,家庭环境纷杂度与幼儿学习品质呈显著负相关;(2)家庭环境纷杂度在家庭社会经济地位与幼儿学习品质之间起调节作用,低家庭环境纷杂度能够显著缓解低家庭社会经济地位对幼儿学习品质的消极影响。研究者据此提出相关建议。 展开更多
关键词 幼儿学习品质 家庭环境 家庭社会经济地位 调节作用
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家庭环境纷杂度对留守学前儿童社会退缩的影响:心理弹性的调节作用 被引量:17
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作者 黄鹤 杨宁 《中国特殊教育》 CSSCI 北大核心 2019年第5期65-71,共7页
采用家庭环境纷杂度问卷、幼儿心理弹性评估量表及幼儿社会行为教师问卷,对广东省408名4 - 5岁留守学前儿童展开调查,探讨家庭环境纷杂度与留守学前儿童社会退缩的关系,以及心理弹性在二者间的调节效应。结果表明:家庭环境纷杂度与留守... 采用家庭环境纷杂度问卷、幼儿心理弹性评估量表及幼儿社会行为教师问卷,对广东省408名4 - 5岁留守学前儿童展开调查,探讨家庭环境纷杂度与留守学前儿童社会退缩的关系,以及心理弹性在二者间的调节效应。结果表明:家庭环境纷杂度与留守学前儿童社会退缩呈显著性正相关;心理弹性及自我调节、依恋/关系维度与留守学前儿童社会退缩呈显著性负相关;心理弹性及自我调节、依恋/关系维度在家庭环境纷杂度与留守学前儿童社会退缩的关系中起调节作用。 展开更多
关键词 留守学前儿童 家庭环境 心理弹性 社会退缩 调节作用
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儿童母亲拒绝与同伴拒绝的关系--一个有中介的调节模型 被引量:6
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作者 王玲晓 张丽娅 常淑敏 《心理科学》 CSSCI CSCD 北大核心 2019年第6期1347-1353,共7页
选取393名儿童及其家长进行问卷调查,考察儿童的母亲拒绝、家庭环境纷杂度、问题行为和同伴拒绝之间的关系。结果发现:(1)在控制了性别、年级、家庭社会经济地位后,母亲拒绝对儿童的同伴拒绝有显著正向预测作用;(2)家庭环境纷杂度调节... 选取393名儿童及其家长进行问卷调查,考察儿童的母亲拒绝、家庭环境纷杂度、问题行为和同伴拒绝之间的关系。结果发现:(1)在控制了性别、年级、家庭社会经济地位后,母亲拒绝对儿童的同伴拒绝有显著正向预测作用;(2)家庭环境纷杂度调节了母亲拒绝与同伴拒绝之间的关系;(3)儿童外化问题行为在家庭环境纷杂度对母亲拒绝和同伴拒绝关系的调节效应中起完全中介作用。 展开更多
关键词 母亲拒绝 同伴拒绝 家庭环境 儿童外化问题行为 儿童内化问题行为
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Filtering of Airborne Lidar Point Clouds for Complex Cityscapes 被引量:6
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作者 JIANG Jingjue ZHANG Zuxun MING Ying 《Geo-Spatial Information Science》 2008年第1期21-25,共5页
A novel filtering algorithm for Lidar point clouds is presented, which can work well for complex cityscapes. Its main features are filtering based on raw Lidar point clouds without previous triangulation or rasterizat... A novel filtering algorithm for Lidar point clouds is presented, which can work well for complex cityscapes. Its main features are filtering based on raw Lidar point clouds without previous triangulation or rasterization. 3D topological relations among points are used to search edge points at the top of discontinuities, which are key information to recognize the bare earth points and building points. Experiment results show that the proposed algorithm can preserve discontinuous features in the bare earth and has no impact of size and shape of buildings. 展开更多
关键词 FILTERING SEGMENTATION laser scanning LIDAR point clouds
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Comprehensive analysis of safe mining to heavy and steep coal seam under complex geophysics environment 被引量:3
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作者 王宁波 李立波 +1 位作者 来兴平 柴鑫 《Journal of Coal Science & Engineering(China)》 2008年第3期378-381,共4页
In virtue of effect of N-S intensive ground stress and mining disturbance to +579E2EB_(1+2) mining site at Weihuliang Mine,the dip angle and section height is 65° and 52 m,respectively,the collapses happed freque... In virtue of effect of N-S intensive ground stress and mining disturbance to +579E2EB_(1+2) mining site at Weihuliang Mine,the dip angle and section height is 65° and 52 m,respectively,the collapses happed frequently during mining.Firstly,mining condi- tions,spatial structure and parameters were investigated.Then physical simulation and dynamic numerical tracing and elaborate simulation relating roof and top-coal were ap- plied based on 2D-Block Program and quantitative regularity of stress at variable depths had been estimated.Furthermore,it was manifested that effective measures,i.e.,fast mining,control symmetrical top-coal-caving at dip and strike directions,optimizing ventila- tion system,active-stereo preventing gas were performed successfully in mining practice. Ultimately,the derived dynamic hazard were prevented so as to safety mining. 展开更多
关键词 complex geophysics environment heavy-steep coal seam high-section-top- coal-caving(HSTCC) excavation disturbance zone(EDZ) dynamic destabilization
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Bending and Washing Reliabilities of Screen-Printed UHF RFID Tags Based on Woven Water-Mark Fabric 被引量:4
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作者 胡吉永 李国豪 +4 位作者 江红艳 洪虹 涂华婷 杨旭东 晏雄 《Journal of Donghua University(English Edition)》 EI CAS 2016年第4期524-527,共4页
Compared with bar code and quick response( QR) code in the storage and retailing management of textiles, the ultra-high frequency( UHF) radio frequency identification( RFID) tags have high information capacity as well... Compared with bar code and quick response( QR) code in the storage and retailing management of textiles, the ultra-high frequency( UHF) radio frequency identification( RFID) tags have high information capacity as well as reliability in complex environmental conditions. In this study,the UHF RFID tags with perfect integration with textiles are assembled with screen-printed antenna on woven water-mark nylon fabric and Alien UHF integrated circuit( IC), and their reading performance under various washing and bending conditions is evaluated by an RFID reader. The results show that the tags after fifty bending( both arch and sink) cycles of screen-printed antenna still have reading distance more than 5.5 m,and an average reading distance is over 4.0 m after five washing cycles. The experimental results demonstrate that the tag antenna on the water-mark fabric can be manufactured by the screen-printing technology,and a coating process on this fabric facilitates the reading performance and the resistance against complex mechanical impact. 展开更多
关键词 fabric textiles nylon manufactured printing washing Screen antenna printed bending
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Leg compliance control of a hexapod robot based on improved adaptive control in different environments 被引量:2
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作者 朱雅光 金波 李伟 《Journal of Central South University》 SCIE EI CAS CSCD 2015年第3期904-913,共10页
Considering the compliance control problem of a hexapod robot under different environments, a control strategy based on the improved adaptive control algorithm is proposed. The model of robot structure and impedance c... Considering the compliance control problem of a hexapod robot under different environments, a control strategy based on the improved adaptive control algorithm is proposed. The model of robot structure and impedance control is established. Then, the indirect adaptive control algorithm is derived. Through the analysis of its parameters, it can be noticed that the algorithm does not meet the requirements of the robot compliance control in a complex environment. Therefore, the fuzzy control algorithm is used to adjust the adaptive control parameters. The satisfied system response can be obtained based on the adjustment in real time according to the error between input and output. Comparative experiments and analysis of traditional adaptive control and the improved adaptive control algorithm are presented. It can be verified that not only desired contact force can be reached quickly in different environments, but also smaller contact impact and sliding avoidance are guaranteed, which means that the control strategy has great significance to enhance the adaptability of the hexapod robot. 展开更多
关键词 hexapod robot tip-point force adaptive control fuzzy control adaptability
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A novel maneuvering multi-target tracking algorithm based on multiple model particle filter in clutters 被引量:2
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作者 胡振涛 Pan Quan Yang Feng 《High Technology Letters》 EI CAS 2011年第1期19-24,共6页
To solve the problem of strong nonlinear and motion model switching of maneuvering target tracking system in clutter environment, a novel maneuvering multi-target tracking algorithm based on multiple model particle fi... To solve the problem of strong nonlinear and motion model switching of maneuvering target tracking system in clutter environment, a novel maneuvering multi-target tracking algorithm based on multiple model particle filter is presented in this paper. The algorithm realizes dynamic combination of multiple model particle filter and joint probabilistic data association algorithm. The rapid expan- sion of computational complexity, caused by the simple combination of the interacting multiple model algorithm and particle filter is solved by introducing model information into the sampling process of particle state, and the effective validation and utilization of echo is accomplished by the joint proba- bilistic data association algorithm. The concrete steps of the algorithm are given, and the theory analysis and simulation results show the validity of the method. 展开更多
关键词 maneuvering multi-target tracking multiple model particle filter interacting multiple model IMM) joint probabilistic data association
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Deformation mechanism and stability control of roadway along a fault subjected to mining 被引量:11
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作者 Yan Shuai Bai Jianbiao +2 位作者 Li Wenfeng Chen Jigang Li Lei 《International Journal of Mining Science and Technology》 2012年第4期559-565,共7页
It is difficult to maintain the roadway around a fault because of the fractured surroundings, complex stress environment, and large and intense deformation in the mining process. Based on a tailgate of panel $2205 in ... It is difficult to maintain the roadway around a fault because of the fractured surroundings, complex stress environment, and large and intense deformation in the mining process. Based on a tailgate of panel $2205 in Tunliu colliery, in Shanxi province, China, we investigated the evolution of stress and displace- ment of rocks surrounding the roadway during the drivage and mining period using theoretical analysis, numerical simulation and field trial methods. We analyzed the deformation and failure mechanisms of the tailgate near a fault. The deformation of surrounding rock caused by unloading in the drivage period is large and asymmetric, the roadway convergence increases with activation of the fault and secondary fracture develops in the mining period. Therefore, we proposed a specific control technique of the road- way along a fault as follows: (1) High-strength yielding bolt not only supports the shallow rock to load- bearing structures, but also releases primary deformation energy by use of a pressure release device in order to achieve high resistance to the pressure retained: (2) Grouting of near-fault ribside after initial stabilization of the rock deformation is used to reinforce the broken rock, and to improve the integral load-bearing capacity ol~ the roadway. The research results were successfully applied to a field trial. 展开更多
关键词 Fractured zone around a faultMining pressureRoadwayHigh resistance and yielding supportGrouting
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Standards of Economic Growth to Apply Creative Projects
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作者 Abdullah Ibrahim Nazal 《Chinese Business Review》 2016年第2期49-54,共6页
This study theoretically showed the importance of standards economic growth to apply creative projects to avoid loss cost and efforts. There is problem of complexity environment to understand real economic growth. Com... This study theoretically showed the importance of standards economic growth to apply creative projects to avoid loss cost and efforts. There is problem of complexity environment to understand real economic growth. Companies and government can affect economic. There is a need to make standards to control steps of economic growth as result to accounting gaps, economic gaps, and financial analysis gaps. Standards must face negative affection of speculation, government involving in economic, developing tool. Evaluating must be built up to real market price and also standards must build trust to support developing. Searcher recommended linking economic growth with real growth of producing and ways to get real market price to evaluate company assets, liabilities, and net profit after tax for all users as factors show growth in company to growth economic units which are successful by applying creative projects. 展开更多
关键词 economic growth discloser STANDARDS market price GAP producing
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Seed Bank of Amorpha fruticosa L. on Some Ruderal Sites in Serbia
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作者 Milan Blagojevic Bojan Konstantinovic +2 位作者 Natasa Samardzic Aleksandar Kurjakov Sasa Orlovic 《Journal of Agricultural Science and Technology(B)》 2015年第2期122-128,共7页
Amorpha fruticosa L. (Fabaceae), known as indigo bush, false indigo bush, false indigo and desert false indigo, is deciduous shrub (1-6 m tall). The woody weed species A. fruticosa has a high environmental adaptab... Amorpha fruticosa L. (Fabaceae), known as indigo bush, false indigo bush, false indigo and desert false indigo, is deciduous shrub (1-6 m tall). The woody weed species A. fruticosa has a high environmental adaptability and is present in different environmental conditions. In Vojvodina region (Northern Serbia), it is mostly present near irrigation channels and river banks, especially in alluvial or marshy areas. Since A. fruticosa is continually spreading near river banks, the aim of research was to determine seed bank composition near the Danube River. in 2014, soil sampling was performed at localities with high population of A. fruticosa (3-4 plants at age over two years and 10-14 plants at age 1-2 years). Soil samples were taken from two localities (Futog and Sangaj) with alluvial sandy soil and chernozem near the Danube River. Each sample was sieved through a system of copper sieves of various diameters. After the separation of seeds from samples, they were identified. Significant presence of A. fruticosa seeds (1,914 seeds/m2) was established in a layer of 0-10 cm. In the same soil layer, the significant presence of seeds of Stellaria media (L.) Vill. and Urtica dioica L. were also established. Seeds ofA. fruticosa were not found in soil layers 10-20 cm and 20-30 cm. The invasive weed species A. fruticosa produces a large number of seeds in two cycles. The majority of the seeds stay in the upper soil layer, being dispersed by water (hydrochory). 展开更多
关键词 Amorphafruticosa L. soil seed bank invasive species seed dispersion.
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How to Improve Efficiency of Telecom Energy
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作者 Changling Zhang Lu Xu Jiangang Liu 《Journal of Energy and Power Engineering》 2016年第1期64-68,共5页
High OPEX (operation expenditure), pollution and complicated environment are challenges which telecom operators have to conquer to improve energy efficiency. Integration and flexibility are tendencies for telecom en... High OPEX (operation expenditure), pollution and complicated environment are challenges which telecom operators have to conquer to improve energy efficiency. Integration and flexibility are tendencies for telecom energy solution development, also the keys to improve energy efficiency. With plentiful design and implementation experience, the author provides a three-dimensional energy matrix model to design a perfect energy system, and some practical measures of integration and flexibility are also shared from mechanical to electrical, from single site to whole network. 展开更多
关键词 Energy efficiency three-dimension energy matrix model optimization practices.
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MODELING AND SIMULATION OF COMPOUND CLUTTER FOR COASTAL ENVIRONMENT
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作者 Jiang Bin Wang Hongqiang +1 位作者 He Xiang Guo Guirong 《Journal of Electronics(China)》 2007年第4期496-502,共7页
This paper introduces a novel clutter power model of coastal compound and deduces the statistic characteristics and the arithmetics of model parameter estimation algorithm. Then, a novel coastal compound distributed m... This paper introduces a novel clutter power model of coastal compound and deduces the statistic characteristics and the arithmetics of model parameter estimation algorithm. Then, a novel coastal compound distributed model of the clutter amplitude is proposed and its statistic character- istics are studied. Subsequently, the nonlinear relation of autocorrelation function is deduced between the coastal compound clutter random sequences and the correlated Gaussian random sequences, which is the important prerequisite for the clutter simulation based on the ZMNL (Zero Memory NonLin- earity). Lastly, the advantage of the algorithm is demonstrated by a feasible simulation of the gen- eration of the random coastal compound clutter sequences. 展开更多
关键词 Coastal compound clutter Statistic characteristic Modeling and simulation Reliability in physics
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Local Path Planning Method of the Self-propelled Model Based on Reinforcement Learning in Complex Conditions
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作者 Yi Yang Yongjie Pang +1 位作者 Hongwei Li Rubo Zhang 《Journal of Marine Science and Application》 2014年第3期333-339,共7页
Conducting hydrodynamic and physical motion simulation tests using a large-scale self-propelled model under actual wave conditions is an important means for researching environmental adaptability of ships. During the ... Conducting hydrodynamic and physical motion simulation tests using a large-scale self-propelled model under actual wave conditions is an important means for researching environmental adaptability of ships. During the navigation test of the self-propelled model, the complex environment including various port facilities, navigation facilities, and the ships nearby must be considered carefully, because in this dense environment the impact of sea waves and winds on the model is particularly significant. In order to improve the security of the self-propelled model, this paper introduces the Q learning based on reinforcement learning combined with chaotic ideas for the model's collision avoidance, in order to improve the reliability of the local path planning. Simulation and sea test results show that this algorithm is a better solution for collision avoidance of the self navigation model under the interference of sea winds and waves with good adaptability. 展开更多
关键词 self-propelled model local path planning Q learning obstacle avoidance reinforcement learning
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