Path planning in changing environments with difficult regions, such as narrow passages and obstacle boundaries, creates significant chal- lenges. As the obstacles in W-space move frequently, the crowd degree of C-spac...Path planning in changing environments with difficult regions, such as narrow passages and obstacle boundaries, creates significant chal- lenges. As the obstacles in W-space move frequently, the crowd degree of C-space changes accordingly. Therefore, in order to dynamically improve the sampling quality, it is appreciated for a planner to rapidly approximate the crowd degree of different parts of the C-space, and boost sample densities with them based on their difficulty levels. In this paper, a novel approach called Adaptive Region Boosting （ARB） is proposed to increase the sampling density for difficult areas with different strategies. What＇s more, a new criterion, called biased entropy, is proposed to evaluate the difficult degree of a region. The new criterion takes into account both temporal and spatial information of a specific C-space region, in order to make a thorough assessment to a local area. Three groups of experiments are conducted based on a dual-manipulator system with 12 DoFs. Experimental results indicate that ARB effectively improves the success rate and outperforms all the other related methods in various dynamical scenarios.展开更多
This article briefly introduced China’s law framework and technical standards related to environmental impacts assessment(EIA) for hydropower development, and the EIA developing process for hydropower development pla...This article briefly introduced China’s law framework and technical standards related to environmental impacts assessment(EIA) for hydropower development, and the EIA developing process for hydropower development planning. Authors summarized the working experiences about hydropower development planning EIA done in the recent years in China, discussed the considerations and methods of hydropower development planning EIA, and put forward the index system for hydropower development planning EIA initially.展开更多
The social and environmental demands in Brazilian cities are usually neglected by the local municipal powers due to a heavy bias toward speculative capital. The main issue is a public administration that benefits the ...The social and environmental demands in Brazilian cities are usually neglected by the local municipal powers due to a heavy bias toward speculative capital. The main issue is a public administration that benefits the private initiative instead of popular and environmental values and needs. Despite federal efforts at the end of the 20th and beginning of the 21 st century, water resources and urban reform policies are not able to ensure a connection between these two issues in the urban environment. Aiming at showing a new approach of citizenship and environmental rights in a developing country, Bauru, a Brazilian city located in the state of S^o Paulo, was used as a study case. In this scenario, the research is based on the action research method, in which a dynamic profile of the researchers was adopted in order to solidify environmental and social issues in the urban planning process. This article shows the advantages in using the river basin as an urban planning territory in the city master plan, and providing continuous technique support to the citizen, through the role played by the researcher-planner between government and population, as a way to possibly reach social and environmental interests. The territorial perception of the river basin by citizens brings effective environmental and social results.展开更多
文摘Path planning in changing environments with difficult regions, such as narrow passages and obstacle boundaries, creates significant chal- lenges. As the obstacles in W-space move frequently, the crowd degree of C-space changes accordingly. Therefore, in order to dynamically improve the sampling quality, it is appreciated for a planner to rapidly approximate the crowd degree of different parts of the C-space, and boost sample densities with them based on their difficulty levels. In this paper, a novel approach called Adaptive Region Boosting （ARB） is proposed to increase the sampling density for difficult areas with different strategies. What＇s more, a new criterion, called biased entropy, is proposed to evaluate the difficult degree of a region. The new criterion takes into account both temporal and spatial information of a specific C-space region, in order to make a thorough assessment to a local area. Three groups of experiments are conducted based on a dual-manipulator system with 12 DoFs. Experimental results indicate that ARB effectively improves the success rate and outperforms all the other related methods in various dynamical scenarios.
文摘This article briefly introduced China’s law framework and technical standards related to environmental impacts assessment(EIA) for hydropower development, and the EIA developing process for hydropower development planning. Authors summarized the working experiences about hydropower development planning EIA done in the recent years in China, discussed the considerations and methods of hydropower development planning EIA, and put forward the index system for hydropower development planning EIA initially.
文摘The social and environmental demands in Brazilian cities are usually neglected by the local municipal powers due to a heavy bias toward speculative capital. The main issue is a public administration that benefits the private initiative instead of popular and environmental values and needs. Despite federal efforts at the end of the 20th and beginning of the 21 st century, water resources and urban reform policies are not able to ensure a connection between these two issues in the urban environment. Aiming at showing a new approach of citizenship and environmental rights in a developing country, Bauru, a Brazilian city located in the state of S^o Paulo, was used as a study case. In this scenario, the research is based on the action research method, in which a dynamic profile of the researchers was adopted in order to solidify environmental and social issues in the urban planning process. This article shows the advantages in using the river basin as an urban planning territory in the city master plan, and providing continuous technique support to the citizen, through the role played by the researcher-planner between government and population, as a way to possibly reach social and environmental interests. The territorial perception of the river basin by citizens brings effective environmental and social results.
