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
By focusing on Guangzhou, this paper examines how different concepts of city in terms of urban-rural relationships are shaped in transforming China since 1949, and explores how they influence the way in which urban pl...By focusing on Guangzhou, this paper examines how different concepts of city in terms of urban-rural relationships are shaped in transforming China since 1949, and explores how they influence the way in which urban planning are practiced. In the pre-reform era, the city was defined as a productive space under the system of urban-rural segregation established for securing rapid industrialization. Urban planning was thus only concerned with the development of urban areas. In the 1980 s and 1990 s after the reform, institutional change and economic transformation mobilized the urban-rural linkages. The development of suburban areas was then considered by urban planning, but this consideration was a passive response to urban problems such as population explosion and water resources protection. Since the new millennium, the agenda for sustainable development and problems of uneven urban-rural development have called for the development of urban-rural integration. In this context, the city is conceptualized as a complex of mountain, city, river, farmland and sea, reconstructing the ideology of urban-rural division in defining urban development. Urban planning has therefore sought in an active way to develop a sustainable city embracing rural and natural elements, and to balance economic growth and environmental protection. It is argued that developing the concept of city as a complex of urban and rural elements contributes to the urban planning for sustainable urban development, while this conceptualization relies on the recognition of the integrated urban-rural relationship.展开更多
An optimal layout or three-dimensional spatial distribution of stopes guarantees the maximum profitability over life span of an underground mining operation.Thus,stope optimization is one of the key areas in undergrou...An optimal layout or three-dimensional spatial distribution of stopes guarantees the maximum profitability over life span of an underground mining operation.Thus,stope optimization is one of the key areas in underground mine planning practice.However,the computational complexity in developing an optimal stope layout has been a reason for limited availability of the algorithms offering solution to this problem.This article shares a new and efficient heuristic algorithm that considers a three-dimensional ore body model as an input,maximizes the economic value,and satisfies the physical mining and geotechnical constraints for generating an optimal stope layout.An implementation at a copper deposit demonstrates the applicability and robustness of the algorithm.A parallel processing based modification improving the performance of the original algorithm in terms of enormous computational time saving is also presented.展开更多
Land use plan serves as a leading role in land resource management, necessitating a powerful implementation guarantee system. The research concluded researches on guarantee system for land use plan from law, administr...Land use plan serves as a leading role in land resource management, necessitating a powerful implementation guarantee system. The research concluded researches on guarantee system for land use plan from law, administration, econo- my, society and technology. Finally, existing problems and suggestions were pro- posed.展开更多
Linear failure criterion is widely used in calculation of earth pressure acting on shallow tunnels. However, experimental evidence shows that nonlinear failure criterion is able to represent fairly well the failure of...Linear failure criterion is widely used in calculation of earth pressure acting on shallow tunnels. However, experimental evidence shows that nonlinear failure criterion is able to represent fairly well the failure of almost all types of rocks, A nonlinear Hock-Brown failure criterion is employed to estimate the supporting pressures of shallow tunnels in limit analysis framework. Two failure mechanisms are proposed for calculating the work rate of extemal force and the internal energy dissipation. A tangential line to the nonlinear failure criterion is used to formulate the supporting pressure problem as a nonlinear programming problem. The objective function formulated in this way is minimized with respect to the failure mechanism and the location of tangency point. In order to assess the validity, the supporting pressures for the proposed failure mechanisms are calculated and compared with each other, and the present results are compared with previously published solutions when the nonlinear criterion is reduced to linear criterion. The agreement supports the validity of the proposed failure mechanisms. An experiment is conducted to investigate the influences of the nonlinear criterion on collapse shape and supporting pressures of shallow tunnels.展开更多
We propose a high-performance path planning algorithm for automatic target tracking in the applications of real-time simulation and visualization of large-scale terrain datasets, with a large number of moving objects ...We propose a high-performance path planning algorithm for automatic target tracking in the applications of real-time simulation and visualization of large-scale terrain datasets, with a large number of moving objects （such as vehicles） tracking multiple moving targets. By using a modified Dijkstra＇s algorithm, an optimal path between each vehicle-target pair over a weighted grid-presented terrain is computed and updated to eliminate the problem of local minima and losing of tracking. Then, a dynamic path re-planning strategy using multi-resolution representation of a dynamic updating region is proposed to achieve high-performance by trading-off precision for efficiency, while guaranteeing accuracy. Primary experimental results showed that our algorithm successfully achieved l0 to 96 frames per second interactive path-replanning rates during a terrain simulation scenario with 10 to 100 vehicles and multiple moving targets.展开更多
Building compact 3D maps of the environment models has become an important research topic. This paper presented an efficient stream decimation algorithm of massive meshes. The algorithm adapted the pre-processing step...Building compact 3D maps of the environment models has become an important research topic. This paper presented an efficient stream decimation algorithm of massive meshes. The algorithm adapted the pre-processing step leading to lower in-corn memory consumption. This algorithm is applied to reconstructing compact terrain with mobile robot, achieving satisfying results.展开更多
The paper aims at measuring the influence that the everyday theme has exercised in the formation of the idea of space that is permeating the thought of many contemporary urban planners. Through the investigation of tw...The paper aims at measuring the influence that the everyday theme has exercised in the formation of the idea of space that is permeating the thought of many contemporary urban planners. Through the investigation of two recent approaches, the Italian and the American ones, the complex relationships between daily practices and urban spaces, in the continuous redefinition of the concepts of public and private sphere, are described. In this context, the Everyday Urbanists＇ work had the merit to reveal and investigate the social possibilities offered by the patterns of everyday life. They were among the first to speak about a citizenship redefinition, process which has been increasingly debated by many scholars. Citizenship is thus turning to be less formal, while becoming more substantive and insurgent. The paper demonstrates that, according to this crucial change, new and meaningful relations between citizenship and planning can be established and that these are able to open planning practice up to the present ethnographical possibilities of the urban space, and to its tactical and polysemic dimensions.展开更多
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Under the auspices of Program of International Cooperation and Exchanges of National Natural Science Foundation of China(No.41320104001)Key Program of National Natural Science Foundation of China(No.41130747)
文摘By focusing on Guangzhou, this paper examines how different concepts of city in terms of urban-rural relationships are shaped in transforming China since 1949, and explores how they influence the way in which urban planning are practiced. In the pre-reform era, the city was defined as a productive space under the system of urban-rural segregation established for securing rapid industrialization. Urban planning was thus only concerned with the development of urban areas. In the 1980 s and 1990 s after the reform, institutional change and economic transformation mobilized the urban-rural linkages. The development of suburban areas was then considered by urban planning, but this consideration was a passive response to urban problems such as population explosion and water resources protection. Since the new millennium, the agenda for sustainable development and problems of uneven urban-rural development have called for the development of urban-rural integration. In this context, the city is conceptualized as a complex of mountain, city, river, farmland and sea, reconstructing the ideology of urban-rural division in defining urban development. Urban planning has therefore sought in an active way to develop a sustainable city embracing rural and natural elements, and to balance economic growth and environmental protection. It is argued that developing the concept of city as a complex of urban and rural elements contributes to the urban planning for sustainable urban development, while this conceptualization relies on the recognition of the integrated urban-rural relationship.
文摘An optimal layout or three-dimensional spatial distribution of stopes guarantees the maximum profitability over life span of an underground mining operation.Thus,stope optimization is one of the key areas in underground mine planning practice.However,the computational complexity in developing an optimal stope layout has been a reason for limited availability of the algorithms offering solution to this problem.This article shares a new and efficient heuristic algorithm that considers a three-dimensional ore body model as an input,maximizes the economic value,and satisfies the physical mining and geotechnical constraints for generating an optimal stope layout.An implementation at a copper deposit demonstrates the applicability and robustness of the algorithm.A parallel processing based modification improving the performance of the original algorithm in terms of enormous computational time saving is also presented.
文摘Land use plan serves as a leading role in land resource management, necessitating a powerful implementation guarantee system. The research concluded researches on guarantee system for land use plan from law, administration, econo- my, society and technology. Finally, existing problems and suggestions were pro- posed.
基金Foundation item： Project（2013CB036004） supported by the National Basic Research Program of China Project（51178468） supported by the National Natural Science Foundation of China
文摘Linear failure criterion is widely used in calculation of earth pressure acting on shallow tunnels. However, experimental evidence shows that nonlinear failure criterion is able to represent fairly well the failure of almost all types of rocks, A nonlinear Hock-Brown failure criterion is employed to estimate the supporting pressures of shallow tunnels in limit analysis framework. Two failure mechanisms are proposed for calculating the work rate of extemal force and the internal energy dissipation. A tangential line to the nonlinear failure criterion is used to formulate the supporting pressure problem as a nonlinear programming problem. The objective function formulated in this way is minimized with respect to the failure mechanism and the location of tangency point. In order to assess the validity, the supporting pressures for the proposed failure mechanisms are calculated and compared with each other, and the present results are compared with previously published solutions when the nonlinear criterion is reduced to linear criterion. The agreement supports the validity of the proposed failure mechanisms. An experiment is conducted to investigate the influences of the nonlinear criterion on collapse shape and supporting pressures of shallow tunnels.
基金Project partially supported by NSF (No. CCR0306438) and theBoeing Company, USA
文摘We propose a high-performance path planning algorithm for automatic target tracking in the applications of real-time simulation and visualization of large-scale terrain datasets, with a large number of moving objects （such as vehicles） tracking multiple moving targets. By using a modified Dijkstra＇s algorithm, an optimal path between each vehicle-target pair over a weighted grid-presented terrain is computed and updated to eliminate the problem of local minima and losing of tracking. Then, a dynamic path re-planning strategy using multi-resolution representation of a dynamic updating region is proposed to achieve high-performance by trading-off precision for efficiency, while guaranteeing accuracy. Primary experimental results showed that our algorithm successfully achieved l0 to 96 frames per second interactive path-replanning rates during a terrain simulation scenario with 10 to 100 vehicles and multiple moving targets.
文摘Building compact 3D maps of the environment models has become an important research topic. This paper presented an efficient stream decimation algorithm of massive meshes. The algorithm adapted the pre-processing step leading to lower in-corn memory consumption. This algorithm is applied to reconstructing compact terrain with mobile robot, achieving satisfying results.
文摘The paper aims at measuring the influence that the everyday theme has exercised in the formation of the idea of space that is permeating the thought of many contemporary urban planners. Through the investigation of two recent approaches, the Italian and the American ones, the complex relationships between daily practices and urban spaces, in the continuous redefinition of the concepts of public and private sphere, are described. In this context, the Everyday Urbanists＇ work had the merit to reveal and investigate the social possibilities offered by the patterns of everyday life. They were among the first to speak about a citizenship redefinition, process which has been increasingly debated by many scholars. Citizenship is thus turning to be less formal, while becoming more substantive and insurgent. The paper demonstrates that, according to this crucial change, new and meaningful relations between citizenship and planning can be established and that these are able to open planning practice up to the present ethnographical possibilities of the urban space, and to its tactical and polysemic dimensions.
