Research on Anthropomorphic Obstacle Avoidance Trajectory Planning for Adaptive Driving Scenarios Based on Inverse Reinforcement Learning Theory

The forward design of trajectory planning strategies requires preset trajectory optimization functions,resulting in poor adaptability of the strategy and an inability to accurately generate obstacle avoidance trajectories that conform to real driver behavior habits.In addition,owing to the strong time-varying dynamic characteristics of obstacle avoidance scenarios,it is necessary to design numerous trajectory optimization functions and adjust the corresponding parameters.Therefore,an anthropomorphic obstacle-avoidance trajectory planning strategy for adaptive driving scenarios is proposed.First,numerous expert-demonstrated trajectories are extracted from the HighD natural driving dataset.Subsequently,a trajectory expectation feature-matching algorithm is proposed that uses maximum entropy inverse reinforcement learning theory to learn the extracted expert-demonstrated trajectories and achieve automatic acquisition of the optimization function of the expert-demonstrated trajectory.Furthermore,a mapping model is constructed by combining the key driving scenario information that affects vehicle obstacle avoidance with the weight of the optimization function,and an anthropomorphic obstacle avoidance trajectory planning strategy for adaptive driving scenarios is proposed.Finally,the proposed strategy is verified based on real driving scenarios.The results show that the strategy can adjust the weight distribution of the trajectory optimization function in real time according to the“emergency degree”of obstacle avoidance and the state of the vehicle.Moreover,this strategy can generate anthropomorphic trajectories that are similar to expert-demonstrated trajectories,effectively improving the adaptability and acceptability of trajectories in driving scenarios.

Landscape Architecture Planning and Design Based on Landscape Ecology Theory:A Case Study of Waterfront Landscape Planning and Design of Dapo Town

With the rapid development of urbanization,landscape architecture has become an indispensable component of daily life.In order to achieve better landscape effects and protect the ecological environment,landscape ecology theory can be integrated into landscape planning to carry out disciplinary crossing and integration research between landscape ecology and landscape architecture.In this study,based on the basic theories of landscape ecology,the waterfront landscape of Dapo Town was designed,with the aim to achieve ecological balance in planning,showcase biodiversity,and create a harmonious landscape ecological environment which can benefit both nature and people.This design combined artificial and natural elements while improving the natural environment,which promoted a harmonious relationship between humans and nature,thus enriching the spatial organization of the city,and playing a role in regulating the urban environment and climate.

Homo-urbanicus and Human-centered Planning

Homo-urbanicus is a planning concept which treats a human being as a rational animal with distinct material,social and intellectual characteristics,and a human settlement as a space in which human beings seek and offer opportunities for connection.Human-centered planning is the application of classical Natural Law(balance between self-preservation and mutual preservation)to the matching of human needs and human settlements.

Study on the Coordination Mechanism Between Higher Vocational Students’Career Development Planning and School Management

The coordination mechanism between the career development planning of vocational students and the management of vocational colleges is an important means to improve the quality of education and students’vocational competitiveness.The application of synergy theory in the field of education emphasizes the interaction and coordination of various elements in the system and pursues the optimization of overall efficiency.Based on the theory of coordination and its relevance to the management of higher vocational colleges,this paper analyzes the current development status and problems of the coordination mechanism and puts forward the strategy of building an efficient coordination mechanism designed to enhance the students’employment competitiveness,promote the all-round development,and provide theoretical and practical support for the reform and development of higher vocational education.

Application of Urban Planning Theory in Practice in China——A Case Study of Satellite City Theory

The early Western urban planning theory has provided a vital reference for modern urban planning in China. After the illustration of the development of Western urban planning theory during World War II, the definition of satellite city has been introduced in detail by taking the planning theory of satellite city as an example. The development of satellite city has been summarized, that is, "lying city-semi-detached satellite city-active satellite city"; their characters have been illustrated; then, the effective application of this theory in urban areas of London and Paris has been introduced. Finally, by taking Shanghai and Xi'an City for example, it has introduced the practical application of satellite city theory in modern urban planning of China, and concluded the function of satellite city in Chinese urban construction. It hopes to provide a reference for satellite urban planning theory guiding practice, so as to control and evacuate urban people scientifically, promote the functional orientation and spatial distribution balance of towns and cities, and finally facilitate the sustainable development of living environment.

Landscape Planning and Design of Folk Culture Block Based on Theory of Three Elements of Landscape

This paper firstly defined the concept of folk culture block,and then analyzed the significance and planning principle of landscape design in folk culture block,and at last expounded landscape planning and design of folk culture block based on theory of three elements of landscape.

The role of forest culture in green construction and management of forest parks:merging knowledge-attitude-practice and theory of planned behavior

As a cultural concept refl ecting the relationship between humans and forests,forest culture plays an active role in sustainable forest management.Forest parks provide a wide range of ecosystem services essential for the sustainable development of society,and the relationships between forest culture,green construction and management of forest parks have practical signifi cance.This study aimed to understand the interaction and process of forest culture infl uencing green construction and management in forest parks with the models Knowledge-Attitude-Practice(KAP)and Theory of Planned Behavior(TPB)by proposing a theoretical model.Four hypotheses were tested using data collected from 193 forest park employees in Heilongjiang Province,China.Our results show that forest culture had a signifi cant infl uence on green construction and forest management.In addition,subjective norm and perceived behavioral control directly impacted behavior in green construction and management of the forest park,whereas attitude did not have an impact.Subjective norm had a direct eff ect on attitude.Results between constructs show that forest culture had an indirect eff ect on planning and construction,and on ecological and economic management.Consequently,it supported three of four hypotheses within the proposed model in determining the infl uence of forest culture on green construction and management.

Superior electrocatalytic negative electrode with tailored nitrogen functional group for vanadium redox flow battery

Development of electrodes with high electrocatalytic activity and stability is essential for solving problems that still restrict the extensive application of vanadium redox flow batteries(VRFBs).Here,we designed a novel negative electrode with superior electrocatalytic activity by tailoring nitrogen functional groups,such as newly formed nitro and pyridinic-N transformed to pyridonic-N,from the prenitrogen-doped electrode.It was experimentally confirmed that an electrode with pyridonic-N and nitro fuctional groups(tailored nitrogen-doped graphite felt,TNGF) has superior electrocatalytic acivity with enhanced electron and mass transfer.Density functional theory calulations demonstrated the pyridonic-N and nitro functional groups promoted the adsorption,charge transfer,and bond formation with the vanadium species,which is consistent with expermental results.In addition,the V2+/V3+redox reaction mechanism on pyridonic-N and nitro functional groups was estabilised based on density functional theory(DFT) results.When TNGF was applied to a VRFB,it enabled enhanced-electrolyte utilization and energy efficiencies(EE) of 57.9% and 64.6%,respectively,at a current density of 250 mA cm^(-2).These results are 18.6% and 8.9% higher than those of VRFB with electrode containing graphitic-N and pyridinicN groups.Interestingly,TNGF-based VRFB still operated with an EE of 59% at a high current density of300 mA cm^(-2).The TNGF-based VRFB exhibited stable cycling performance without noticeable decay of EE over 450 charge-discharge cycles at a current density of 250 mA cm^(-2).The results of this study suggest that introducing pyridonic-N and nitro groups on the electrode is effective for improving the electrochemical performance of VRFBs.

Creating the Role of Rural Teachers as New Rural Sages under the Background of Rural Revitalization Based on Organizational Change and Planned Happenstance Theories

In the context of rural revitalization,people are re-examining the issue of creating the role of teachers as“new rural sages”.However,most of previous studies ignored the school organizational change in the process of reform.The planned happenstance suggests that teachers should maintain a positive mindset about the eventualities in their careers.Based on the organizational change theory,this paper gave some advice to help teachers in playing a role of new rural sages:①rooting in local culture and enhancing teachers’sense of belonging,②providing compensation for teachers in a targeted way,and③providing a comprehensive and objective evaluation mechanism for ensuring teachers’participation in social governance.

Determination of Weak Points Based on Risk Theory and Application to Transmission Network Planning

In the traditional power transmission network planning,deterministic analysis methods are widely used.In such methods,all contingencies are deemed to have the same occurrence probability,which is not reasonable.In this paper,risk assessment is introduced to the process of transmission network planning considering the probabilistic characteristics of contingencies.Risk indices are given to determine the weak points of the transmission network based on local information,such as bus risk,line overload risk,contingency severity.The indices are calculated by the optimal cost control method based on risk theory,which can help planners to quickly determine weak points in the planning and find solution to them.For simplification,only line overload violation is considered.Finally,the proposed method is validated by an IEEE-RTS test system and a real power system in China from two aspects.In the first case,the original system is evaluated by the proposed method to find the weak points,and then four planning schemes are established,among which the best scheme is selected.In the second case,four initial planning schemes are established by combining the experiences of planners,and after the evaluation by using the proposed method,the best planning scheme is improved based on the information of weak points in the initial schemes,and the risk of improved scheme is reduced from 42 531.86 MW·h per year to 4 431.26 MW·h per year.

Game Theory Based False Negative Probability of Embedded Watermark Under Unintentional and Steganalysis Attacks

Steganalysis attack is to statistically estimate the embedded watermark in the watermarked multimedia,and the estimated watermark may be destroyed by the attacker.The existing methods of false negative probability,however,do not consider the influence of steganalysis attack.This paper proposed the game theory based false negative probability to estimate the impacts of steganalysis attack,as well as unintentional attack.Specifically,game theory was used to model the collision between the embedment and steganalysis attack,and derive the optimal building embedding/attacking strategy.Such optimal playing strategies devote to calculating the attacker destructed watermark,used for calculation of the game theory based false negative probability.The experimental results show that watermark detection reliability measured using our proposed method,in comparison,can better reflect the real scenario in which the embedded watermark undergoes unintentional attack and the attacker using steganalysis attack.This paper provides a foundation for investigating countermeasures of digital watermarking community against steganalysis attack.

Course Teaching Construction of Theory of Urban Planning for Urban and Rural Planning Major

Exploring a scientific and reasonable teaching mode, perfecting the teaching system of Theory of Urban Planning course and improving the teaching process are the inevitable choices to achieve a good teaching effect of this course. Starting from the teaching objective orientation and challenges of Theory of Urban Planning, this study put forward guiding suggestions on teaching guiding ideology, content and methods, and evaluation methods to provide reference for improving the teaching quality of courses.

Study on Gait Planning of Dynamic Walking of Biped Robots Based on Optimization Theory

In this paper, two important problems in the gait planning of dynamic walking of biped robot, i.e., finding inverse kinematic solution and constructing joint trajectories, are studied in detail by adopting complex optimization theory. The optimization algorithm for finding the inverse kinematic solution is developed, the construction method of joint trajectories is given, and the gait planning method of dynamic walking of biped robots is proposed.

Rural Planning Based on Landscape Information Chain Theory: A Case Study of Jiabi Village in Maoba County, Lichuan City

As the most important part of the construction of beautiful countryside, village planning plays a crucial role in the construction of beautiful countryside. How to construct a beautiful village with prominent regional characteristics in line with rural natural resources and traditional culture turns out be a problem demanding prompt solution in current theoretical research and practical exploration. With the introduction of the landscape information chain theory, Jiabi Village in Maoba Town, Lichuan City was taken for example to create a complete landscape information chain where tea culture dominates and different cultures intermingle by excavating local landscape information elements, creating landscape information places, and constructing landscape information corridor, so as to create a distinctive beautiful vil age in western Hubei and accord with its positioning of "China's tea homestay culture village" and "China's couplet tea village".

Application of Structuration Theory and Activity Theory in Enterprise Resources Planning Systems Implementation for Universities

An integration of organization culture in the conceptualization and development of Enterprise Resource Planning Systems （ERPs） is critical for an organization to reap potential benefits of the system. In this paper, the authors present an analytical approach through the Structuration Theory： How a university can assess its culture for the purposes of design and development of the ERPs. The authors extend the Structuration Theory by integrating it with the Activity Theory to provide the means of evaluating the activities that the system is to perform. The modified Orlikowski model is applied to depict the relationship between institutional properties, human agents, and technology in the university setup and how this offers a more inclusive approach to ERP systems development and implementation.

Traditional Village Planning under the Theory of Actor Network:A Case Study of Village Planning in the Jingmai Mountain, Pu’er,Yunnan Province

Rural revitalization strategy is an important topic in China.As an important platform for the implementation of the strategy,the preparation of village planning for traditional villages is conducive to coordinating the contradiction between protection and development,and promoting the sustainable development of traditional villages.The traditional villages of the Jingmai Mountain in Pu’er,Yunnan Province are taken as the research objects.The first-hand data are obtained through interviews and field research,and Actor-Network model is used to analyze the actors’ goal and obstacle in preparation of village planning,which better reflects the interests of different actors in village planning process.At the same time,the action path of planning is interpreted through the process of problematisation,interessement,enrolmen,mobislisation and dissidence.In the preparation of village planning for traditional villages,key elements should be paid attention to,such as bridging the cognitive gap,building consensus,setting up participation platform and formulating relevant policy guarantee mechanism,etc.

A Unifying Theory of Dark Energy, Dark Matter, and Baryonic Matter in the Positive-Negative Mass Universe Pair: Protogalaxy and Galaxy Evolutions

This paper modifies the Farnes’ unifying theory of dark energy and dark matter which are negative-mass, created continuously from the negative-mass universe in the positive-negative mass universe pair. The first modification explains that observed dark energy is 68.6%, greater than 50% for the symmetrical positive-negative mass universe pair. This paper starts with the proposed positive-negative-mass 11D universe pair (without kinetic energy) which is transformed into the positive-negative mass 10D universe pair and the external dual gravities as in the Randall-Sundrum model, resulting in the four equal and separate universes consisting of the positive-mass 10D universe, the positive-mass massive external gravity, the negative-mass 10D universe and the negative-mass massive external gravity. The positive-mass 10D universe is transformed into 4D universe (home universe) with kinetic energy through the inflation and the Big Bang to create positive-mass dark matter which is five times of positive-mass baryonic matter. The other three universes without kinetic energy oscillate between 10D and 10D through 4D, resulting in the hidden universes when D > 4 and dark energy when D = 4, which is created continuously to our 4D home universe with the maximum dark energy = 3/4 = 75%. In the second modification to explain dark matter in the CMB, dark matter initially is not repulsive. The condensed baryonic gas at the critical surface density induces dark matter repulsive force to transform dark matter in the region into repulsive dark matter repulsing one another. The calculated percentages of dark energy, dark matter, and baryonic matter are 68.6 (as an input from the observation), 26 and 5.2, respectively, in agreement with observed 68.6, 26.5 and 4.9, respectively, and dark energy started in 4.33 billion years ago in agreement with the observed 4.71 ± 0.98 billion years ago. In conclusion, the modified Farnes’ unifying theory reinterprets the Farnes’ equations, and is a unifying theory of dark energy, dark matter, and baryonic matter in the positive-negative mass universe pair. The unifying theory explains protogalaxy and galaxy evolutions in agreement with the observations.

Is the Higgs Field a Positive and Negative Mass Planckion Condensate, and Does the LHC Produce Extreme Dark Energy?

Assuming a two-component, positive and negative mass, superfluid/supersolid for space (the Winterberg model), we model the Higgs field as a condensate made up of a positive and a negative mass, planckion pair. The connection is shown to be consistent (compatible) with the underlying field equations for each field, and the continuity equation is satisfied for both species of planckions, as well as for the Higgs field. An inherent length scale for space (the vacuum) emerges, which we estimate from previous work to be of the order of, l+ (0) = l- (0) = 5.032E-19 meters, for an undisturbed (unperturbed) vacuum. Thus we assume a lattice structure for space, made up of overlapping positive and negative mass wave functions, ψ+, and, ψ-, which together bind to form the Higgs field, giving it its rest mass of 125.35 Gev/c2 with a coherence length equal to its Compton wavelength. If the vacuum experiences an extreme disturbance, such as in a LHC pp collision, it is conjectured that severe dark energy results, on a localized level, with a partial disintegration of the Higgs force field in the surrounding space. The Higgs boson as a quantum excitation in this field results when the vacuum reestablishes itself, within 10-22 seconds, with positive and negative planckion mass number densities equalizing in the disturbed region. Using our fundamental equation relating the Higgs field, φ, to the planckion ψ+ and ψ- wave functions, we calculate the overall vacuum pressure (equal to vacuum energy density), as well as typical ψ+ and ψ- displacements from equilibrium within the vacuum.

Coordinated Route Planning via Nash Equilibrium and Evolutionary Computation

The coordinated route planning problem for multiple unmanned air vehicles （UAVs）, a cooperative optimization problem, also a non-cooperative game, is addressed in the framework of game theory, A Nash equilibrium based route planner is proposed. The rational is that the structure of UAV subteam usually provides some inherent and implicit preference information, which help to find the optimum coordinated routes and the optimum combination of the various objective functions. The route planner combines the concepts of evolutionary computation with problem-specific chromosome structures and evolutionary operators and handles different kinds of mission constraints in hierarchical style. Cooperation and competition among UAVs are reflected by the definition of fitness function. Simulations validate the feasibility and superiority of the game-theoretic coordinated routes planner.

Effects of a theory of planned behavior-based intervention on breastfeeding behaviors after cesarean section:A randomized controlled trial

Objectives:To examine the efficacy of an intervention based on the theory of planned behavior(TPB)in improving breastfeeding behavior among women with cesarean sections(C-sections).Methods:This research was a randomized controlled trial.Women with planned elective C-sections were recruited to participate in a randomized controlled trial between June and September 2020.One hundred thirty-two women were divided randomly into the intervention(n=66)and control group(n=66)by systematic random sampling.In the intervention group,an intervention project was implemented after Keywords:Breastfeeding Cesarean section Intervention studies Theory of planned behavior the C-section to establish positive breastfeeding attitudes,cultivate supportive subjective norms,enhance perceived behavioral control,and strengthen breastfeeding intention to change behaviors.Those in the control group received routine pre-and post-delivery care.Exclusive breastfeeding rate and breast problem were collected at 5 days,2 weeks,and 1 month after C-section.The modified Breastfeeding Attrition Prediction Tool(BAPT)on the first day in the hospital,two weeks,and one month after C-section and Numerical Rating Scale(NRS)24 h postoperatively were used to compare the intervention effect between the two groups.Results:After the intervention,the intervention group had significantly higher exclusive breastfeeding rates than the control group at five days(86.4%vs.60.6%),two weeks(77.3%vs.57.6%),and one month(74.2%vs.50.0%)after the C-section.Besides,the intervention group was less likely to have sore nipples at five days(6.1%vs.18.2%in the control group,P<0.05)and two weeks(9.1%vs.12.1%in the control group,P<0.05).After two weeks of intervention,attitude scores(90.64±8.31 vs.87.20±8.15,P<0.05),subjective norm scores(88.07±24.65 vs.79.42±19.47,P<0.05)and behavior control scores in the intervention group were significantly higher than those in the control group.After one month of intervention,attitude scores(90.34±10.35 vs.84.22±10.51,P<0.05)and behavior control scores(43.13±5.02 vs.39.15±4.69,P<0.05)in the intervention group were significantly higher than those in the control group,which resulted in the higher breastfeeding intention in the intervention group.Conclusion:This study indicated that the TPB-based interventions effectively improved women's breastfeeding behaviors after C-sections.