Path Planning Method Based on D^(*) lite Algorithm for Unmanned Surface Vehicles in Complex Environments

In recent decades,path planning for unmanned surface vehicles(USVs)in complex environments,such as harbours and coastlines,has become an important concern.The existing algorithms for real-time path planning for USVs are either too slow at replanning or unreliable in changing environments with multiple dynamic obstacles.In this study,we developed a novel path planning method based on the D^(*) lite algorithm for real-time path planning of USVs in complex environments.The proposed method has the following advantages:(1)the computational time for replanning is reduced significantly owing to the use of an incremental algorithm and a new method for modelling dynamic obstacles;(2)a constrained artificial potential field method is employed to enhance the safety of the planned paths;and(3)the method is practical in terms of vehicle performance.The performance of the proposed method was evaluated through simulations and compared with those of existing algorithms.The simulation results confirmed the efficiency of the method for real-time path planning of USVs in complex environments.

Dynamic analysis of wind turbine tower structures in complex ocean environment

Studying and analyzing the dynamic behavior of offshore wind turbines are of great importance to ensure the safety and improve the efficiency of such expensive equipments.In this work,a tapered beam model is proposed to investigate the dynamic response of an offshore wind turbine tower on the monopile foundation assembled with rotating blades in the complex ocean environment.Several environment factors like wind,wave,current,and soil resistance are taken into account.The proposed model is ana-lytically solved with the Galerkin method.Based on the numerical results,the effects of various structure parameters including the taper angle,the height and thickness of the tower,the depth,and the diameter and the cement filler of the monopile on the funda-mental natural frequency of the wind turbine tower system are investigated in detail.It is found that the fundamental natural frequency decreases with the increase in the taper angle and the height and thickness of the tower,and increases with the increase in the diameter of the monopile.Moreover,filling cement into the monopile can effectively im-prove the fundamental natural frequency of the wind turbine tower system,but there is a critical value of the amount of cement maximizing the property of the monopile.This research may be helpful in the design and safety evaluation of offshore wind turbines.

Study on technical efficiency of traditional Chinese medicine industry of the Belt and Road Initiative based on environmental complexity

Background:Based on the principle of“joint consultation,co-building,and sharing”,with the aim of creating an energetic new model of economic growth,the Belt and Road Initiative achieves connectivity and mutual benefit.However,the degree of coordinated development of innovation subjects directly affects the improvement and optimization of the Belt and Road Initiative’s strategy implementation environment,and technology efficiency needs improvement.Methods:In this study,a data envelopment analysis model based on the environmental noise elimination algorithm(traditional Chinese medicine-Belt and Road Initiative)was used to identify the technical efficiency of the traditional Chinese medicine industry of Belt and Road Initiative by eliminating the impact of environmental factors.Results:Pure technical ineffectiveness,regional impact,and environmental factors represented by policy responses have a non-linear impact on technical efficiency.The overall technical efficiency of the traditional Chinese medicine industry in the countries along the route shows a trend of annual increases,technical efficiency and scale efficiency are relatively high,and operational efficiency is influenced by the degree of response of the countries along the route and its supporting policies.Conclusion:Pure technical inefficiency is the main factor affecting total technical loss.Geographical advantage is the key factor in operational efficiency.External environmental factors have a significant influence on the operational efficiency of the traditional Chinese medicine industry.

Monitoring and Environmental Assessment of Seawater in West Central Africa: Case of the Kribi Industrial and Urban Port Complex in Cameroon, Guinea Gulf

This study is the first of a series of a project on the development and implementation of environmental protection policies, before, during and after the construction of the Kribi Industrial and Urban Port Complex (KIPC). The results will equip the State and scientific structures concerned with the protection of people, water resources and the environment as a whole. This includes reference data on the state of marine pollution in the region dating from the end of realization of the first phase of KIPC known as Kribi Deep-Water Harbor (KDWH). Accordingly, the aim of this work is to assess the current state of KIPC and its surrounding by quantifying the preliminary parameters of suspended matter (SM);to analyze the physical and chemical parameters, chemical pollution indicators for anions and major cations and organic pollution indicators of four water samples taken from four different sites in the project area by filtration and weighing, pH meter, turbid meter, titration, colorimetry and titrimetric methods. The analysis of these samples and these parameters provides results which are slightly similar to international standards. This suggests that the environment remains relatively healthy. Hence, continuous management and monitoring of the parameters and pollution factors is strongly recommended.

Recent Progress in Reinforcement Learning and Adaptive Dynamic Programming for Advanced Control Applications

Reinforcement learning(RL) has roots in dynamic programming and it is called adaptive/approximate dynamic programming(ADP) within the control community. This paper reviews recent developments in ADP along with RL and its applications to various advanced control fields. First, the background of the development of ADP is described, emphasizing the significance of regulation and tracking control problems. Some effective offline and online algorithms for ADP/adaptive critic control are displayed, where the main results towards discrete-time systems and continuous-time systems are surveyed, respectively.Then, the research progress on adaptive critic control based on the event-triggered framework and under uncertain environment is discussed, respectively, where event-based design, robust stabilization, and game design are reviewed. Moreover, the extensions of ADP for addressing control problems under complex environment attract enormous attention. The ADP architecture is revisited under the perspective of data-driven and RL frameworks,showing how they promote ADP formulation significantly.Finally, several typical control applications with respect to RL and ADP are summarized, particularly in the fields of wastewater treatment processes and power systems, followed by some general prospects for future research. Overall, the comprehensive survey on ADP and RL for advanced control applications has d emonstrated its remarkable potential within the artificial intelligence era. In addition, it also plays a vital role in promoting environmental protection and industrial intelligence.

Negotiated Complexity: Framing Multi-Criteria Decision Support in Environmental Health Practice

The complexity we take into account when dealing with complex issues and the way we deal with that complexity is not given or self-evident, it is framed and negotiated. Based on two environmental health decision support case studies we address a set of key methodological choices, crucial in shaping the multi-criteria decision support and illuminate how they followed from transdisciplinary collaboration and negotiation: diversity tolerance, dealing with uncertainty and difference of opinion, weight of information and the epistemological divide between traditional closed and alternative open paradigms. The case studies exemplify the growing conviction amongst methodologists that, especially regarding complex issues, best methods do not exist as such: methods are chosen and tailored in practice and the quality to a large extent is dependent on the process in which methodological development is embedded. We hope to contribute to making explicit the importance of methodological decision making regarding environmental health complexity.

复杂基质环境中长时间维度被动采样装置的研发与评估——以污水管网中精神活性物质的监测为例

精神活性物质(Psychoactive Substance,PAS)的非法滥用是人类发展面临的难题,快速高效地评估毒情是解决这一难题的基础,及时获取时间加权浓度、低成本的被动采样技术日益受到关注。本研究基于混合型阳离子交换树脂吸附剂开发了一种新型被动采样装置,并应用于污水管网中PAS的快速监测。探讨了采样条件对甲基苯丙胺、3,4-亚甲二氧基甲基苯丙胺、氯胺酮、去甲氯胺酮、吗啡和可替宁采样率(Sampling Rates,RS)的影响。结果表明,温度和pH对RS的影响较大,流速和溶解性有机物的影响不明显。温度改变时,6种PAS的RS的平均变化为0.195 L·d^(−1);pH改变时,6种PAS的RS的平均变化为0.171 L·d^(−1);流速改变时,6种PAS的RS的平均变化为0.057 L·d^(−1);溶解性有机物浓度改变时,6种PAS的RS的平均变化为0.094 L·d^(−1)。实验室模拟阳性环境下,采用胶体金法快速检测采样装置洗脱液中的PAS,3次实验结果均呈阳性,验证了该方法的可靠性。

生态与社会二重性:中国式现代化视野下的环境社会工作新方向

社会工作在现代性的条件下应运而生,社会工作的发展也需要回应现代性的矛盾。生态环境保护与人类社会发展是现代性的一对重要矛盾体,当代社会工作的发展也应当回应这个问题。为此,需要将生态环境和人类社会两个主体的调适与融合作为驱动力,以中国式现代化的根本要求作为中国环境社会工作发展新的开端和指引,对环境社会工作的概念及其所遵循的价值观、工作法则做出新的解释,进而构建中国本土环境社会工作实践的新取向。

星空地井一体化探测技术体系在复杂地质条件场地调查中的应用

复杂地质条件下的场地调查往往受地形起伏、断裂构造复杂、水文地质条件变化剧烈、人类工程扰动强烈等因素影响,存在调查范围缺乏科学性、调查尺度与精度难以协同平衡导致总体工作量部署高而高风险区表征精度相对不足。本文通过融合“星空界”、“天空界”、“地表界”、“地下界”技术,在突破单一技术手段片面零散探测的基础上,强调空天地一体化与井下探测技术的有机融合,构建了星空地井一体化探测技术体系。该一体化探测技术在湖北典型污染场地地下水污染调查中得到了有效应用验证,具有全局性视野认知、自组织高效诊断识别、兼具大时空尺度风险筛查与场地尺度分层精细表征等技术优势。此外,采用该一体化探测技术体系在江西赣南边远山区找水打井与地下水源应急供水中得到了应用验证,从技术方法上克服了传统单一方法的不确定性,科学有效地提高了基岩山区水文地质调查找水的成功率与工作效率。地表界调查圈定找水靶区,论证地下水源找水井位;地下界探测应用落地,基岩山区水文地质钻探涌水量达120 m3/d,解决了赣南革命老区季节性缺水的实际问题。作为行业共性关键技术,星空地井一体化探测技术体系在生态环境、自然资源、水利巡查、应急救灾等业务领域应用前景广阔。未来在多技术方法融合、多元异质信息融合及项目应用落地方面有待进一步拓展,天空界无人机航测、地下界分层精细探测新技术新方法等尚需加强研发应用与技术协同。

综合楼施工深基坑变形多点视觉监测

以保障工程施工安全为目的,提出综合楼施工深基坑变形多点视觉监测方法。以某待测综合楼施工工程深基坑项目为研究标靶,在其周围设置测点并布设图像传感器采集深基坑支护桩顶、周围道路、管线等位置的相关图像,利用包围盒法重建三维深基坑图像,采用粗糙K均值聚类算法计算靶点范围与中心,通过对比原始图像与监测图像的标志点差异获取深基坑的变形位移值,利用所得深基坑图像的标志点位移变化量构建监测数据样本,通过训练RBF神经网络输出深基坑变形预测结果。实验结果表明:该方法可有效监测深基坑变形;深基坑周围道路沉降的变形量最大约为15.12 mm,未达到报警值40 mm;围护加固结构可有效约束深基坑变形。

羟胺强化Fe(Ⅲ)-NTA络合物活化过二硫酸盐降解磺胺甲恶唑

针对Fe(Ⅱ)/过二硫酸盐(Peroxydisulfate,PDS)高级氧化技术存在的pH值应用范围窄、铁泥产量大等缺陷,研究构建Fe(Ⅲ)-氨三乙酸(Nitrilotriacetic Acid,NTA)/羟胺(Hydroxylamine,HAm)/PDS体系,以在中性条件下高效降解水中新污染物磺胺甲恶唑(Sulfamethoxazole,SMX)。研究结果显示,Fe(Ⅲ)-NTA/HAm/PDS体系在pH=7条件下对SMX的降解率可达91%,该体系降解SMX的主要活性物种为·SO_(4)^(-)和·OH。SMX在Fe(Ⅲ)-NTA/HAm/PDS体系中的降解效率随溶液pH值的升高而降低,且增加Fe(Ⅲ)、PDS的用量会加速SMX降解。NTA的引入可将Fe(Ⅱ)/PDS体系的pH值应用范围由酸性拓展至弱碱性,与此同时,向体系内加入HAm可有效减少铁泥的产量。根据检测到的降解产物,提出SMX在Fe(Ⅲ)-NTA/HAm/PDS体系中可能的降解途径包括断键反应、羟基化反应、氨基氧化反应。双酚AF、双氯芬酸、土霉素等其他新污染物也能在Fe(Ⅲ)-NTA/HAm/PDS体系中被高效去除,表明该体系在新污染物的降解领域有较大的应用潜力。

环境规制、能源结构与出口产品技术复杂度

采用2000—2019年OECD成员国面板数据,本文基于CES生产函数的理论分析和空间估计,研究环境规制对出口产品技术复杂度的影响。根据空间杜宾模型发现,本国和邻国的环境规制对促进本国出口产品技术复杂度均存在显著的空间溢出效应。基于空间中介效应模型进行计量分析发现,能源结构在环境规制对出口产品技术复杂度的影响中具有显著的空间中介效应。中介效应结果表明:本国能源结构高,促进本国出口产品技术复杂度提升;邻国能源结构高,抑制本国出口产品技术复杂度提升。

具身视角下滑雪运动参与者环境责任行为的影响因素与组合路径研究——基于模糊集定性比较分析

随着习近平总书记“两山理论”的提出和近年来社会各界的实践,滑雪运动热度不断攀升,滑雪场环境保护问题的研究价值也愈发凸显。基于模糊集定性比较分析方法,运用复杂性理论的模型建构,对北京周边4家滑雪场的滑雪运动参与者进行问卷调查,从“社会的身体”“运动的身体”和“感知的身体”三方面探析滑雪运动参与者环境责任行为的多元影响因素组合路径。结果表明:难忘的旅游体验和旅游者-环境契合度是高环境责任行为结果发生的必要条件;滑雪运动中的身体与环境责任行为之间具有复杂性和多因素影响性;高学历和短滑雪时间的滑雪运动参与者更易产生环境责任行为。建议滑雪场增强滑雪者的运动体验,加深滑雪者的难忘回忆;突出滑雪者身体参与的主体性,强化滑雪具身体验;深入普及滑雪运动知识,倡导环境责任教育。

环境规制强度、FDI增长与出口技术复杂度提升--基于动态系统GMM与门槛模型的实证分析

选取2010—2019年我国省际面板数据,综合运用系统GMM模型,检验出口技术复杂度、FDI以及环境规制之间的关系,并通过面板门槛模型实证考察不同环境规制强度下,FDI引致出口技术复杂度提升的阶段性特征。研究表明:总体上环境规制影响FDI的效应是正向且显著的,环境规制的强度不同,将导致“污染光环”“污染避难所”等现象;环境规制对提升出口技术复杂度,具有双重门槛效应并呈“U”型关系,其在不同强度下的作用效果取决于“成本抵消”与“创新补偿”效应之和;FDI对出口技术复杂度提升作用显著,作用效果受环境规制的影响;将环境规制作为门槛变量时,随着环境规制强度增加,FDI对出口技术复杂度提升形成“N”型双门槛特征;环境规制强度增加的范围必须适度,只有在一定范围内才能发挥促进效应的最大化。

高管团队认知对互嵌式创新影响机制研究

互嵌式创新是依据企业生态系统发展实践提出的强调对等关系的创新范式,由此促进合作企业间由主从关系向对等关系发展。首先利用扎根理论分析推导互嵌式创新形成路径,确定互嵌式创新具体内涵,然后基于问卷调查收集到的209份问卷,实证检验高管团队认知对互嵌式创新的影响机制,研究得出以下结论:高管团队合法性认知和有用性认知与互嵌式创新、风险偏好显著正相关;风险偏好与互嵌式创新显著正相关;风险偏好在合法性认知与互嵌式创新、有用性认知与互嵌式创新间发挥中介作用;环境复杂性对合法性认知与风险偏好、有用性认知与风险偏好的关系起调节作用;环境复杂性能够调节风险偏好的中介效应,且表现为环境复杂性越低,中介效应越显著。

Whey Protein-Carboxymethylcellulose Obtained by Complex Coacervation as an Ingredient in Probiotic Fermented Milk

Discharge of whey proteins is still a current practice by small cheese producers. The development of low-cost alternatives for recovery of these proteins is fundamental for small producers who cannot apply expensive techniques. The present study investigated the complex coacervation technique as a cheap technology to recover proteins from sweet whey using carboxymethylcellulose, and the coacervate used as an ingredient in the formulation of probiotic fermented milk. The nutritional properties of whey-carboxymethylcellulose coacervates (WP-CMC) were evaluated in trials with animals (rats) using casein as a reference. All these parameters—the coefficient of feed efficiency (CEA), protein digestibility-corrected amino acid score (PDCAAS), and net protein ratio (NPR), as well as weight gain—were determined to evaluate protein quality. A sensory acceptance test was applied to evaluate the sensory characteristics of the product. The complex coacervation technique recovered 86% of the protein from sweet whey. No significant (p > 0.05) differences were observed in the biological tests for both groups (WP-CMC and Casein groups) when NPR (4.98 to 5.04), digestibility (92.35 to 90.64), and CEA (0.40 to 0.42) were evaluated. Probiotic fermented milk beverage containing WP-CMC (0.78%) and guar gum (0.68%) presented good acceptability as determined by sensory evaluation. WP-CMC can be considered an ingredient with high nutritional and biological value that could be applied in probiotic fermented milk as an alternative to small producers to allocate the residual whey from cheese manufacture.

基于分层分域理论的应急通信车环境适应性设计方法

基于应急通信车系统本身组成的体系性、系统性、层次性,以及使用环境高热、高寒、潮湿、盐雾、低气压、淋雨、砂尘等综合应力影响的多面性、复杂性,提出一种基于系统分层和条件分域的应急通信车环境适应性设计方法。首先对环境适应性分层分域设计的理论和方法进行研究,分析了环境适应性设计的定义和内涵,提出了分层分域设计的理论和模型,建立了分层分域设计的方法和流程;然后将分层分域环境适应性设计方法在应急通信车上开展工程应用,基于应急通信车功能和架构对系统进行分层分析,根据应急通信车环境适应性要求以及环境因素进行分域并分析其影响机理,提出基于分层分域的应急通信车环境适应性设计对策。该方法也可用于以舰船、飞机等承载平台构建装备的环境适应性设计,提供一种可行的环境适应性设计借鉴方法。

亚硝基苯胲铵在金红石表面的吸附机制及其对浮选行为的影响

综合考虑矿物表面溶液化学,从亚硝基苯胲胺用量、Zeta电位、接触角试验、红外光谱测试及基团电负性理论计算的角度研究亚硝基苯胲胺在金红石表面的吸附行为。研究结果表明:当pH=6.8且亚硝基苯胲胺用量一定时,金红石浮选回收率可达到81.5%。金红石颗粒表面的Ti—O键断裂后,会造成表面的活性质点在水溶液中发生水化,从而生成羟基化合物Ti(OH)22+、Ti(OH)3+等,而吸附行为主要是与Ti(OH)3+作用的结果。亚硝基苯胲胺能够明显增强金红石表面的疏水性能,且在亚硝基苯胲胺的质量浓度为400 mg/L时,接触角最大,即疏水性最强。亚硝基苯胲胺与金红石表面活性质点发生键合,且与—N—O,—N=O官能团生成了含苯环的络合物;矿物与药剂上O和O键合的可能性最大,且稳定性最强,并生成含苯环的五元环络合物,从而使金红石疏水上浮。

复杂环境条件下深基坑组合支护设计应用研究

城市建设工程过程中,复杂环境条件下深基坑支护控制变形要求较高。以贵州省冶金研究所及周边地块棚户区改造(新秀城)项目D1-E-E1段深基坑工程为例,采用钻探、现场抗剪试验、室内岩土测试、现场调查等综合手段,获取复杂环境条件下深基坑支护相关参数,基于midas GTS NX等软件进行数值模拟分析,进行组合支护设计。通过实施过程中监测数据分析结果看,复杂环境条件下深基坑采用桩锚、内支撑组合支护设计,能够有效控制深基坑位移,确保支护结构体系运行安全,达到基坑支护设计的目的。对于类似复杂环境条件下深基坑支护可借鉴该种组合支护设计。