A self-organization formation configuration based assignment probability and collision detection

The formation control of multiple unmanned aerial vehicles(multi-UAVs)has always been a research hotspot.Based on the straight line trajectory,a multi-UAVs target point assignment algorithm based on the assignment probability is proposed to achieve the shortest overall formation path of multi-UAVs with low complexity and reduce the energy consumption.In order to avoid the collision between UAVs in the formation process,the concept of safety ball is introduced,and the collision detection based on continuous motion of two time slots and the lane occupation detection after motion is proposed to avoid collision between UAVs.Based on the idea of game theory,a method of UAV motion form setting based on the maximization of interests is proposed,including the maximization of self-interest and the maximization of formation interest is proposed,so that multi-UAVs can complete the formation task quickly and reasonably with the linear trajectory assigned in advance.Finally,through simulation verification,the multi-UAVs target assignment algorithm based on the assignment probability proposed in this paper can effectively reduce the total path length,and the UAV motion selection method based on the maximization interests can effectively complete the task formation.

环境公益诉讼研究的知识图谱与未来展望——基于CiteSpace的文献计量分析

环境公益诉讼作为一种维护环境公共利益的重要手段,已然成为当下环境法治领域的研究热点。基于文献计量分析方法,以中国知网中的北大核心和CSSCI数据库收录的环境公益诉讼学术论文为分析样本,运用CiteSpace可视化工具绘制知识图谱,系统考察环境公益诉讼研究的文献特征、热点主题及演进脉络。结果显示:文献特征上,发文量受到立法实践的牵引作用明显,研究力量间的“学术共同体”尚未形成,学科领域的“小众性”特质显著。热点主题上,已有研究主要集中在环境公益诉讼的理论基础、关系模式、原告资格、程序规则、域外引介等方面。演进脉络上,环境公益诉讼研究热点与前沿变迁经历“学理探索—制度构建—实践推进”三个阶段,预防性环境公益诉讼、环境行政公益诉讼诉前程序、生态环境损害赔偿诉讼与环境民事公益诉讼的关系等议题有望延续成为前沿问题。未来环境公益诉讼研究需要构建“学术共同体”协同合作长效机制,拓展研究视野;应用多元化研究方法,注重不同方法的功能集成;立足前沿问题,开展持续性深入研究。

A First Tour of Wulong Pool——Nanjing city, the ancient capital of six dynasties, had kept lots of interesting places and historical relics for us to explore.

Last October, the Nanjing-based aiwan, Hongkong, Macao and verseas Chinese Literature Society went to Wulong Pool. Zhang Chao, vice-chairman of the society, invited me to go to see the place with him. We went eastward out of Longpanli along bustling and seething Guangzhou Avenue. by the side of the high Suolong Bridge, we found a garden gate with flower-

阿尔兹海默症动物实验的研究热点与趋势:基于WOS数据库的CiteSpace文献计量分析

目的 本文采用文献计量学的方法揭示阿尔兹海默症动物实验的研究现状、热点与未来趋势并对其进行可视化分析,以帮助研究人员快速了解该领域的最新情况。方法 研究人员从WOSCC数据库中获取了2018~2022年关于AD动物实验领域的出版物。研究人员使用分析软件CiteSpace 6.2.R2(Advanced)对该领域相关出版物的相关信息进行分析。结果 本研究纳入2018~2022年4015篇文章,可发现论文年度发表量逐步增加。从文章数量来看,美国、加州大学系统、Saito T和《国际分子科学杂志》分别是发文量最多的国家、机构、作者、期刊。“阿尔兹海默症”出现频率最高,“焦虑”中心度数最高,内嗅皮层、神经元和突触的可塑性是目前研究的前沿与热点。结论 该领域集中于发病机制和治疗方法方面的研究,但研究多局限于机构与团体内部,缺乏国际间合作;未来应开展更加深入的研究,并加强国际合作以促进该领域的研究进展。

On the Construction and Application Scenarios of——Analysis of Environmental Personality Interests Based on Human Rights

Environmental personality interests based on human rights reflect the multiple values of ecological order,ecological justice,and ecological freedom,and are closely linked to the protection of the right to life and the right to health.They are also related to human dignity and the personal freedom of civil subjects and conform to formal and essential standards of personality rights,which should be included in the scope of personality rights for protection.The construction and application of environmental personality rights faces bottlenecks such as the partiality of subjects,limitation of objects,and hysteresis of responsibilities in the protection of environmental personality rights.Environmental personality rights are supposed to reflect the needs of the development of modern human rights.We should expand the scope of its connotative power and function based on the Green Principle of the Civil Code,and follow a networked,typified,and systematic path of protection,so as to manifest the people-centered philosophy of the Civil Code and the Environmental Protection Law.

ChinAfrica presents selected Chinese cities with a brief introduction about what makes them interesting,and what makes them tick

At Yellow Crane Pavilion in the west My old friend says farewell In the mist and flowers of spring He goes down to Yangzhou These lines penned by Li Bai,the most famous poet in Tang Dynasty（618-907）,have aged well：even in this era,it＇s a good idea to visit Yangzhou in the spring.Throughout all the ages,in fact,Chinese poets have lavishly praised Yangzhou in their writ-

ChinAfrica presents selected Chinese cities with a brief introduction about what makes them interesting, and what makes them tick.

Changsha APPRECIATING red maples during their peak of color is one of the most sought-after activities in many East Asian countries, During the fail foliage season, travelers deluge spots with picturesques views of the colorful favorites. In China, the most famous of these coveted spots is Yuelu Mountain in Changsha City.

ChinAfrica presents selected Chinese cities with a brief introduction about what makes them interesting,and what makes them tick

ZhangjiajieALTHOUGH Guilin has always been the default option for foreign travelers touring China, in recent years more people have begun to recognize the charm of another scenic destination called Zhangjiajie, a city with spectacular views located on the northwestern border of Hunan Province.

Procreation Anxiety in Climate Crisis:Comparative Analysis of The Smog Society and Diary of an Interesting Year

The deterioration of the environment caused by climate change has been entangled with other factors to wane people’s desire for having children.This paper takes two climate short stories,The Smog Society by the Chinese SF author Chen Qiufan and Diary of an Interesting Year by the British writer Helen Simpson as case studies,comparing the writing of the climate change induced fertility anxiety in the two stories from both the individual and community perspectives.By associating the textual analysis with the social reality about fertility rate in China and Britain,the paper explores performance and coping methods of fertility anxiety in the face of climate crisis,aimed at providing possible solutions for the sustainable development of population.

ChinAfrica presents selected Chinese cities with a brief introduction about what makes them interesting, and what makes them tick

UrumqiURUMQI, the capital of the Xinjiang Uygur Au- tonomous Region in northwest China, has a significant population of ethnic minorities. There are two major groups in the city - the Han and the Uygur - but Urumqi is also home to Kazakhs, Kyrgyz, Mongols and Hui Muslims. The strong colorful ethnic lifestyles and local customs are quite attractive to visitors taking in the city＇s traditional architecture, food, clothing and festivals.

ChinAfrica presents selected Chinese cities with a brief introduction about what makes them interesting,and what makes them tick

LOCATED in the northwest of southwest China＇s Yunnan Province, Lijiang has two faces - one scenic, and the other urban. Its multifaceted nature makes it a perfect Valentine＇s Day destination for sun-seeking couples and singles alike.

ChinAfrica presents selected Chinese cities with a brief introduction about what makes them interesting,and what makes them tick

YichangTHE city of Yichang can attest that not all excit- ing sports are modern. Each year, it hosts the China Dragon Boat Rally, which draws teams from all over the country to compete in traditional dragon boat races.

ChinAfrica presents selected Chinese cities with a brief introduction about what makes them interesting,and what makes them tick

Yan＇an JULY 1 is the rounding anniversary of the Communist Party of China （CPC）. For those interested in modern Chinese revolutionary history, Yah＇an in northern Shaanxi Province is a good travel destination during this important anniversary.

ChinAfrica presents selected Chinese cities with a brief introduction about what makes them interesting,and what makes them tick

ACCORDING to the Chinese lunar calendar, Chinese people celebrate the Spring Festival in January 2012, which is earlier than usual. In modern Chinese cities, the festival＇s atmosphere has been fading in recent years. But for those who want to witness age-old celebrations in a traditional setting then the city of Pingyao is a perfect choice for tourists.

ChinAfrica presents selected Chinese cities with a brief introduction about what makes them interesting,and what makes them tick.

FOR those who want to tour the largest city in northeast China,September is a perfect time.On August 31.the 12th National Games opened in Shenyang.In addition to watching the games,visitors can explore the city,which has a history spanning more than 2,000 years. Shenyang＇s history can be traced back as far as the Warring States Period（476 BC - 221 BC）.It＇s famous as the birthplace of the Qing Dynasty（1644-1911）,China＇s last dynasty.In 1625, Nurhachi,the first Qing emperor,established the capital in Shenyang,and changed its name to ＂Shengjing.＂ As a result,Shenyang houses one of China＇s two best-preserved imperial palace complexes and two emperor tombs.

ChinAfrica presents selected Chinese cities with a brief introduction about what makes them interesting, and what makes them tick Tai’an

TAI＇AN is optimal destination for people traveling through China in October. The autumn month marks when Chongyang （Double Ninth）, an important traditional Chinese festival, is typically celebrated. The festival is observed on the ninth day of the ninth month, according to the Chinese calendar, and is a time to remember and pay tribute to family ancestors.

ChinAfrica presents selected Chinese cities with a brief introduction about what makes them interesting, and what makes them tick

A burning town, or seeming so, Three thousand furnaces that glow Incessantly, and fill the air With smoke uprising, gyre on gyre, And painted by the lurid glare, Of jets and flashes of red fire.

ChinAfrica presents selected Chinese cities with a brief introduction about not only what makes them interesting,but what makes them tick

Shenzhen FOR art enthusiasts,Shenzhen,located in southern Guangdong Province,is a prime December destination. The city-wide festival "Creative December" this month features more than 40 events,including an art market,exhibitions and design contests.As the center of China’s design in-

具体犯罪保护法益的确定方法

在基本犯与加重犯的保护法益不同的情形下,应当分别确定基本犯与加重犯的保护法益。如果拟制罪名与基本罪名的构成要件不同,就不应按罪名确定保护法益,而应分别确定拟制罪名与基本罪名的保护法益。阻挡层法益与背后层法益是就不同犯罪或者基本犯与加重犯的关系而言,并不是任何具体犯罪的保护法益都包含阻挡层法益与背后层法益。应当根据法益主体与被害人同意或承诺的有效性等要素区分个人法益与公共法益,不应当在对个人法益的犯罪中随意添加公共法益内容,也不宜随意在对公共法益的犯罪中任意添加个人法益内容。此外,需要区分具体犯罪的保护法益与阻却违法性的优越利益,不应将阻却违法性的优越利益当作相关犯罪的保护法益。

The Protection of Right of Minors to Express Their Opinions in Family Litigations

The right of minors to express their opinions in family litigations refers to minors,who have a certain degree of mental capacity and assertiveness,having the right to express their opinions on the arrangements or decisions related to themselves when the courts handle familial litigation cases involving their interests,and to request the courts hear their opinions.In essence,the right of minors to express their opinions in family litigations belongs to the basic procedural rights of minors as well as judicial beneficiary rights.As for the protection of the right of minors to express their opinions in family litigations,recognizing the status of minors as independent subjects of rights is the logical premise,the procedural guarantee for the rights of the substantive parties involved is the direct cause,and ensuring the best interests of children is the fundamental reason.In order to protect the right of minors to express their opinions in family litigations,China should standardize the mechanisms for judges to hear the opinions of minors directly,improve the mechanisms for family investigators,and establish mechanisms for representing the interests of minors.