Underground space planning in Helsinki

This paper gives insight into the use of underground space in Helsinki,Finland.The city has an underground master plan(UMP) for its whole municipal area,not only for certain parts of the city.Further,the decision-making history of the UMP is described step-by-step.Some examples of underground space use in other cities are also given.The focus of this paper is on the sustainability issues related to urban underground space use,including its contribution to an environmentally sustainable and aesthetically acceptable landscape,anticipated structural longevity and maintaining the opportunity for urban development by future generations.Underground planning enhances overall safety and economy efficiency.The need for underground space use in city areas has grown rapidly since the 21 st century;at the same time,the necessity to control construction work has also increased.The UMP of Helsinki reserves designated space for public and private utilities in various underground areas of bedrock over the long term.The plan also provides the framework for managing and controlling the city’s underground construction work and allows suitable locations to be allocated for underground facilities.Tampere,the third most populated city in Finland and the biggest inland city in the Nordic countries,is also a good example of a city that is taking steps to utilise underground resources.Oulu,the capital city of northern Finland,has also started to ‘go underground’.An example of the possibility to combine two cities by an 80-km subsea tunnel is also discussed.A new fixed link would generate huge potential for the capital areas of Finland and Estonia to become a real Helsinki-Tallinn twin city.

Study on the Layout of Urban Planning in Rapid Urbanization Areas under the Background of Air Pollution

China＇s urbanization has been over the medium-term process,which has made great achievements,but also triggered a huge problem of air pollution. Air pollution has become a big problem after the water pollution in China,and a serious threat to people＇s life and health. Under the background of ＂ the construction of beautiful China＂ and rapid urbanization,how to build a beautiful home has become the focus of attention. Taking Shenyang as an example,the author contrastively analyses the spatial distribution of the main air pollutants（ PM10,PM2. 5,and SO2） and the present situation of land use,and thus finds out the rules between pollutants distribution and land use. Then combining the urban planning scheme and the rules obtained above,reasonable suggestions are proposed for the scheme to improve the air quality,and reduce or avoid air pollution,and providing the basis for the construction of a piece of blue sky. The conclusions are as follows： 1 air pollutants concentration above Light Oil Gas Making Factory in south vice city of Shenyang reaches the peak value,and industrial point source is the main air pollutants emission source; 2 pollutants concentration above greenbelt is the lowest; 3 the overall spatial structure of urban planning can insulate the industrial agglomeration areas to some extent; greenbelt planning covers 40%- 50% of the area with high concentration of air pollutants,and it is suggested to achieve full coverage; traffic planning can achieve shunt most of the pollutants in many regions,but it can also expand the scope of pollutants in some certain regions,in such regions,it should reduce the road density.

Ten Focal Problems inthe 10th Five-Year Power Plan

In view of that the average electricity consumption per capita is still rather low in China, this paper putsforward ten focal problems in the 10th Five-year Power Plan, including optimized allocation of power sources and powernetworks, environmental protection in coal-fired power plants, as well as localization of power equipment, etc.

Results and Future Plan of JT-60U towards Steady-State Tokamak Reactor

Recent results of JT-60U towards establishment of physics basis for ITER andadvanced tokamak operation are presented. Progress in high integrated performance is achieved withimprovement of N-NB and ECRF heating systems. In the next experimental campaign 2003～2004,discharge duration with 17 MW heating will be extended up to 30s for sustaining high-beta plasmalonger than the current diffusion time. Superconducting modification of JT-60 is planned todemonstrate high-beta plasma sustainment exceeding ideal MHD instability limit without wallstabilization.

FAST GENERATION OF OPTIMAL ASSEMBLY PLANS

Existing approaches to automatic assembly planning often lead to combinatorial explo- sion. When the parts composing the assembly increase in number, computer-aided planning be- comes much slower than manual planning. Efforts to reduce the computing time by taking into ac- count various constraints and criteria to guide the search for the optimal plan requires too much input information, so as to offset the convenience of automatic assembly planning. In addition, as the planner becomes more complicated, such efforts often fail to reach the objective. This paper presents a new concep── unit , asserting that the intemal structure of an assembly is hierachical. Every disassembly operation only handles several units, no matter how many parts are involved. Furthermore, the scenario of disassembly is brought to light. It relates to only two key data──the liaison type and the assembly direction. The computational cast of this approach is roughly propor. tional to the number of parts. A planner, implementing these principlcs can generate the optimal as- sembly plans dramatically faster than the known approaches.

China's Electric Power Industry Achievements during the 9th Five-Year Plan Period and Development Prospects for the 10th Five-Year Plan Period

This paper looks back upon the achievements of the electric power industry during the Ninth Five-year Plan Period(1996-2000), and puts forward the developing targets and the working focuses for the Tenth Five-year Plan Period(2001-2005).

碱循环泵机械密封运行周期短的原因分析及措施

通过对碱循环泵机械密封运行周期短的原因进行分析,采取对机械密封进行技术改造的措施,增加密封的可靠性,提高密封的使用寿命,避免因机械密封频繁泄漏造成的经济损失,保障装置的平稳运行。

Real-time trajectory planning for UCAV air-to-surface attack using inverse dynamics optimization method and receding horizon control

This paper presents a computationally efficient real-time trajectory planning framework for typical unmanned combat aerial vehicle （UCAV） performing autonomous air-to-surface （A/S） attack. It combines the benefits of inverse dynamics optimization method and receding horizon optimal control technique. Firstly, the ground attack trajectory planning problem is mathematically formulated as a receding horizon optimal control problem （RHC-OCP）. In particular, an approximate elliptic launch acceptable region （LAR） model is proposed to model the critical weapon delivery constraints. Secondly, a planning algorithm based on inverse dynamics optimization, which has high computational efficiency and good convergence properties, is developed to solve the RHCOCP in real-time. Thirdly, in order to improve robustness and adaptivity in a dynamic and uncer- tain environment, a two-degree-of-freedom （2-DOF） receding horizon control architecture is introduced and a regular real-time update strategy is proposed as well, and the real-time feedback can be achieved and the not-converged situations can be handled. Finally, numerical simulations demon- strate the efficiency of this framework, and the results also show that the presented technique is well suited for real-time implementation in dynamic and uncertain environment.

Intelligent computing budget allocation for on-road tra jectory planning based on candidate curves

In this paper, on-road trajectory planning is solved by introducing intelligent computing budget allocation(ICBA) into a candidate-curve-based planning algorithm, namely, ordinal-optimization-based differential evolution(OODE). The proposed algorithm is named IOODE with ‘I' representing ICBA. OODE plans the trajectory in two parts: trajectory curve and acceleration profile. The best trajectory curve is picked from a set of candidate curves, where each curve is evaluated by solving a subproblem with the differential evolution(DE) algorithm. The more iterations DE performs, the more accurate the evaluation will become. Thus, we intelligently allocate the iterations to individual curves so as to reduce the total number of iterations performed. Meanwhile, the selected best curve is ensured to be one of the truly top curves with a high enough probability. Simulation results show that IOODE is 20% faster than OODE while maintaining the same performance in terms of solution quality. The computing budget allocation framework presented in this paper can also be used to enhance the efficiency of other candidate-curve-based planning methods.

A Comparative Study of Behavior of Multi-Storied Regular and Irregular Buildings under Static and Dynamic Loading

One of the major challenges of constructing any high rise building for civil engineers is to make it earthquake resistant. This resistance largely depends on the building’s shape and structural system. A comparative study has been done in this paper about the seismic behavior and response of buildings having a regular plan and plan irregularity (re-entrant corners). The 5 building models considered in this study are 15 stories each, the same area and identical weight. Among the 5 building models, 2 are with a regular plan (square, rectangle) and the other 3 building models are with plan irregularity (re-entrant corners). All of them are modeled using ETABS 2015 program for Dhaka, Bangladesh (seismic zone 2). Static loads, wind loads and seismic loads are considered for each model and dynamic response under Bangladesh National Building Code (BNBC) 2006 response spectrum has been meticulously analyzed. A comparison for story displacement, base shear, story drift and time period has been established and explored for dynamic response spectrum among the models. The results show that buildings with irregularity have a greater value of time period, drift and displacement and hereby are more susceptible to damage during an earthquake or disaster.

The Modern Management of Urban Planning and the Controlling Planning

Since 1980s,with the further reform of political and economic systems,the urban construc-tion in our country has undergone great changes,greater than ever.Such changes pose a series ofnew problems to urban planning:How should planning be suitable for the development of moderncities?How should planning management coordinate with urban planning?How to carry out ur-ban planning under new situations? etc.The answers to these problems lie in one point:urbanplanning and plann ing management must be restructured.Only when the former is well com-bined with the latter can the above problems be solved satisfactorily.This article provides someviews in this respect.

Summary of the Seminar Held by the China Urban Planning Information Network and the China Urban Planning Society

The China Urban Planning Informa-tion Network and the China Urban Plan-ning Society held a joint seminar in Fushun,Liaoning Province,on July 12—16,1988.The major topics of the seminar includedthe paid use of urban land and the im-provement and reform of city planning.The seminar discussed the

Impact of legislative precision in the managgement of the Casbah

The historic centre of Algiers(Casbah)presents a state of severe decay.Laws and legislative measures have been promulgated in the past three decades to provide an adequate framework for the conservation of the old city.This paper investigates the law and subsequent legal instruments used in heritage management and the impact of legislative provisions on the management of the living historic centre of the Casbah of Algiers.Before the issuance of Algerian Law n'98-04 relating to the protection of cultural heritage,the role of the various entities managing the Casbah was rather unclear.This law provides more details about the structure of urban heritage management.Additionally,a new heritage protection tool came into existence(the PPSMvsS,i.e.,the Permanent Plan for Safeguarding and Enhancement of the Safeguarded Sector).Difficulties encountered in the field concerning the application of legislative tools caused considerable delays in preservation actions on the ground.This paper provides an analysis of the contradictions between text enforcement and conservation plans to understand the main reasons that led to the degradation of the historic area.Accordingly,the paper proposes a number of solutions to be implemented by the Algerian authorities.

Obstacle avoidance for a hexapod robot in unknown environment

Obstacle avoidance is quite an important issue in the field of legged robotic applications, such as rescuing and detecting in complicated environment. Most related researchers focused on the legged robot’s gait generation after ssuming that obstacles have been detected and the walking path has been given. In this paper we propose and validate a novel obstacle avoidance framework for a six-legged walking robot Hexapod-III in unknown environment. Throughout the paper we highlight three themes: (1) The terrain map modeling and the obstacle detection; (2) the obstacle avoidance path planning method; (3) motion planning for the legged robot. Concretely, a novel geometric feature grid map (GFGM) is proposed to describe the terrain. Based on the GFGM, the obstacle detection algorithm is presented. Then the concepts of virtual obstacles and safe conversion pose are introduced. Virtual obstacles restrict the robot to walk on the detection terrain. A safe path based on Bezier curves, passing through safe conversion poses, is obtained by minimizing a penalty function taking into account the path length subjected to obstacle avoidance. Thirdly, motion planning for the legged robot to walk along the generated path is discussed in detail. At last, we apply the proposed framework to the Hexapod-III robot. The experimental result shows that our methodology allows the robot to walk safely without encountering with any obstacles in unknown environment.