General Optimal Trajectory Planning:Enabling Autonomous Vehicles with the Principle of Least Action

This study presents a general optimal trajectory planning(GOTP)framework for autonomous vehicles(AVs)that can effectively avoid obstacles and guide AVs to complete driving tasks safely and efficiently.Firstly,we employ the fifth-order Bezier curve to generate and smooth the reference path along the road centerline.Cartesian coordinates are then transformed to achieve the curvature continuity of the generated curve.Considering the road constraints and vehicle dynamics,limited polynomial candidate trajectories are generated and smoothed in a curvilinear coordinate system.Furthermore,in selecting the optimal trajectory,we develop a unified and auto-tune objective function based on the principle of least action by employing AVs to simulate drivers’behavior and summarizing their manipulation characteristics of“seeking benefits and avoiding losses.”Finally,by integrating the idea of receding-horizon optimization,the proposed framework is achieved by considering dynamic multi-performance objectives and selecting trajectories that satisfy feasibility,optimality,and adaptability.Extensive simulations and experiments are performed,and the results demonstrate the framework’s feasibility and effectiveness,which avoids both dynamic and static obstacles and applies to various scenarios with multi-source interactive traffic participants.Moreover,we prove that the proposed method can guarantee real-time planning and safety requirements compared to drivers’manipulation.

Abbreviated Report of the WHO Western Pacific Region Workshop on National Plans of Action for Nutrition: Key Elements for Success, Constraints and Future Plans

A workshop on National Plans of Action for Nutrition: Constraints, Key Elements for Success, and Future Plans was convened and organized by the WHO Regional Office for the Western Pacific in collaboration with the Institute for Medical Research Malaysia and co sponsored with FAO and UNICEF from 25—29 October 1999. It was attended by representatives of 25 countries in the region and resource persons, representatives from WHO and other international agencies. The objectives of the workshop were to review the progress of countries in developing, implementing and monitoring national plans of action for nutrition (NPANs) in the Western Pacific Region and to identify constraints and key elements of success in these efforts. Most of the countries have NPANs, either approved and implemented or awaiting official endorsement. The Plan formulation is usually multisectoral, involving several government ministries, non governmental organizations, and international agencies. Often official adoption or endorsement of the Plan comes from the head of state and cabinet or the minister of health, one to six years from the start of its formulation. The NPAN has stimulated support for the development and implementation of nutrition projects and activities, with comparatively greater involvement of and more support from government ministries, UN agencies and non-governmental agencies compared to local communities, bilateral and private sectors and research and academic institutions. Monitoring and evaluation are important components of NPANs. They are, however, not given high priority and often not built into the plan. The role of an intersectoral coordinating body is considered crucial to a country's nutrition program. Most countries have an intersectoral structure or coordinating body to ensure the proper implementation, monitoring and evaluation of their NPANs. The workshop identified the constraints and key elements of success in each of the four stages of the NPAN process: development, operationalization, implementation, and monitoring and evaluation. Constraints to the NPAN process relate to the political and socioeconomic environment, resource scarcity, control and management processes, and factors related to sustainability. The group's review of NPAN identified successful NPANs as those based on recent, adequate and good quality information on the nutritional situation of the country, and on the selection of strategies, priorities and interventions that are relevant to the country and backed up by adequate resources. Continued high level political commitment, a multisectoral approach, and adequate participation of local communities are other key elements for success. The participants agreed on future actions and support needed from various sources for the further development, implementation, monitoring and evaluation of their NPANs. The recommendations for future actions were categorized into actions pertaining to countries with working NPAN, actions for countries without working NPAN and actions relevant to all countries. There was also a set of suggested actions at the regional level, such as holding of regular regional NPAN evaluation meetings, inclusion of NPAN on the agenda of regional fora by the regional organizations, and strengthening of regional nutrition networks.

Noise Action Plans for the Acoustic Protection of Urban Areas around the Athens International Airport （A.I.A.） Strategic Noise Maps 2006 ＆ 2011

Athens International Airport ＂Eleftherios Venizelos＂ （AIA） is considered a pioneer international Public-Private Partnership, being the first major int. airport constructed with the participation of the private sector with the BOOT method （Build, Own, Operate, and Transfer）. AIA＇s 1st day of operation was in March 2001 and the aircraft traffic on 2006 reached 191.000 movements ＆ 15.1 million passengers. According to the European Directive 49/2002 and the Joint Ministerial Decision 13586/724-28/3/06, Athens International Airport （AIA） is included in the category of＂large airports＂ and it consequently comes under the authority of the above mentioned legislation on the evaluation and management of environmental noise. A complete Study on Aircraft Noise [1], according to the European Directive 49/2002 [2] and Joint Ministerial Decision 13586/724-28/3/06 was undertaken under the auspices of the Ministry of Environment, Energy ＆ Climate Change, the Hellenic Civil Aviation Authority, and AIA S.A. In this article the following results are presented： （1） The 2006 Strategic Noise Map （SNM） of both indicators Lden and Lnight based on the ECAC.CEAC Doc 29 methodology ＂Report on Standard Method of Computing Noise Contours around Civil Airports＂, 1997 [3], （2） A statistical analysis of predicted vs measured noise levels based on the existing Noise Monitoring System, （3） Effects from the removal of marginally accepted chapter 3 aircraft, （4） A complete evaluation of results regarding calculation of area/land uses and number of individuals living in residences inside blocks exposed in various levels of noise, and （5） A full evaluation of Noise Action Plans （NAP） regrouping existing and foreseen actions FOR 2006 ＆ 2011 scenarios, especially regarding among others, noise abatement procedures, a comprehensive noise insulation legal framework.

Connection Between Policies and Laws on Human Rights Protection:Case Study of the National Human Rights Action Plans

China’s National Human Rights Action Plans connect policies and laws on human rights protection in terms of ideas,procedures,and contents.The functions of the connections are the guidance to local policymaking,the promise of state commitment,and the linkage to international human rights goals.At the practical level,the enhancement of the connection between policies and laws will promote the effectiveness of human rights protection.In order to improve the rationality of human rights policies,there should be more researches on National Human Rights Action Plans,and more public participation in the process of the Plan drafting.

Assessment of Human Rights Action Plans and Use of Its Results from a Global Perspective

Since the World Conference on Human Rights in 1993,more than a quarter of the participating countries have developed National Human Rights Action Plans(NHRAPs)to promote human rights.An assessment of the NHRAPs can help to understand the realities of the implementation,improve the quality of the follow-up plan,and improve the effectiveness of the plan in the implementation process.From the texts and practices of the NHRAPs,such an assessment includes the 'self-assessments' of the plans’ implementers,comprehensive assessments of inter-departmental committees(groups),and evaluations of policy objects,social organizations and human rights experts.The assessment methods include field research,qualitative evaluation,indicator measurement and process monitoring,among other things.The results of the assessment can promote the cohesion between the NHRAPs in different periods,promote the accumulation and transmission of the implementation experience of the plan,and promote the optimization and adjustment of related matters during the implementation period.

Three Categories of International Comments on National Human Rights Action Plans and Their Implications——An Analysis Based on UPR Reports

At least 57 countries have formulated and implemented 78 national human rights action plans, and the international assessment of them has had direct influence on their international human rights images of their issuers and the focuses of future planning According to related reports from the universal periodic review by the united nations Human rights Council, three categories of comments in a rough quantitative proportion of 1:4:2 have been made by the international community on these plans, which can be categorized as: Attention, Laudatory and expectation, representing objective attention, appreciation or encouragement and anticipation of further implementation or improvement, respectively In terms of regions, Asian countries have received the most Attention Comments, europe and Africa fewer, and America the least The marked achievements in the formulation and implementation of human rights action plans in China have attracted widespread attention and recognition, and further efforts should be made to implement steady and consistent human rights policies, improve the implementation mechanisms and integrate the external and internal functions of human rights action plans so as to promote the sustainable development of China’s human rights cause.

Pursuit of Excellence:The Past Development and New Progress of the Human Rights Action Plans of China

Since the Vienna Declaration and programme of Action in 1993 recommended that countries formulate national human rights action plans,many countries have carried out relevant explorations.Since 2009,China has formulated four series of Human Rights Action plan of China,which is significant for promoting the development of human rights,enhancing the say in international human rights,reducing social risks and protecting individual rights.The formulation of the plan adheres to the principles of being laws and policies-based and human rights-oriented,and taking into account both the country and society.The first three series of the Action plans have undergone such evolution as upgrade of guiding principles and goals,refinement of rights content and measures,diversification of responsible subjects,increasingly reasonable framework structure,and more human rights consideration in discourse expression.The fourth series of the Action plan pays more attention to expanding public participation and the content,improving the supervision mechanism,and further promoting the formulation and implementation of the Action plan.

Mission Planning and Action Planning for Agile Earth-Observing Satellite with Genetic Algorithm

This paper concerns the mission scheduling problem for an agile Earth-observing satellite. Mission planning and action planning for the satellite are both taking into account. Multiple mission types( including multi-strip area,real time download request,and stereoscopic request) and complex satellite actions,such as observe action and data download action,are considered in this paper. Through reasonable analysis of specialties and operational constraints of agile satellites in observing process,the mission scheduling model under multiple objective conditions is constructed. A genetic algorithm combined with heuristic rules is designed to solve problem. Genetic algorithm is designed to arrange user missions and heuristic rules are used to arrange satellite actions. Experiment results suggest that our algorithm works well for the agile Earth-observing satellite scheduling problem.

National Human Rights Action Plan of China (2009-2010)

Introduction The realization of human rights in the broadest sense has been a long-cherished ideal of mankind and also a longpursued goal of the Chinese government and people.

National Human Rights Action Plan of China(2016-2020)

Introduction The period from 2016 to 2020 is a decisive stage for China in the building of a moderately prosperous society in an all-round way as well as a major stage for realizing the orderly,steady and sustainable development of human rights in China.

National Human Rights Action Plan of China (2012-2015)

The formulation of the National Human Rights Action Plan is an impor- tant measure taken by theChinese government to ensure the implementation of the constitutional principle of respecting and safeguarding human rights. It is of great significance to promoting scientific development and social harmony, and to achieving the great objective of building a moderately prosperous society in an all-round way.

Revised National Tuberculosis Control Programme (RNTCP) Tribal Action Plan Fund Utilisation: How Does Chhattisgarh State in India Fare?

Background: In India, tuberculosis remains as a major public health problem amongst the tribal population. Poor physical access to diagnosis and treatment under the Revised National TB control programme (RNTCP) still remains the problem for the population. RNTCP implements Tribal Action Plan (TAP) for tribal patients. We conducted the study to determine the trends of financial utilisation for the special provisions available under tribal action plan like patient honorarium, incentive for sputum collection and transport, incentive for programme staff and incentive for vehicle maintenance. Methods: A cross-sectional study based on mixed method study approach was conducted in Chhattisgarh, India during Nov. 16 to Jun. 17. District TB Officers implementing TAP were interviewed telephonically using a semi-structured questionnaire to ascertain and analyse the reasons for low fund utilization in their districts. Retrospective financial data for five financial years from 13 TAP districts for 2012-2013 to 2016-2017 was collected, compiled and analysed. Results: Overall, the trends on states expenditure on tribal action plan in terms of absolute numbers has increased over the past five years;however, in terms of fund utilization against received ranges from 37% - 86% with the utilization rate less than 44% in the recent years (2014-2017). Conclusion: The trends of utilisation of TAP is less than 44% over the recent years. There is an urgent need for the administrators to intervene and improve the efficiency of fund utilisation at State and district levels.

Community Action Plan for Adolescent Substance Use Prevention: The First Step to Creating a Community Participatory Action

Background: The study was designed to explore and catalyze the development of action plan for adolescent substance use prevention in a rural community in Ebonyi State, Nigeria. Methodology: This study adopted a two-phase multi-method design. The first phase was a quantitative assessment that determined the real-life situation of adolescents’ substance use in the community using 417 respondents. Contemporaneously, the second qualitative phase focused on the development of an action plan by community stakeholders for adolescent substance use prevention using thirty (30) participants selected through purposive sampling. The reliability of the instrument for quantitative data was established using a test re-test method and computed using Pearson moment correlation. A coefficient of 0.8 was obtained. Validity was established for both quantitative and qualitative instruments. The generated data were subjected to descriptive statistics whereas the qualitative data from respondents’ narratives were analysed thematically. Result: The data revealed that participants who have ever used substances consisted of 128 (59.5%) males and 87 (40.5%) females. The findings on the opinion of 30 participants interviewed about the consequences of substance use brought out majorly four consequences of substance use. The result of catalysing the involvement of community residents towards developing community action for adolescent substance use showed that the challenges associated with adolescents’ substance use as identified by the participants were discussed under one theme—living with the cause and three elements. Conclusion: Substance use prevention policies and plans in the local community have strong potential for stimulating local adolescent substance use prevention actions.

Using the resource-environment-economy coordination degree model to guide China's national blue bay remediation action plan in Qingdao

The China National Blue Bay Remediation Action Plan(NBBRAP)is a crucial step towards achieving the overall goal of building a maritime power and a beautiful ocean.This paper presents the resource-environment-economy(REE)composite system from the three-dimensional perspective of REE.Especially,through the coordination degree model of the composite system based on the order degree of subsystems,empirical analysis of the coordination degree of the REE composite system in a typical coastal city Qingdao from 2005 to 2016 was carried out.Results indicate that the degree of coordination and interactive coordination of the REE composite system in Qingdao were in a low-quality state.Qingdao's economy development depended largely on the expense of over-exploitation of resources and environmental degradation in 2013-2015.Government policy implementation was less persistent in 2009-2010 and 2011-2013.The immediate stimulating effect was significant,making the coordination degree of the REE composite system fluctuate in a volatile manner.Analysis of the coordination degree of the REE composite system has practical guiding significance for the successful implementation attainment of the NBBRAP target in Qingdao and is conducive to deepening the learning and promotion of this plan in other coastal cities.

The National Action Plan： An Approach to Prioritise Acts Related to the Conservation of Marine Turtles at Jordan＇s Gulf of Aqaba

The Jordan＇s NAP （national action plan） provides a set of priority actions for the conservation of marine turtles and their habitats in the Gulf of Aqaba, Red Sea. The main threats to the maintenance of stable turtle populations in Jordan range from opportunistic capture to global threats such fishing mortality and from pollution incidents. Jordan＇s NAP addresses the primary causes of turtle mortality with a series of proposed actions. It includes reducing threats from commercial fisheries, development operations, promoting turtle rescue and rehabilitation along with public awareness activities. It considered also a set of recommendations to reflect the importance of protecting marine turtles in Jordan＇s Gulf of Aqaba. It includes community participation in conservation, capacity of national agencies to carry out management activities and to enforce legislations. To each priority actions identified in NAP, expected results and performance indicators were defined. Hence, the designation of a level of urgency to each specific priority action allowed a phased approach for implementation, subject to budget and available national capacity. Currently, NAP is performing effectively through an integrated network of national working groups including government and non-governmental organisations and other stakeholders.

"Internet + Trade Promotion" Action Plan Initiates

2016 China(Beijing)Internet Application Innovation Development Forum,the CCPIT Commercial Sub-Council Internet Application Committee Inauguration was held in Beijing on September13,hosted by the CCPIT Sub-Council and EventBank.As a trade promotion agency within the trade promotion system focusing on trade and investment promotion in the commercial and service sector。

National Human Rights Action Plan as a Milestone

Since ＂the state respects and protects human rights＂ was written into the Constitution in 2004, the Chinese government has issued many white papers during a short period of a few years and has included ＂respect and protect human rights＂ in the 11 th Five Year Plan of National Economic and Social Development.

Study on the Joint Meeting Mechanism for the National Human Rights Action Plan

The joint meeting mechanism for the National Human Rights Action Plan(NHRAP)is a multi-faceted mechanism which unifies political,legislative,administrative,judicial and social sectors.It undertakes the responsibility of formulating,implementing,supervising and evaluating the NHRAP,promotes mutual learning,exchange and competition among member units in the protection of human rights.Over the ten years since it was established,it has proved to be a successful innovative mechanism for protecting human rights that is in line with China’s national conditions.In order to improve the operation of the joint meeting mechanism the NHRAP,it is necessary to establish a more effective coordination mechanism within the joint meeting mechanism,and to subdivide the monitoring and evaluation functions into three levels.

Four Mechanisms for Safeguarding the Effectiveness of the Human Rights Action Plan: Based on African Experience

Since the 1993 World Conference on human Rights, nine African countries have implemented ten human rights action plans. An analysis of the texts and related implementation of these plans reveals that there are four mechanisms that play a key role in improving the effectiveness of the implementation of the national human Rights Action Plan, namely, the positioning and focusing mechanism for the country’s core human rights issues, the integration mechanism between the action plans and the countries’ development strategies, domestic economic growth and related resources utilization mechanism, and effective governance of domestic public conflicts and public order guarantee mechanism. defining and coordinating these mechanisms is of great practical significance for improving the effectiveness of human rights action plans in developing countries.