Spatiotemporal Evolution and Influencing Factors of Urban-rural Construction Land in Rural Industrialized Areas in China:Case Studies in Changyuan City and Xinxiang County of Henan Province

Since China’s reform and opening up in 1978,the acceleration of industrialization and urbanization in China had led to dramatic changes in the pattern of urban-rural land use.In this paper,we focused on the rural industrialized areas in central China(Xinxiang County and Changyuan City of Henan Province).We used the average nearest neighbor index,spatial statistical analysis,and a structural equation model to analyze the spatiotemporal evolution and influencing factors of urban-rural construction land based on multisource spatial data and survey data.The results showed that:1)from 1975 to 2019,the spatial distribution of urban-rural construction land in rural industrialized areas had evolved from homogeneous distribution to local agglomeration.In terms of comparative analysis of cases,the spatial distribution of urban-rural construction land in Changyuan City had shown a trend from diffusion to agglomeration,and Xinxiang County had overall shown a spatial change from homogenization to agglomeration and then to regional integration development.2)The hot spots with increased urban-rural construction land significantly expanded,and they had a high degree of spatial overlap with industrial development.Among them,Xinxiang County was concentrated in central and marginal areas,and Changyuan was mainly concentrated in central urban areas.3)From the evolution of spatial proximity of urban-rural construction land,rural industrialized areas generally decline,showing the characteristics of internal differentiation in the rate of change.4)Industrial development,social economy,the policy environment,and urban development played a positive role in promoting the expansion of urban-rural construction land in rural industrialized areas.To promote the optimal use of regional land and the integrated development of urban-rural areas,we should combine the advantages of regional endowment,formulate development strategies according to local conditions,and adjust the way that land is used in a timely manner.

A new approach towards the sustainability of urban-rural integration:The development strategy for central villages in the Abbasiya District of Iraq using GIS techniques

The development of rural areas usually has a positive impact on the urban-rural integration. This study explores an innovative approach to stimulate rural development by proposing qualified villages as central villages that can provide basic urban services for their residents and residents of neighboring villages. This approach can contribute to overcoming the various problems that rural areas faced at the social, economic, and environmental levels. It seeks to achieve spatial sustainability of rural areas, representing a new approach by integrating urban development methods to revitalize rural villages. The study analyzed 15 villages belonging to Abbasiya District of AL Kufa City in the Najaf Governorate of Iraq. Based on the GIS techniques and the analysis of urban service indicators(village population, percentage of urban building materials used in villages, distance between village and health centers, distance between village and main roads, nature of economic activity, distance between village and educational institutions, distance between village and drinking water sources, number of communication towers, and distance between village and urban administrative center), this study proposed that Abu Gharb and Albu Ghraib can served as central villages in Abbasiya District in the future. This study establishes a new rural spatial structure to achieve rural sustainable development, improves the development status of rural areas, and provides a theoretical basis for the government and relevant institutions to use urban service indicators, achieving rural sustainable development and formulating relevant development policies in Abbasiya District.

Thinking about Value Realization of Ecological Products under the Background of Urban-rural Integration in Chengdu“Western Control”Area

Chengdu's development strategy of“western control”has laid a solid ecological background for 8 western districts,cities and counties and cultivated good ecological resources.The integrated urban-rural development in the new era will realize the balanced development of urban and rural areas and give full play to the value of rural ecological resources through the“powerful combination”of urban and rural areas.To realize the urban-rural integration and high-quality rural development in Chengdu“western control”area,it is necessary to enhance the awareness of ecological resources and ecological products,and carry out unified planning of ecological infrastructure,ecological material products and ecological service products in the whole“western control”area.Meantime,ecological restoration must be carried out scientifically,and scene design for value transformation of ecological products should be implemented innovatively.

Spatial pattern of urban-rural integration in China and the impact of geography

Urban-rural integration (URI) is a global challenge that is highly related to inequalities, poverty, economic growth, and other Sustainable Development Goals (SDGs). Existing research has evaluated the extent of URI and explored its influencing factors, but urban-rural linkages are seldom incorporated in evaluation systems, and geographical factors are rarely recognized as the influencing factors. We construct a URI framework including regional economy, rural development, urban-rural linkage, and urban-rural gap. Based on a dataset consisting of 1,669 counties in China in 2020, we reveal the spatial pattern of URI and find a high correlation between the spatial pattern of URI and the relief degree of land surface (RDLS). Using structural equation modeling, we discover that topography has direct ( − 0.18, p < 0.001) and indirect ( − 0.17, p < 0.001) effects on URI. The indirect negative effects are mediated through the infrastructure, and the combination of localized advantages and modern technical conditions could mitigate the negative impact of topography. Finally, we identify 742 counties as lagging regions in URI, which can be clustered into eight types. Our findings could facilitate policy designing for those countries striving for integrated and sustainable development of urban and rural areas.

Constructing a Practice-Oriented Education System of Urban-Rural Planning

As China's urbanization accelerates, there is an increasing demand for urban-rural planning at both national and local levels, making it become an independent fi rst-level discipline. Currently in China, the teaching and research system of urban-rural planning is facing some problems like the uneven education level among various universities, improper knowledge system that hardly meets the actual social demands, and insufficient theoretical research. This article argues that, in order to train qualif ied planners capable of satisfying socio-economic development and urbanrural construction, the teaching and research system of urban-rural planning should be practice-oriented and meet social needs. The healthy development of urban-rural planning discipline should be based on the mutual promotion of teaching and research system.

Measures for Improving Laws and Regulations of Local Urban-Rural Plan Formulation

Recently there have emerged some problems in the process of plan formulation, an important part in urban-rural planning, such as public participation deficiency, insufficient control of plan adjustment and revision, unscientific plan formulation, problems in the review and approval procedure, lagging plan adjustment and amendment, etc. To deal with these issues, this paper puts forward a proposal to regulate the procedure of urban-rural plan formulation from the perspective of the legal and regulatory spirit, entity, procedure, and legislation and to improve the laws and regulations of urban-rural planning, so as to provide a technical and legal support for urban-rural integration and the harmonious development of urban and rural areas.

Overall Planning of Development of Urban-Rural Areas:A Policy Mechanism for Urban-Rural Coordinated Growth

While analyzing overall planning and coordinated development of urban-rural areas, this paper shows that overall planning for the development of urban-rural areas is a requirement for the best use of productive forces. It means the setting up of a policy mechanism for coordinated growth. Recognizing this, the government should set up a way to lead and manage a unified program to increase service and decrease controlling administration power, while safeguarding and fulfilling the farmers' ownership to the means of production.

Exploration on Detailed Control Planning Under Urban-Rural Planning Law:A Case Study on Wuhan

Based on the planning practice in Wuhan after the Urban-Rural Planning Law was implemented in 2008,this paper reviews the evolution of detailed control planning in China,and addresses its main problems and conflicts.The innovation of the hierarchical planning and administration system is discussed,and the administrative measures for the transition period in which the detailed control plans have not yet been made for all the urban areas is proposed.

Optimal search path planning of UUV in battlefeld ambush scene

Aiming at the practical application of Unmanned Underwater Vehicle(UUV)in underwater combat,this paper proposes a battlefield ambush scene with UUV considering ocean current.Firstly,by establishing these mathematical models of ocean current environment,target movement,and sonar detection,the probability calculation methods of single UUV searching target and multiple UUV cooperatively searching target are given respectively.Then,based on the Hybrid Quantum-behaved Particle Swarm Optimization(HQPSO)algorithm,the path with the highest target search probability is found.Finally,through simulation calculations,the influence of different UUV parameters and target parameters on the target search probability is analyzed,and the minimum number of UUVs that need to be deployed to complete the ambush task is demonstrated,and the optimal search path scheme is obtained.The method proposed in this paper provides a theoretical basis for the practical application of UUV in the future combat.

Stochastic programming based coordinated expansion planning of generation,transmission,demand side resources,and energy storage considering the DC transmission system

With the increasing penetration of wind and solar energies,the accompanying uncertainty that propagates in the system places higher requirements on the expansion planning of power systems.A source-grid-load-storage coordinated expansion planning model based on stochastic programming was proposed to suppress the impact of wind and solar energy fluctuations.Multiple types of system components,including demand response service entities,converter stations,DC transmission systems,cascade hydropower stations,and other traditional components,have been extensively modeled.Moreover,energy storage systems are considered to improve the accommodation level of renewable energy and alleviate the influence of intermittence.Demand-response service entities from the load side are used to reduce and move the demand during peak load periods.The uncertainties in wind,solar energy,and loads were simulated using stochastic programming.Finally,the effectiveness of the proposed model is verified through numerical simulations.

A Reverse Path Planning Approach for Enhanced Performance of Multi-Degree-of-Freedom Industrial Manipulators

In the domain of autonomous industrial manipulators,precise positioning and appropriate posture selection in path planning are pivotal for tasks involving obstacle avoidance,such as handling,heat sealing,and stacking.While Multi-Degree-of-Freedom(MDOF)manipulators offer kinematic redundancy,aiding in the derivation of optimal inverse kinematic solutions to meet position and posture requisites,their path planning entails intricate multiobjective optimization,encompassing path,posture,and joint motion optimization.Achieving satisfactory results in practical scenarios remains challenging.In response,this study introduces a novel Reverse Path Planning(RPP)methodology tailored for industrial manipulators.The approach commences by conceptualizing the manipulator’s end-effector as an agent within a reinforcement learning(RL)framework,wherein the state space,action set,and reward function are precisely defined to expedite the search for an initial collision-free path.To enhance convergence speed,the Q-learning algorithm in RL is augmented with Dyna-Q.Additionally,we formulate the cylindrical bounding box of the manipulator based on its Denavit-Hartenberg(DH)parameters and propose a swift collision detection technique.Furthermore,the motion performance of the end-effector is refined through a bidirectional search,and joint weighting coefficients are introduced to mitigate motion in high-power joints.The efficacy of the proposed RPP methodology is rigorously examined through extensive simulations conducted on a six-degree-of-freedom(6-DOF)manipulator encountering two distinct obstacle configurations and target positions.Experimental results substantiate that the RPP method adeptly orchestrates the computation of the shortest collision-free path while adhering to specific posture constraints at the target point.Moreover,itminimizes both posture angle deviations and joint motion,showcasing its prowess in enhancing the operational performance of MDOF industrial manipulators.

A Planning Method for Operational Test of UAV Swarm Based on Mission Reliability

The unmanned aerial vehicle(UAV)swarm plays an increasingly important role in the modern battlefield,and the UAV swarm operational test is a vital means to validate the combat effectiveness of the UAV swarm.Due to the high cost and long duration of operational tests,it is essential to plan the test in advance.To solve the problem of planning UAV swarm operational test,this study considers the multi-stage feature of a UAV swarm mission,composed of launch,flight and combat stages,and proposes a method to find test plans that can maximize mission reliability.Therefore,a multi-stage mission reliability model for a UAV swarm is proposed to ensure successful implementation of the mission.A multi-objective integer optimization method that considers both mission reliability and cost is then formulated to obtain the optimal test plans.This study first constructs a mission reliability model for the UAV swarm in the combat stage.Then,the launch stage and flight stage are integrated to develop a complete PMS(Phased Mission Systems)reliability model.Finally,the Binary Decision Diagrams(BDD)and Multi Objective Quantum Particle Swarm Optimization(MOQPSO)methods are proposed to solve the model.The optimal plans considering both reliability and cost are obtained.The proposed model supports the planning of UAV swarm operational tests and represents a meaningful exploration of UAV swarm test planning.

Correlates of Mistimed Pregnancy and Unmet Need for Family Planning among Women of Reproductive Age in Sandema, Ghana

Background: Globally, an estimated 80 million unintended pregnancies comprising both mistimed and unwanted pregnancies are recorded yearly. Yet only half of the women at risk of mistimed pregnancy use contraceptives. In developing countries, over 100 million females have unmet need, and national surveys in Ghana indicate 23% unmet need rate. Methods: Using a cross-sectional community-based approach, a sample size of 300 women of reproductive age were selected using multi-step cluster sampling techniques. The study was quantitative, using structured interviewer-administered questionnaires. Results: Two-third (66%) of the women in reproductive age still had unmet need, 71% were currently pregnant, and more than a third (36%) confirmed ever having a mistimed pregnancy. Fifty-three percent (53%) of the women confirmed never communicating with their partners on family planning issues, a little below half (45%) took their own health care decisions. Seventy nine percent (79%) ever received family planning services from a health professional. Factors related to unmet needs included mistimed pregnancy, level of education, preferred birth/pregnancy interval, communication between partners and the autonomy to spend self-earnings. Conclusion: Considering that high rates of unmet need results in mistimed pregnancy, improved policies around the influence of unmet need on mistimed pregnancies are needed.

Ground threat prediction-based path planning of unmanned autonomous helicopter using hybrid enhanced artificial bee colony algorithm

Unmanned autonomous helicopter(UAH)path planning problem is an important component of the UAH mission planning system.Aiming to reduce the influence of non-complete ground threat information on UAH path planning,a ground threat prediction-based path planning method is proposed based on artificial bee colony(ABC)algorithm by collaborative thinking strategy.Firstly,a dynamic threat distribution probability model is developed based on the characteristics of typical ground threats.The dynamic no-fly zone of the UAH is simulated and established by calculating the distribution probability of ground threats in real time.Then,a dynamic path planning method for UAH is designed in complex environment based on the real-time prediction of ground threats.By adding the collision warning mechanism to the path planning model,the flight path could be dynamically adjusted according to changing no-fly zones.Furthermore,a hybrid enhanced ABC algorithm is proposed based on collaborative thinking strategy.The proposed algorithm applies the leader-member thinking mechanism to guide the direction of population evolution,and reduces the negative impact of local optimal solutions caused by collaborative learning update strategy,which makes the optimization performance of ABC algorithm more controllable and efficient.Finally,simulation results verify the feasibility and effectiveness of the proposed ground threat prediction path planning method.

Trajectory planning for multi-robot coordinated towing system based on stability

Given the unconstrained characteristics of the multi-robot coordinated towing system,the rope can only provide a unidirectional constraint force to the suspended object,which leads to the weak ability of the system to resist external disturbances and makes it difficult to control the trajectory of the suspended object.Based on the kinematics and statics of the multi-robot coordinated towing system with fixed base,the dynamic model of the system is established by using the Newton-Euler equations and the Udwadia-Kalaba equations.To plan the trajectories with high stability and strong control,trajectory planning is performed by combining the dynamics and stability of the towing system.Based on the dynamic stability of the motion trajectory of the suspended object,the stability of the suspended object is effectively improved through online real-time planning and offline manual adjustment.The effectiveness of the proposed method is verified by comparing the motion stability of the suspended object before and after planning.The results provide a foundation for the motion planning and coordinated control of the towing system.

Safe Motion Planning and Control Framework for Automated Vehicles with Zonotopic TRMPC

Model mismatches can cause multi-dimensional uncertainties for the receding horizon control strategies of automated vehicles(AVs).The uncertainties may lead to potentially hazardous behaviors when the AV tracks ideal trajectories that are individually optimized by the AV's planning layer.To address this issue,this study proposes a safe motion planning and control(SMPAC)framework for AVs.For the control layer,a dynamic model including multi-dimensional uncertainties is established.A zonotopic tube-based robust model predictive control scheme is proposed to constrain the uncertain system in a bounded minimum robust positive invariant set.A flexible tube with varying cross-sections is constructed to reduce the controller conservatism.For the planning layer,a concept of safety sets,representing the geometric boundaries of the ego vehicle and obstacles under uncertainties,is proposed.The safety sets provide the basis for the subsequent evaluation and ranking of the generated trajectories.An efficient collision avoidance algorithm decides the desired trajectory through the intersection detection of the safety sets between the ego vehicle and obstacles.A numerical simulation and hardware-in-the-loop experiment validate the effectiveness and real-time performance of the SMPAC.The result of two driving scenarios indicates that the SMPAC can guarantee the safety of automated driving under multi-dimensional uncertainties.

Evolutionary Decision-Making and Planning for Autonomous Driving Based on Safe and Rational Exploration and Exploitation

Decision-making and motion planning are extremely important in autonomous driving to ensure safe driving in a real-world environment.This study proposes an online evolutionary decision-making and motion planning framework for autonomous driving based on a hybrid data-and model-driven method.First,a data-driven decision-making module based on deep reinforcement learning(DRL)is developed to pursue a rational driving performance as much as possible.Then,model predictive control(MPC)is employed to execute both longitudinal and lateral motion planning tasks.Multiple constraints are defined according to the vehicle’s physical limit to meet the driving task requirements.Finally,two principles of safety and rationality for the self-evolution of autonomous driving are proposed.A motion envelope is established and embedded into a rational exploration and exploitation scheme,which filters out unreasonable experiences by masking unsafe actions so as to collect high-quality training data for the DRL agent.Experiments with a high-fidelity vehicle model and MATLAB/Simulink co-simulation environment are conducted,and the results show that the proposed online-evolution framework is able to generate safer,more rational,and more efficient driving action in a real-world environment.

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.

Multi-UAVs Collaborative Path Planning in the Cramped Environment

Due to its flexibility and complementarity, the multiUAVs system is well adapted to complex and cramped workspaces, with great application potential in the search and rescue(SAR) and indoor goods delivery fields. However, safe and effective path planning of multiple unmanned aerial vehicles(UAVs)in the cramped environment is always challenging: conflicts with each other are frequent because of high-density flight paths, collision probability increases because of space constraints, and the search space increases significantly, including time scale, 3D scale and model scale. Thus, this paper proposes a hierarchical collaborative planning framework with a conflict avoidance module at the high level and a path generation module at the low level. The enhanced conflict-base search(ECBS) in our framework is improved to handle the conflicts in the global path planning and avoid the occurrence of local deadlock. And both the collision and kinematic models of UAVs are considered to improve path smoothness and flight safety. Moreover, we specifically designed and published the cramped environment test set containing various unique obstacles to evaluating our framework performance thoroughly. Experiments are carried out relying on Rviz, with multiple flight missions: random, opposite, and staggered, which showed that the proposed method can generate smooth cooperative paths without conflict for at least 60 UAVs in a few minutes.The benchmark and source code are released in https://github.com/inin-xingtian/multi-UAVs-path-planner.

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.