An Approximate Voronoi Boundary Network is constructed as the environmental model by way of enlar-ging the obstacle raster. The connectivity of the path network under complex environment is ensured through build-ing t...An Approximate Voronoi Boundary Network is constructed as the environmental model by way of enlar-ging the obstacle raster. The connectivity of the path network under complex environment is ensured through build-ing the second order Approximate Voronoi Boundary Network after adding virtual obstacles at joint-close grids. Thismethod embodies the network structure of the free area of environment with less nodes, so the complexity of pathplanning problem is reduced largely. An optimized path for mobile robot under complex environment is obtainedthrough the Genetic Algorithm based on the elitist rule and re-optimized by using the path-tightening method. Sincethe elitist one has the only authority of crossover, the management of one group becomes simple, which makes forobtaining the optimized path quickly. The Approximate Voronoi Boundary Network has a good tolerance to the im-precise a priori information and the noises of sensors under complex environment. Especially it is robust in dealingwith the local or partial changes, so a small quantity of dynamic obstacles is difficult to alter the overall character ofits connectivity, which means that it can also be adopted in dynamic environment by fusing the local path planning.展开更多
Based on the working principle of hydro-mechanical split path of tracked vehicle, a operating gear was developed which was controlled by steering wheel and match with transmission case. Then CATIA software was used to...Based on the working principle of hydro-mechanical split path of tracked vehicle, a operating gear was developed which was controlled by steering wheel and match with transmission case. Then CATIA software was used to build the three-dimensional model and carry out dynamic simulation of the mechanism. The result indicates that the design of the mechanism fulfills the request.展开更多
In order to enhance the capability of tracking targets autonomously of unmanned aerial vehicle (UAV), the partially observable Markov decision process (POMDP) model for UAV path planning is established based on the PO...In order to enhance the capability of tracking targets autonomously of unmanned aerial vehicle (UAV), the partially observable Markov decision process (POMDP) model for UAV path planning is established based on the POMDP framework. The elements of the POMDP model are analyzed and described. The state transfer law in the model can be described by the method of interactive multiple model (IMM) due to the diversity of the target motion law, which is used to switch the motion model to accommodate target maneuvers, and hence improving the tracking accuracy. The simulation results show that the model can achieve efficient planning for the UAV route, and effective tracking for the target. Furthermore, the path planned by this model is more reasonable and efficient than that by using the single state transition law.展开更多
目的构建适用于三级公立医院的绩效评价体系,为医院开展绩效考核与管理工作提供决策参考。方法应用文献法、个人访谈法和头脑风暴法构建评价模型和初始指标库,运用德尔菲法和层次分析法确定指标及其权重。结果运用医院质量改进的绩效评...目的构建适用于三级公立医院的绩效评价体系,为医院开展绩效考核与管理工作提供决策参考。方法应用文献法、个人访谈法和头脑风暴法构建评价模型和初始指标库,运用德尔菲法和层次分析法确定指标及其权重。结果运用医院质量改进的绩效评价工具(The Performance Assessment Tool for Quality Improvement in Hospitals,PATH)理念构建了以病人为中心、以员工为导向、医疗效果与效率、运营管理、社会责任、卓越提升6个核心维度的三级公立医院绩效评价指标体系。结论指标体系的可信程度、权威性较高,具有较好的适用性。展开更多
The results of recent geothermobarometric and geochronological investigations of scarce eclogites of the NW Himalaya (Tso Morari (Ladakh), India and Kaghan Valley, Pakistan) have caused a major rethink of tectonometam...The results of recent geothermobarometric and geochronological investigations of scarce eclogites of the NW Himalaya (Tso Morari (Ladakh), India and Kaghan Valley, Pakistan) have caused a major rethink of tectonometamorphic models for India\|Asia collision. Numerous petrologic studies have been undertaken on the age and origin of metamorphism in the Higher Himalayan Crystallines (HHC) and Lesser Himalaya formations (LH) and their relationship to granite magmatism and movements along the Main Central Thrust (MCT) and South Tibetan Detachment Fault (STDF). However, all of these events are essentially Miocene (or younger) in age and can clearly be distinguished from subduction and exhumation processes undergone by the eclogites which are of Eocene age (Tonarini et al. 1993; Spencer & Gebauer; 1996; de Sigoyer et al. 1999) and relate to the very early stages of the collision. Eclogites of eastern Ladakh are mafic lenses found in granitic gneisses (Ordovician intrusive age: Girard & Bussy 1999) and their surrounding late Pre\|Cambrian to early Cambrian sedimentary units in the Tso Morari dome (see Steck et al. 1998). Detailed petrological and geochronological studies (Guillot et al. 1997; de Sigoyer et al. 1997, 1999) have identified an eclogite facies stage (2000±300)MPa, (580±60)℃ followed by isothermal decompression associated with glaucophane growth at around (1100±200)MPa. Dating of different phases by different methods yielded ages around 55Ma for this stage ((55±17) Ma, U\|Pb, Aln; (55±12) Ma, Lu\|Hf, Grt\|Cpx\|Rt; (55±7) Ma, Sm\|Nd, Grt\|Gln\|Rt). A subsequent amphibolite facies overprint at slightly higher temperature (610±70)℃ was dated at 45～48Ma (metabasite: (47±11) Ma, Sm\|Nd, Grt\|Hbl; metapelite: (45±4) Ma, Rb\|Sr, Mu\|Ap\|WR and (48±2) Ma, Ar\|Ar, Phe). By (30±1) Ma (Ar\|Ar, Bt\|Mu) retrogression into the greenschist facies had occurred (de Sigoyer et al. 1999). These data indicate a two stage history with early exhumation being much faster (>4mm/a) than the later evolution (1～2mm/a).展开更多
基金Project (60234030) supported by the National Natural Science Foundation of China
文摘An Approximate Voronoi Boundary Network is constructed as the environmental model by way of enlar-ging the obstacle raster. The connectivity of the path network under complex environment is ensured through build-ing the second order Approximate Voronoi Boundary Network after adding virtual obstacles at joint-close grids. Thismethod embodies the network structure of the free area of environment with less nodes, so the complexity of pathplanning problem is reduced largely. An optimized path for mobile robot under complex environment is obtainedthrough the Genetic Algorithm based on the elitist rule and re-optimized by using the path-tightening method. Sincethe elitist one has the only authority of crossover, the management of one group becomes simple, which makes forobtaining the optimized path quickly. The Approximate Voronoi Boundary Network has a good tolerance to the im-precise a priori information and the noises of sensors under complex environment. Especially it is robust in dealingwith the local or partial changes, so a small quantity of dynamic obstacles is difficult to alter the overall character ofits connectivity, which means that it can also be adopted in dynamic environment by fusing the local path planning.
基金Postdoctoral Fund of Settling Down in Heilongjiang Province(LBH-Q06094)
文摘Based on the working principle of hydro-mechanical split path of tracked vehicle, a operating gear was developed which was controlled by steering wheel and match with transmission case. Then CATIA software was used to build the three-dimensional model and carry out dynamic simulation of the mechanism. The result indicates that the design of the mechanism fulfills the request.
基金supported by the Aeronautical Science Foundation of China(20135153031 20135553035 2017ZC53033)
文摘In order to enhance the capability of tracking targets autonomously of unmanned aerial vehicle (UAV), the partially observable Markov decision process (POMDP) model for UAV path planning is established based on the POMDP framework. The elements of the POMDP model are analyzed and described. The state transfer law in the model can be described by the method of interactive multiple model (IMM) due to the diversity of the target motion law, which is used to switch the motion model to accommodate target maneuvers, and hence improving the tracking accuracy. The simulation results show that the model can achieve efficient planning for the UAV route, and effective tracking for the target. Furthermore, the path planned by this model is more reasonable and efficient than that by using the single state transition law.
文摘目的构建适用于三级公立医院的绩效评价体系,为医院开展绩效考核与管理工作提供决策参考。方法应用文献法、个人访谈法和头脑风暴法构建评价模型和初始指标库,运用德尔菲法和层次分析法确定指标及其权重。结果运用医院质量改进的绩效评价工具(The Performance Assessment Tool for Quality Improvement in Hospitals,PATH)理念构建了以病人为中心、以员工为导向、医疗效果与效率、运营管理、社会责任、卓越提升6个核心维度的三级公立医院绩效评价指标体系。结论指标体系的可信程度、权威性较高,具有较好的适用性。
文摘The results of recent geothermobarometric and geochronological investigations of scarce eclogites of the NW Himalaya (Tso Morari (Ladakh), India and Kaghan Valley, Pakistan) have caused a major rethink of tectonometamorphic models for India\|Asia collision. Numerous petrologic studies have been undertaken on the age and origin of metamorphism in the Higher Himalayan Crystallines (HHC) and Lesser Himalaya formations (LH) and their relationship to granite magmatism and movements along the Main Central Thrust (MCT) and South Tibetan Detachment Fault (STDF). However, all of these events are essentially Miocene (or younger) in age and can clearly be distinguished from subduction and exhumation processes undergone by the eclogites which are of Eocene age (Tonarini et al. 1993; Spencer & Gebauer; 1996; de Sigoyer et al. 1999) and relate to the very early stages of the collision. Eclogites of eastern Ladakh are mafic lenses found in granitic gneisses (Ordovician intrusive age: Girard & Bussy 1999) and their surrounding late Pre\|Cambrian to early Cambrian sedimentary units in the Tso Morari dome (see Steck et al. 1998). Detailed petrological and geochronological studies (Guillot et al. 1997; de Sigoyer et al. 1997, 1999) have identified an eclogite facies stage (2000±300)MPa, (580±60)℃ followed by isothermal decompression associated with glaucophane growth at around (1100±200)MPa. Dating of different phases by different methods yielded ages around 55Ma for this stage ((55±17) Ma, U\|Pb, Aln; (55±12) Ma, Lu\|Hf, Grt\|Cpx\|Rt; (55±7) Ma, Sm\|Nd, Grt\|Gln\|Rt). A subsequent amphibolite facies overprint at slightly higher temperature (610±70)℃ was dated at 45～48Ma (metabasite: (47±11) Ma, Sm\|Nd, Grt\|Hbl; metapelite: (45±4) Ma, Rb\|Sr, Mu\|Ap\|WR and (48±2) Ma, Ar\|Ar, Phe). By (30±1) Ma (Ar\|Ar, Bt\|Mu) retrogression into the greenschist facies had occurred (de Sigoyer et al. 1999). These data indicate a two stage history with early exhumation being much faster (>4mm/a) than the later evolution (1～2mm/a).
