Chinese Foreign Minister Qian Qichen arrived in Addis Ababa, Ethiopia, on January 6 on the first leg of a four-nation tour in East Africa. The rest of Qian’s tour will cover Uganda, Kenya and Tanzania. Christian busi...Chinese Foreign Minister Qian Qichen arrived in Addis Ababa, Ethiopia, on January 6 on the first leg of a four-nation tour in East Africa. The rest of Qian’s tour will cover Uganda, Kenya and Tanzania. Christian businessman Jorge Serrano Elias claimed victory in the second round of Guatemala’s presidential elections on January 6. He was inaugurated on January 14 for a five-year term.展开更多
British Prime Minister Margaret Thatcher returned to London on April 1 at the end of her five-day official visit to Moscow. Japan sent a three-man team to Washington on April 2 to head off threatened trade sanctions.
US President Ronald Reagan and Soviet leader Mikhail Gorbachev marked the end of their 4-day talks by exchanging documents of ratification of the INF treaty in Kremlin Hall on June I. Reagan left Moscow on June 2 and ...US President Ronald Reagan and Soviet leader Mikhail Gorbachev marked the end of their 4-day talks by exchanging documents of ratification of the INF treaty in Kremlin Hall on June I. Reagan left Moscow on June 2 and returned to Washington on June 3 via London where he briefed Prime Minister Margaret Thatcher on the Moscow summit long on goodwill but short on achievement.展开更多
West German teen-age pilotMathias Rust, who had landed hislight plane in the Red Square onMay 28, was sentenced to fouryears imprisonment in a labourcamp by the Soviet Supreme courton September 4 after a 3-daytrial. S...West German teen-age pilotMathias Rust, who had landed hislight plane in the Red Square onMay 28, was sentenced to fouryears imprisonment in a labourcamp by the Soviet Supreme courton September 4 after a 3-daytrial. State Council Chairman ErichHonecker, the first top leaderof Democractic Germany to visitFederal Germany, arrived in展开更多
External return mechanism is a mechanical structure applied to axial piston pumps.To study its lubrication characteristics,the Reynolds equation applied to an external return spherical hinge pair was deduced based on ...External return mechanism is a mechanical structure applied to axial piston pumps.To study its lubrication characteristics,the Reynolds equation applied to an external return spherical hinge pair was deduced based on the vector equation of relative-motion velocity of the external return spherical hinge pair under the influence of external swash plate inclination and offset distance.The results show that the total friction,axial leakage flow,and maximum value of the maximum oil-film pressure increase with increasing pump-shaft speed and decrease with increasing offset distance in one working cycle when the external-swash-plate inclination is constant.However,the varying offset distance has little effect on the axial leakage flow.The maximum value of the maximum oil-film pressure decreases with increasing external-swash-plate inclination and the total leakage flow increases with increasing external-swash-plate inclination in one working cycle when the offset distance is constant.It can be seen that the abovementioned parameters are important factors that affect the lubrication characteristics of external return spherical hinge pairs.Therefore,the complex effects of different coupling parameters should be comprehensively considered in the design of the external return mechanism.展开更多
To explore the effects of farming methods,straw returning and their interaction on corn yield and nitrogen utilization,the experiment was conducted for two consecutive years from 2016 to 2017 at the Xiangyang Experime...To explore the effects of farming methods,straw returning and their interaction on corn yield and nitrogen utilization,the experiment was conducted for two consecutive years from 2016 to 2017 at the Xiangyang Experimental Base of Northeast Agricultural University in Heilongjiang Province of China.The method of combining farming with straw returning was used and six treatments as rotary tillage(R)+no straw returning(K),rotary tillage(R)+straw returning(S),tillage(T)+no straw returning(K),tillage(T)+straw returning(S),tillage(T)+subsoiling(D)+no straw returning(K)and tillage(T)+subsoiling(D)+straw returning(S)were set to study the effects of different tillage methods and straw returning on corn yield and nitrogen accumulation and utilization.The corn yield,nitrogen accumulation,nitrogen transport,grain weight and dry matter accumulation of tillage(T)+subsoiling(D)and tillage(T)were significantly higher than those of rotary tillage(R)treatment.Meanwhile,the corn yield,nitrogen accumulation and dry matter accumulation of TD treatment were significantly higher than those of T treatment;the corn yield,dry matter accumulation,kernel weight,nitrogen dry matter production efficiency and nitrogen grain production efficiency of S treatment were significantly higher than those of K treatment.Among the treatments,the yield,nitrogen accumulation and utilization efficiency of TDS,TS and TDK were the highest.The yield,nitrogen accumulation and nitrogen transport of TDS were significantly higher than those of TS.In 2016,TDS production increased by 7.30%and 8.20%compared with TS;and TDS nitrogen accumulation increased by 6.78%and 9.50%compared with TS,while the yield and nitrogen grain production efficiency were significantly higher than those of TDK.Therefore,under the conditions of this experiment,on the basis of straw returning,tillage+subsoiling was the suitable farming method.展开更多
It is important to calculate the reachable domain(RD)of the manned lunar mission to evaluate whether a lunar landing site could be reached by the spacecraft. In this paper, the RD of free return orbits is quickly eval...It is important to calculate the reachable domain(RD)of the manned lunar mission to evaluate whether a lunar landing site could be reached by the spacecraft. In this paper, the RD of free return orbits is quickly evaluated and calculated via the classification and regression neural networks. An efficient databasegeneration method is developed for obtaining eight types of free return orbits and then the RD is defined by the orbit’s inclination and right ascension of ascending node(RAAN) at the perilune. A classify neural network and a regression network are trained respectively. The former is built for classifying the type of the RD, and the latter is built for calculating the inclination and RAAN of the RD. The simulation results show that two neural networks are well trained. The classification model has an accuracy of more than 99% and the mean square error of the regression model is less than 0.01°on the test set. Moreover, a serial strategy is proposed to combine the two surrogate models and a recognition tool is built to evaluate whether a lunar site could be reached. The proposed deep learning method shows the superiority in computation efficiency compared with the traditional double two-body model.展开更多
The effects of different amounts of carbon and nitrogen sources on the soil microbial biomass carbon,dissolved organic carbon and related enzyme activities were studied by the simulation experiment of rice straw retur...The effects of different amounts of carbon and nitrogen sources on the soil microbial biomass carbon,dissolved organic carbon and related enzyme activities were studied by the simulation experiment of rice straw returning to the field,and the mechanism of the decomposition of rice straw returning to the field was discussed.Completely randomized experiment of the two factors of the three levels was designed,and a total of nine treatments of indoor soil incubation tests were conducted.Full amount of rice straw was applied to the soil in this simulation experiment and different amounts of brown sugar and urea were added in the three levels of 0(no carbon source and nitrogen source),1(low levels of carbon and nitrogen sources)and 2(high levels of carbon and nitrogen sources),respectively.The results showed that the addition of different amounts of carbon and nitrogen sources to the rice straw could increase the soil carbon content.Compared with T0N0,the microbial biomass carbon of T2N2 was increased significantly by 170.48%;the dissolved organic carbon content of T1N2 was significantly increased by 58.14%and the free humic acid carbon contents of T0N2,T1N1 and T2N0 were significantly increased by 56.16%and 45.55%and 47.80%,respectively;however,there were no significant differences among those of treatments at later incubation periods.The addition of different carbon and nitrogen sources could promote the soil enzyme activities.During the incubation period,all of the soil enzyme activities of adding sugar and urea were higher than those of T0N0 treatment.Therefore,the addition of different amounts of carbon and nitrogen sources to rice straw returning could improve soil microbial biomass carbon content,dissolved organic carbon and soil enzyme activities.展开更多
The unmanned aerial vehicle(UAV)swarm technology is one of the research hotspots in recent years.With the continuous improvement of autonomous intelligence of UAV,the swarm technology of UAV will become one of the mai...The unmanned aerial vehicle(UAV)swarm technology is one of the research hotspots in recent years.With the continuous improvement of autonomous intelligence of UAV,the swarm technology of UAV will become one of the main trends of UAV development in the future.This paper studies the behavior decision-making process of UAV swarm rendezvous task based on the double deep Q network(DDQN)algorithm.We design a guided reward function to effectively solve the problem of algorithm convergence caused by the sparse return problem in deep reinforcement learning(DRL)for the long period task.We also propose the concept of temporary storage area,optimizing the memory playback unit of the traditional DDQN algorithm,improving the convergence speed of the algorithm,and speeding up the training process of the algorithm.Different from traditional task environment,this paper establishes a continuous state-space task environment model to improve the authentication process of UAV task environment.Based on the DDQN algorithm,the collaborative tasks of UAV swarm in different task scenarios are trained.The experimental results validate that the DDQN algorithm is efficient in terms of training UAV swarm to complete the given collaborative tasks while meeting the requirements of UAV swarm for centralization and autonomy,and improving the intelligence of UAV swarm collaborative task execution.The simulation results show that after training,the proposed UAV swarm can carry out the rendezvous task well,and the success rate of the mission reaches 90%.展开更多
With Al2O3 and SiO2 as polishing medium, under different polishing conditions, e.g. with different polishing pressure, polishing time and polishing fluid, the influences of polishing treatment on the return loss of op...With Al2O3 and SiO2 as polishing medium, under different polishing conditions, e.g. with different polishing pressure, polishing time and polishing fluid, the influences of polishing treatment on the return loss of optical fiber connectors were investigated. The return loss of optical fiber connectors is 32CD*238dB before polishing. The results show that dry polishing（i.e. no polishing fluid） with Al2O3 has less influence on return loss of optical fiber connectors, while dry polishing with SiO2 reduces return loss to about 20dB because of the end-face of optical fiber contaminated. The wet polishing（i.e. using distilled water as polishing fluid） with Al2O3 or SiO2 can increase return loss to 45CD*250dB, but wet polishing with Al2O3 may produce optical fiber undercut depth of 80CD*2140nm. Wet polishing with SiO2 should be preferentially selected for optical fiber connectors and polishing time should be controlled within 20CD*230s.展开更多
The objective of present work is to find out the sources of fluid-borne noise in vertical inline pump for various flow rates. The three-dimensional unsteady Reynolds Average Navier Stokes equation was solved using com...The objective of present work is to find out the sources of fluid-borne noise in vertical inline pump for various flow rates. The three-dimensional unsteady Reynolds Average Navier Stokes equation was solved using computational fluid dynamics code to predict the acoustic distribution. The pump chosen for study was of low specific speed and the experimental performance characteristic was very well matched with computational head developed. PROUDMAN sound power contour analysis showed the critical zone of noise in inlet pipe,impeller,and volute. Based on this,the variations of acoustic power were depicted over the cross section of inlet pipe,along the mean streamline of inlet pipe,as well along the volute circumference. The result concludes that the predominant flow noise is at tongue region and followed by noise generated due to turbulence in inlet pipe which occurs by the sudden variation in flow passage as well it depends on the operating condition of pump. The frequency analysis gives a glimpse of understanding about the broadband noise distribution due to flow phenomenon over a frequency range.展开更多
In order to get prepared for the coming extreme pollution events and minimize their harmful impacts, the first and most important step is to predict their possible intensity in the future. Firstly, the generalized Par...In order to get prepared for the coming extreme pollution events and minimize their harmful impacts, the first and most important step is to predict their possible intensity in the future. Firstly, the generalized Pareto distribution （GPD） in extreme value theory was used to fit the extreme pollution concentrations of three main pollutants： PM10, NO2 and SO：, from 2005 to 2010 in Changsha, China. Secondly, the prediction results were compared with actual data by a scatter plot. Four statistical indicators： EMA （mean absolute error）, ERMS （root mean square error）, IA （index of agreement） and R2 （coefficient of determination） were used to evaluate the goodness-of-fit as well. Thirdly, the return levels corresponding to different return periods were calculated by the fitted distributions. The fitting results show that the distribution of PM10 and SO2 belongs to exponential distribution with a short tail while that of the NOe belongs to beta distribution with a bounded tail. The scatter plot and four statistical indicators suggest that GPD agrees well with the actual data. Therefore, the fitted distribution is reliable to predict the return levels corresponding to different return periods. The predicted return levels suggest that the intensity of coming pollution events for PM10 and SO2 will be even worse in the future, which means people have to get enough preparation for them.展开更多
A general approach for controlling of periodical dynamic systems was presented by taking robotic yoyo as an example. The height of the robot arm when the yoyo arrives at the bottom was chosen as virtual control. The i...A general approach for controlling of periodical dynamic systems was presented by taking robotic yoyo as an example. The height of the robot arm when the yoyo arrives at the bottom was chosen as virtual control. The initial amplitude of yoyo could be mapped to the desired final amplitude by adjusting the virtual control. First,the yoyo motion was formulated into a nonlinear optimal control problem which contained the virtual control. The reference trajectory of robot could be obtained by solving the optimal problem with analytic method or more general numerical approach. Then,both PI and deadbeat control methods were used to control the yoyo system. The simulation results show that the analytic solution of the reference trajectory is identical to the numerical solution,which mutually validates the correctness of the two solution methods. In simulation,the initial amplitude of yoyo is set to be 0.22 m which is 10% higher than the desired final amplitude of 0.2 m. It can be seen that the amplitude achieves the desired value asymptotically in about five periods when using PI control,while it needs only one period with deadbeat control. The reference trajectory of robot is generated by optimizing a certain performance index; therefore,it is globally optimal. This is essentially different from those traditional control methods,in which the reference trajectories are empirically imposed on robot. What's more,by choosing the height of the robot arm when the yoyo arrives at the bottom as the virtual control,the motion of the robot arm may not be out of its stroke limitation. The proposed approach may also be used in the control of other similar periodical dynamic systems.展开更多
The UN Security Council dictated on March 2 terms to Iraq for a permanent ceasefire. The terms include the release of all prisoners and the return of all plundered Kuwaiti property. The vote on the resolution was 11 i...The UN Security Council dictated on March 2 terms to Iraq for a permanent ceasefire. The terms include the release of all prisoners and the return of all plundered Kuwaiti property. The vote on the resolution was 11 in favour, one against and three aostentions. Aostaining were China, India and Yemen. Thailand’s new展开更多
Haitian President Jean-Bertrand Aristide made a joy-filled return from exile on October 15, delivering a powerful appeal for reconciliation and an end to bloodshed in the impoverished Caribbean nation. Aristide had no...Haitian President Jean-Bertrand Aristide made a joy-filled return from exile on October 15, delivering a powerful appeal for reconciliation and an end to bloodshed in the impoverished Caribbean nation. Aristide had not set foot on Haitian soil since soon after he was deposed by the military in a bloody coup in September 1991. Veteran Chancellor Helmut Kohl展开更多
Qiyechangbai and Hadacongl were used to study the relationship of the leaf age of overwinter to bolting and, returning green by the difference of sowing time. The results showed that the earlier the seeds were sown, t...Qiyechangbai and Hadacongl were used to study the relationship of the leaf age of overwinter to bolting and, returning green by the difference of sowing time. The results showed that the earlier the seeds were sown, the older leaf age of overwinter was, the higher the rates of returning green and bolting rate were, the earlier the bolting time was. The leaf age of overwinter of Qiyechangbai sown August 31 to September 14 was 2.1-3.1 leaves and the rate of returning green was 86.5%-92.1%, while the leaf age of overwinter of Hadacongl sown September 7 to September 14 was 2.3-2.7 leaves and the rate of returning green was 88.5%-93.8%, both varieties didn＇t bolt. In addition, in the same sowing time, the bolting rate of Hadacong I was higher than that of Qiyechangbai slightly.展开更多
Tillage practices and organic amendment are strategies used worldwide to preserve the properties and fertility of soils.This study aimed to elucidate effects of 3-year field treatments of tillage practice and straw ma...Tillage practices and organic amendment are strategies used worldwide to preserve the properties and fertility of soils.This study aimed to elucidate effects of 3-year field treatments of tillage practice and straw management on physical properties of Mollisols,root architecture and maize yield in northeast China.The experiment was conducted from 2015 to 2018 following a splitplot design of a randomized complete block with tillage practices[rotary tillage(R)and deep tillage(D)]as main plots and straw managements[straw returning(S),straw returning and organic fertilizer(M),straw removal(T)]as subplots.Soil samples at 0-15,15-30,30-50 cm depths and root samples at the seedling stage were collected.The results showed that DM treatment significantly improved soil moisture content at 10-50 cm soil depth and decreased soil compaction(P<0.05),which led to a better root architecture.Rotary tillage had a slower thermal conductivity but better thermal insulation performance,while deep tillage showed a higher daily temperature difference.Bulk density of topsoil was significantly lower in DS(1.16 g·cm^(-3))than in other treatments,but the soil permeability in DS(1.40 mm·min^(-1)in 0-15 soil depth and 1.45 mm·min-1in 15-30 cm soil depth)was the highest.At the maize seedling stage,DM had the highest root dry weight,root-shoot ratio and root length,while RM had the highest root volume,root furcation number and root tip number.The maize yield of three years in DM was 6.19%,5.21%and 15.72%higher than that in DS,DT and RM(P<0.01),respectively.Relative to RT and DT,a slight decrease(2.72%and 0.93%,respectively)in maize yield under RS and DS was observed,which could be alleviated by the addition of organic fertilizer.The correlation matrix indicated that kernel per ear number and 100-kernel weight were the dominant factors that affected maize yield.Redundancy analysis suggested that straw managements and tillage practices were significantly positively correlated with root-shoot ratio,root dry weight,maximum root length,the total root length and maize yield,but significantly negatively correlated with soil compaction,bulk density,soil moisture content and soil temperature.Among all the treatments,deep tillage with straw returning and the addition of organic fertilizer was recommended as a promising strategy in restoring soil productivity,promoting maize growth and increasing maize yield in Mollisols of northeast China and similar regions around the world.展开更多
Angola, Cuba, South Africa and the United States began two days of peace talks in London on May 3. The Angolan Government is offering to withdraw an estimated 40,000 Cuban troops stationed on its soil. In return, Ango...Angola, Cuba, South Africa and the United States began two days of peace talks in London on May 3. The Angolan Government is offering to withdraw an estimated 40,000 Cuban troops stationed on its soil. In return, Angola wants independence for Namibia, the withdrawal of South African troops from its southern provinces, and an end to US and South African support for UNITA rebels.展开更多
文摘Chinese Foreign Minister Qian Qichen arrived in Addis Ababa, Ethiopia, on January 6 on the first leg of a four-nation tour in East Africa. The rest of Qian’s tour will cover Uganda, Kenya and Tanzania. Christian businessman Jorge Serrano Elias claimed victory in the second round of Guatemala’s presidential elections on January 6. He was inaugurated on January 14 for a five-year term.
文摘British Prime Minister Margaret Thatcher returned to London on April 1 at the end of her five-day official visit to Moscow. Japan sent a three-man team to Washington on April 2 to head off threatened trade sanctions.
文摘US President Ronald Reagan and Soviet leader Mikhail Gorbachev marked the end of their 4-day talks by exchanging documents of ratification of the INF treaty in Kremlin Hall on June I. Reagan left Moscow on June 2 and returned to Washington on June 3 via London where he briefed Prime Minister Margaret Thatcher on the Moscow summit long on goodwill but short on achievement.
文摘West German teen-age pilotMathias Rust, who had landed hislight plane in the Red Square onMay 28, was sentenced to fouryears imprisonment in a labourcamp by the Soviet Supreme courton September 4 after a 3-daytrial. State Council Chairman ErichHonecker, the first top leaderof Democractic Germany to visitFederal Germany, arrived in
基金Project(GXXT-2019-048)supported by the University Synergy Innovation Program of Anhui Province,ChinaProject(51575002)supported by the National Natural Science Foundation of ChinaProject(gxbj ZD11)supported by the Top-Notch Talent Program of University(Profession)in Anhui Province,China。
文摘External return mechanism is a mechanical structure applied to axial piston pumps.To study its lubrication characteristics,the Reynolds equation applied to an external return spherical hinge pair was deduced based on the vector equation of relative-motion velocity of the external return spherical hinge pair under the influence of external swash plate inclination and offset distance.The results show that the total friction,axial leakage flow,and maximum value of the maximum oil-film pressure increase with increasing pump-shaft speed and decrease with increasing offset distance in one working cycle when the external-swash-plate inclination is constant.However,the varying offset distance has little effect on the axial leakage flow.The maximum value of the maximum oil-film pressure decreases with increasing external-swash-plate inclination and the total leakage flow increases with increasing external-swash-plate inclination in one working cycle when the offset distance is constant.It can be seen that the abovementioned parameters are important factors that affect the lubrication characteristics of external return spherical hinge pairs.Therefore,the complex effects of different coupling parameters should be comprehensively considered in the design of the external return mechanism.
基金Supported by the Special Fund for Agro-scientific Research in Public Interest in China(201503119-06-01)。
文摘To explore the effects of farming methods,straw returning and their interaction on corn yield and nitrogen utilization,the experiment was conducted for two consecutive years from 2016 to 2017 at the Xiangyang Experimental Base of Northeast Agricultural University in Heilongjiang Province of China.The method of combining farming with straw returning was used and six treatments as rotary tillage(R)+no straw returning(K),rotary tillage(R)+straw returning(S),tillage(T)+no straw returning(K),tillage(T)+straw returning(S),tillage(T)+subsoiling(D)+no straw returning(K)and tillage(T)+subsoiling(D)+straw returning(S)were set to study the effects of different tillage methods and straw returning on corn yield and nitrogen accumulation and utilization.The corn yield,nitrogen accumulation,nitrogen transport,grain weight and dry matter accumulation of tillage(T)+subsoiling(D)and tillage(T)were significantly higher than those of rotary tillage(R)treatment.Meanwhile,the corn yield,nitrogen accumulation and dry matter accumulation of TD treatment were significantly higher than those of T treatment;the corn yield,dry matter accumulation,kernel weight,nitrogen dry matter production efficiency and nitrogen grain production efficiency of S treatment were significantly higher than those of K treatment.Among the treatments,the yield,nitrogen accumulation and utilization efficiency of TDS,TS and TDK were the highest.The yield,nitrogen accumulation and nitrogen transport of TDS were significantly higher than those of TS.In 2016,TDS production increased by 7.30%and 8.20%compared with TS;and TDS nitrogen accumulation increased by 6.78%and 9.50%compared with TS,while the yield and nitrogen grain production efficiency were significantly higher than those of TDK.Therefore,under the conditions of this experiment,on the basis of straw returning,tillage+subsoiling was the suitable farming method.
基金supported by the National Natural Science Foundation of China (12072365)the Natural Science Foundation of Hunan Province of China (2020JJ4657)。
文摘It is important to calculate the reachable domain(RD)of the manned lunar mission to evaluate whether a lunar landing site could be reached by the spacecraft. In this paper, the RD of free return orbits is quickly evaluated and calculated via the classification and regression neural networks. An efficient databasegeneration method is developed for obtaining eight types of free return orbits and then the RD is defined by the orbit’s inclination and right ascension of ascending node(RAAN) at the perilune. A classify neural network and a regression network are trained respectively. The former is built for classifying the type of the RD, and the latter is built for calculating the inclination and RAAN of the RD. The simulation results show that two neural networks are well trained. The classification model has an accuracy of more than 99% and the mean square error of the regression model is less than 0.01°on the test set. Moreover, a serial strategy is proposed to combine the two surrogate models and a recognition tool is built to evaluate whether a lunar site could be reached. The proposed deep learning method shows the superiority in computation efficiency compared with the traditional double two-body model.
基金Supported by the National Key Research and Development Plan Project(2016YFD0300909-04)。
文摘The effects of different amounts of carbon and nitrogen sources on the soil microbial biomass carbon,dissolved organic carbon and related enzyme activities were studied by the simulation experiment of rice straw returning to the field,and the mechanism of the decomposition of rice straw returning to the field was discussed.Completely randomized experiment of the two factors of the three levels was designed,and a total of nine treatments of indoor soil incubation tests were conducted.Full amount of rice straw was applied to the soil in this simulation experiment and different amounts of brown sugar and urea were added in the three levels of 0(no carbon source and nitrogen source),1(low levels of carbon and nitrogen sources)and 2(high levels of carbon and nitrogen sources),respectively.The results showed that the addition of different amounts of carbon and nitrogen sources to the rice straw could increase the soil carbon content.Compared with T0N0,the microbial biomass carbon of T2N2 was increased significantly by 170.48%;the dissolved organic carbon content of T1N2 was significantly increased by 58.14%and the free humic acid carbon contents of T0N2,T1N1 and T2N0 were significantly increased by 56.16%and 45.55%and 47.80%,respectively;however,there were no significant differences among those of treatments at later incubation periods.The addition of different carbon and nitrogen sources could promote the soil enzyme activities.During the incubation period,all of the soil enzyme activities of adding sugar and urea were higher than those of T0N0 treatment.Therefore,the addition of different amounts of carbon and nitrogen sources to rice straw returning could improve soil microbial biomass carbon content,dissolved organic carbon and soil enzyme activities.
基金supported by the Aeronautical Science Foundation(2017ZC53033).
文摘The unmanned aerial vehicle(UAV)swarm technology is one of the research hotspots in recent years.With the continuous improvement of autonomous intelligence of UAV,the swarm technology of UAV will become one of the main trends of UAV development in the future.This paper studies the behavior decision-making process of UAV swarm rendezvous task based on the double deep Q network(DDQN)algorithm.We design a guided reward function to effectively solve the problem of algorithm convergence caused by the sparse return problem in deep reinforcement learning(DRL)for the long period task.We also propose the concept of temporary storage area,optimizing the memory playback unit of the traditional DDQN algorithm,improving the convergence speed of the algorithm,and speeding up the training process of the algorithm.Different from traditional task environment,this paper establishes a continuous state-space task environment model to improve the authentication process of UAV task environment.Based on the DDQN algorithm,the collaborative tasks of UAV swarm in different task scenarios are trained.The experimental results validate that the DDQN algorithm is efficient in terms of training UAV swarm to complete the given collaborative tasks while meeting the requirements of UAV swarm for centralization and autonomy,and improving the intelligence of UAV swarm collaborative task execution.The simulation results show that after training,the proposed UAV swarm can carry out the rendezvous task well,and the success rate of the mission reaches 90%.
文摘With Al2O3 and SiO2 as polishing medium, under different polishing conditions, e.g. with different polishing pressure, polishing time and polishing fluid, the influences of polishing treatment on the return loss of optical fiber connectors were investigated. The return loss of optical fiber connectors is 32CD*238dB before polishing. The results show that dry polishing（i.e. no polishing fluid） with Al2O3 has less influence on return loss of optical fiber connectors, while dry polishing with SiO2 reduces return loss to about 20dB because of the end-face of optical fiber contaminated. The wet polishing（i.e. using distilled water as polishing fluid） with Al2O3 or SiO2 can increase return loss to 45CD*250dB, but wet polishing with Al2O3 may produce optical fiber undercut depth of 80CD*2140nm. Wet polishing with SiO2 should be preferentially selected for optical fiber connectors and polishing time should be controlled within 20CD*230s.
基金State Key Program of National Natural Science Foundation of China(51239005)
文摘The objective of present work is to find out the sources of fluid-borne noise in vertical inline pump for various flow rates. The three-dimensional unsteady Reynolds Average Navier Stokes equation was solved using computational fluid dynamics code to predict the acoustic distribution. The pump chosen for study was of low specific speed and the experimental performance characteristic was very well matched with computational head developed. PROUDMAN sound power contour analysis showed the critical zone of noise in inlet pipe,impeller,and volute. Based on this,the variations of acoustic power were depicted over the cross section of inlet pipe,along the mean streamline of inlet pipe,as well along the volute circumference. The result concludes that the predominant flow noise is at tongue region and followed by noise generated due to turbulence in inlet pipe which occurs by the sudden variation in flow passage as well it depends on the operating condition of pump. The frequency analysis gives a glimpse of understanding about the broadband noise distribution due to flow phenomenon over a frequency range.
基金Project(51178466) supported by the National Natural Science Foundation of ChinaProject(200545) supported by the Foundation for the Author of National Excellent Doctoral Dissertation of China+1 种基金Project(2011JQ006) supported by the Fundamental Research Funds of the Central Universities of ChinaProject(2008BAJ12B03) supported by the National Key Program of Scientific and Technical Supporting Programs of China
文摘In order to get prepared for the coming extreme pollution events and minimize their harmful impacts, the first and most important step is to predict their possible intensity in the future. Firstly, the generalized Pareto distribution （GPD） in extreme value theory was used to fit the extreme pollution concentrations of three main pollutants： PM10, NO2 and SO：, from 2005 to 2010 in Changsha, China. Secondly, the prediction results were compared with actual data by a scatter plot. Four statistical indicators： EMA （mean absolute error）, ERMS （root mean square error）, IA （index of agreement） and R2 （coefficient of determination） were used to evaluate the goodness-of-fit as well. Thirdly, the return levels corresponding to different return periods were calculated by the fitted distributions. The fitting results show that the distribution of PM10 and SO2 belongs to exponential distribution with a short tail while that of the NOe belongs to beta distribution with a bounded tail. The scatter plot and four statistical indicators suggest that GPD agrees well with the actual data. Therefore, the fitted distribution is reliable to predict the return levels corresponding to different return periods. The predicted return levels suggest that the intensity of coming pollution events for PM10 and SO2 will be even worse in the future, which means people have to get enough preparation for them.
基金Project(50475025) supported by the National Natural Science Foundation of China
文摘A general approach for controlling of periodical dynamic systems was presented by taking robotic yoyo as an example. The height of the robot arm when the yoyo arrives at the bottom was chosen as virtual control. The initial amplitude of yoyo could be mapped to the desired final amplitude by adjusting the virtual control. First,the yoyo motion was formulated into a nonlinear optimal control problem which contained the virtual control. The reference trajectory of robot could be obtained by solving the optimal problem with analytic method or more general numerical approach. Then,both PI and deadbeat control methods were used to control the yoyo system. The simulation results show that the analytic solution of the reference trajectory is identical to the numerical solution,which mutually validates the correctness of the two solution methods. In simulation,the initial amplitude of yoyo is set to be 0.22 m which is 10% higher than the desired final amplitude of 0.2 m. It can be seen that the amplitude achieves the desired value asymptotically in about five periods when using PI control,while it needs only one period with deadbeat control. The reference trajectory of robot is generated by optimizing a certain performance index; therefore,it is globally optimal. This is essentially different from those traditional control methods,in which the reference trajectories are empirically imposed on robot. What's more,by choosing the height of the robot arm when the yoyo arrives at the bottom as the virtual control,the motion of the robot arm may not be out of its stroke limitation. The proposed approach may also be used in the control of other similar periodical dynamic systems.
文摘The UN Security Council dictated on March 2 terms to Iraq for a permanent ceasefire. The terms include the release of all prisoners and the return of all plundered Kuwaiti property. The vote on the resolution was 11 in favour, one against and three aostentions. Aostaining were China, India and Yemen. Thailand’s new
文摘Haitian President Jean-Bertrand Aristide made a joy-filled return from exile on October 15, delivering a powerful appeal for reconciliation and an end to bloodshed in the impoverished Caribbean nation. Aristide had not set foot on Haitian soil since soon after he was deposed by the military in a bloody coup in September 1991. Veteran Chancellor Helmut Kohl
基金Supported by Science and Technology Innovation Fund of Undergraduation of Northeast Agricultural University(20060201)
文摘Qiyechangbai and Hadacongl were used to study the relationship of the leaf age of overwinter to bolting and, returning green by the difference of sowing time. The results showed that the earlier the seeds were sown, the older leaf age of overwinter was, the higher the rates of returning green and bolting rate were, the earlier the bolting time was. The leaf age of overwinter of Qiyechangbai sown August 31 to September 14 was 2.1-3.1 leaves and the rate of returning green was 86.5%-92.1%, while the leaf age of overwinter of Hadacongl sown September 7 to September 14 was 2.3-2.7 leaves and the rate of returning green was 88.5%-93.8%, both varieties didn＇t bolt. In addition, in the same sowing time, the bolting rate of Hadacong I was higher than that of Qiyechangbai slightly.
基金the National Key Research and Developmental Program of China(2017YFD0300502-2)。
文摘Tillage practices and organic amendment are strategies used worldwide to preserve the properties and fertility of soils.This study aimed to elucidate effects of 3-year field treatments of tillage practice and straw management on physical properties of Mollisols,root architecture and maize yield in northeast China.The experiment was conducted from 2015 to 2018 following a splitplot design of a randomized complete block with tillage practices[rotary tillage(R)and deep tillage(D)]as main plots and straw managements[straw returning(S),straw returning and organic fertilizer(M),straw removal(T)]as subplots.Soil samples at 0-15,15-30,30-50 cm depths and root samples at the seedling stage were collected.The results showed that DM treatment significantly improved soil moisture content at 10-50 cm soil depth and decreased soil compaction(P<0.05),which led to a better root architecture.Rotary tillage had a slower thermal conductivity but better thermal insulation performance,while deep tillage showed a higher daily temperature difference.Bulk density of topsoil was significantly lower in DS(1.16 g·cm^(-3))than in other treatments,but the soil permeability in DS(1.40 mm·min^(-1)in 0-15 soil depth and 1.45 mm·min-1in 15-30 cm soil depth)was the highest.At the maize seedling stage,DM had the highest root dry weight,root-shoot ratio and root length,while RM had the highest root volume,root furcation number and root tip number.The maize yield of three years in DM was 6.19%,5.21%and 15.72%higher than that in DS,DT and RM(P<0.01),respectively.Relative to RT and DT,a slight decrease(2.72%and 0.93%,respectively)in maize yield under RS and DS was observed,which could be alleviated by the addition of organic fertilizer.The correlation matrix indicated that kernel per ear number and 100-kernel weight were the dominant factors that affected maize yield.Redundancy analysis suggested that straw managements and tillage practices were significantly positively correlated with root-shoot ratio,root dry weight,maximum root length,the total root length and maize yield,but significantly negatively correlated with soil compaction,bulk density,soil moisture content and soil temperature.Among all the treatments,deep tillage with straw returning and the addition of organic fertilizer was recommended as a promising strategy in restoring soil productivity,promoting maize growth and increasing maize yield in Mollisols of northeast China and similar regions around the world.
文摘Angola, Cuba, South Africa and the United States began two days of peace talks in London on May 3. The Angolan Government is offering to withdraw an estimated 40,000 Cuban troops stationed on its soil. In return, Angola wants independence for Namibia, the withdrawal of South African troops from its southern provinces, and an end to US and South African support for UNITA rebels.
