基于改进人工蜂群进化算法的移动机器人路径规划与仿真分析

针对经典人工蜂群算法在机器人路径规划中易于陷入局部极值,且寻优过程收敛速度较慢等问题,提出了一种基于约束优化的改进人工蜂群算法.通过设计变异算子来增大极值在陷入局部最优时的跳出概率,提高机器人路径规划的收敛能力.在机器人路径规划上,对文中方法、遗传算法、A*算法以及经典人工蜂群算法进行性能评估.实验结果表明,文中方法能有效避免路径规划中的局部极值,减少机器人路径规划时间损耗,提高了路径规划效率.     

Impacts of urban built environment on empty taxi trips using limited geolocation data

This study identifies the determinants of the empty taxi trip duration (ETTD) by combining three high-resolution databases—geolocation data in New York City, geodatabase of urban planning data, and transportation facilities data. Considering the nature of duration data, hazard-based duration model is proposed to explore the relationships between causal factors and ETTD, coupling with three variations of baseline hazard distribution, i.e., Weibull distribution with heterogeneity, Weibull distribution, and log-logistic. Furthermore, the likelihood ratio test is presented to implement comparisons of three baseline hazard distributions, as well as spatial and temporal transferability of causal factors. The results show significant complementary effects by subway system and competitive effects by city bus and bicycling system, as well as significant impacts of trip length, airport trip, average annual income, and employment rate. Urban built environment, for instance, density of road, public facilities, and recreational sites and ratio of green space, has various impacts on ETTD. The elasticity estimations confirm significant spatial and temporal heterogeneity in impacts on ETTD. In addition, the analysis on elasticity also reveals the considerable impacts of severe traffic congestion on ETTD within Manhattan. The modeling can assist stakeholders in understanding empty taxi movements and measuring taxi system efficiency in urban areas.     

A data model applied to the knowledge-based ICAS

Image-guided computer aided surgery system (ICAS) contributes to safeness and success of surgery operations by means of displaying anatomical structures and showing correlative information to surgeons in the process of operation. Based on analysis of requirements for ICAS, a new concept of clinical knowledge-based ICAS was proposed. Designing a reasonable data structure model is essential for realizing this new concept. The traditional data structure is limited in expressing and reusing the clinical knowledge such as locating an anatomical object, topological relations of anatomical objects and correlative clinical attributes. A data structure model called mixed adjacency lists by octree-path-chain (MALOC) was outlined, which can combine patient's images with clinical knowledge, as well as efficiently locate the instrument and search the objects' information. The efficiency of data structures was analyzed and experimental results were given in comparison to other traditional data structures. The result of the nasal surgery experiment proves that MALOC is a proper model for clinical knowledge-based ICAS that has advantages in not only locating the operative instrument precisely but also proving surgeons with real-time operation-correlative information. It is shown that the clinical knowledge-based ICAS with MALOC model has advantages in terms of safety and success of surgical operations, and help in accurately locating the operative instrument and providing operation-correlative knowledge and information to surgeons in the process of operations.     

TNFα、Leptin-Rb、NF-κB和PPAR-γ在酒精性肝病大鼠肝细胞中的表达

目的 探讨TNFα、NF-κB、Leptin-Rb和PPAR-γ等在大鼠酒精性肝病中与肝组织炎症、坏死和纤维化的关系.方法 胃造瘘法建立长期大鼠酒精性肝病模型,分别在第4、8、12、24和52周用免疫组化、原位杂交和RT-PCR技术检测不同阶段大鼠肝组织中TNFα、NF-κB、PPAR-γ和Leptin-Rb等的表达.结果 TNFα、NF-κB和Leptin-Rb水平在模型组大鼠肝细胞中,第8周表达逐渐增强,第24周起高水平表达一直持续至52周(P<0.01).PPAR-γ在对照组和第4、8周模型组肝细胞中表达最强,第12周表达开始减弱.TNFα和NF-κB在肝细胞中的表达呈明显正相关关系,与PPAR-γ则呈负相关关系(P<0.01).结论 TNFα和NF-κB与肝细胞病变程度有很好的一致性关系,Leptin-Rb在肝细胞的表达与肝纤维化发展相一致,PPAR-γ则刚好相反.     

饲料加硼对摄入过量氟的实验大鼠骨损伤的预防作用

目的探讨饲料加硼对过量氟摄入的大鼠骨损伤的预防作用。方法24只4-5周龄Sprague-Dawley(SD)大鼠分为:对照组(喂饲基础饲料,饮蒸馏水)、过量氟组[喂饲基础饲料,饮含100mg/LF-(氟化钠221mg/L的蒸馏水)]、硼预防组(喂饲加硼饲料,饮含100mg/LF-的蒸馏水)。实验3月后测量大鼠血清氟、硼含量及血清碱性磷酸酶(alkaline phosphatase,AKP)活性、骨氟和骨总RNA含量、胫骨纵径横径和干重及骨密度(bone mineral density,BMD),并检测大鼠股骨生物力学特性。结果和对照组比较,过量氟组大鼠血清氟、骨氟含量和血清AKP活性显著增高;骨总RNA含量、全身骨骼平均BMD和胫骨BMD降低;胫骨纵径、横径和干重减小;股骨最大负荷减低,最大形变增加。相比过量氟组,硼预防组大鼠血清氟和骨氟含量及AKP活性明显下降;骨总RNA含量、全身骨骼平均BMD、腰椎和胫骨BMD显著增高;胫骨纵径、横径和干重,股骨最大负荷明显增加。3组大鼠血清硼含量无显著性差异。结论大鼠摄入过量氟可出现明显的骨损伤,饲料加硼对此有一定的预防作用。     

某商用车散热器面罩开裂分析与改进

为解决散热器面罩开裂问题,提出了焊点优化方案和散热器面罩加强板外置/加强板内置方案,并进行了模块化设计,制定了2组改进措施。有限元分析结果表明:2种改进措施与原状态相比,均有良好应力改善效果,满足应力要求。     

湖北城际铁路动车组选型与交路优化研究

以湖北城际铁路为例,通过比照区间运行速度、参考我国高级动车的技术配置合理选择车型,并优化原交路,最终对原、现两种方案的成本效益对比分析,实证表明,该方案有助于减少动车购置成本,降低亏损,并简化原有运输组织工作.     

吉林兰旗松花江特大桥索塔锚固区空间应力分析

吉林兰旗松花江特大桥是一座单索面双塔预应力混凝土斜拉桥,索塔锚固区采用U形预应力钢束锚固形式。通过运用现代有限元方法,对该桥的索塔锚固区进行了空间应力分析,论证了该桥的索塔锚固区设计是安全的;同时也探讨了在强大斜拉索力作用下环向预应力锚固形式的受力特点,为同类型桥梁的索塔设计提供了重要的参考依据。     

波浪作用下30万吨级油轮撞击能量研究

通过物理模型试验,研究不规则波作用下30万吨级油轮撞击能量,分析了主要影响因素HT、LB、TT0、D对撞击速度的影响规律。结果表明:撞击速度与HT成正比;与LB成幂次关系;与TT0也成正比,但TT0=1时船舶撞击码头与波浪产生共振,撞击速度出现极大值;压载时的撞击速度大于满载时的撞击速度,撞击速度与吃水成负相关。提出了30万吨级油轮撞击能量的计算公式,与青岛港原油码头三期工程和青岛益佳集团燃油码头工程的物理模型试验结果对比,具有较好的计算精度,可供工程设计参考。     

强电磁防护技术研究进展

高功率微波武器是现代战场上极具杀伤性的攻击手段。针对现代武器装备的强电磁防护问题,通过介绍高功率微波武器及防护研究发展进程,结合传统电磁防护方法,分析电磁自适应防护、微波加固和硬件演化等前沿技术手段,从电路防护和空间防护的角度出发,论述射频电磁防护单元、皮秒级电磁脉冲抑制器件、频率选择表面等强电磁防护器件和装置的研究成果以及强电磁防护的新材料,并从系统综合防护、设备潜在失效性、强电磁防护标准3个方面对强电磁防护技术的发展给出相应的建议。