Local path planning method of the self-propelled model based on reinforcement learning in complex conditions

Conducting hydrodynamic and physical motion simulation tests using a large-scale self-propelled model under actual wave conditions is an important means for researching environmental adaptability of ships. During the navigation test of the self-propelled model, the complex environment including various port facilities, navigation facilities, and the ships nearby must be considered carefully, because in this dense environment the impact of sea waves and winds on the model is particularly significant. In order to improve the security of the self-propelled model, this paper introduces the Q learning based on reinforcement learning combined with chaotic ideas for the model＇s collision avoidance, in order to improve the reliability of the local path planning. Simulation and sea test results show that this algorithm is a better solution for collision avoidance of the self navigation model under the interference of sea winds and waves with good adaptability.     

焊后处理工艺对Q345E低合金钢焊接接头疲劳性能的影响

通过对K型坡口Q345E低合金钢T型角接接头三点弯曲疲劳试验,研究了焊趾不处理、焊趾打磨、焊趾喷丸、焊趾打磨+喷丸处理对焊接接头疲劳性能的影响.结果表明,焊接接头焊后细节处理工艺对接头疲劳性能的影响十分显著,焊趾打磨和焊趾喷丸均是提高焊接接头疲劳性能的重要手段,而焊趾打磨+喷丸处理综合处理时效果最佳.     

联合化疗加山莨菪碱治疗复治肺结核疗效观察

对33例复治肺结核患者以HRZS／HRE或HRZE方案加山莨菪碱进行治疗,观察其疗效。结果表明疗程结束时山莨菪碱治疗组痰菌阴转率、病灶吸收率、空洞闭合率分别达到92．6％、81．8％和81．6％,均明显高于对照组(P＜0．05)。认为此方法对经不规则化疗的复治肺结核疗效满意,尤其对慢性纤维空洞患者空洞闭合率高。并就山莨菪碱治疗肺结核增强疗效的可能机制进行了探讨。     

DQ_(45)型钳夹式货车端盖方式运输1000MW发电机定子试验研究

为了保证DQ45型钳夹式货车端盖方式运输1000 MW发电机定子的安全,对端盖及连接端盖与定子的螺栓、拉杆进行强度试验研究。根据DQ45型钳夹式货车的技术参数、端盖的结构特点和材料性能,设计试验流程和试验方法。试验研究结果表明:螺栓的平均预紧力为375.9 kN,平均预紧应力为419.5 MPa,确定以(3 400±100)N.m力矩预紧,合车后最大应力增量为53.7 MPa,运输中最大合成应力为480.6 MPa;拉杆的最大预紧力为2 825 kN,最大预紧应力为301.3 MPa,确定以2 815~2 825 kN预紧力预紧,合车后最大合成应力为363.8 MPa,运输中最大合成应力为376.5 MPa;耳板R150圆弧大应力区,合车后最大应力为212.0 MPa,运输中最大合成应力为268.1 MPa;耳孔附近应力区,合车后最大应力为121.7 MPa,运输中最大合成应力为181.2 MPa。端盖各主要部件合成应力均在相应材料许用应力范围之内,满足运输安全的要求。     

Q345qD桥梁钢对接焊缝疲劳裂纹扩展性能试验研究

为采用断裂力学方法对既有钢桥焊接细节进行疲劳评估,对6.1,10.0和23.5 mm的Q345q D桥梁钢对接焊缝进行疲劳裂纹扩展速率试验和疲劳裂纹扩展门槛值测定试验,基于两种数据处理方法得到了不同厚度、不同应力比下的疲劳裂纹扩展速率参数。试验结果表明:在通常的应力强度因子幅值范围(10~70 MPa·m0.5)内,基于单试件数据点的处理结果对应的裂纹扩展速率明显高于基于成组数据点的处理结果;Q345q D对接焊缝的疲劳裂纹扩展速率随应力比增加而增加;本批次的Q345q D对接焊缝的疲劳裂纹扩展性能优于BS7910中给出的通用钢材疲劳裂纹扩展性能;Q345q D对接焊缝疲劳扩展门槛值随应力比增加而降低,并给出了门槛值随应力比变化的公式。     

天津地区C45桩基混凝土配合比设计

根据工程所处施工环境情况和水下混凝土的特点,介绍了C45桩基水下混凝土的配合比设计方法,并对配合比设计特点和施工中容易出现的问题进行了阐述。C45桩基混凝土由于配制强度高,掺合料掺量大,混凝土和易性要求高,增加了配合比试配的难度。试验室在配合比选定时进行了大量的试配工作,给出了C45桩基水下混凝土配合比参数建议值,并在施工中得到了良好的应用,对其他类似工程高标号桩基混凝土的设计和施工具有一定的借鉴作用。     

高空作业车油缸活塞杆热处理工艺研究

高空作业车油缸活塞杆材质选用的是调质处理后的45钢。在使用中发现有些普通调质处理的45钢在油缸活塞杆基体中存在网状铁素体,影响其强度和冲击韧性,易造成活塞杆断裂。由此提出了一种基于低温奥氏体化和油淬的45钢油缸活塞杆热处理新工艺。结果表明该工艺可抑制回火索氏体基体中出现的网状铁素体,有效提高材料强度和冲击韧性,可以完全满足高空作业车油缸活塞杆的使用要求。     

Viewpoints of adults with and without Autism Spectrum Disorders on public transport

BackgroundPublic transport is low cost, allows for independence, and facilitates engagement and participation for non-drivers. However, the viewpoints of individuals with cognitive disabilities are rarely considered. In Australia, the prevalence of Autism Spectrum Disorders (ASD) is approximately 1% and increasing. Many individuals with ASD do not possess a driver’s licence, indicating that access to public transport is crucial for their independence. However, at present, there is no research on the opinions of adults with ASD on public transport.AimTo identify the viewpoints of adults with ASD regarding the barriers and facilitators of public transport usage and their transportation preferences, and to contrast these against the viewpoints of neurotypical adults.MethodsQ method was used to identify the viewpoints of both participant groups on public transport. Participants consisted of 55 adults with a diagnosis of ASD and a contrast group of 57 neurotypical adults. Both groups completed a Q sort task which took place in either Perth or Melbourne, Australia.ResultsThe most prominent viewpoint indicated that both groups preferred to use public transport over driving and believed that it supported their independence. This viewpoint also indicated that both groups preferred to use electronic ticketing when using public transport. Interestingly, the second most prominent viewpoint indicated that both groups preferred to drive themselves by private car rather than use public transport.DiscussionIt appears that the viewpoints of adults with and without ASD regarding public transportation were largely similar. However, questions arose about whether the preference for public transport in the ASD group may be more a result of difficulties obtaining a driving licence than a deliberate choice. The only barrier specified by adults with ASD related to crowding on public transport. Safety and convenience in relation to location and timing of services were barriers reported by neurotypical adults.     

Changes in the external costs of freight surface transport In Spain

This paper studies the external costs of surface freight transport in Spain and finds that a reduction occurred over the past15 years. The analysis yields two conclusions: trucks have experienced a reduction in external costs, and rail has lower externalities. The external costs of road freight transport decrease between 1993 and 2007 (44%). The external costs of rail freight increase by 12%. During this period, the external costs of road freight related to climate increase by 16%, oppositely than those from air pollution and accidents (51 and 44%). The external costs of rail related to pollutant emissions and climate increase by 4% and 43%. Oppositely, the external costs related to accidents decrease by 27%. Road freight generates eight times the external costs of rail, 2.35 Euro cents per tonne kilometre in 2005 (5.6% accidents, 74.7% air pollution and 19.7% climate) vs. 0.28 (13.4% accidents, 53.9% air pollution and 32.7% climate).     

Q235钢焊接熔合区在混合菌共同作用下的腐蚀行为

通过观察腐蚀形貌,测量极化曲线和阻抗谱,研究了Q235钢熔合区在SRB和V.natriegens共同作用下的腐蚀行为。研究表明,熔合区的腐蚀程度,单一菌溶液中,SRB大于V.natriegens,混合菌溶液大于单一菌;混合菌溶液中SRB和V.natriegens表现出协同作用,加速试样的腐蚀;试样的耐腐蚀性能,熔合区小于焊缝区小于母材区。