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基于长/短视距多模型自适应交互的高速无人车避障规划研究

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北京理工大学学报 2025年第1期45卷 42-51页

作者：刘聪陈雪梅梁玮北京理工大学前沿技术研究院山东济南250307 北京理工大学机械车辆学院北京100081

在低附着、高速紧急避障工况下无人驾驶车辆需要充分考虑到路径规划效率和车辆动力学特性,以保障规划的路径满足车辆高速行驶跟踪精度要求.文中针对无人车紧急避障中路径规划与跟踪控制之间存在的耦合干预问题,提出一种基于长/短视距多... 详细信息

在低附着、高速紧急避障工况下无人驾驶车辆需要充分考虑到路径规划效率和车辆动力学特性,以保障规划的路径满足车辆高速行驶跟踪精度要求.文中针对无人车紧急避障中路径规划与跟踪控制之间存在的耦合干预问题,提出一种基于长/短视距多层融合的高速紧急避障局部路径规划算法.根据不同风险值障碍物分布的密集程度细化障碍物的风险值,分别设计了可跨/绕障碍物群的风险势场和环境风险状态采样空间,从而构建一种基于偏向性采样的长视距局部路径规划算法.提出了一种基于交互式多模型预测控制的短视距局部路径重规划,建立模型概率实时在线更新规则,实现了极限工况下车辆快速行驶的局部路径规划,同时满足计算实时性、避障安全性和跟踪稳定性的路径规划设计需求.仿真试验验证了所提多层融合局部路径规划方法的有效性和优越性.

关键词：紧急避障无人驾驶车辆多层融合规划偏向性采样

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政府债务审查监督:以人大为主体

学习论坛 2025年第1期 72-79页

作者：郑方辉梁伟湖广西大学公共管理学院广西南宁530004

以人大为主体审查监督政府债务是防范化解政府债务风险、健全现代债务管理制度、驱动政府债务管理向治理转变的重大举措。审视政府债务发展及管治历程,从政府内控管理向外部约束转变具有普遍性,体现价值理性和工具理性耦合。理论上,人... 详细信息

以人大为主体审查监督政府债务是防范化解政府债务风险、健全现代债务管理制度、驱动政府债务管理向治理转变的重大举措。审视政府债务发展及管治历程,从政府内控管理向外部约束转变具有普遍性,体现价值理性和工具理性耦合。理论上,人大主导的政府债务审查监督有利于形成协同监督合力、增强政府债务公信力、保障财政安全,具有法理依据及事实依据。建立报告制度、听取代表建议、引入第三方评价、完善法规条例构成人大审查监督政府债务的主要模式。推行人大主导政府债务“穿透式”监督,针对政府债务“举借、使用、管理、偿还”的全生命周期,是人大审查监督的内容指向。为此,应建立监督数字系统,加强监管协同,强化监督结果应用。

关键词：政府债务审查监督人大监督 “穿透式”监督

Random weighting estimation for survival function under right censorship

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Frontiers of Mathematics in China 2022年第1期17卷 141-148页

作者： wei liang School of Mathematical Sciences Xiamen UniversityXiamen 361005China

The random weighting method is an emerging computing method in *** this paper,we propose a novel estimation of the survival function for right censored data based on the random weighting *** some regularity conditions... 详细信息

关键词： Right censored data survival function random weighting method

An efficient hardware design for HDTV H.264/AVC encoder

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Journal of Zhejiang University-Science C(Computers and Electronics) 2011年第6期12卷 499-506页

作者： liang wei Institute of Information and Communication Engineering Zhejiang University Hangzhou 310027 China Zhejiang Provincial Key Laboratory of Information Network Technology Hangzhou 31002 7 China

This paper presents a hardware efficient high definition television (HDTV) encoder for H.264/AVC. We use a two-level mode decision (MD) mechanism to reduce the complexity and maintain the performance, and design a sharable architecture for normal mode fractional motion estimation (NFME), special mode fractional motion estimation (SFME), and luma motion compensation (LMC), to decrease the hardware cost. Based on these technologies, we adopt a four-stage macro-block pipeline scheme using an efficient memory management strategy for the system, which greatly reduces on-chip memory and bandwidth requirements. The proposed encoder uses about 1126k gates with an average Bjontegaard-Delta peak signal-to-noise ratio (BD-PSNR) decrease of 0.5 dB, compared with JM15.0. It can fully satisfy the real-time video encoding for 1080p@30 frames/s of H.264/AVC high profile.

关键词： H.264/AVC High-definition television (HDTV) Hardware Architecture Encoder

Syntheses of α-Hydroxyarylacetic Acids in the Presence of Different Phase Transfer Catalysts Under Sonication

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Chemical Research in Chinese Universities 2001年第2期17卷 175-177页

作者： XU wei-liang 浙江大学浙江杭州 310029

The syntheses of α-hydroxyarylacetic acids with a good yield in the presence of different phase transfer catalysts (PTC) under sonication were studied. The results obtained are superior to those by other similar methods. The data show that β-cyclodextrin (β-CD) is more efficient than other PTC. The preliminary reaction conditions are also discussed.

关键词： α-Hydroxyarylacetic acid Phase transfer catalyst Sonication

Micromagnetic simulation of FeCo write head in perpendicular recording hard disk drives

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Rare Metals 2006年第Z1期25卷 502-508页

作者： QUAN liang wei Dan Lab of Advanced Materials Department of Materials Science and Engineering Tsinghua University Beijing 100084 China Lab of Advanced Materials Department of Materials Science and Engineering Tsinghua University Beijing 100084 China

The single-pole tip (SPT) heads made of the high saturation FeCo ferromagnetic metals are crucial for the actualization of ultrahigh density perpendicular recording. The effective head field distribution in the medium is of key importance for the design of the SPT head, which would be analyzed by micromagnetic simulations in this work. Two 3D micromagnetic models of the SPT head were established to select a more appropriate method of modeling, with a magnetostatic image effect or a real soft magnetic material to model the image of the SPT head in soft under layer (SUL). The results from these two designs were tested and compared to the ideal head field calculated by the Jacobi finite element method (FEM); and the design with the real soft magnetic material as image was proved suitable for simulating the ultrahigh density perpendicular recording write head.

关键词： SPT head perpendicular recording micromagnetic simulation image

Nest decoration:Black feathers prevent Crested Mynas from nest usurpation

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Avian Research 2024年第2期15卷 292-297页

作者： Jinmei Liu wei liang Ministry of Education Key Laboratory for Ecology of Tropical Islands Key Laboratory of Tropical Animal and Plant Ecology of Hainan ProvinceCollege of Life SciencesHainan Normal UniversityHaikou571158China

Nests are important structures for birds to raise their offspring and for *** birds incorporate feathers into the nest,since feathers were traditionally thought to serve the function of *** in recent years have considered that some birds place feathers in conspicuous locations in the nest for decoration to trigger a fear response in the *** this study,we investigated whether decorative feathers could deter nest usurpation by Crested Mynas(Acridotheres cristatellus)by manipulating nest box *** results revealed that Crested Mynas preferred black feathers to white feathers as decorations and occupied nest boxes decorated with black feathers significantly less than those decorated with white feathers,suggesting that black decorative feathers in the nest could be more effective in preventing nest usurpation by Crested Mynas and that white decorative feathers may have other *** black feathers in the nest are prominently placed at the edge of the nest to convey the message that“this nest is occupied”or“the owner of this nest has been preyed upon”to visitor Crested Mynas,thus effectively preventing them from usurping the nest at a later stage.

关键词： Extended phenotype Feathers Nest decoration Nest usurpation

Egg rejection and egg recognition mechanisms in Oriental Reed Warblers

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Avian Research 2021年第4期12卷 638-644页

作者： Laikun Ma wei liang Department of Biology and Food Science Hebei Normal University for NationalitiesChengde 067000China Ministry of Education Key Labora-tory for Ecology of Tropical Islands College of Life SciencesHainan Normal UniversityHaikou 571158China Hebei Key Laboratory of Wetland Ecology and Conservation Hengshui UniversityHengshui 053000China

Background:Nest parasitism by cuckoos(Cuculus spp.)results in enormous reproductive failure and forces hosts to evolve antiparasitic strategies,i.e.,recognition of own eggs and rejection of cuckoo *** are often sexual conflicts between male and female individuals in the expression of antiparasitic behavior due to the differences in reproductive inputs and division of ***:By adding a foreign egg made of blue soft clay to the host nest during early incubation period in the field,and by removing several host eggs and adding experimental eggs to control the proportion of two egg types in the nest,we examined egg rejection ability,egg recognition mechanism and sexual difference in egg rejection of the Oriental Reed Warbler(Acrocephalus orientalis),one of the major hosts of Common Cuckoos(Cuculus canorus).Results:Our results indicated that Oriental Reed Warblers can recognize and reject nearly 100%(73/75)of the nonmimetic eggs made of blue soft clay,and they could reject foreign eggs with 100%accuracy,regardless of the ratio of experimental eggs and its own eggs in the ***,all cases of egg rejections recorded by videos were only carried out by ***:Oriental Reed Warblers have a high egg recognition ability and show a true recognition *** female warblers perform egg rejection,suggesting that the sex for host egg incubation seems to play an important role in the evolution of egg recognition mechanisms.

关键词： Cuckoo parasitism Discordancy Egg recognition mechanism Egg rejection True recognition

Removal and transformation of dissolved organic matter in secondary effluent during granular activated carbon treatment

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2008年第7期9卷 994-1003页

作者： liang-liang wei Qing-liang ZHAO Shuang XUE Ting JIA State Key Laboratory of Urban Water Resources and Environments （SKL UWRE） School of Municipal and Environmental Engineering Harbin Institute of Technology Harbin 150090 China

This paper focused on the removal and transformation of the dissolved organic matter （DOM） in secondary effluent during the granular activated carbon （GAC） treatment. Using XAD-8/XAD-4 resins, DOM was fractionated into five classes： hydrophobic acid （HPO-A）, hydrophobic neutral （HPO-N）, transphilic acid （TPI-A）, transphilic neutral （TPI-N） and hydrophilic fraction （HPI）. Subsequently, the water quality parameters of dissolved organic carbon （DOC）, absorbance of ultraviolet light at 254 nm （UV-254）, specific ultraviolet light absorbance （SUVA） and trihalomethane formation potential （THMFP） were analyzed for the unfractionated and fractionated water samples. The results showed that the order of the DOC removal with respect to DOM fractions was observed to be HPI〉HPO-A〉HPO-N〉TPI-A〉TPI-N. During the GAC treatment, the THMFP of the unfractionated water samples decreased from 397.4 μg/L to 176.5 μg/L, resulting in a removal efficiency of 55.6%. The removal order of the trilaalomethanes （THMs） precursor was as follows： HPO-A〉TPI-A〉TPI-N〉HPO-N〉HPI. By the GAC treatment, the specific THMFP of HPO-A, TPI-A, TPI-N and the original unfractionated water samples had a noticeable decrease, while that of HPO-N and HPI showed a converse trend. The Fourier transform infrared （FTIR） results showed that the hydroxide groups, carboxylic acids, aliphatic C-H were significantly reduced by GAC treatment.

关键词： Dissolved organic matter (DOM) Fractionation Trihalomethane formation potential (THMFP) Specific THMFP Fourier-transform infrared (FTIR)