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Obstacle avoidance navigation for an unmanned surface vessel is a research focus for ship autonomy in which the real-time requirement in practical application is very serious, and always necessitates a complicated structure model to guarantee real-time performance. This paper proposes the grid cell activation model to reduce the complexity of modelling and to simplify an obstacle avoidance algorithm. Combined with the goal-oriented probability model to design a dynamic positive-loss-rate expectation evaluation function, it produces the proper strategy for obstacle avoidance. Case studies on multi-obstacle layouts and special circumstances are conducted and presented. The results indicate that the grid cell obstacle avoidance algorithm can effectively implement obstacle avoidance planning and ensure real-time requirements. A comparison with the potential field algorithm is performed, which shows good results and verifies the feasibility of the algorithm.
The Wulian complex is located on the northern margin of the Sulu orogenic belt, and was formed by collision between the North China Craton (NCC) to the north and South China Craton (SCC) to the south. It consists of the metasedimentary Wulian Group, gneissic granite and meta-diorite. The U–Pb analyses for the detrital zircons from the Wulian Group exhibit one predominant age population of 2600–2400 Ma with a peak at c. 2.5 Ga and several secondary age populations of > 3000, 3000–2800, 2800–2600, 2200–2000, 1900–1800, 1500–1300 and 1250–950 Ma; some metamorphic zircons have metamorphic ages of c. 2.7, 2.55–2.45, 2.1–2.0 and 1.95–1.80 Ga, which are consistent with magmatic-metamorphic events in the SCC. Additionally, the Wulian Group was intruded by the gneissic granite and meta-diorite at c. 0.76 Ga, attributed to Neoproterozoic syn-rifting bimodal magmatic activity in the SCC and derived from partial melting of Archaean continental crust and depleted mantle, respectively. The Wulian Group therefore has tectonic affinity to the SCC and was mainly sourced from the SCC. The detrital zircons have positive and negative ϵHf(t) values, indicating that their source rocks were derived from reworking of both ancient and juvenile crustal rocks. The major early Precambrian crustal growth took place during c. 3.4–2.5 Ga with a dominant peak at 2.96 Ga and several secondary peaks at 3.27, 2.74 and 2.52 Ga. The two oldest zircons with ages of 3307 and 3347 Ma record the recycling of ancient continental crust (> 3.35 Ga) and crustal growth prior to c. 3.95 Ga in the SCC.
This paper studies the parameter estimation for Ornstein–Uhlenbeck stochastic volatility models driven by Lévy processes. We propose computationally efficient estimators based on the method of moments that are robust to model misspecification. We develop an analytical framework that enables closed-form representation of model parameters in terms of the moments and autocorrelations of observed underlying processes. Under moderate assumptions, which are typically much weaker than those for likelihood methods, we prove large-sample behaviors for our proposed estimators, including strong consistency and asymptotic normality. Our estimators obtain the canonical square-root convergence rate and are shown through numerical experiments to outperform likelihood-based methods.
In the laser plasma interaction of quantum electrodynamics (QED)-dominated regime, γ-rays are generated due to synchrotron radiation from high-energy electrons traveling in a strong background electromagnetic field. With the aid of 2D particle-in-cell code including QED physics, we investigate the preplasma effect on the γ-ray generation during the interaction between an ultraintense laser pulse and solid targets. We found that with the increasing preplasma scale length, the γ-ray emission is enhanced significantly and finally reaches a steady state. Meanwhile, the γ-ray beam becomes collimated. This shows that, in some cases, the preplasmas will be piled up acting as a plasma mirror in the underdense preplasma region, where the γ-rays are produced by the collision between the forward electrons and the reflected laser fields from the piled plasma. The piled plasma plays the same role as the usual reflection mirror made from a solid target. Thus, a single solid target with proper scale length preplasma can serve as a manufactural and robust γ-ray source.
Only 30% or fewer of individuals at clinical high risk (CHR) convert to full psychosis within 2 years. Efforts are thus underway to refine risk identification strategies to increase their predictive power. Our objective was to develop and validate the predictive accuracy and individualized risk components of a mobile app-based psychosis risk calculator (RC) in a CHR sample from the SHARP (ShangHai At Risk for Psychosis) program.
In total, 400 CHR individuals were identified by the Chinese version of the Structured Interview for Prodromal Syndromes. In the first phase of 300 CHR individuals, 196 subjects (65.3%) who completed neurocognitive assessments and had at least a 2-year follow-up assessment were included in the construction of an RC for psychosis. In the second phase of the SHARP sample of 100 subjects, 93 with data integrity were included to validate the performance of the SHARP-RC.
The SHARP-RC showed good discrimination of subsequent transition to psychosis with an AUC of 0.78 (p < 0.001). The individualized risk generated by the SHARP-RC provided a solid estimation of conversion in the independent validation sample, with an AUC of 0.80 (p = 0.003). A risk estimate of 20% or higher had excellent sensitivity (84%) and moderate specificity (63%) for the prediction of psychosis. The relative contribution of individual risk components can be simultaneously generated. The mobile app-based SHARP-RC was developed as a convenient tool for individualized psychosis risk appraisal.
The SHARP-RC provides a practical tool not only for assessing the probability that an individual at CHR will develop full psychosis, but also personal risk components that might be targeted in early intervention.
To meet the requirements of different applications, the International Global Navigation Satellite System (GNSS) Service (IGS) has provided Global Positioning System (GPS) satellite ephemerides and clock products with different accuracy levels (final, rapid and ultra-rapid products). Comparison of Precise Point Positioning/Inertial Navigation System/Ultra Wideband (PPP/INS/UWB) tightly coupled positioning with different precise satellite ephemeris and clock products is made and corresponding data analysis is provided. Final, rapid and ultra-rapid products are applied in a PPP/INS/UWB integrated system. The field trajectories, position and velocity errors of the integrated system with different products are compared. The results indicate that PPP/INS/UWB tightly coupled positioning with final and rapid products achieves an accurate performance. Compared with the position resolution using final products, the position accuracy with the ultra-rapid products (observed half) is slightly reduced and the position accuracy with the ultra-rapid products (predicted half) has a 0·1–0·2 m reduction. The influence of precise satellite ephemeris and clock products is very minor for non-real-time positioning, relative to the accuracy of PPP/INS/UWB tightly coupled positioning.
The granitic rocks of the Tarim large igneous province (LIP) are temporally and spatially related to mafic intrusions. However, their tectonic setting and genetic relationship are debated. Here, we report geochemical, and zircon U–Pb–Hf isotopic results for three alkali feldspar granitic plutons in the Halajun area, western margin of the Tarim Block. Zircon U–Pb ages suggest these plutons were emplaced at 268–275 Ma, coeval with the neighbouring mafic–ultramafic complexes and syenitic rocks. These granitic rocks have high contents of SiO2, alkalis, Rb, Th, Zr and REE (except Eu), and high ratios of FeO*/MgO and Ga/Al, and show strong depletions in Ba, Sr, Eu, which are commonly observed in the A1-type granites. Zircon Hf isotopes reveal a limited range of εHf(t) values from −1.0 to +3.5 for different samples from three granitic plutons, obviously higher than those (mostly <0) of the mafic rocks. This distinct difference, along with a Daly gap and small volume of mafic rocks, argues against extreme fractionation of mafic magma as the main origin of the A1-type granites. Instead the A1-type granites were most likely derived from partial melting of newly underplated rocks triggered by the upwelling asthenosphere, followed by extensive fractionation. These A1-type granites were emplaced within an anorogenic setting during the late stage of the Tarim LIP, which possibly lasts for more than 30 Ma. The Piqiang mafic–ultramafic complex directly stemmed from asthenospheric mantle and Halajun A1-type granites represent two manners of vertical crustal growth.
Polyphenylene sulfide (PPS) has good corrosion resistance, chemical stability, and thermal stability, which was widely applied in precipitator field. In this paper, a novel in situ synthesis protocol was selected to fabricate the Mn–CeOx/PPS functional composites with excellent low-temperature denitration activity. Results show that the as-obtained Mn–CeOx/PPS filter possessed of superb denitration activity at 180 °C under a weight hourly space velocity of 210,000 mL/gcat/h, which may be stemmed from the generation of amorphous and well-dispersed mixed metal oxide catalysts.
The predictability of modified constitutive model, based on Arrhenius type equation, for illustrating the flow behavior of Fe–36%Ni Invar alloy was investigated via isothermal hot compression tests. The hot deformation tests were carried out in a temperature range of 850–1100 °C and strain rates from 0.01 to 10 s−1. True stress-true strain curves exhibited the dependence of the flow stress on deformation temperatures and strain rates, which then described in Arrhenius-type equation by Zener–Holloman parameter. Moreover, the related material constants and hot deformation activation energy (Q) in the constitutive model were calculated by considering the effect of strain as independent function on them and employing sixth polynomial fitting. Subsequently, the performance of the modified constitutive equation was verified by correlation coefficient and average absolute relative error which were estimated in accordance with experimental and predicted data. The results showed that the modified constitutive equation possess reliable and stable ability to predict the hot flow behavior of studied material under different deformation conditions. Meanwhile, Zener–Holloman parameter map was established according to the modified constitutive equation and used to estimate the extent of dynamic recrystallization.