多障碍环境中基于增强式学习的势场优化和机器人路径规划

该文把增强式学习方法应用于多障碍环境中机器人路径规划 ,并将增强式学习和路径规划相结合 ,通过工作空间势场的自适应优化学习 ,实现机器人的全局路径规划 ,即得到从任何初始位置开始的最优路径。与传统的人工势场方法相比 ,该方法避免了势场中局部极小点所引起的陷阱区域 ,并且所得到的路径具有最优特性。计算机仿真实验结果表明 ,这种学习方法能有效的解决多障碍环境中的机器人路径规划问题     

Episodic Mass Invasions of Juvenile Gadoids into the Wadden Sea and their Consequences for the Population Dynamics of Brown Shrimp (Crangon crangon)

Abstract. The brown shrimp Crangon crungon is considered to be a key species in the coastal waters of the North Sea and in particular in the Wadden Sea, since it occurs in masses and acts as both a highly efficient predator and important prey. The Wadden Sea is the nursery ground for brown shrimp. In 1990, a mass invasion of O-group whiting ( Merlangius merlangus ) reduced Crangon numbers to almost zero. Similar events, which had previously been reported in the 19th century, were observed in 1959 (whiting), 1970 (cod, Gadus morhua ), and 1983 (cod and whiting).
The 1990 invasion and the decline of the shrimp stock are documented on the basis of surveys that are compared with the years preceding and following. Consequences for the food web in the Wadden Sea and the reasons for the complete recovery of the shrimp stock in each case within one year after its collapse are discussed with regard to the Crangon crungon behaviour and reproductive potential. Sampling error and the impact of fisheries are also considered.     

Spatial and Temporal Distribution of Oxidation Events Occurring Below the Sediment-Water Interface

Abstract. Irrigation and bioturbation lead to transport of dissolved oxygen into anoxic sediments. The depthdistribution of local oxygen input and the total time of oxygen presence was measured at randomly sampled locations within anoxic sediments, originating from the North Sea.
In the laboratory, continuous redox potential records, displaying a transient increase and decrease when in contact with oxygen for a limited time, were used to record oxidation events'. Oxygen microelectrodes were used to confm the presence of oxygen. Measurements were performed for 180 d at 230 locations in the top 6 cm of sediment cores containing the natural macrofauna community.
4783 oxidation events m^-2· d^-1 were recorded within the upper 6 cm of the sediment. The number and duration of oxidation events declined with sediment depth below the oxic zone. Oxygen was present in the anoxic sediment, as determined from redox potential measurements, ≥ 6 h per day at 10% of the randomly chosen locations within the upper 3 cm. The overall distribution of oxidation events and their duration suggest that local, pulsed additions of oxygen by irrigation may be sufficient to maintain an oxidised sediment layer ( sensu J orgensen amp; R evsbech , 1989). Oxic environments along burrow walls rapidly fluctuate between oxic and anoxic conditions. Using oxygen microelectrodes the presence of oxygen (oxic conditions) in these halos was found to range from 2 to 12 h per day. Continuous redox measurements show that oxidised conditions fluctuate with the oxygen pulses and display the same durations, although these may range up to 21 h per day. Oxic and oxidised sediment volumes are estimated to represent < 1% and 3.7%. respectively, of the anoxic sediment to 6 cm depth. Recognition of temporal variability and spatial heterogeneity of sedimentary conditions may prove valuable for future conclusions drawn in other research fields.     

罗非鱼椭圆囊电生理学研究

罗非鱼球状囊微音器电位是一个双峰波。峰频与刺激声频成２：１关系；在２０－８０Ｈｚ电位波形不规则。在３００－９００Ｈｚ电位波呈矩形。实验表明，球状囊不同区域对一一的声频敏感性不一样；延脑－脊髓连结处的诱发电位与球状囊微音器电位相似，但在１３０Ｈｚ电位呈单峰波；罗非鱼可闻频域在２０－９００Ｈｚ，最大敏感声频在１３０Ｈｚ，其相对敏感性为２３．０１ｄＢ；延脑－脊髓连接处诱发电位最大值在６３Ｈｚ和１３０Ｈｚ     

Mixed layer depth front and subduction of low potential vorticity water in an idealized ocean GCM

It is known that there is a front-like structure at the mixed layer depth (MLD) distribution in the subtropical gyre, which is called the MLD front, and is associated with the formation region of mode water. In the present article, the generation mechanism of the MLD front is studied using an idealized ocean general circulation model with no seasonal forcing. First, it is shown that the MLD front occurs along a curve where u _g ·∇T _s = 0 is satisfied (u _g is the upper ocean geostrophic velocity vector, T _s is the sea surface temperature and ∇ is the horizontal gradient operator). In other words, the front is the boundary between the subduction region (u _g ·∇T _s > 0) and the region where subduction does not occur (u _g ·∇T _s < 0). Second, we have investigated subduction of low potential vorticity water at the MLD front, which has been pointed out by past studies. Since u _g ·∇T _s = 0 at the MLD front, the water particles do not cross the outcrop at the MLD front. The water that is subducted at the MLD front has come from the deep mixed layer region where the sea surface temperature is higher than that at the MLD front. The temperature of the water in the deep mixed layer region decreases as it is advected eastward, attains its minimum at the MLD front where u _g ·∇T _s = 0, and then subducts under the warmer surface layer. Since the deep mixed layer water subducts beneath a thin stratified surface layer, maintaining its thickness, the mixed layer depth changes abruptly at the subduction location.     

台湾海峡沉积盆地的演化与油气远景

台湾海峡沉积盆地新生代以来构造演化经历了早第三纪陆缘裂谷、晚第三纪挤压收缩和第四纪隆起封闭等发育阶段，属残留陆缘裂谷，具有良好的油气远景，其中，海峡中部油气远景最佳。     

Mining-induced seismicity in faulted geologic structures: An analysis of seismicity-induced slip potential

Relationships between the locations of mining-induced seismic events, local fault structure, and mine geometry were examined in a deep hard-rock mine in northern Idaho. Stopes experiencing rock bursts and other large seismic events were found to fall into two structural regimes: the Silver Vein, and the N48°W Trend, a steeply dipping plane of seismic activity that is subparallel to major local steeply dipping faults which bound blocky structures. The N48°W Trend also intersects a shaft that was seriously damaged when fault gouge was expelled into the opening during a 3-month period of high seismic energy release. Models of stress interaction are used to support the hypothesis that mining-induced deformation was mobilized along a 1.5 km length of the N48°W Trend. Specifically, numerical models are used to simulate rupture of seismic events and estimate induced changes in the quasi-static stress field. A Coulomb failure criterion is used with these results to estimate the spatial variation in potential for slip on planes parallel to local faulting. Increases in the potential for slip on fault planes subparallel to the N48°W Trend are consistent with activation of deformation along its 1.5 km length. For events with constant seismic moment, stress drop is shown to be far more important than source dimension in elevating slip potential along the observed plane of seismic activity