基于改进人工势场法的多无人机三维编队路径规划

针对传统人工势场法的障碍物附近目标不可达、存在局部极小点和振荡的问题对势场函数进行分析和改进,以保证目标点为势场的全局最小点。在动态势场中,引入是否陷入局部极小点的判断机制,并结合一种“沿目标方向90°移动”的方法来跳出局部极小点,实现多无人机编队的路径规划、协同避障和防碰撞。利用回归搜索法来对路径进一步优化。MATLAB的仿真结果显示,该方法有效地弥补了传统人工势场法的不足,提高了人工势场法的实用性。     

Re-situating fieldwork and re-narrating disciplinary history in global mega-geomorphology

In 1985, more than thirty geomorphologists, planetary scientists, and remote sensing specialists gathered at a conference center in Oracle, Arizona, to discuss an emerging area of research that they called “mega-geomorphology.” Building on a conference of the same name held in London in 1981, they argued that new techniques of remote sensing and insights emerging from the study of extraterrestrial planets had created opportunities for geomorphology to broaden its spatial and temporal scope. This new approach was, however, neither unproblematic nor uncontested. In the discussions around mega-geomorphology that took place in the mid-1980s, the perceived conflict between the use of remote-sensing techniques to observe phenomena on vast spatial scales, on one hand, and the disciplinary centrality of fieldwork and field experience to geomorphology, on the other, was a recurrent theme. In response, mega-geomorphologists attempted to re-situate fieldwork and re-narrate disciplinary histories in such a way as to make remote sensing and planetary science not only compatible with geomorphological traditions but also means of revitalizing them. Only partially successful, these attempts reveal that the process of adopting a planetary perspective in geomorphology, as in other earth sciences, was neither straightforward nor inevitable. They also show how the field and fieldwork could remain central to geomorphology while also being extensively revised in light of new technical possibilities and theoretical frameworks.     

东坪基岩气藏气水相对渗透率的确定方法

东坪基岩气藏储层岩性差异大,非均质性强.孔缝发育区岩石松散,无法钻取完整的岩芯,而致密带几乎不渗透,无法通过驱替实验获取相对渗透率曲线,这成为困扰气藏动态分析和开发指标计算的难题.基于水驱气藏物质平衡原理,建立了不依赖水侵量的储层含水饱和度计算方法,避免了水侵量计算方法中的不确定因素,提高了含水饱和度计算的准确性.建立...     

信江上游鱼类资源及物种多样性分析

2016年6月底～2019年7月中旬,对信江上游及其支流的鱼类资源进行了系统地调查.共采集到野生淡水鱼类66种,隶属于5目16科50属,其中以鲤形目鱼类种类最多,共计3科34属45种,占总采集种类数的68.2％;科级水平以鲤科占优势,共有39种,占总种类数的59.1％;鳅科和鲿科各5种,分别占7.6％;鮨科、塘鳢科、虾...     

论培训品牌的塑造——以胜利油田胜利采油厂职工培训学校为例

以胜利采油厂职工培训学校为例,介绍了其品牌形象的塑造,指出塑造品牌形象、建立高素质的师资队伍以及丰富品牌内涵,是品牌培训的核心内容。     

浅析油库项目建设全过程的造价控制策略

油库建设项目的造价控制对于节省油库项目建设投资成本有非常重要的作用。本文分别从油库建设的投资决策阶段、设计阶段。实施阶段和竣工阶段阐述了油库建设项目的造价控制的策略。     

Effective College English Vocabulary Teaching

There are over two million modern English words, thus English becomes a language with the largest vocabulary in the world. Moreover, English vocabulary is constantly being renewed and enlarged with the development of the society and advancement of science and technology. So vocabulary development becomes language learners’ top priority. Unfortunately, learning English words by rote can’t guarantee that students will have a large vocabulary, let alone enable students to make practical use of the words they h...     

富县地区延长组原油地球化学特征

通过对原油样品的族组成、饱和烃色谱、质谱分析,详细描述了鄂尔多斯盆地南部富县地区延长组主要含油层长6段和长2段原油地球化学特征,进行了油—油对比研究。研究结果表明,富县地区延长组长6段和长2段含油层原油地球化学特征基本相近,原油为成熟石蜡型原油,有机母质来源于细菌和藻类,形成还原陆相淡水湖泊环境,应来源于本区延长组长7段烃源岩。     

油页岩基多联产技术研究

抚顺矿业集团对油页岩进行炼油所采用的工艺为抚顺式干馏工艺。本文简要介绍了该工艺的发展历史,重点介绍了抚顺矿业集团研发出的三种抚顺式干馏工艺的流程、产品及主要技术特点。研究结果表明,抚顺矿业集团对油页岩资源的开发利用已经形成了油、热、电、化工等多联产产业体系。     

论新文人画中的传统色彩借鉴融合

中国古典色彩美学内涵深刻,在历史发展中曾有诸多影响,成就巨大,启示着今天。如何在新时代背景下将传统文人画的情怀融入当代艺术创作是本文探询的课题.作者提出借鉴中国传统五行色的色彩构成让新时代的艺术创作流露出新文人画的古拙真的古典情怀。