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Cold spray (CS) has recently become one of the popular additive manufacturing (AM) processes, which allows forming large volume objects fast without the risk of undesirable heat effects. However, this unique technology still has some limitations in additive manufacturing application. Unlike other additive manufacturing technologies, CS is a continuous powder spraying and deposition process, which is more sensitive to spraying path precision and parameters. Therefore, common material filling paths are not suitable for cold spray additive manufacturing (CSAM). In this study, a tool path planning method for CSAM is proposed, which comprehensively considers the characteristics of CS, materials, spraying parameters and robot kinematics. Feature-based-layer built benchmark test objects have excellent shape accuracy. This implies that the proposed method makes CS a real and ready layer-by-layer AM process for 3D shape forming.

Integrated energy system (IES) planning is a long-term and rolling decision-making process. According to System Development Theory, the development-needs at different stages are different. Therefore, an IES dynamic multi-stage planning method considering different development stages is proposed. The first step of the method is putting forward a model based on the degree of system coupling, the reserve ratio, and the penetration rate of clean energy to divide dynamic development stages. Secondly, establishing a dynamic multi-stage planning model of the IES by combining the needs of different development stages through dynamic goals and constraints. Finally, the results given by the optimal configuration of critical IES equipment will be analysed in different scenarios. Following these steps, the result shows that the dynamic multi-stage planning method proposed is able to reduce the total planning cost of the system by 14% and reducing the clean energy penetration rate by 3%. Therefore, the proposed dynamic multi-stage planning scheme is effective and economical.

Aiming at the problem of the optimal global path planning of the construction robot entering the target point of the construction site and the efficient construction of the navigation map, a BIM(Building information modeling)-based construction robot job planning method is proposed. The traditional method of building a map environment for construction robots is obtained by its own sensors, which has a large amount of calculation. Firstly, the real construction environment is established through the BIM model, which effectively improves the efficiency of generating navigation map . Secondly, adding goal-directed functions to the RRT algorithm, combined with the target bias expansion algorithm based on the idea of artificial potential fields to further accelerate the search efficiency. Finally, the pruning algorithm is used to reduce the redundant points, which shortens the running time of the algorithm and the simulation time of the robot. The improved RRT algorithm before and after was compared and simulated in the construction environment of BIM in V-rep. The experimental results demonstrate a reduction of more than 50% in the final path simulation time for the improved RRT algorithm.

Sustainable rural drinking water is a widespread aim in India, and globally, from the household to district, state, and national scales. Sustainability issues in the rural drinking water sector range from increasing water demand to declining groundwater levels, premature deterioration of village schemes and services, inadequate revenues for operations and maintenance, weak capacity of water operators, frequently changing state and national policies, and destabilizing effects of climate change. This paper focuses on the special role of district-scale drinking water planning, which operates at the intersection between bottom-up water demand and top-down water programs. After surveying the challenges associated with bottom-up and top-down planning approaches, we present recent efforts to strengthen district and block drinking water planning in the state of Maharashtra. A combination of district interviews, institutional history, village surveys, GIS visualization, and planning workshops were used to advance district planning goals and methods. Results assess bottom-up processes of water demand, top-down water programs and finance, and intermediate-level planning at the district and block scales. Discussion focuses on potential improvements in district planning methods in Maharashtra.

Autonomous vehicle has been one of the most active study with the potential to enhance safety and convenience. As one of the safety-critical tasks that must be executed by autonomous vehicle, the motion planning is generally divided into path planning and velocity planning. The main purpose of velocity planning is to determine a safe and comfortable velocity change mode for autonomous vehicle, which is a crucial task. A velocity planning method based on pre-set model is proposed in this paper. The exponential function model with undetermined parameters is constructed as the velocity planning model in this method. We take comfort and time-effectiveness as evaluation indexes and construct model functions respectively, and the objective function is constructed in the form of weighted sum to determine the optimal parameters of the velocity planning model in each scenario. The exponential model is suitable for most application scenes, and its closed form expression form is easy to implement in real-time applications. By analysis with actual data, the model is proved to be reasonable.

The purpose of this study was to compare the planning methods of Dugdale and Miniaci for high tibial osteotomies (HTO) and to assess how their use could influence on the degree of correction and thus the postoperative weight bearing line (WBL). Pre- and postoperative standing hip-knee-ankle (HKA) radiographs were obtained from 70 patients that underwent HTO. The correction angles were determined using Dugdale’s and Miniaci’s methods, and for the latter, both for an opening wedge as well for a closing wedge osteotomy. In a subset of 50 patients, the calculations were performed twice by two observers to calculate inter- and intra-rater reliability. Regression analysis and Bland–Altman plots were used to compare the methods. Whereas the Dugdale method had been used in the planning of the real operations, a regression model was used to predict how the obtained correction would have been if the Miniaci method had been used instead. Intra- and inter-rater reliability was excellent for the correction angle for both Dugdale’s (0.992 and 0.991) and Miniaci’s methods (0.988 and 0.987). When planning for an opening wedge osteotomy (OW) and a closing wedge osteotomy (CW), using the Miniaci method and comparing the correction angle with the angle obtained by the Dugdale method, the Miniaci OW and CW angles were larger by a factor of 1.07 (95% CI 1.06–1.08) and 1.10 (95% CI 1.09–1.11). Postoperatively, a mean undercorrection of 2.9° (SD = 2.3) was found. Predicting the correction with use of the calculated Miniaci angles resulted in an undercorrection of 2.5°, indicating that use of the Dugdale method accounted for 14% of the undercorrection. It is more likely to underestimate the correction angle when using the Dugdale method compared to the Miniaci method. This could lead to poorer correction accuracy. As the inter-rater reliability is excellent for both methods, choosing to use the Dugdale method on basis of simplicity is not justified. III, Diagnostic study.

In the power system with high proportion of renewable energy, the contradiction between the growth of renewable energy installation capacity and renewable energy accommodation is getting increasingly serious. Thus, there is a pressing need to develop a rational generation capacity allocation planning method adapting to the development of renewable energy. This paper proposes a renewable energy capacity allocation planning method, which satisfies both the need of minimizing renewable energy investment costs and the demand of renewable energy accommodation. The proposed method is a multi-objective optimization problem, and the satisfaction function is adopted to obtain the optimal scheme. Finally, a provincial power grid in northwest China is taken as an example to verify the effectiveness of the proposed method.

CONTEXT The Public Health Accreditation Board requires accredited local health departments (LHDs) to complete community health improvement plans (CHIPs). Evidence suggests that participatory planning frameworks, cross-sector collaboration, social determinants of health (SDOHs), and steering organizations are integral to effective public health planning. However, little is known about the degree to which LHDs incorporate these aspects during the CHIP process. OBJECTIVES To describe the use of planning methods, SDOHs, cross-sector partnerships, and steering organizations during the CHIP development process among nationally accredited LHDs and to identify whether LHD jurisdictional size or region is associated with differences in use. DESIGN The most recent CHIPs from 93% of all nationally accredited LHDs (n = 195) were qualitatively reviewed and numerically coded for each of the planning components to calculate frequency and degree of use. Differences in use of each component by LHDs' jurisdictional size and region were tested using the chi-square test. MAIN OUTCOME MEASURE Use of CHIP planning frameworks, SDOH inclusion, cross-sector partnerships, and steering organizations. RESULTS One-half of LHDs (53%) reported use of Mobilizing for Action through Planning and Partnerships, but nearly one-fourth of LHDs did not use any planning framework. LHDs with a large jurisdictional size (>500 000) were significantly more likely to include SDOHs to a high degree than LHDs with mid- (100 000-499 999) to small- (

Different types of loads have different peak times for power consumption. Considering complementary of load timing characteristics scientifically can reduce the peak-to-valley load within the power supply range, reduce the substation capacity, and improve the economics of substation planning schemes. However, in the existing substation planning methods, the influence of complementary of load characteristics on the substation planning scheme has not been considered. To this end, a substation planning scheme that considers the load sequence characteristics is proposed. Firstly, with the goal of minimizing the cost of distribution network planning schemes, a substation planning model is established. Secondly, considering the complementarity of load characteristics, a substation power supply range method based on the improved Voronoi diagram is proposed, then an integrated solution method for the substation planning model is presented. Finally, the calculation example shows that considering the complementarity of load characteristics will slightly increase the construction cost of the line, but at the same time effectively reduce the investment and construction capacity of the substation, thereby improving the overall economy of the distribution network planning scheme.

This paper focuses on the application using a solar-powered unmanned aerial vehicle (UAV) to inspect mountain sites for the purpose of safety and rescue. An inspection path planning problem is formulated, which looks for the path for an UAV to visit a set of sites where people may appear while avoiding collisions with mountains and maintaining positive residual energy. A rapidly exploring random tree (RRT)-based planning method is proposed. This method firstly finds a feasible path that satisfies the residual energy requirement and then shortens the path if there is some abundant residual energy at the end. Computer simulations are conducted to demonstrate the performance of the proposed method.

An essential feature of pervasive, intelligent systems is the ability to dynamically adapt to their users' current needs. Hence, it is critical for such systems to be able to recognize the current goals and needs of the users based on observed past and current actions. This work addresses the problem of goal recognition in smart home environments. We investigate whether approaches for the plan recognition problem, which is a long-standing research area in the Artificial Intelligence community, can also be applied to the goal recognition problem in smart home environments. Therefore, we evaluate the application of a well-known symbolic plan recognition approach, which is based on classical planning methods, and propose to extend this approach through additional statistical knowledge to overcome some identified shortcomings of the planning-based approach. We show that the planning-based plan recognition approach indeed can be used to solve the goal recognition problem in smart home environments and show that the proposed extension outperforms the original approach as well as purely statistical goal recognition methods.

The ever-increasing penetration of wind power has resulted in new problems and challenges to the secure and economic operation of the power system concerned. Given this background, a bi-level transmission system planning model for this purpose is proposed. In the upper level, the objective is to minimize the total cost, the attained transmission planning scheme will be transferred to the lower level. In the lower level, the objective is to minimize the sum of the discharge cost of the energy storage system and the cost of abandoning the wind farm, the discharge cost of the energy storage system and the cost of abandoning the wind farm are transferred to the upper level as feedback. These two levels are implemented interactively and iteratively. Finally, the essential features of the developed model and adopted algorithms are demonstrated by a modified 18-bus test system.

China's provincial and municipal power grid companies continue to introduce the peak shaving and frequency modulation (FM) incentive policy for the auxiliary service market, which will affect the planning and development of electric vehicle(EV) charging stations. In this paper, considering some scenarios of EV charging stations and EVs as a whole to provide power grid peak shaving and FM services, based on the EV charging demand prediction model. This paper proposes an EV charging station planning method that considers the benefit of grid peak shaving and FM. The goal is to minimize the annual social comprehensive cost of the charging station. The optimal location and capacity of EV charging stations are obtained by optimization of simulated annealing particle swarm algorithm. Finally, a simulation analysis was carried out with a part of Xiangzhou area in Zhuhai City as an example, which verified the validity and correctness of the method proposed in this paper.

Purpose/Objective(s) Head and neck cancer (HNC) RT typically results in high doses to organs-at-risk (OARs), contributing to decreased quality-of-life (QOL) seen in patient reported outcomes (PRO). Current RT planning methods are driven by singular dosimetric trade-offs that may be inconsistent with improving a patient's overall predicted total toxicity burden (TTB). We developed an aggregate toxicity assessment over time including PROs that represents a paradigm shift over informal summary of individual toxicity. Here we introduce a treatment planning approach to directly optimize and reduce the predicted TTB-PRO of a patient's RT plan. Materials/Methods We implemented a prioritized approach to TTB optimization using an in-house optimization plugin linked to a commercial treatment planning system. Prioritized TTB (P-TTB) plans were optimized using a two-stage hierarchal method for inverse IMRT planning. In the first stage, TTB, defined as the weighted-sum of NTCPs, is minimized subject to high-priority OAR dose limits, target prescription, and target coverage requirements. Weights for the toxicities directly represent the relative undesirability of toxicities. In the second stage, a weighted-sum dose-metric objective is minimized, similar to current clinical practice. This stage is subject to the same constraints as the first stage, but an additional constraint for TTB is incorporated based on the optimal solution of the first stage. Using this approach, we retrospectively generated plans for 5 HNC patients and compared the resulting plans to IMRT plans generated without the added TTB constraint. Both plans consisted of 9 equally spaced beams with the same OAR dose limits and dose-metric objective. Target dose requirements were based on simultaneous integrated boost prescriptions of 70 and 56 Gy delivered in 35 fractions. TTB was calculated using previously published NTCP models for dysphagia and xerostomia. Dysphagia was based on increase in aspiration or HNQOL score > 81 as a function of pharyngeal constrictor (PC) mean dose. Xerostomia was based on parotid flow ratio 73 as a function of parotid gland (PG) mean dose. Results Our optimization engine successfully generated P-TTB plans for all five patients while maintaining similar target coverage to the standard dosimetrically optimized plans. P-TTB plans resulted in average absolute NTCP reductions of 15.5% (range: 0.2 - 53.4) for dysphagia and 20.5% (1.9 - 68.5) for xerostomia. These changes correlate to average mean dose decreases of 6.9 Gy (0.2 - 22.7) for PC and 10.2 Gy (1.2 - 33.5) for PGs. P-TTB planning resulted in greater fluence modulation and higher doses to OARs not included in the calculation of TTB. Conclusion The P-TTB planning method offers an intuitive optimization approach to balancing trade-offs between various treatment outcomes and has the ability to directly reduce and redistribute predicted toxicity which may aid in improving QOL for HNC patients receiving RT.

En el marco de la complejidad que presentan las pymes en su contexto actual, la evaluación de metodologías de planeación estratégica se ha convertido en una herramienta efectiva en la búsqueda de soluciones estratégicas que le permitan ser más rentables y competitivas. Bajo esta perspectiva, este artículo propone la evaluación de una metodología de planeación en una pyme del sector confección en Antioquia. El desarrollo metodológico se ejecutó en 3 fases: diagnóstico inicial, diagnóstico de variables micro - macroeconómicas y marco misional y estratégico. La información se obtuvo mediante entrevistas semiestructuradas a empleados y directivos, y a la observación directa. Los resultados indicaron que la gestión en la planeación no es la más adecuada y radica en el desconocimiento de un modelo eficiente y el poco interés directivo. Además, la evaluación mostró que la herramienta es viable cuando la empresa construye el proceso de planeación. Se detectó que, de acuerdo al constante cambio que presentan las pymes, es preciso la realización de investigaciones de tipo longitudinal que permitan diseñar metodologías que se adapten a su estructura actual. Los modelos de planeación que estén enmarcados a su contexto real, consolidan en mayor nivel la estructuración administrativa y la generación de ventajas competitivas. La herramienta está en función del análisis de factores internos y externos.

Introduction We developed a national survey to capture how respiratory departments in England adapted during the first wave of the COVID-19 pandemic and to develop lessons which can be applied to subsequent planning Methods A link to the online survey, hosted on a secure platform in an NHS England and Improvement account, was sent by email to all NHS trusts in England with known respiratory departments The survey was open for 43 days during August and September 2020 The survey included sections on COVID patient numbers, bed capacity, workforce, delivery of respiratory support, equipment, diagnostic and interventional services, and follow-up for patients discharged Results 58 (43 9%) responses were received Workforce-42 sites (72 4%) changed their respiratory consultant rota, for example, by changing to 12 hours shifts and overnight resident on calls 24 sites (41 4%) stated that respiratory consultants had been removed from the general medical rota Respiratory Support-CPAP was used in a variety of clinical environments including closed bays (in 36 sites) and closed wards (19 sites), and was primarily used as a bridge to ventilation (46 sites), to prevent intubation (48 sites) and as a ceiling of care (47 sites) Equipment-28 (48 3%) of units reported a shortage of at least one respiratory medical consumable (most commonly non-vented NIV masks (16 units) and CPAP machines (12 units)) Diagnostic and interventional services-Bronchoscopy and EBUS services were suspended in 16 (27 6%) and 10 (17 2%) sites respectively and continued for cancer patients only in 24 (41 4%) and 27 (46 6%) sites respectively Follow up-12 units (20 7%) did not offer follow up to patients with COVID related pneumonia at 6 weeks Conclusion This national survey shows the significant changes made, and challenges faced, by respiratory departments during the first wave of the COVID-19 pandemic We identified some areas where there were deviations from best practice and some positive changes that should be continued The lessons drawn from the survey results can assist in future COVID-19 planning

Background Hippocampal‐avoidance prophylactic cranial irradiation (HA‐PCI) offers potential neurocognitive benefits but raises technical challenges to treatment planning. This study aims to improve the conventional planning method using volumetric modulated arc therapy (VMAT) technique and investigate a better patient’s head positioning to achieve a high quality of HA‐PCI treatment plans. Methods The improved planning method set a wide expansion of hippocampus as a special region for dose decline. The whole brain target was divided into two parts according to whether the slice included hippocampus and their optimization objectives were set separately. Four coplanar full arcs with partial field sizes were employed to deliver radiation dose to different parts of the target. The collimator angle for all arcs was 90°. Tilting patient’s head was achieved by rotating CT images. The improved planning method and tilted head positioning were verified using datasets from 16 patients previously treated with HA‐PCI using helical tomotherapy (HT). Results For the improved VMAT plans, the max and mean doses to hippocampus were 7.88 Gy and 6.32 Gy, respectively, significantly lower than those for the conventional VMAT plans (P 0.1) but lower max dose (P

Growing energy demand in the distributed energy system (DES) besides new charging loads of electric vehicles (EVs) make DES infrastructure unavailable earlier than normal projections. DES lines need to be upgraded to carry the modern demand of customers. DES line upgrade (LU) cost minimized and deferred to the next years by using energy storage system (ESS). ESS offers the opportunity to use energy flexibly in the distribution grid. It is possible to use ESS to shift the inevitable upgrade costs of the distribution grid elements and increase the power quality of the distribution grid. In this study, a method is proposed to extend the lifespan of DES with ESS and reduce line upgrade and investment costs in the distribution system. For this purpose, the IEEE 33 bus test grid is used, and the proposed method is tested and analyzed with different case studies. According to the results, the proposed method can reduce the investment cost by up to 80%. Besides, ESS usage considering load increase and line conditions of the distribution grid, upgrade costs of distribution grid are shifted, resulting in an optimal dimensioning and positioning while extending the lifespan of the distribution grid elements and, at the same time, offering significant improvements in energy quality. Additionally, it is seen that the power losses of the distribution grid are reduced up to 26%, and the voltage profile of buses is improved with the usage of ESS.

The transition from traditional AC distribution system to future mature AC/DC hybrid distribution mode is an effective means to solve the challenges of high penetration of distributed energy, diversification of energy types, high requirements of power quality and power supply reliability.AC / DC hybrid distribution system can be used in many scenarios by virtue of its technical advantages. This paper analyzes the typical application scenarios of AC / DC distribution network from the perspective of "source network load". Combined with the research status of AC / DC hybrid distribution network, this paper introduces the planning method from three aspects: paper, standard and typical algorithm. Finally, a demonstration project is taken as an example to illustrate the key points of the planning.

Autonomous task planning plays a vital role in the application of the earth observation satellites constellation as it can make full use of satellite resources and increase task revenue. In this paper, a multi-satellite cooperative task planning architecture based on the distributed multi-agent system is established. And an improved multi-satellite cooperative task planning algorithm (MSCTP-CEM) based on co-evolution mechanism is designed. Finally, the advantages of the proposed architecture and MSCTP-CEM algorithm are verified through multiple simulation experiments.

Obstacle avoidance is very important for UAV flying in unknown environment. In this paper, the UAV’s obstacle avoidance method in unknown environment is proposed from two different view combined with the forward looking perception information of UAV. One is to propose a local real-time planning method from the perspective of optimization. The other is to combined with reinforcement learning to propose a method of avoiding action selection. In this paper, simulation experiments and comparative experiments are carried out to prove the effectiveness of the method.

The optimal milling parameters of the brewers grains hammer mill have been determined to make the miller operates in the best performance condition, minimum cost and ensure the quality of milled brewers grains. The experiment planning method with “black box” model and statistical analyses by a non-linear regression analysis method to determine were used. The study determined two second-order polynomial regression equations describing the influence of the operating parameters to the quality of the milled brewers grains (Cb) and specific energy consumption (Se). Based on directed grope algorithm and random algorithm method, the results of solving optimal problems gave optimal milling regime of the brewers grains mill as follows: optimal norms for milling process: Cbmax = 87.4% and Semin = 0.15 kWh/kg at hammer velocity of 32 m/s, material feed rate of 18.3 kg/h and clearance between the hammer and milling chamber of 3.2 mm.

Resumo: O planejamento de tarefas, uma das atribuições do professor, suscita a mobilização de conhecimentos. Neste artigo, o objetivo é compreender as dimensões do conhecimento do professor que constituem o planejamento de tarefas sobre conceitos geométricos. Para tanto, organizou-se um grupo com características colaborativas, onde quatro tarefas de geometria foram planejadas colaborativamente. As discussões realizadas no grupo foram analisadas a partir do Knowledge Quartet, uma ferramenta teórica de análise composta por quatro dimensões do conhecimento, entre elas o fundamento, principal dimensão identificada. Observou-se que os conhecimentos mobilizados pelas professoras se relacionavam com o conteúdo e com a pedagogia. Inicialmente, identificaram-se os códigos consciência de propósitos e identificação de erros. Ao planejar o desenvolvimento da tarefa mobilizaram-se os códigos relacionados a procedimentos, terminologia, uso de livros didáticos e uso de tecnologias digitais. A colaboração entre pares no planejamento de tarefas propiciou uma formação na escola, para ela e com ela. Abstract: The planning of tasks, one of the teacher's duties, causes the mobilization of knowledge. In this article, the aim is to understand the dimensions of teachers' knowledge that constitute the planning of tasks involving geometrical concepts. Thus, a group with collaborative characteristics was constituted, where four tasks were planned. The discussions held in the group were analyzed based on the Knowledge Quartet, a theorical analysis tool composed of four dimensions of knowledge, among them the foundation, which is the main dimension identified. It was observed that the knowledges mobilized were related with the knowledge of the content and pedagogy. The codes awareness of purpose and identification of errors were identified at first. In the planning of the development of the task, codes related to procedures, terminology, use of the textbook, and use of digital technologies were mobilized. Peer collaboration in the planning of tasks has afforded teacher education in, for, and with the school.

At present, most comprehensive energy planning methods aim at economy. A distributed integrated energy system planning method considering reliability and integrated demand response is proposed. This method considers that IDR can effectively realize the peak valley cutting of load characteristics, improve the system economy, and increase the reliability constraint penalty cost to make it more realistic. The example results show that the proposed method can consider the economy and reliability of configuration results under different conditions, and realize the selection of equipment.

Megaprojects are complex and contain multiple risks and uncertainties. The dominant ‘predict and control’ planning method mainly ignores risks and uncertainties, making megaprojects inflexible and vulnerable to unforeseen changes. Insights and methods from real options theory (ROT) in economics and finance have the potential to improve planning of megaprojects in three ways: (a) better management and assessment of risks and uncertainties, (b) a more transparent and explicit identification and communication of risks and uncertainties, and (c) a monetary valuation of flexibility. An in-depth literature review of 42 papers of real options applications to megaprojects serves as a benchmark to analyse if current real options literature meets these three expectations. Through this review, we identify the main trends, relevance and research gaps. While its theoretical relevance is illustrated, three main gaps impede real options’ practical relevance for megaprojects: the applications paint an incomplete picture of megaprojects; its mathematical complexity; and the lack of empirical evidence of real-life cases. Based on a plea for more interactive research between scholars and planning practitioners, we provide an agenda for further research as to how ROT can better meet its expectations and fulfill its potential for the planning of megaprojects.

For high-speed machining, special tool paths are required wherewith the tool load is well-controlled, and the path is sufficiently smooth. One of the most effective solutions for controlling the tool load is to keep the cutter engagement constant. For this purpose, advanced tool path generating cycles are available in CAM systems. In case of slot machining, these cycles result in a trochoidal tool path. Since the CAM systems generate these tool paths regardless of the special geometric boundary conditions, each trochoidal period must be calculated separately. However, in our previous researches, it has been observed that the loops of the trochoidal tool path which provide a constant cutter engagement become uniform after a few periods. In this paper, a new method is presented, which can be used for generating this uniform trochoidal tool path shape. The developed method was compared to conventional trochoidal strategies, that were using circular or cycloid curves, and it proved to be significantly better than the traditional solutions. Considering its improved machining efficiency, simplifying the calculation process of this modern strategy can facilitate a wider use. In addition, the formal description of the path generation method provides further opportunities for optimisation.

Comunicació presentada a 18th International Conference on Principles of Knowledge Representation and Reasoning (KR2021), celebrat del 3 al 12 de novembre de 2021 de manera virtual. Width-based planning methods deal with conjunctive goals by decomposing problems into subproblems of low width. Algorithms like SIW thus fail when the goal is not easily serializable in this way or when some of the subproblems have a high width. In this work, we address these limitations by using a simple but powerful language for expressing finer problem decompositions introduced recently by Bonet and Geffner, called policy sketches. A policy sketch R over a set of Boolean and numerical features is a set of sketch rules that express how the values of these features are supposed to change. Like general policies, policy sketches are domain general, but unlike policies, the changes captured by sketch rules do not need to be achieved in a single step. We show that many planning domains that cannot be solved by SIW are provably solvable in low polynomial time with the SIW_R algorithm, the version of SIW that employs user-provided policy sketches. Policy sketches are thus shown to be a powerful language for expressing domain-specific knowledge in a simple and compact way and a convenient alternative to languages such as HTNs or temporal logics. Furthermore, they make it easy to express general problem decompositions and prove key properties of them like their width and complexity. This work was partially supported by an ERC Advanced Grant (grant agreement no. 885107), by project TAILOR, funded by EU Horizon 2020 (grant agreement no. 952215), and by the Knut and Alice Wallenberg Foundation. Hector Geffner is a Wallenberg Guest Professor at Linkoping University, Sweden. We used compute resources from the Swedish National Infrastructure for Computing (SNIC), partially funded by the Swedish Research Council through grant agreement no. 2018-05973.

At present, due to the abnormal objective function setting result of AC / DC distribution network energy storage depth planning method, the operation cost of power supply network has been increased frequently. Therefore, the energy storage depth planning method of AC / DC distribution network based on toughness enhancement technology is designed. The minimum peak valley difference, maximum load rate and minimum load change are taken as the energy storage depth planning objectives of AC / DC distribution network. The economic mathematical model of distribution network planning is constructed by using toughness enhancement technology and objective function to complete the in-depth planning of distribution network. So far, the energy storage depth planning method of AC / DC distribution network based on toughness enhancement technology has been completed. Simulation experiment has been constructed. Through the comparison, it can be seen that this method has better effect than the original method, possessing stronger control ability for operation components.

In order to improve the reliability of distribution network, a grid planning method of distribution network based on artificial intelligence technology is studied. Firstly, according to the principle of grid division, the planning area is divided into several planning grids reasonably; the existing problems of the existing distribution network are analyzed systematically, and the weak links of the existing distribution network are summarized. According to the current grid structure, load forecasting results and planning objectives of planning grid, the target grid and transition grid of planning grid are determined, and the load forecasting method of distribution network is designed to improve the scientificity of distribution grid division. The experiments show that after the grid planning of the distribution network in a planning area, the target grid of the distribution network is strong, the power supply range is clear, and the power supply reliability is high, which verifies the effectiveness and scientificity of the method.

Land and culture are intrinsically linked to each other. Cities and towns in India more often than not have a historic origin which has subsequently grown into the present-day urban settlements. While the timeline of the historicity may vary, historic districts are a fairly common occurrence. These historic districts have layered histories that are expressed in their built morphology with their embedded culture and meaning. The present planning methods and development tools and techniques that are imposed on the heritage districts are of a top-down approach which carefully recognize and delineate only a selected few of historic structures and precincts while ignoring the complex multilayered factors that resulted in their formulation over time. This paper questions this unilateral approach to planning such multilayered, multifaceted issues as faced in historic districts. While the primary intent of this study is to examine the impact of the planning decisions and the mutilations that they trigger, the aim is to provide a comprehensive understanding of the historic districts of the towns of Badami and Kampli, and discover the possible ways to better connect historic preservation with urban planning, which could potentially be applied to other such towns in India.

Demand response plays a significant role in peak load shifting, storage capacity configuration and renewable energy utilization. A bi-level planning method for energy storage system of integrated community energy system considering the demand response is proposed in this paper. In the upper level, the investment cost of electrical energy storage and thermal energy storage, operation and maintenance cost and fuel cost of the integrated community energy system, as well as the compensation cost to the energy consumer, are considered; in the lower level, the responded demand of the energy consumer is taken into consideration to minimize the energy bill of the energy consumer. An actual planning for energy storage system of integrated community energy system shows the effectiveness of the proposed method.

The purpose of this study was to evaluate the dosimetric advantage of inverse planning optimization (IPO) in locally advanced cervical cancer using high-dose-rate (HDR) brachytherapy (BT). IPO was compared with point A plan and geometric optimization (GO). The three planning methods were evaluated using doses to the virtual organ-at-risk (OAR) and D90 (the minimum dose covering of 90% of the volume) to the virtual high-risk clinical target volume (HR-CTV) based on quantitative analysis. HR-CTV structures measuring 38.5 cm3 and 59.5 cm3 were created based on the outcomes of a European Group cohort study. The HR-CTVs were located either at the center of the cervix (cervical center model) or shifted toward the left (extensive disease model). The distances from the HR-CTVs to the rectum were set at 0 mm, 3 mm, 5 mm, 8 mm, 10 mm, and 15 mm. We analyzed 336 conditions in this study. All doses were evaluated by conversion to doses in 2-Gy fractions of conventional radiotherapy. The D90 of the HR-CTV using GO and IPO could achieve the desired dose in all conditions, providing better results than that of point A plan. IPO makes it possible to deliver a sufficient dose for the D90 of the HR-CTV while reducing OAR doses with smaller HR-CTV values (

This paper studies the construction and area division of multi-quadrotor collaborative area coverage mission planning environment model. The deep Q-network(DQN) algorithm is applied to multi-quadrotor area coverage mission planning problem, and a DQN-based multi-quadrotor area coverage mission planning method is proposed. The method has the advantages of good coverage effect, high execution efficiency, reusability and strong practicability.

В современных экономических условиях, предполагающих адаптацию к требованиям рыночной экономики стратегическое планирование - это наиболее адекватный инструмент, усиливающий влияние администрации и общества в решении проблем повышения занятости и уровня жизни населения. Значение целевых программ особенно возрастает в периоды каких-либо сдвигов в структуре национальной экономики и в периоды ее нестабильности, например, когда встает вопрос о внедрении новых технологий, или когда необходимо быстро менять материально - техническую базу, или реагировать на новые вызовы и угрозы мирового рынка. Анализ отечественного опыта использования программно-целевого метода планирования на муниципальном уровне проводился на примере города Оренбурга. Развитие предпринимательства является одной из главных задач экономической политики города, а малое и среднее предпринимательство играет важную роль в его экономике, способствует наращиванию налоговых поступлений, созданию новых рабочих мест, насыщению рынка товарами и услугами собственного производства. На основе анализа статистической информации по развитию предпринимательства в городе определены проблемы связанные с реализацией разработанной программы развития малого и среднего предпринимательства. Определено значение программно-целевого метода планирования в развитии предпринимательства города. Выявлены преимущества, недостатки и особенности программно-целевого метода планирования на муниципальном уровне., In modern economic conditions, involving adaptation to the requirements of a market economy, strategic planning is the most adequate tool that enhances the influence of the administration and society in solving the problems of increasing employment and living standards of the population. The value of targeted programs especially increases during periods of any shifts in the structure of the national economy and during periods of instability, for example, when the question of the introduction of new technologies arises, or when it is necessary to quickly change the material and technical base, or respond to new challenges and threats of the world market. The analysis of the domestic experience of using the target-oriented planning method at the municipal level was carried out on the example of the city of Orenburg. The development of entrepreneurship is one of the main tasks of the city's economic policy, and small and medium-sized businesses play an important role in the city's economy, contribute to increasing tax revenues, creating new jobs, saturating the market with goods and services of its own production. Based on the analysis of statistical information on the development of entrepreneurship in the city, the problems associated with the implementation of the developed program for the development of small and medium-sized businesses are identified. The importance of the program-target planning method in the development of entrepreneurship of the city is determined. The advantages, disadvantages and features of the target-oriented planning method at the municipal level are revealed.

In order to improve the efficiency of path planning for Unmanned Aerial Vehicles (UAV), this paper proposed a method combined of GA and A* algorithm for three-dimensional path planning, which is divided into global path planning and real-time path re-planning. Global path planning focus on safety and optimality, and provides an optimal path for the UAV that meets the constraints by using the real number gene coding method. Real-time path re-planning focuses on emergency threats and needs to ensure real-time performance. It is implemented by combining the two-dimensional A* algorithm and height planning that improves the searching efficiency compared to traditional three-dimensional A* methods. Finally, simulation results show that the proposed method in this paper can effectively reduce the search space and improve the search efficiency.

In this paper, problem of online fast attitude planning and obstacle avoidance for spacecraft is addressed. A new approach to generate three dimensional trajectory used finite Fourier series (FFS) shape-based method is proposed. By which, time-optimal trajectory under constraints of attitude dynamics and satisfies demand of collision avoidance with obstacles is obtained. Simulation example is set up to validate the effectiveness of the proposed attitude maneuver planning method.

This paper presents a planning method and principles of the cloud energy storage applied in the power grid, which is a shared energy storage technology. A detail design drawing is presented to define the cloud energy storage system. Simple math models are presented to describe the optimization planning problem. The construction steps contrasting traditional planning process are presented. The principles for planning investment are also presented to consider the flexibility for operation in power system.