功能性小麦品种的概念、类别和发展前景（网络首发、推荐阅读）

结合全球倡导的营养导向型农业和功能性食品的内容，首次提出“功能性小麦品种”的概念，将其定义为“含有对人体健康有益的活性成分，可调节人体有益代谢，能给人体健康带来某种益处或满足特定人群的特殊需求，同时可以作为日常食物的口感正常、无毒副作用的小麦品种类型”；结合疫情警示和我国进入后工业时代后，人们需求必将由“吃得饱”、“吃得好”向“吃得健康”转变，因而提出继高产品种、优质品种之后培育“功能性小麦品种”的育种目标。根据多年关于小麦淀粉、蛋白、酯类和其他成分的功能研究结果，介绍新育成的“麦黄酮”、“高色素”、“高抗性淀粉”、“富锌”、“低醇溶蛋白”和“低植酸”等功能性小麦新品种（系）的营养特性和农艺产量状况；根据“健康中国2030”规划等国家战略，进行“功能性品种培育是解决我国功能性食品‘卡脖子’的关键基础，一种功能性品种可以形成一类功能性食品，多种功能性品种可以形成我国功能性面制品产业，推动我国整个食品工业的发展”的前景展望；根据功能性品种及其食品的稳定性和可靠性是产品和市场的“生命线”，从对消费者负责的高度，提出关于“功能性农作物品种审定导向和组建功能性成分检测机构；编制有关功能性品种和食品的国家或行业标准，设立功能性食品和功能性农作物品种的商业标志，保证我国功能性农作物品种及其食品健康发展”等方面的具体建议。     

基于ADAMS和MATLAB的双足机器人运动轨迹规划和控制的联合仿真

相比ADAMS仿真的不稳定性,利用ADAMS和MATLAB联合仿真对双足机器人运动轨迹规划和控制设计的可靠性及高效性进行了研究。首先绘制双足机器人三维参数模型进行逆运动学分析,验证其合理性后导入ADAMS中添加约束,进行动力学仿真。基于此,在MATLAB中使用多项式插值法完成模型的步态规划。最后利用Simulink试验台建立控制系统的框图,由ADAMS输入关节角之后控制台输出关节的驱动力矩,完成双足机器人ADAMS和MATLAB的联合仿真。仿真结果显示,联合仿真相较于ADAMS仿真的波动性所获得的数据更加稳定,此法高效可行,可作为下一步设计双足机器人的控制系统电机选型的重要理论依据。     

电信运营商云网规划数字化研究和实现

基于电信运营商数字化转型，系统性地提出了数据驱动的云网发展规划体系，以及六大关键数字化能力构建，设计和实现了一种云网规划数字化平台，该平台可用于实现目标网络精细规划、边缘计算精准预测等场景，并探讨了数字孪生在规划领域的应用前景，对运营商推进云网融合战略、推进高质量发展具有指导和参考意义。     

基于控制变量参数化方法的自由漂浮空间机器人路径规划研究

针对自由漂浮空间机器人传统路径规划方法对基座卫星扰动较大的问题，提出了一种基于控制变量参数化的路径规划方法。该方法将路径规划问题转化成以基座姿态扰动最小为目标函数并满足一系列约束条件的最优控制问题，并采用控制变量参数化方法进行离散化处理，将最优控制问题转化成求解非线性规划问题，并给出了完整的理论收敛性证明，从而准确地估计出自由漂浮空间机器人末端执行器的最优路径。仿真结果表明，与传统的分解加速度方法相比，该方法得到的运动路径所引起的基座卫星姿态扰动为0.104rad，相比传统方法降低了17.53%，验证了所提路径规划方法的有效性与最优性。     

A mathematical model for open pit mine production scheduling with Grade Engineering® and stockpiling

This paper presents the development and implementation of an innovative mixed integer programming based mathematical model for an open pit mining operation with Grade Engineering framework. Grade Engineering comprises a range of coarse-separation based pre-processing techniques that separate the desirable (i.e. high-grade) and undesirable (i.e. low-grade or uneconomic) materials and ensure the delivery of only selected quantity of high quality (or high-grade) material to energy, water, and cost-intensive processing plant. The model maximizes the net present value under a range of operational and processing constraints. Given that the proposed model is computationally complex, the authors employ a data pre-processing procedure and then evaluate the performance of the model at several practical instances using computation time, optimality gap, and the net present value as valid measures. In addition, a comparison of the proposed and traditional (without Grade Engineering) models reflects that the proposed model outperforms the traditional formulation.     

Dynamic shovel allocation approach to short-term production planning in open-pit mines

The complexity and uncertainties associated with mining operations often lead to deviations from short-term plans. A proactive approach will predict such deviations and help minimise opportunity losses, providing economic and operational gains. This paper presents an optimisation tool as a dynamic shovel allocation decision-maker for mining operation simulation models. The objectives of the optimisation tool are to provide shovel allocations to mining faces in order to maximise production, meet desired head grade and tonnage at the crushers, and minimise shovel movements. This paper presents the development and implementation of the optimisation tool with an iron ore mine case study.     

A lightweight autonomous MAV for indoor search and rescue

Micro Aerial Vehicles (MAVs) have great potentials to be applied for indoor search and rescue missions. In this paper, we propose a modular lightweight design of an autonomous MAV with integrated hardware and software. The MAV is equipped with the 2D laser scanner, camera, mission computer and flight controller, running all the computation onboard in real time. The onboard perception system includes a laser‐based SLAM module and a custom‐designed visual detection module. A dual Kalman filter design provides robust state estimation by multiple sensor fusion. Specifically, the fusion module provides robust altitude measurement in the circumstance of surface changing. In addition, indoor‐outdoor transition is explicitly handled by the fusion module. In order to efficiently navigate through obstacles and adapt to multiple tasks, a task tree‐based mission planning method is seamlessly integrated with path planning and control modules. The MAV is capable of searching and rescuing victims from unknown indoor environments effectively. It was validated by our award‐winning performance at the 2017 International Micro Air Vehicle Competition (IMAV 2017), held in Toulouse, France. The performance video is available on https://youtu.be/8H19ppS_VXM .     

The Art of Masonry

Brick masonry is not only a question of building physics, building construction and durability, i.e. sustainability, but has much to do with aesthetics and making sense, which may have been forgotten in modern architecture with its absolute lack of décor. Masonry as an art form has been scarce since the era of brick expressionism. Recently, there have been some exceptions – and thoroughly welcome. The ”Fjordenhus“ in Vejle, Denmark, is an astonishing example.     

桥梁检测机器人作业规划与位姿优化方法研究

针对桥梁底部病害人工检测的作业难题,介绍了桥梁检测机器人的工作原理,结合桥梁的结构化特征和视觉检测拍摄参数约束,研究了桥梁检测机器人作业规划与位姿优化方法。首先,提出一种以最佳拍摄模型约束的桥梁检测机器人拍摄作业位姿规划方法。在最佳拍摄规划方法的基础上,针对小箱梁桥梁和T型梁桥梁底部的褶皱结构,研究了以安全拍摄模型为约束的拍摄位姿优化方法,设计了结合拍摄偏角和拍摄距离的权重函数,推导了优化算法公式并给出了收敛证明。通过对不同拍摄参数的配置,进行了针对空心板桥梁的拍摄作业位姿规划方法仿真;针对小箱梁桥梁的结构,在位姿规划仿真结果基础上进行了位姿优化方法的仿真。最后以研制的桥梁检测机器人为对象,进行了现场测试与验证,仿真和实验结果均表明,该规划和优化方法符合桥梁拍摄检测的要求,具有很好的鲁棒性和实时性。     

An analysis of adaptive planning capacity: The case of chilean water utilities

New long-term planning approaches capable of coping with uncertainties such as climate change, rapid urbanization, and changing societal values, have been put forward as a way of producing more robust and sustainable plans for the future. But is the planning practice ready for their adoption? This paper takes four key propositions from the adaptive planning literature and tests the existing capacity for adopting those propositions in the context of Chilean water utilities. We will then propose how existing capacities could be enhanced, and propose alternatives for current planning practices, highlighting the importance of implementation through experimentation.