The Backscatter communication has gained widespread attention from academia and industry in recent years. In this paper, A method of resource allocation and trajectory optimization is proposed for UAV-assisted backsca...The Backscatter communication has gained widespread attention from academia and industry in recent years. In this paper, A method of resource allocation and trajectory optimization is proposed for UAV-assisted backscatter communication based on user trajectory. This paper will establish an optimization problem of jointly optimizing the UAV trajectories, UAV transmission power and BD scheduling based on the large-scale channel state signals estimated in advance of the known user trajectories, taking into account the constraints of BD data and working energy consumption, to maximize the energy efficiency of the system. The problem is a non-convex optimization problem in fractional form, and there is nonlinear coupling between optimization variables.An iterative algorithm is proposed based on Dinkelbach algorithm, block coordinate descent method and continuous convex optimization technology. First, the objective function is converted into a non-fractional programming problem based on Dinkelbach method,and then the block coordinate descent method is used to decompose the original complex problem into three independent sub-problems. Finally, the successive convex approximation method is used to solve the trajectory optimization sub-problem. The simulation results show that the proposed scheme and algorithm have obvious energy efficiency gains compared with the comparison scheme.展开更多
The Giant Radio Array for Neutrino Detection(GRAND)is a proposed large-scale observatory designed to detect cosmic rays,gamma-rays,and neutrinos with energies exceeding 100 Pe V.The GRANDProto300 experiment is propose...The Giant Radio Array for Neutrino Detection(GRAND)is a proposed large-scale observatory designed to detect cosmic rays,gamma-rays,and neutrinos with energies exceeding 100 Pe V.The GRANDProto300 experiment is proposed as the early stage of the GRAND project,consisting of a hybrid array of radio antennas and scintillator detectors.The latter,as a mature and traditional detector,is used to cross-check the nature of the candidate events selected from radio observations.In this study,we developed a simulation software called G4GRANDProto300,based on the Geant4 software package,to optimize the spacing of the scintillator detector array and to investigate its effective area.The analysis was conducted at various zenith angles under different detector spacings,including 300,500,600,700,and 900 m.Our results indicate that,for large zenith angles used to search for cosmic-ray in the GRAND project,the optimized effective area is with a detector spacing of 500 m.The G4GRANDProto300 software that we developed could be used to further optimize the layout of the particle detector array in future work.展开更多
Given the unconstrained characteristics of the multi-robot coordinated towing system,the rope can only provide a unidirectional constraint force to the suspended object,which leads to the weak ability of the system to...Given the unconstrained characteristics of the multi-robot coordinated towing system,the rope can only provide a unidirectional constraint force to the suspended object,which leads to the weak ability of the system to resist external disturbances and makes it difficult to control the trajectory of the suspended object.Based on the kinematics and statics of the multi-robot coordinated towing system with fixed base,the dynamic model of the system is established by using the Newton-Euler equations and the Udwadia-Kalaba equations.To plan the trajectories with high stability and strong control,trajectory planning is performed by combining the dynamics and stability of the towing system.Based on the dynamic stability of the motion trajectory of the suspended object,the stability of the suspended object is effectively improved through online real-time planning and offline manual adjustment.The effectiveness of the proposed method is verified by comparing the motion stability of the suspended object before and after planning.The results provide a foundation for the motion planning and coordinated control of the towing system.展开更多
Support Vector Machine(SVM)has become one of the traditional machine learning algorithms the most used in prediction and classification tasks.However,its behavior strongly depends on some parameters,making tuning thes...Support Vector Machine(SVM)has become one of the traditional machine learning algorithms the most used in prediction and classification tasks.However,its behavior strongly depends on some parameters,making tuning these parameters a sensitive step to maintain a good performance.On the other hand,and as any other classifier,the performance of SVM is also affected by the input set of features used to build the learning model,which makes the selection of relevant features an important task not only to preserve a good classification accuracy but also to reduce the dimensionality of datasets.In this paper,the MRFO+SVM algorithm is introduced by investigating the recent manta ray foraging optimizer to fine-tune the SVM parameters and identify the optimal feature subset simultaneously.The proposed approach is validated and compared with four SVM-based algorithms over eight benchmarking datasets.Additionally,it is applied to a disease Covid-19 dataset.The experimental results show the high ability of the proposed algorithm to find the appropriate SVM’s parameters,and its acceptable performance to deal with feature selection problem.展开更多
The longitudinal dispersion of the projectile in shooting tests of two-dimensional trajectory corrections fused with fixed canards is extremely large that it sometimes exceeds the correction ability of the correction ...The longitudinal dispersion of the projectile in shooting tests of two-dimensional trajectory corrections fused with fixed canards is extremely large that it sometimes exceeds the correction ability of the correction fuse actuator.The impact point easily deviates from the target,and thus the correction result cannot be readily evaluated.However,the cost of shooting tests is considerably high to conduct many tests for data collection.To address this issue,this study proposes an aiming method for shooting tests based on small sample size.The proposed method uses the Bootstrap method to expand the test data;repeatedly iterates and corrects the position of the simulated theoretical impact points through an improved compatibility test method;and dynamically adjusts the weight of the prior distribution of simulation results based on Kullback-Leibler divergence,which to some extent avoids the real data being"submerged"by the simulation data and achieves the fusion Bayesian estimation of the dispersion center.The experimental results show that when the simulation accuracy is sufficiently high,the proposed method yields a smaller mean-square deviation in estimating the dispersion center and higher shooting accuracy than those of the three comparison methods,which is more conducive to reflecting the effect of the control algorithm and facilitating test personnel to iterate their proposed structures and algorithms.;in addition,this study provides a knowledge base for further comprehensive studies in the future.展开更多
The trajectory tracking control performance of nonholonomic wheeled mobile robots(NWMRs)is subject to nonholonomic constraints,system uncertainties,and external disturbances.This paper proposes a barrier function-base...The trajectory tracking control performance of nonholonomic wheeled mobile robots(NWMRs)is subject to nonholonomic constraints,system uncertainties,and external disturbances.This paper proposes a barrier function-based adaptive sliding mode control(BFASMC)method to provide high-precision,fast-response performance and robustness for NWMRs.Compared with the conventional adaptive sliding mode control,the proposed control strategy can guarantee that the sliding mode variables converge to a predefined neighborhood of origin with a predefined reaching time independent of the prior knowledge of the uncertainties and disturbances bounds.Another advantage of the proposed algorithm is that the control gains can be adaptively adjusted to follow the disturbances amplitudes thanks to the barrier function.The benefit is that the overestimation of control gain can be eliminated,resulting in chattering reduction.Moreover,a modified barrier function-like control gain is employed to prevent the input saturation problem due to the physical limit of the actuator.The stability analysis and comparative experiments demonstrate that the proposed BFASMC can ensure the prespecified convergence performance of the NWMR system output variables and strong robustness against uncertainties/disturbances.展开更多
This paper develops a novel hierarchical control strategy for improving the trajectory tracking capability of aerial robots under parameter uncertainties.The hierarchical control strategy is composed of an adaptive sl...This paper develops a novel hierarchical control strategy for improving the trajectory tracking capability of aerial robots under parameter uncertainties.The hierarchical control strategy is composed of an adaptive sliding mode controller and a model-free iterative sliding mode controller(MFISMC).A position controller is designed based on adaptive sliding mode control(SMC)to safely drive the aerial robot and ensure fast state convergence under external disturbances.Additionally,the MFISMC acts as an attitude controller to estimate the unmodeled dynamics without detailed knowledge of aerial robots.Then,the adaption laws are derived with the Lyapunov theory to guarantee the asymptotic tracking of the system state.Finally,to demonstrate the performance and robustness of the proposed control strategy,numerical simulations are carried out,which are also compared with other conventional strategies,such as proportional-integralderivative(PID),backstepping(BS),and SMC.The simulation results indicate that the proposed hierarchical control strategy can fulfill zero steady-state error and achieve faster convergence compared with conventional strategies.展开更多
We show that recently multi-messenger astronomy has provided compelling evidence that the bulk of high energy cosmic rays (CRs) are produced by highly relativistic narrow jets of plasmoids launched in core collapse of...We show that recently multi-messenger astronomy has provided compelling evidence that the bulk of high energy cosmic rays (CRs) are produced by highly relativistic narrow jets of plasmoids launched in core collapse of stripped-envelope massive stars to neutron stars and stellar mass black holes. Such events produce also a visible GRB if the jet happens to point in our direction. This has been long advocated by the cannon ball (CB) model of high energy CRs and GRBs, but the evidence has been provided only recently by what were widely believed to be unrelated discoveries. They include the very recent discovery of a knee around TeV in the energy spectrum of high energy CR electrons, the peak photon energy in the “brightest of all time” GRB221009A, and the failure of IceCube to detect high energy neutrinos from GRBs, including GRB221009A. They were all predicted by the cannonball (CB) model of high energy CRs and GRBs long before they were discovered in observations, despite a negligible probability to occur by chance.展开更多
Background and Aims While chest X-ray (CXR) has been a conventional tool in intensive care units (ICUs) to identify lung pathologies, computed tomography (CT) scan remains the gold standard. Use of lung ultrasound (LU...Background and Aims While chest X-ray (CXR) has been a conventional tool in intensive care units (ICUs) to identify lung pathologies, computed tomography (CT) scan remains the gold standard. Use of lung ultrasound (LUS) in resource-rich ICUs is still under investigation. The present study compares the utility of LUS to that of CXR in identifying pulmonary edema and pleural effusion in ICU patients. In addition, consolidation and pneumothorax were analyzed as secondary outcome measures. Material and Methods This is a prospective, single centric, observational study. Patients admitted in ICU were examined for lung pathologies, using LUS by a trained intensivist;and CXR done within 4 hours of each other. The final diagnosis was ascertained by an independent senior radiologist, based on the complete medical chart including clinical findings and the results of thoracic CT, if available. The results were compared and analyzed. Results Sensitivity, specificity and diagnostic accuracy of LUS was 95%, 94.4%, 94.67% for pleural effusion;and 98.33%, 97.78%, 98.00% for pulmonary edema respectively. Corresponding values with CXR were 48.33%, 76.67%, 65.33% for pleural effusion;and 36.67%, 82.22% and 64.00% for pulmonary edema respectively. Sensitivity, specificity and diagnostic accuracy of LUS was 91.30%, 96.85%, 96.00% for consolidation;and 100.00%, 79.02%, 80.00% for pneumothorax respectively. Corresponding values with CXR were 60.87%, 81.10%, 78.00% for consolidation;and 71.3%, 97.20%, 96.00% for pneumothorax respectively. Conclusion LUS has better diagnostic accuracy in diagnosis of pleural effusion and pulmonary edema when compared with CXR and is thus recommended as an effective alternative for diagnosis of these conditions in acute care settings. Our study recommends that a thoracic CT scan can be avoided in most of such cases.展开更多
Ray tracing is a computer graphics method that renders images realistically. As the name suggests, this technique primarily traces the path of light rays interacting with objects in a scene [1], permitting the calcula...Ray tracing is a computer graphics method that renders images realistically. As the name suggests, this technique primarily traces the path of light rays interacting with objects in a scene [1], permitting the calculation of lighting and reflecting impact [2]. As ray tracing is a time-consuming process, the need for parallelization to solve this problem arises. One downside of this solution is the existence of race conditions. In this work, we explore and experiment with a different, well-known solution for this race condition. Starting with the introduction and the background section, a brief overview of the topic is followed by a detailed part of how the race conditions may occur in the case of the ray tracing algorithm. Continuing with the methods and results section, we have used OpenMP to parallelize the Ray tracing algorithm with the different compiler directives critical, atomic, and first-private. Hence, it concluded that both critical and atomic are not efficient solutions to produce a good-quality picture, but first-private succeeded in producing a high-quality picture.展开更多
Two new solutions of the homogeneous diffusion equation in 1D are derived in the presence of losses and a trigonometric profile for a profile of density. A simulation for the ankle in the energy distribution of cosmic...Two new solutions of the homogeneous diffusion equation in 1D are derived in the presence of losses and a trigonometric profile for a profile of density. A simulation for the ankle in the energy distribution of cosmic rays (CRs) is provided in the framework of the fine tuning of the involved parameters. A theoretical image for the overall diffusion of CRs in galactic coordinates is provided.展开更多
This paper proposes a unified trajectory optimization approach that simultaneously optimizes the trajectory of the center of mass and footholds for legged locomotion.Based on a generic point-mass model,the approach is...This paper proposes a unified trajectory optimization approach that simultaneously optimizes the trajectory of the center of mass and footholds for legged locomotion.Based on a generic point-mass model,the approach is formulated as a nonlinear optimization problem,incorporating constraints such as robot kinematics,dynamics,ground reaction forces,obstacles,and target location.The unified optimization approach can be applied to both long-term motion planning and the reactive online planning through the use of model predictive control,and it incorporates vector field guidance to converge to the long-term planned motion.The effectiveness of the approach is demonstrated through simulations and physical experiments,showing its ability to generate a variety of walking and jumping gaits,as well as transitions between them,and to perform reactive walking in obstructed environments.展开更多
This paper proposes new methods and strategies for Multi-UAVs cooperative attacks with safety and time constraints in a complex environment.Delaunay triangle is designed to construct a map of the complex flight enviro...This paper proposes new methods and strategies for Multi-UAVs cooperative attacks with safety and time constraints in a complex environment.Delaunay triangle is designed to construct a map of the complex flight environment for aerial vehicles.Delaunay-Map,Safe Flight Corridor(SFC),and Relative Safe Flight Corridor(RSFC)are applied to ensure each UAV flight trajectory's safety.By using such techniques,it is possible to avoid the collision with obstacles and collision between UAVs.Bezier-curve is further developed to ensure that multi-UAVs can simultaneously reach the target at the specified time,and the trajectory is within the flight corridor.The trajectory tracking controller is also designed based on model predictive control to track the planned trajectory accurately.The simulation and experiment results are presented to verifying developed strategies of Multi-UAV cooperative attacks.展开更多
The cortical bone trajectory(CBT) is a novel technique in lumbar fixation and fusion.The unique caudocephalad and medial-lateral screw trajectories endow it with excellent screw purchase for vertebral fixation via a m...The cortical bone trajectory(CBT) is a novel technique in lumbar fixation and fusion.The unique caudocephalad and medial-lateral screw trajectories endow it with excellent screw purchase for vertebral fixation via a minimally invasive method.The combined use of CBT screws with transforaminal or posterior lumbar interbody fusion can treat a variety of lumbar diseases,including spondylolisthesis or stenosis,and can also be used as a remedy for revision surgery when the pedicle screw fails.CBT has obvious advantages in terms of surgical trauma,postoperative recovery,prevention and treatment of adjacent vertebral disease,and the surgical treatment of obese and osteoporosis patients.However,the concept of CBT internal fixation technology appeared relatively recently;consequently,there are few relevant clinical studies,and the long-term clinical efficacy and related complications have not been reported.Therefore,large sample and prospective studies are needed to further reveal the long-term complications and fusion rate.As a supplement to the traditional pedicle trajectory fixation technique,the CBT technique is a good choice for the treatment of lumbar diseases with accurate screw placement and strict indications and is thus deserving of clinical recommendation.展开更多
Unmanned aerial vehicles(UAVs)have attracted growing research interests in recent years,which can be used as cost-effective aerial platforms to transmit collected data packets to ground access points(APs).Thus,it is c...Unmanned aerial vehicles(UAVs)have attracted growing research interests in recent years,which can be used as cost-effective aerial platforms to transmit collected data packets to ground access points(APs).Thus,it is crucial to investigate robust airto-ground(A2G)wireless links for high-speed UAVs.However,the A2G wireless link is unstable as it suffers from large path-loss and severe Doppler effect due to the high mobility of UAVs.In order to meet these challenges,we propose an orthogonal time frequency space(OTFS)-based UAV communication system to relief the Doppler effect.Besides,considering that the energy of UAV is limited,we optimize the trajectory planning of UAV to minimize the energy consumption under the constraints of bit error rate(BER)and transmission rate,where the Doppler compensation is taken into account.Simulation results show that the performance of OTFS-based UAV system is superior to orthogonal frequency division multiplexing(OFDM)-based UAV systems,which can accomplish transmission tasks over shorter distances with lower energy consumption.展开更多
Background With the rapid development of Web3D, virtual reality, and digital twins, virtual trajectories and decision data considerably rely on the analysis and understanding of real video data, particularly in emerge...Background With the rapid development of Web3D, virtual reality, and digital twins, virtual trajectories and decision data considerably rely on the analysis and understanding of real video data, particularly in emergency evacuation scenarios. Correctly and effectively evacuating crowds in virtual emergency scenarios are becoming increasingly urgent. One good solution is to extract pedestrian trajectories from videos of emergency situations using a multi-target tracking algorithm and use them to define evacuation procedures. Methods To implement this solution, a trajectory extraction and optimization framework based on multi-target tracking is developed in this study. First, a multi-target tracking algorithm is used to extract and preprocess the trajectory data of the crowd in a video. Then, the trajectory is optimized by combining the trajectory point extraction algorithm and Savitzky-Golay smoothing filtering method. Finally, related experiments are conducted, and the results show that the proposed approach can effectively and accurately extract the trajectories of multiple target objects in real time. Results In addition, the proposed approach retains the real characteristics of the trajectories as much as possible while improving the trajectory smoothing index, which can provide data support for the analysis of pedestrian trajectory data and formulation of personnel evacuation schemes in emergency scenarios. Conclusions Further comparisons with methods used in related studies confirm the feasibility and superiority of the proposed framework.展开更多
This work presents a trajectory tracking control method for snake robots.This method eliminates the influence of time-varying interferences on the body and reduces the offset error of a robot with a predetermined traj...This work presents a trajectory tracking control method for snake robots.This method eliminates the influence of time-varying interferences on the body and reduces the offset error of a robot with a predetermined trajectory.The optimized line-of-sight(LOS)guidance strategy drives the robot’s steering angle to maintain its anti-sideslip ability by predicting position errors and interferences.Then,the predictions of system parameters and viscous friction coefficients can compensate for the joint torque control input.The compensation is adopted to enhance the compatibility of a robot within ever-changing environments.Simulation and experimental outcomes show that our work can decrease the fluctuation peak of the tracking errors,reduce adjustment time,and improve accuracy.展开更多
Gamma ray shielding is essential to ensure the safety of personnel and equipment in facilities and environments where radiation exists.The Monte Carlo technique is vital for analyzing the gamma-ray shielding capabilit...Gamma ray shielding is essential to ensure the safety of personnel and equipment in facilities and environments where radiation exists.The Monte Carlo technique is vital for analyzing the gamma-ray shielding capabilities of materials.In this study,a simple Monte Carlo code,EJUSTCO,is developed to cd simulate gamma radiation transport in shielding materials for academic purposes.The code considers the photoelectric effect,Compton(incoherent)scattering,pair production,and photon annihilation as the dominant interaction mechanisms in the gamma radiation shielding problem.Variance reduction techniques,such as the Russian roulette,survival weighting,and exponential transformation,are incorporated into the code to improve computational efficiency.Predicting the exponential transformation parameter typically requires trial and error as well as expertise.Herein,a deep learning neural network is proposed as a viable method for predicting this parameter for the first time.The model achieves an MSE of 0.00076752 and an R-value of 0.99998.The exposure buildup factors and radiation dose rates due to the passage of gamma radiation with different source energies and varying thicknesses of lead,water,iron,concrete,and aluminum in single-,double-,and triple-layer material systems are validated by comparing the results with those of MCNP,ESG,ANS-6.4.3,MCBLD,MONTEREY MARK(M),PENELOPE,and experiments.Average errors of 5.6%,2.75%,and 10%are achieved for the exposure buildup factor in single-,double-,and triple-layer materials,respectively.A significant parameter that is not considered in similar studies is the gamma ray albedo.In the EJUSTCO code,the total number and energy albedos have been computed.The results are compared with those of MCNP,FOTELP,and PENELOPE.In general,the EJUSTCO-developed code can be employed to assess the performance of radiation shielding materials because the validation results are consistent with theoretical,experimental,and literary results.展开更多
There are many sources of geographic big data,and most of them come from heterogeneous environments.The data sources obtained in this case contain attribute information of different spatial scales,different time scale...There are many sources of geographic big data,and most of them come from heterogeneous environments.The data sources obtained in this case contain attribute information of different spatial scales,different time scales and different complexity levels.It is worth noting that the emergence of new high-dimensional trajectory data types and the increasing number of details are becoming more difficult.In this case,visualizing high-dimensional spatiotemporal trajectory data is extremely challenging.Therefore,i-tStar and its extension i-tStar(3D)proposed,a trajectory behavior feature formoving objects that are integrated into a view with less effort to display and extract spatiotemporal conditions,and evaluate our approach through case studies of an open-pit mine truck dataset.The experimental results show that this method is easier to mine the interaction behavior of multi-attribute trajectory data and the correlation and influence of various indicators of moving objects.展开更多
Rehabilitation robots can help physiatrists to assist patients in improving their movement ability.Due to the interaction between rehabilitation robots and patients,the robots need to complete rehabilitation training ...Rehabilitation robots can help physiatrists to assist patients in improving their movement ability.Due to the interaction between rehabilitation robots and patients,the robots need to complete rehabilitation training on a safe basis.This paper presents an approach for smooth trajectory planning for a cable-driven parallel waist rehabilitation robot(CDPWRR)based on the rehabilitation evaluation factors.First,motion capture technology is used to collect the motion data of several volunteers in waist twisting.Considering the impact of motion variability,the feature points at the center of the human pelvis are obtained after eliminating unreasonable data through rationality judgments.Then,point-to-point waist training trajectory planning based on quintic polynomial and cycloid functions,and multipoint waist training trajectory planning based on quintic B-spline functions are carried out.The corresponding planned curves and kinematics characteristics using three methods are compared and analyzed.Subsequently,the rehabilitation evaluation factors are introduced to conduct smooth trajectory planning for waist training,and the waist trajectory with better compliance is obtained based on the safety and feasibility of waist motion.Finally,the physical prototype of the CDPWRR is built,and the feasibility and effectiveness of the proposed smooth trajectory planning method are proved by numerical analysis and experiments.展开更多
文摘The Backscatter communication has gained widespread attention from academia and industry in recent years. In this paper, A method of resource allocation and trajectory optimization is proposed for UAV-assisted backscatter communication based on user trajectory. This paper will establish an optimization problem of jointly optimizing the UAV trajectories, UAV transmission power and BD scheduling based on the large-scale channel state signals estimated in advance of the known user trajectories, taking into account the constraints of BD data and working energy consumption, to maximize the energy efficiency of the system. The problem is a non-convex optimization problem in fractional form, and there is nonlinear coupling between optimization variables.An iterative algorithm is proposed based on Dinkelbach algorithm, block coordinate descent method and continuous convex optimization technology. First, the objective function is converted into a non-fractional programming problem based on Dinkelbach method,and then the block coordinate descent method is used to decompose the original complex problem into three independent sub-problems. Finally, the successive convex approximation method is used to solve the trajectory optimization sub-problem. The simulation results show that the proposed scheme and algorithm have obvious energy efficiency gains compared with the comparison scheme.
基金supported by the National Natural Science Foundation of China(Nos.12322302,12275279 and U1931201)the National Key R&D Program of China(No.2023YFE0102300)+2 种基金the Project for Young Scientists in Basic Research of Chinese Academy of Sciences(No.YSBR-061)the Chinese Academy of Sciencesthe Entrepreneurship and Innovation Program of Jiangsu Province。
文摘The Giant Radio Array for Neutrino Detection(GRAND)is a proposed large-scale observatory designed to detect cosmic rays,gamma-rays,and neutrinos with energies exceeding 100 Pe V.The GRANDProto300 experiment is proposed as the early stage of the GRAND project,consisting of a hybrid array of radio antennas and scintillator detectors.The latter,as a mature and traditional detector,is used to cross-check the nature of the candidate events selected from radio observations.In this study,we developed a simulation software called G4GRANDProto300,based on the Geant4 software package,to optimize the spacing of the scintillator detector array and to investigate its effective area.The analysis was conducted at various zenith angles under different detector spacings,including 300,500,600,700,and 900 m.Our results indicate that,for large zenith angles used to search for cosmic-ray in the GRAND project,the optimized effective area is with a detector spacing of 500 m.The G4GRANDProto300 software that we developed could be used to further optimize the layout of the particle detector array in future work.
基金the National Natural Science Foundation of China(No.51965032)the National Natural Science Foundation of Gansu Province of China(No.22JR5RA319)+1 种基金the Excellent Dectoral Student Foundation of Gansu Province of China(No.23JRRA842)the Science and Technology Foundation of Gansu Province of China(No.21YF5WA060)。
文摘Given the unconstrained characteristics of the multi-robot coordinated towing system,the rope can only provide a unidirectional constraint force to the suspended object,which leads to the weak ability of the system to resist external disturbances and makes it difficult to control the trajectory of the suspended object.Based on the kinematics and statics of the multi-robot coordinated towing system with fixed base,the dynamic model of the system is established by using the Newton-Euler equations and the Udwadia-Kalaba equations.To plan the trajectories with high stability and strong control,trajectory planning is performed by combining the dynamics and stability of the towing system.Based on the dynamic stability of the motion trajectory of the suspended object,the stability of the suspended object is effectively improved through online real-time planning and offline manual adjustment.The effectiveness of the proposed method is verified by comparing the motion stability of the suspended object before and after planning.The results provide a foundation for the motion planning and coordinated control of the towing system.
文摘Support Vector Machine(SVM)has become one of the traditional machine learning algorithms the most used in prediction and classification tasks.However,its behavior strongly depends on some parameters,making tuning these parameters a sensitive step to maintain a good performance.On the other hand,and as any other classifier,the performance of SVM is also affected by the input set of features used to build the learning model,which makes the selection of relevant features an important task not only to preserve a good classification accuracy but also to reduce the dimensionality of datasets.In this paper,the MRFO+SVM algorithm is introduced by investigating the recent manta ray foraging optimizer to fine-tune the SVM parameters and identify the optimal feature subset simultaneously.The proposed approach is validated and compared with four SVM-based algorithms over eight benchmarking datasets.Additionally,it is applied to a disease Covid-19 dataset.The experimental results show the high ability of the proposed algorithm to find the appropriate SVM’s parameters,and its acceptable performance to deal with feature selection problem.
基金the National Natural Science Foundation of China(Grant No.61973033)Preliminary Research of Equipment(Grant No.9090102010305)for funding the experiments。
文摘The longitudinal dispersion of the projectile in shooting tests of two-dimensional trajectory corrections fused with fixed canards is extremely large that it sometimes exceeds the correction ability of the correction fuse actuator.The impact point easily deviates from the target,and thus the correction result cannot be readily evaluated.However,the cost of shooting tests is considerably high to conduct many tests for data collection.To address this issue,this study proposes an aiming method for shooting tests based on small sample size.The proposed method uses the Bootstrap method to expand the test data;repeatedly iterates and corrects the position of the simulated theoretical impact points through an improved compatibility test method;and dynamically adjusts the weight of the prior distribution of simulation results based on Kullback-Leibler divergence,which to some extent avoids the real data being"submerged"by the simulation data and achieves the fusion Bayesian estimation of the dispersion center.The experimental results show that when the simulation accuracy is sufficiently high,the proposed method yields a smaller mean-square deviation in estimating the dispersion center and higher shooting accuracy than those of the three comparison methods,which is more conducive to reflecting the effect of the control algorithm and facilitating test personnel to iterate their proposed structures and algorithms.;in addition,this study provides a knowledge base for further comprehensive studies in the future.
基金the China Scholarship Council(202106690037)the Natural Science Foundation of Anhui Province(19080885QE194)。
文摘The trajectory tracking control performance of nonholonomic wheeled mobile robots(NWMRs)is subject to nonholonomic constraints,system uncertainties,and external disturbances.This paper proposes a barrier function-based adaptive sliding mode control(BFASMC)method to provide high-precision,fast-response performance and robustness for NWMRs.Compared with the conventional adaptive sliding mode control,the proposed control strategy can guarantee that the sliding mode variables converge to a predefined neighborhood of origin with a predefined reaching time independent of the prior knowledge of the uncertainties and disturbances bounds.Another advantage of the proposed algorithm is that the control gains can be adaptively adjusted to follow the disturbances amplitudes thanks to the barrier function.The benefit is that the overestimation of control gain can be eliminated,resulting in chattering reduction.Moreover,a modified barrier function-like control gain is employed to prevent the input saturation problem due to the physical limit of the actuator.The stability analysis and comparative experiments demonstrate that the proposed BFASMC can ensure the prespecified convergence performance of the NWMR system output variables and strong robustness against uncertainties/disturbances.
文摘This paper develops a novel hierarchical control strategy for improving the trajectory tracking capability of aerial robots under parameter uncertainties.The hierarchical control strategy is composed of an adaptive sliding mode controller and a model-free iterative sliding mode controller(MFISMC).A position controller is designed based on adaptive sliding mode control(SMC)to safely drive the aerial robot and ensure fast state convergence under external disturbances.Additionally,the MFISMC acts as an attitude controller to estimate the unmodeled dynamics without detailed knowledge of aerial robots.Then,the adaption laws are derived with the Lyapunov theory to guarantee the asymptotic tracking of the system state.Finally,to demonstrate the performance and robustness of the proposed control strategy,numerical simulations are carried out,which are also compared with other conventional strategies,such as proportional-integralderivative(PID),backstepping(BS),and SMC.The simulation results indicate that the proposed hierarchical control strategy can fulfill zero steady-state error and achieve faster convergence compared with conventional strategies.
文摘We show that recently multi-messenger astronomy has provided compelling evidence that the bulk of high energy cosmic rays (CRs) are produced by highly relativistic narrow jets of plasmoids launched in core collapse of stripped-envelope massive stars to neutron stars and stellar mass black holes. Such events produce also a visible GRB if the jet happens to point in our direction. This has been long advocated by the cannon ball (CB) model of high energy CRs and GRBs, but the evidence has been provided only recently by what were widely believed to be unrelated discoveries. They include the very recent discovery of a knee around TeV in the energy spectrum of high energy CR electrons, the peak photon energy in the “brightest of all time” GRB221009A, and the failure of IceCube to detect high energy neutrinos from GRBs, including GRB221009A. They were all predicted by the cannonball (CB) model of high energy CRs and GRBs long before they were discovered in observations, despite a negligible probability to occur by chance.
文摘Background and Aims While chest X-ray (CXR) has been a conventional tool in intensive care units (ICUs) to identify lung pathologies, computed tomography (CT) scan remains the gold standard. Use of lung ultrasound (LUS) in resource-rich ICUs is still under investigation. The present study compares the utility of LUS to that of CXR in identifying pulmonary edema and pleural effusion in ICU patients. In addition, consolidation and pneumothorax were analyzed as secondary outcome measures. Material and Methods This is a prospective, single centric, observational study. Patients admitted in ICU were examined for lung pathologies, using LUS by a trained intensivist;and CXR done within 4 hours of each other. The final diagnosis was ascertained by an independent senior radiologist, based on the complete medical chart including clinical findings and the results of thoracic CT, if available. The results were compared and analyzed. Results Sensitivity, specificity and diagnostic accuracy of LUS was 95%, 94.4%, 94.67% for pleural effusion;and 98.33%, 97.78%, 98.00% for pulmonary edema respectively. Corresponding values with CXR were 48.33%, 76.67%, 65.33% for pleural effusion;and 36.67%, 82.22% and 64.00% for pulmonary edema respectively. Sensitivity, specificity and diagnostic accuracy of LUS was 91.30%, 96.85%, 96.00% for consolidation;and 100.00%, 79.02%, 80.00% for pneumothorax respectively. Corresponding values with CXR were 60.87%, 81.10%, 78.00% for consolidation;and 71.3%, 97.20%, 96.00% for pneumothorax respectively. Conclusion LUS has better diagnostic accuracy in diagnosis of pleural effusion and pulmonary edema when compared with CXR and is thus recommended as an effective alternative for diagnosis of these conditions in acute care settings. Our study recommends that a thoracic CT scan can be avoided in most of such cases.
文摘Ray tracing is a computer graphics method that renders images realistically. As the name suggests, this technique primarily traces the path of light rays interacting with objects in a scene [1], permitting the calculation of lighting and reflecting impact [2]. As ray tracing is a time-consuming process, the need for parallelization to solve this problem arises. One downside of this solution is the existence of race conditions. In this work, we explore and experiment with a different, well-known solution for this race condition. Starting with the introduction and the background section, a brief overview of the topic is followed by a detailed part of how the race conditions may occur in the case of the ray tracing algorithm. Continuing with the methods and results section, we have used OpenMP to parallelize the Ray tracing algorithm with the different compiler directives critical, atomic, and first-private. Hence, it concluded that both critical and atomic are not efficient solutions to produce a good-quality picture, but first-private succeeded in producing a high-quality picture.
文摘Two new solutions of the homogeneous diffusion equation in 1D are derived in the presence of losses and a trigonometric profile for a profile of density. A simulation for the ankle in the energy distribution of cosmic rays (CRs) is provided in the framework of the fine tuning of the involved parameters. A theoretical image for the overall diffusion of CRs in galactic coordinates is provided.
基金supported by the Natural Science Foundation of Hebei Province of China(no.E2022203095)Cultivation Project for Basic Research and Innovation of Yanshan University(no.2021LGQN004)National Natural Science Foundation of China(no.51905465 and No.52122503).
文摘This paper proposes a unified trajectory optimization approach that simultaneously optimizes the trajectory of the center of mass and footholds for legged locomotion.Based on a generic point-mass model,the approach is formulated as a nonlinear optimization problem,incorporating constraints such as robot kinematics,dynamics,ground reaction forces,obstacles,and target location.The unified optimization approach can be applied to both long-term motion planning and the reactive online planning through the use of model predictive control,and it incorporates vector field guidance to converge to the long-term planned motion.The effectiveness of the approach is demonstrated through simulations and physical experiments,showing its ability to generate a variety of walking and jumping gaits,as well as transitions between them,and to perform reactive walking in obstructed environments.
基金National Natural Science Foundation of China(No.61903350)Beijing Institute of Technology Research Fund Program for Young Scholars。
文摘This paper proposes new methods and strategies for Multi-UAVs cooperative attacks with safety and time constraints in a complex environment.Delaunay triangle is designed to construct a map of the complex flight environment for aerial vehicles.Delaunay-Map,Safe Flight Corridor(SFC),and Relative Safe Flight Corridor(RSFC)are applied to ensure each UAV flight trajectory's safety.By using such techniques,it is possible to avoid the collision with obstacles and collision between UAVs.Bezier-curve is further developed to ensure that multi-UAVs can simultaneously reach the target at the specified time,and the trajectory is within the flight corridor.The trajectory tracking controller is also designed based on model predictive control to track the planned trajectory accurately.The simulation and experiment results are presented to verifying developed strategies of Multi-UAV cooperative attacks.
基金Supported by The Joint Project of Chongqing Health Commission and Science and Technology Bureau,No.2022QNXM066The Top-notch Young Talent Project of Chongqing Traditional Chinese Medicine Hospital,No. CQSZYY2020008。
文摘The cortical bone trajectory(CBT) is a novel technique in lumbar fixation and fusion.The unique caudocephalad and medial-lateral screw trajectories endow it with excellent screw purchase for vertebral fixation via a minimally invasive method.The combined use of CBT screws with transforaminal or posterior lumbar interbody fusion can treat a variety of lumbar diseases,including spondylolisthesis or stenosis,and can also be used as a remedy for revision surgery when the pedicle screw fails.CBT has obvious advantages in terms of surgical trauma,postoperative recovery,prevention and treatment of adjacent vertebral disease,and the surgical treatment of obese and osteoporosis patients.However,the concept of CBT internal fixation technology appeared relatively recently;consequently,there are few relevant clinical studies,and the long-term clinical efficacy and related complications have not been reported.Therefore,large sample and prospective studies are needed to further reveal the long-term complications and fusion rate.As a supplement to the traditional pedicle trajectory fixation technique,the CBT technique is a good choice for the treatment of lumbar diseases with accurate screw placement and strict indications and is thus deserving of clinical recommendation.
基金supported by the National Key Research and Development Program of China(Grant 2020YFB1804800)the National Natural Science Foundation of China(Grant U22B2008 and Grant 61922010)the Beijing Natural Science Foundation(Grant JQ20019)。
文摘Unmanned aerial vehicles(UAVs)have attracted growing research interests in recent years,which can be used as cost-effective aerial platforms to transmit collected data packets to ground access points(APs).Thus,it is crucial to investigate robust airto-ground(A2G)wireless links for high-speed UAVs.However,the A2G wireless link is unstable as it suffers from large path-loss and severe Doppler effect due to the high mobility of UAVs.In order to meet these challenges,we propose an orthogonal time frequency space(OTFS)-based UAV communication system to relief the Doppler effect.Besides,considering that the energy of UAV is limited,we optimize the trajectory planning of UAV to minimize the energy consumption under the constraints of bit error rate(BER)and transmission rate,where the Doppler compensation is taken into account.Simulation results show that the performance of OTFS-based UAV system is superior to orthogonal frequency division multiplexing(OFDM)-based UAV systems,which can accomplish transmission tasks over shorter distances with lower energy consumption.
文摘Background With the rapid development of Web3D, virtual reality, and digital twins, virtual trajectories and decision data considerably rely on the analysis and understanding of real video data, particularly in emergency evacuation scenarios. Correctly and effectively evacuating crowds in virtual emergency scenarios are becoming increasingly urgent. One good solution is to extract pedestrian trajectories from videos of emergency situations using a multi-target tracking algorithm and use them to define evacuation procedures. Methods To implement this solution, a trajectory extraction and optimization framework based on multi-target tracking is developed in this study. First, a multi-target tracking algorithm is used to extract and preprocess the trajectory data of the crowd in a video. Then, the trajectory is optimized by combining the trajectory point extraction algorithm and Savitzky-Golay smoothing filtering method. Finally, related experiments are conducted, and the results show that the proposed approach can effectively and accurately extract the trajectories of multiple target objects in real time. Results In addition, the proposed approach retains the real characteristics of the trajectories as much as possible while improving the trajectory smoothing index, which can provide data support for the analysis of pedestrian trajectory data and formulation of personnel evacuation schemes in emergency scenarios. Conclusions Further comparisons with methods used in related studies confirm the feasibility and superiority of the proposed framework.
基金supported in part by the National Natural Science Foundation of China(U2241228,62273019,61825305,U1933125,72192820,72192824,62171274)the China Postdoctoral Science Foundation(2022M710093)the Open Project Program of the Key Laboratory for Agricultural Machinery Intelligent Control and Manufacturing of Fujian Education Institutions(AMICM202102)。
文摘This work presents a trajectory tracking control method for snake robots.This method eliminates the influence of time-varying interferences on the body and reduces the offset error of a robot with a predetermined trajectory.The optimized line-of-sight(LOS)guidance strategy drives the robot’s steering angle to maintain its anti-sideslip ability by predicting position errors and interferences.Then,the predictions of system parameters and viscous friction coefficients can compensate for the joint torque control input.The compensation is adopted to enhance the compatibility of a robot within ever-changing environments.Simulation and experimental outcomes show that our work can decrease the fluctuation peak of the tracking errors,reduce adjustment time,and improve accuracy.
基金Our profound gratitude and appreciation go to the Egyptian and Japanese governments for supporting and financing this research work at the Egypt-Japan University of Science and TechnologyFurther appreciation goes to the Science and Technology Development Fund for the additional financial support(project ID:STDF-33397).
文摘Gamma ray shielding is essential to ensure the safety of personnel and equipment in facilities and environments where radiation exists.The Monte Carlo technique is vital for analyzing the gamma-ray shielding capabilities of materials.In this study,a simple Monte Carlo code,EJUSTCO,is developed to cd simulate gamma radiation transport in shielding materials for academic purposes.The code considers the photoelectric effect,Compton(incoherent)scattering,pair production,and photon annihilation as the dominant interaction mechanisms in the gamma radiation shielding problem.Variance reduction techniques,such as the Russian roulette,survival weighting,and exponential transformation,are incorporated into the code to improve computational efficiency.Predicting the exponential transformation parameter typically requires trial and error as well as expertise.Herein,a deep learning neural network is proposed as a viable method for predicting this parameter for the first time.The model achieves an MSE of 0.00076752 and an R-value of 0.99998.The exposure buildup factors and radiation dose rates due to the passage of gamma radiation with different source energies and varying thicknesses of lead,water,iron,concrete,and aluminum in single-,double-,and triple-layer material systems are validated by comparing the results with those of MCNP,ESG,ANS-6.4.3,MCBLD,MONTEREY MARK(M),PENELOPE,and experiments.Average errors of 5.6%,2.75%,and 10%are achieved for the exposure buildup factor in single-,double-,and triple-layer materials,respectively.A significant parameter that is not considered in similar studies is the gamma ray albedo.In the EJUSTCO code,the total number and energy albedos have been computed.The results are compared with those of MCNP,FOTELP,and PENELOPE.In general,the EJUSTCO-developed code can be employed to assess the performance of radiation shielding materials because the validation results are consistent with theoretical,experimental,and literary results.
基金Beijing Key Laboratory of Urban Spatial Information Engineering,Grant No.20220105Ningxia Natural Science Foundation,No.2021AAC03060。
文摘There are many sources of geographic big data,and most of them come from heterogeneous environments.The data sources obtained in this case contain attribute information of different spatial scales,different time scales and different complexity levels.It is worth noting that the emergence of new high-dimensional trajectory data types and the increasing number of details are becoming more difficult.In this case,visualizing high-dimensional spatiotemporal trajectory data is extremely challenging.Therefore,i-tStar and its extension i-tStar(3D)proposed,a trajectory behavior feature formoving objects that are integrated into a view with less effort to display and extract spatiotemporal conditions,and evaluate our approach through case studies of an open-pit mine truck dataset.The experimental results show that this method is easier to mine the interaction behavior of multi-attribute trajectory data and the correlation and influence of various indicators of moving objects.
基金Supported by National Natural Science Foundation of China(Grant Nos.52205014,51925502)the Fundamental Research Funds for the Central Universities(Grant Nos.JZ2022HGTA0325,JZ2022HGQA0147).
文摘Rehabilitation robots can help physiatrists to assist patients in improving their movement ability.Due to the interaction between rehabilitation robots and patients,the robots need to complete rehabilitation training on a safe basis.This paper presents an approach for smooth trajectory planning for a cable-driven parallel waist rehabilitation robot(CDPWRR)based on the rehabilitation evaluation factors.First,motion capture technology is used to collect the motion data of several volunteers in waist twisting.Considering the impact of motion variability,the feature points at the center of the human pelvis are obtained after eliminating unreasonable data through rationality judgments.Then,point-to-point waist training trajectory planning based on quintic polynomial and cycloid functions,and multipoint waist training trajectory planning based on quintic B-spline functions are carried out.The corresponding planned curves and kinematics characteristics using three methods are compared and analyzed.Subsequently,the rehabilitation evaluation factors are introduced to conduct smooth trajectory planning for waist training,and the waist trajectory with better compliance is obtained based on the safety and feasibility of waist motion.Finally,the physical prototype of the CDPWRR is built,and the feasibility and effectiveness of the proposed smooth trajectory planning method are proved by numerical analysis and experiments.
