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Experimental study of path planning problem using EMCOA for a holonomic mobile robot

Journal of Systems Engineering and Electronics 2021年第6期32卷 1450-1462页

作者： MOHSENI Alireza duchaine vincent WONG Tony Department of System Engineering École de Technologie SupérieureMontreal QC H3C 1K3Canada

In this paper,a comparative study of the path planning problem using evolutionary algorithms,in comparison with classical methods such as the A*algorithm,is presented for a holonomic mobile *** configured navigation system,which consists of the integration of sensors sources,map formatting,global and local path planners,and the base controller,aims to enable the robot to follow the shortest smooth path ***-based mapping is used for scoring paths efficiently,allowing the determination of collision-free trajectories from the initial to the target *** work considers the evolutionary algorithms,the mutated cuckoo optimization algorithm(MCOA)and the genetic algorithm(GA),as a global planner to find the shortest safe path among others.A non-uniform motion coefficient is introduced for MCOA in order to increase the performance of this algorithm.A series of experiments are accomplished and analyzed to confirm the performance of the global planner implemented on a holonomic mobile *** results of the experiments show the capacity of the planner framework with respect to the path planning problem under various obstacle layouts.

关键词： holonomic robot path planning evolutionary algorithm(EA)

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Human viral pathogens are pervasive in wastewater treatment center aerosols

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Journal of Environmental Sciences 2018年第5期30卷 45-53页

作者： Evelyne Brisebois Marc Veillette Vanessa Dion-Dupont Jacques Lavoie Jacques Corbeil AlexANDer Culley Caroline duchaine Universite Laval Pavillon Alexandre Vachon1045ave de la MedecineQuebecQC GIVOA6Canada CRIUCPQ 2725 Chemin Sainte-FoyQuebecQC GIV 4G5Canada IRSST 505 Boulevard de Maisonneuve OMontréalQCH3A 3C2Canada CRCHU 2705 Boulevard LaurierRC-709QuébecQCG1V 4G2Canada

Wastewater treatment center（WTC） workers may be vulnerable to diseases caused by viruses, such as the common cold, influenza and gastro-intestinal infections. Although there is a substantial body of literature characterizing the microbial community found in wastewater, only a few studies have characterized the viral component of WTC aerosols,despite the fact that most diseases affecting WTC workers are of viral origin and that some of these viruses are transmitted through the air. In this study, we evaluated in four WTCs the presence of 11 viral pathogens of particular concern in this milieu and used a metagenomic approach to characterize the total viral community in the air of one of those WTCs. The presence of viruses in aerosols in different locations of individual WTCs was evaluated and the results obtained with four commonly used air samplers were *** detected four of the eleven viruses tested, including human adenovirus（h Ad V）,rotavirus, hepatitis A virus（HAV） and Herpes Simplex virus type 1（HSV1）. The results of the metagenomic assay uncovered very few viral RNA sequences in WTC aerosols, however sequences from human DNA viruses were in much greater relative abundance.

关键词： Airborne viruses Air sampling Wastewater treatment plants Viral metagenomics

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