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Multi-robot exploration mission planning and stochastic increment replanning for load balance

Frontiers of Electrical and Electronic Engineering in China 2010年第2期5卷 154-162页

作者： Lingli YU Zixing CAI School of Information Science&Engineering Central South UniversityChangsha 410083China

Multi-robot mission planning is composed of assignment allocation and mobile-robot route planning in this ***-robot exploration missions adopts fuzzy c-mean(FCM)algorithm to allocate,and then,heterogeneous interactive cultural hybrid algorithm(HICHA)is devised for route planning in order to optimize mobilerobot execution ***,we design multi-robot mission replanning mechanism based on the rules system of greedy algorithm for dynamic stochastic increment ***,extensive simulation experiments were shown that FCM for assignment allocation and HICHA for route planning were efficacious for mobile-robot exploration mission ***,the improved greedy algorithm based on experience rules met dynamic stochastic increment missions replanning requirement for load balance.

关键词： multi-robot mission planning heterogeneous interactive cultural hybrid algorithm(HICHA) replanning

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A Linear Interpolation-Based Algorithm for Path Planning and replanning on Girds

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Advances in Linear Algebra & Matrix Theory 2012年第2期2卷 20-24页

作者： Changwen Zheng Jiawei Cai Huafei Yin National Key Laboratory of Integrated Information System Technology Institute of Software Chinese Academy of Sciences Beijing China

Field D* algorithm is widely used in mobile robot navigation since it can plan and replan any-angle paths through non-uniform cost grids. However, it still suffers from inefficiency and sub-optimality. In this article, a new linear interpolation-based planning and replanning algorithm, Update-Reducing Field D*, is proposed. It employs different approaches during initial planning and replanning respectively in order to reduce the number of updates of the rhs-values of vertices. Experiments have shown that Update-Reducing Field D* runs faster than Field D* and returns smoother and lower-cost paths.

关键词： Field D* Algorithm Path Planning and replanning Any-Angle Path Linear Interpolation Grid Cell

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Production Planning System for the Whole Steelmaking Process of Panzhihua Iron and Steel Corporation

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Journal of Iron and Steel Research International 2014年第S1期21卷 44-50页

作者： Jian-yu LONG Zhong ZHENG Xiao-qiang GAO Yong-min GONG College of Materials Science and Engineering Chongqing University College of Economics and Business Administration Chongqing University Vanadium-extracting and Steel-making Plant Panzhihua Iron and Steel (Group) Co.

A production planning system is designed for the whole steelmaking process, which includes desulfurization, vanadium extraction, steelmaking and continuous casting processes of Panzhihua Iron and Steel Corporation. The system is composed of modeling module, data interface module, data analysis module, static planning module, re-planning module, plan evaluation module, plan simulation module and human-computer interaction module. The system is connected with the L3 system of steel plant by using the data interface module, which can receive the real time scheduling information to make the static plan and re-plan under production disturbances. The simulation and plan evaluation function of the system can assist decision-maker to check and modify the production plan. The simulation experiments with real process data show that the system can make a feasible, executable, and effective production plan, and deal with primary random disturbances during production process timely.

关键词： production planning replanning steelmaking-continuous casting vanadium extraction whole process of steel plant

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Development of ground control station and path planning for autonomous MUAV

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Journal of Harbin Institute of Technology(New Series) 2010年第6期17卷 789-794页

作者：洪晔房建成 Key Laboratory of Fundamental Science for National Defense Novel Inertial Instrument & Navigation System TechnologyBeihang University

For autonomous MUAV,the Ground Control Station(GCS)including hardware and modular software programming such as control modular,navigation modular,display modular and monitor modular becomes important equipment to be *** paper emphasizes the global planning and the local replanning arithmetic based on three-dimensional velocity potential field for the moving *** the test on the ground and in the sky,GCS show the remote sensing information precisely and send the control command in *** system can be used to assist in the function of autonomous complex task for MUAV.

关键词： mini-unmanned aerial vehicle ground control station autonomous planning replanning malfunction

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Adaptive radiation therapy of breast cancer by repeated imaging during irradiation

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World Journal of Radiology 2020年第5期12卷 68-75页

作者： Omer Sager Ferrat Dincoglan Selcuk Demiral Bora Uysal Hakan Gamsiz Fatih Ozcan Onurhan Colak Yelda Elcim Esin Gundem Bahar Dirican Murat Beyzadeoglu Department of Radiation Oncology Gulhane Medical FacultyUniversity of Health SciencesEtlikAnkara 06018Turkey

Breast cancer is the most frequent cancer among females and also a leading cause of cancer related mortality worldwide.A multimodality treatment approach may be utilized for optimal management of patients with combinations of surgery,radiation therapy(RT)and systemic *** composes an integral part of breast conserving treatment,and is typically used after breast conserving surgery to improve local *** years have witnessed significant improvements in the discipline of radiation oncology which allow for more focused and precise treatment *** radiation therapy(ART)is among the most important RT techniques which may be utilized for redesigning of treatment plans to account for dynamic changes in tumor size and anatomy during the course of *** the context of breast cancer,ART may serve as an excellent tool for patients receiving breast irradiation followed by a sequential boost to the tumor *** benefits of ART include more precise boost localization and potential for improved normal tissue sparing with adapted boost target volumes particularly in the setting of seroma reduction during the course of ***,we provide a concise review of ART for breast cancer in light of the literature.

关键词： Breast cancer Adaptive radiation therapy Tumor bed boost Computed tomography Imaging replanning

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