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RRT autonomous Detection Algorithm Based on Multiple Pilot Point Bias Strategy and Karto SLAM Algorithm

Computers, Materials & Continua 2024年第2期78卷 2111-2136页

作者： Lieping Zhang Xiaoxu Shi Liu Tang Yilin Wang Jiansheng Peng Jianchu Zou Key Laboratory of Advanced Manufacturing and Automation Technology(Guilin University of Technology) Education Department of Guangxi Zhuang Autonomous RegionGuilin541006China College of Mechanical and Control Engineering Guilin University of TechnologyGuilin541006China Guilin Mingfu Robot Technology Company Limited Guilin541199China Key Laboratory of AI and Information Processing(Hechi University) Education Department of Guangxi Zhuang Autonomous RegionYizhou546300China

A Rapid-exploration Random Tree(RRT)autonomous detection algorithm based on the multi-guide-node deflection strategy and Karto Simultaneous Localization and Mapping(SLAM)algorithm was proposed to solve the problems of low efficiency of detecting frontier boundary points and drift distortion in the process of map building in the traditional RRT algorithm in the autonomous detection strategy of mobile ***,an RRT global frontier boundary point detection algorithm based on the multi-guide-node deflection strategy was put forward,which introduces the reference value of guide nodes’deflection probability into the random sampling function so that the global search tree can detect frontier boundary points towards the guide nodes according to random *** that,a new autonomous detection algorithm for mobile robots was proposed by combining the graph optimization-based Karto SLAM algorithm with the previously improved RRT *** algorithm simulation platform based on the Gazebo platform was *** simulation results show that compared with the traditional RRT algorithm,the proposed RRT autonomous detection algorithm can effectively reduce the time of autonomous detection,plan the length of detection trajectory under the condition of high average detection coverage,and complete the task of autonomous detection mapping more ***,with the help of the ROS-based mobile robot experimental platform,the performance of the proposed algorithm was verified in the real environment of different *** experimental results show that in the actual environment of simple and complex obstacles,the proposed RRT autonomous detection algorithm was superior to the traditional RRT autonomous detection algorithm in the time of detection,length of detection trajectory,and average coverage,thus improving the efficiency and accuracy of autonomous detection.

关键词： autonomous detection RRT algorithm mobile robot ROS Karto SLAM algorithm

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Sampling-efficient path planning and improved actor-critic-based obstacle avoidance for autonomous robots

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Science China(Information Sciences) 2024年第5期67卷 197-214页

作者： Yefeng YANG Tao HUANG Tianqi WANG Wenyu YANG Han CHEN Boyang LI Chih-yung WEN Department of Aeronautical and Aviation Engineering The Hong Kong Polytechnic University Center for Control Theory and Guidance Technology Harbin Institute of Technology School of Engineering The University of Newcastle Research Center for Unmanned autonomous Systems The Hong Kong Polytechnic University

autonomous robots have garnered extensive utilization in diverse fields. Among the critical concerns for autonomous systems, path planning holds paramount importance. Notwithstanding considerable efforts in its development over the years, path planning for autonomous systems continues to grapple with challenges related to low planning efficiency and inadequate obstacle avoidance response in a timely *** study proposes a novel and systematic solution to the path planning problem within intricate office buildings. The solution consists of a global planner and a local planner. To handle the global planning aspect, an adaptive clustering-based dynamic programming rapidly exploring random tree(ACDP-RRT) algorithm is proposed. ACDP-RRT effectively identifies obstacles on the map by leveraging geometric *** obstacles are then represented as a collection of sequentially arranged convex polygons, optimizing the sampling region and significantly enhancing sampling efficiency. For local planning, a network decoupling actor-critic(ND-AC) algorithm is employed. The proposed ND-AC simplifies the local planner design process by integrating planning and control loops into a neural network(NN) trained via an end-to-end model-free deep reinforcement learning(DRL) framework. Moreover, the adoption of network decoupling(ND) techniques leads to an improved obstacle avoidance success rate when compared to conventional actor-critic(AC)-based methods. Extensive simulations and experiments are conducted to demonstrate the effectiveness and robustness of the proposed approach.

关键词： rapidly exploring random tree (RRT) adaptive clustering network decoupling actor critic (AC) path planning

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Geochronology,Geochemistry,and Sr-Nd-Hf Isotopes of the Diorite Porphyrites from the Weining Beishan Area,Ningxia Hui autonomous Region:Constraints on Their Source and Tectonic Implications

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Journal of Earth Science 2024年第2期35卷 462-475页

作者： Anlu Liu Lianfu Hai Jinke Liu Xiaojun Zhang Haifeng Li Fengshun Zhao Guoliang Zhao Jinhe Bai Yifu Museum China University of GeosciencesWuhan430074China School of Earth Resources China University of GeosciencesWuhan430074China Mineral Geological Survey Institute of Ningxia Hui autonomous Region Yinchuan750021China National Demonstration Center for Experimental Mineral Exploration Education China University of GeosciencesWuhan430074China Coal Geological Survey Institute of Ningxia Hui autonomous Region Yinchuan750021China Zhuhai Engineering Investigation Institute of Guangdong Province Zhuhai519000China

The Weining Beishan area of Ningxia Hui autonomous Region is located at on the western edge of the Helanshan tectonic belt,which is a tectonic joint among Alxa Block,Ordos Block,and North Qilian orogenic ***,the tectonic evolution of this area remains unclear due to the lack of magmatic *** paper conducted researches on geochronology,geochemistry,and Sr-Nd-Hf isotopes of the diorite porphyrites exposed in the Weining Beishan *** zircon U-Pb dating yields two ages of 145.0±1.1 and 146.2±1.5 Ma,and the whole-rock geochemical data indicate that the diorite porphyrites are metaluminous to weakly peraluminous and high-K calc-alkaline *** characteristics of highly initial^(87)Sr/^(86)Sr ratios(0.70816 to 0.71047),negativeε_(Nd)(t)(−8.9 to−8.4),and negativeε_(Hf)(t)(−13.8 to−21.2)indicate that the diorite porphyrites originated from partial melting of the middle-lower ancient crust related to the North China *** with the regional geology,we suggested that partial melting was triggered by a tectonic activity of deep faults cutting through the crust under the regional stress transformation from compressing to extension during the Late Jurassic–Early Cretaceous,which is probably related to the westward subduction of the Paleo-Pacific Plate.

关键词： zircon U-Pb dating Sr-Nd-Hf isotopes magma source diorite porphyrite Weining Beishan area Ningxia Hui autonomous Region geochronology geochemistry

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Evaluation of Mandibular Deprogramming Using TENS (Transcutaneous Electrical Nerve Stimulation) in Patients at the Specialty Clinic of the Juarez autonomous University of Tabasco from 2022 to 2024

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Journal of Biosciences and Medicines 2024年第7期12卷 245-251页

作者： Christian C. Aguilar-Caamal Landy V. Limonchi-Palacio Crystell G. Guzmán-Priego Jeannette Ramírez-Mendoza José M. Lehmann-Mendoza Miguel A. López-Alvarado Xavier E. Moreno-Enriquez Jorda A. Albarrán-Melzer Academic Division of Health Sciences Juarez Autonomous University of Tabasco Villahermosa Tabasco Mxico Cardiometabolism Laboratory Academic Division of Health Sciences Juarez Autonomous University of Tabasco Villahermosa Tabasco Mxico

Temporomandibular disorders (TMD) negatively affect quality of life, causing pain and restricted jaw movements. This study evaluates the effectiveness of Transcutaneous Electrical Nerve Stimulation (TENS) on TMD patients before orthodontic treatment at the Juarez autonomous University of Tabasco. A quantitative, quasi-experimental study was conducted with 30 patients who met the inclusion criteria: aged 18 to 65 years, with TMJ pain symptoms, diagnosed with temporomandibular disorders using the Helkimo index, and who had provided informed consent for the study. The range of mandibular movement and the Visual Analog Scale (VAS) were measured to record values before therapy. The electrodes of the TENS therapy were positioned on both sides of the jaw in the preauricular area and the masseter muscle, the therapy was administered for 40 minutes, utilizing a frequency of 2 - 4 Hz and a pulse duration of 300 microseconds. Following this, the range of mandibular movement and the VAS were reassessed to evaluate the outcomes., significantly improved maximum mouth opening (37.7 ± 6.4 mm to 44.6 ± 5.88 mm), right laterality (3.86 ± 1.57 mm to 5.43 ± 1.21 mm), left laterality (3.13 ± 1.63 mm to 4.53 ± 1.61 mm), protrusion (4.01 ± 1.7 mm to 5.36 ± 1.32 mm), and pain perception (4.56 ± 2.045 to 2.03 ± 1.5) (P < 0.01). TENS therapy enhances mandibular movement and reduces pain, making it a well-tolerated, non-invasive complementary treatment for TMD.

关键词： TENS Opening Deprogramming Electrostimulation TMJ (Temporomandibular Joint)

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Two Photosensitive Dermatitis Outbreaks Caused by Cordierites frondosus—Chuxiong Yi autonomous Prefecture,Yunnan Province,China,2023

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China CDC weekly 2024年第24期6卷 580-584页

作者： Jiaju Zhong Hongshun Zhang Chengmin Yu Jipin Li Yizhe Zhang Jiaqi Liang Chengye Sun Qunmei Yao National Institute of Occupational Health and Poison Control Chinese Center for Disease Control and PreventionBeijingChina Department of Emergency Medicine The People’s Hospital of Chuxiong Yi Autonomous PrefectureChuxiong CityYunnan ProvinceChina

Summary What is already known about this topic?Cordierites frondosus(***)is a species of toxic mushroom known to induce symptoms of photosensitive *** is added by this report?In the months of May and June 2023,a total of four patients in Chuxiong Yi autonomous Prefecture,Yunnan Province,were affected by *** poisoning,occurring over two distinct *** condition of two patients deteriorated after they were re-exposed to sunlight on the seventh day following the initial poisoning.

关键词： Prefecture poisoning breaks

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Association Between Combinations of 24-Hour Movement Behaviors and Depression Among Adolescents—Inner Mongolia autonomous Region,China,2019–2021

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China CDC weekly 2023年第40期5卷 889-893,I0001-I0004页

作者： Wen Yuan Yihang Zhang Tian Yang Shan Cai Ziyue Chen Xinli Song Yanhui Dong Jun Ma Xiuhong Zhang Yi Song Institute of Child and Adolescent Health School of Public HealthPeking UniversityBeijingChina Inner Mongolia autonomous Region Comprehensive Disease Prevention and Control Center Inner Mongolia Autonomous RegionChina

Summary What is already known about this topic?In recent years,there has been growing concern regarding the escalating rates of depression among *** certain individual behaviors have been suggested as potential protective factors for mental health,there is a scarcity of research examining the collective influence of 24-hour movement behaviors.

关键词： protective collective movement

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Feedback is all you need:from ChatGPT to autonomous driving

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Science China(Information Sciences) 2023年第6期66卷 290-292页

作者： Hong CHEN Kang YUAN Yanjun HUANG Lulu GUO Yulei WANG Jie CHEN College of Electronic and Information Engineering Tongji University National Key Laboratory of autonomous Intelligent Unmanned Systems Shanghai Research Institute for Intelligent autonomous Systems Tongji University School of Automotive Studies Tongji University

The birth of chat generative pre-trained transformer(ChatGPT). In November 2022,Microsoft and OpenAI jointly released an artificial intelligence chatbot program called ChatGPT [1]. In just two months,the number of global users surpassed 100 million,making it the fastestgrowing consumer application in history. ChatGPT can answer almost any question like an encyclopedia,

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Characteristics of Migration Among HIV-Positive MSM—Guangxi Zhuang autonomous Region,China,2005–2021

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China CDC weekly 2023年第13期5卷 287-291页

作者： Wenxuan Hou He Jiang Qiuying Zhu Jinghua Huang Jianjun Li Xiuling Wu Xuanhua Liu Nengxiu Liang Shuai Tang Qin Meng Bo Li Dongni Ding Ni Chen Guanghua Lan Guangxi University of Chinese Medicine Nanning CityGuangxi Zhuang Autonomous RegionChina Guangxi Key Laboratory of AIDS Prevention and Control and Achievement Transformation Guangxi Center for Disease Prevention and ControlNanning CityGuangxi Zhuang Autonomous RegionChina Youjiang Medical University for Nationalities Baise CityGuangxi Zhuang Autonomous RegionChina

Summary What is already known about this topic?Migration has a significant impact on the transmission of human immunodeficiency virus(HIV).To date,there have been few studies examining the characteristics of migration among HIV-positive men who have sex with men(MSM).What is added by this report?The prevalence of migrants among newly reported HIV-positive MSM in Guangxi Zhuang autonomous Region increased from 2005 to *** Prefecture had the highest proportion of out-migrant MSM(12.6%),while Nanning Prefecture had the highest proportion of in-migrant MSM(55.9%).Risk factors associated with migration among MSM included being in the 18–24 age range,having a college education or higher,and being a student.

关键词： education Region Zhuang

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A hybrid motion planning framework for autonomous driving in mixedtrafﬁc ﬂow

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Green Energy and Intelligent Transportation 2022年第3期1卷 38-48页

作者： Lei Yang Chao Lu Guangming Xiong Yang Xing Jianwei Gong Intelligent Vehicle Research Center(IVRC) Beijing Institute of TechnologyChina Engineering Centre for autonomous and Cyberphysical Systems Cranfield UniversityUK

As a core part of an autonomous driving system,motion planning plays an important role in safe ***,traditional model-and rule-based methods lack the ability to learn interactively with the environment,and learning-based methods still have problems in terms of *** overcome these problems,a hybrid motion planning framework(HMPF)is proposed to improve the performance of motion planning,which is composed of learning-based behavior planning and optimization-based trajectory *** behavior planning module adopts a deep reinforcement learning(DRL)algorithm,which can learn from the interaction between the ego vehicle(EV)and other human-driven vehicles(HDVs),and generate behavior decision commands based on environmental perception *** particular,the intelligent driver model(IDM)calibrated based on real driving data is used to drive HDVs to imitate human driving behavior and interactive response,so as to simulate the bidirectional interaction between EV and ***,trajectory planning module adopts the optimization method based on road Frenet coordinates,which can generate safe and comfortable desired trajectory while reducing the solution dimension of the *** addition,trajectory planning also exists as a safety hard constraint of behavior planning to ensure the feasibility of decision *** experimental results demonstrate the effectiveness and feasibility of the proposed HMPF for autonomous driving motion planning in urban mixed traffic flow scenarios.

关键词： Motion planning Behavior planning Trajectory planning Interaction autonomous driving

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Impact of HIV/HCV Co-Infection on Mortality and Attrition in Antiretroviral Therapy Among People with HIV — Guangxi Zhuang autonomous Region, China, 2003–2022

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China CDC weekly 2023年第44期5卷 973-977,I0001页

作者： He Jiang Qiuying Zhu Jinghua Huang Xiuling Wu Bo Li Xuanhua Liu Qin Meng Shuai Tang Guanghua Lan Guangxi Key Laboratory of AIDS Prevention and Control and Achievement Transformation Guangxi Center for Disease Prevention and ControlNanning CityGuangxi Zhuang Autonomous RegionChina Guangxi Key Laboratory for Major Infectious Diseases Prevention and Control and Biosafety Emergency Response Guangxi Center for Disease Prevention and ControlNanning CityGuangxi Zhuang Autonomous RegionChina

Summary What is already known about this topic?The effects of concurrent human immunodeficiency virus(HIV)/hepatitis C virus(HCV)infection on mortality and patient attrition in those undergoing antiretroviral therapy ... 详细信息

关键词： mortality Therapy Impact

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