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Brain Cognition Mechanism-Inspired Hierarchical navigation Method for Mobile Robots

Journal of Bionic Engineering 2024年第2期21卷 852-865页

作者： Qiang Zou Chengdong Wu Ming Cong Dong Liu faculty of Robot Science and Engineering Northeastern UniversityShenyang110819China School of Mechanical Engineering Dalian University of TechnologyDalian116024China

Autonomous navigation is a fundamental problem in *** methods generally build point cloud map or dense feature map in perceptual space;due to lack of cognition and memory formation mechanism,traditional methods exist poor robustness and low cognitive *** a new navigation technology that draws inspiration from mammal’s navigation,bionic navigation method can map perceptual information into cognitive space,and have strong autonomy and environment *** improve the robot’s autonomous navigation ability,this paper proposes a cognitive map-based hierarchical navigation ***,the mammals’navigation-related grid cells and head direction cells are modeled to provide the robots with location *** then a global path planning strategy based on cognitive map is proposed,which can anticipate one preferred global path to the target with high efficiency and short ***,a hierarchical motion controlling method is proposed,with which the target navigation can be divided into several sub-target navigation,and the mobile robot can reach to these sub-targets with high confidence ***,some experiments are implemented,the results show that the proposed path planning method can avoid passing through obstacles and obtain one preferred global path to the target with high efficiency,and the time cost does not increase extremely with the increase of experience nodes *** motion controlling results show that the mobile robot can arrive at the target successfully only depending on its self-motion information,which is an effective attempt and reflects strong bionic properties.

关键词： Bionic navigation Spatial localization cells Global path planning Hierarchical motion controlling

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Submarine Hunter: Efficient and Secure Multi-Type Unmanned Vehicles

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Computers, Materials & Continua 2023年第7期76卷 573-589页

作者： Halah Hasan Mahmoud Marwan Kadhim Mohammed Al-Shammari Gehad Abdullah Amran Elsayed Tag eldin Ala R.Alareqi Nivin A.Ghamry Ehaa A.Lnajjar Esmail Almosharea Computer Center University of BaghdadBaghdad6751Iraq Department of Management Science and Engineering Dalian University of TechnologyLiaoningDalian116024China Department of Information Technology faculty of Computer Sciences and Information Technology AL Razi UniversitySana’aYemen faculty of Engineering and Technology Future University in EgyptNew Cairo11835Egypt faculty of Engineering Mechanics Dalian University of TechnologyLiaoningDalian116024China faculty of Computers and Artificial Intelligence Cairo UniversityGizaEgypt Department of Business Administration Dalian University of TechnologyLiaoningDalian116024China College of Software Engineering Dalian University of TechnologyChina

Utilizing artificial intelligence(AI)to protect smart coastal cities has become a novel vision for scientific and industrial *** of these AI technologies is using efficient and secure multi-environment Unmanned Vehicles(UVs)for anti-submarine *** study’s contribution is the early detection of a submarine assault employing hybrid environment UVs that are controlled using swarm optimization and secure the information in between UVs using a decentralized cybersecurity *** Dragonfly Algorithm is used for the orientation and clustering of the UVs in the optimization approach,and the Re-fragmentation strategy is used in the Network layer of the TCP/IP protocol as a cybersecurity *** research’s noteworthy findings demonstrate UVs’logistical capability to promptly detect the target and address the problem while securely keeping the drone’s geographical *** results suggest that detecting the submarine early increases the likelihood of averting a *** dragonfly strategy of sensing the position of the submersible and aggregating around it demonstrates the reliability of swarm intelligence in increasing access *** communication between Unmanned Aerial Vehicles(UAVs)improves the level of secrecy necessary for the *** swarm navigation is based on a peer-to-peer system,which allows each UAV to access information from its ***,in turn,helps the UAVs to determine the best route to take and to avoid collisions with other *** dragonfly strategy also increases the speed of the mission by minimizing the time spent finding the target.

关键词： Unmanned vehicles unmanned aerial vehicles unmanned underwater vehicles high altitude unmanned aerial vehicles anti-submarine warfare re-fragmentation dragonfly algorithm

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A procedural footprint enhancement of global topographic surface with multiple levels of detail

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International Journal of Digital Earth 2020年第4期13卷 527-545页

作者： Lukáš Brůha Jan Kolář faculty of Science Department of Applied Geoinformatics and CartographyCharles University in PraguePragueCzech Republic Grifinor Project CopenhagenDenmark

Virtual globes are technologies for visual navigation through a threedimensional,multi-resolution model of the entire *** representations used in virtual globes,however,lack geometric flexibility at high-resolution levels of the planet-wide terrain *** is a problem especially if boundaries between individual geospatial features and the terrain are important.A novel integration of individual polygonal boundaries with a specific multi-resolution representation of the planet-wide terrain is developed in this *** the preparation stage,the integration relies on an original simplification algorithm applied to the polygonal boundaries between geospatial features and the *** output is a multiple level-of-detail(LOD)geometry,which can be combined with a known multi-LOD representation of the terrain that uses run-time *** data representation is suitable for storage in existing database systems,avoids any data redundancy across LODs,and is even independent of the subdivision schema that partitions the planet’s surface for the sake of dealing with *** runtime,a novel reconstruction algorithm stitches geometric parts from different LODs together in a manner that augments the multi-LOD representation of the *** a certain proximity range from a given position,the method reconstructs a scene that preserves topological relations between the boundaries of geospatial features with the *** method also guarantees that certain nearest proximity to the given position consists of the best geometries that correspond to the original *** properties of the method close up the gap between a mere exploratory visualization of static,pre-generated models and the models supporting geospatial analysis,which is deemed crucial for applications in Geographic Information Systems,Building Information Modelling and other software industries.A prototype implementation and experiment results that prove this method are also prese

关键词： Feature-based topography multiple level-of-detail procedural modeling vector data organization geometry reconstruction

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INVESTIGATION OF TIGHTLY COUPLED SINS/GPS INTEGRATION MIDCOURSE GUIDANCE FOR AIR-TO-AIR MISSILES

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Chinese Journal of Aeronautics 1998年第3期11卷 47-54页

作者：富立范耀祖宁文如 faculty 301 Beijing Univ. Aero. and Astronaut. Beijing 100083 China

The applied problems of SINS/GPS integration navigation system existing in midcourse guidance of air to air missiles have been investigated recently. In comparison with those investigations existing in current publications, a new tightly coupled SINS/GPS integration navigation system for air to air missiles, based on the decorrelated pseudo range approach, is presented in this paper. Because of high jamming and dynamic of air to air missiles, inertial velocity aiding GPS receiver is used to provide a more accurate, jam resistant measurement for midcourse guidance systems. A tracking error estimator is designed to distinguish the correlation that existed between pseudo range measurements and inertial information. It is found better to regard inertial velocity aiding errors as the noise of which statistical properties are unknown. So using mixed Kalman/minimax filtering theory, one can obtain the new tracking error estimator with simple and robust algorithm through constructing a composite filter consisting of two parts: Kalman filter for the noise of known statistics and minimax filter for the unknown. In order to ensure this simple estimator stability, a new method is proposed to choose its parameters, based on Khargonekars work. Moreover, it is demonstrated that the given method also ensures the proposed estimator optimality. All the work mentioned above is involved in the tightly coupled SINS/GPS integration midcourse system design in which a set of low accuracy inertial components is shared by SINS and autopilot. Simulation results of a certain type of air to air missile are presented. Due to decorrelation by the tracking error estimator, only small white noise of pseudo range measurements remains. So it is shown that application of the new midcourse guidance system results in better guidance accuracy, higher jam resistance.

关键词： SINS/GPS navigation systems navigation aids midcourse guidance Kalman/minimax filtering theory Kalman filters

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用多层次聚类法完成的大规模关系图的可视化(英文)

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软件学报 2008年第8期19卷 1933-1946页

作者：黄茂林 NGUYEN Quang Vinh faculty of Information Technology University of TechnologySydneyAustralia

提出了一种新的大规模图形可视化技术.它可显示含有几万个接点和边的大规模关系图.为了完成对图形的抽象化。一个多层次的聚类图形从原始的大规模关系图中抽取了出来.这种抽取是建立在大规模关系图的内在结构基础上来完成的.一种递规封... 详细信息

提出了一种新的大规模图形可视化技术.它可显示含有几万个接点和边的大规模关系图.为了完成对图形的抽象化。一个多层次的聚类图形从原始的大规模关系图中抽取了出来.这种抽取是建立在大规模关系图的内在结构基础上来完成的.一种递规封入式的几何划分算法被应用来完成对几何空间的优化,在具体的制图技术上,使用了一种用力导向布局算法和环形制图法相结合的新方法,从而完成了对显示空间的优化和美擘上的优化.同时也讨论了相关的人机交互技术,所采用的人机交互算法不仅能让使用者从上到下层次式地浏览整个聚类图形。同时也能提供多层次聚类图形的并行浏览.动画技术也同时被运用,以保护使用者的精神图不被打乱.

关键词：图形绘制信息可视化场景游览人机交互聚类图形

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Global precision analysis of carrier phase relative positioning in BeiDou navigation satellite system and United States global positioning system

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Science China Earth Sciences 2019年第4期62卷 733-749页

作者： Letao ZHOU Dingfa HUANG Wei FENG Wu CHEN Xi ZHANG Li YAN Department of Surveying and Geo-Informatics Faculty of Geosciences and Environmental EngineeringSouthWest JiaoTong University Department of Land Surveying and Geo-Informatics Hong Kong Polytechnic University

In this paper, we derived a high-efficiency formula for calculating the precision of carrier phase relative positioning,analyzed the various factors that affect the positioning accuracy using the carrier phase, and proposed the concept of using a frequency dilution of precision to describe the quantitative effect of different frequency combinations on the positioning precision. To this end, we computed and plotted the global spatial distribution map of the relative positioning dilution of precision for single-day solution, half-hour solution, and single-epoch solution of the global positioning system(GPS), regional Beidou navigation satellite system(BDS2), future global Beidou navigation satellite system(BDS3), and their fusion *** processing software with autonomous intellectual property rights(GCN and VENUS/ARSNet), we solved the measurement data and examined the positioning precision of the single-day solution and single-epoch solution of GPS and *** analysis demonstrated that the B1/B2 frequency positioning precision of BDS2 was better than that of L1/L2 frequency positioning of GPS, but the positioning precision of the BDS2 is worse than that of GPS over most of the service region of the BDS2. Further, the positioning precision of BDS3 is better than that of GPS in the Asia-Pacific region, while it is the opposite in other regions. Based on these conclusions, we put forth some optimization recommendations regarding the signal frequency of the navigation system and GPS measurement standards to serve as references for optimizing the system performance and formulating standards.

关键词： BeiDou navigation satellite system Relative positioning Dilution of precision Frequency dilution of precision Spatial-temporal availability

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Multi-sensor Data Fusion for Wheelchair Position Estimation with Unscented Kalman Filter

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International Journal of Automation and computing 2018年第2期15卷 207-217页

作者： Derradji Nada Mounir Bousbia-Salah Maamar Bettayeb LASA laboratory Department of Electronics Faculty of Engineering Badji Mokhtar Annaba University Department of Electrical and Computer Engineering College of Engineering University of Sharjah

This paper investigates the problem of estimation of the wheelchair position in indoor environments with noisy mea- surements. The measuring system is based on two odometers placed on the axis of the wheels combined with a magnetic compass to determine the position and orientation. Determination of displacements is implemented by an accelerometer. Data coming from sensors are combined and used as inputs to unscented Kalman filter （UKF）. Two data fusion architectures： measurement fusion （MF） and state vector fusion （SVF） are proposed to merge the available measurements. Comparative studies of these two architectures show that the MF architecture provides states estimation with relatively less uncertainty compared to SVF. However, odometers measurements determine the position with relatively high uncertainty followed by the accelerometer measurements. Therefore, fusion in the navigation system is needed. The obtained simulation results show the effectiveness of proposed architectures.

关键词： Data fusion unscented Kalman filter (UKF) measurement fusion (MF) navigation state vector fusion (SVF) wheelchair.

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Ultrasound calibration with ladder phantom at multiple depths for breast biopsy navigation system

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Theoretical & Applied Mechanics Letters 2020年第5期10卷 343-353页

作者： Jackrit Suthakorn Narucha Tanaiutchawoot Cholatip Wiratkapan Center for Biomedical and Robotics Technology(BART LAB)Department of Biomedical Engineering Faculty of EngineeringMahidol UniversitySalayaThailand Breast Diagnostic Center Division of Diagnostic RadiologyDepartment of RadiologyFaculty of MedicineRamathibodi HospitalMahidol UniversityBangkokThailand

Ultrasound guided breast biopsy navigation system with a graphical user interface and a passive robotic needle holder is developed to increase the performance and reliability of the *** calibration and tool tip calibration are required before using the system.A ladder phantom is developed to be used for ultrasound calibration in real time system with only one ultrasound image *** passive robotic needle holder structure results in an identity matrix for the makes the rotation matrix;therefore,only translation and scaling are required in the *** method can be applied to multiple ultrasound depths,which has a relationship at each depth and a relationship to the ultrasound image on the *** results show high accuracy(navigation system based on tests with a breast phantom.

关键词： Ultrasound calibration system Ladder phantom Multi ultrasound depth Passive robotic needle holder

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Tsai Chiao:The founder of physiology and aviation,aerospace and navigation medicine in China

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Protein & Cell 2022年第11期13卷 779-784页

作者： Yalan Wang Zijian Li Yanyan Qian Benyu Guo Psychology College Nanjing Normal UniversityNanjing 210097China Social and Behavioural Sciences faculty Leiden University2333 AK LeidenNetherlands

On February 16th,2019,Tsai Academician Museum held a launch ceremony of a minor planet(207681)'s settling in Jieyang County,Guangdong *** minor planet was given a new name Cai Qiao(Fig.1)on October 14th,*** Qiao was discovered at Xu Yi Station in the Purple Hills Observatory of the Chinese Academy of Sciences on August 16th,*** who is the planet named after?

关键词： Academician planet aviation

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An Effective Hybridization of Quantum-based Avian navigation and Bonobo Optimizers to Solve Numerical and Mechanical Engineering Problems

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Journal of Bionic Engineering 2023年第3期20卷 1361-1385页

作者： Mohammad H.Nadimi-Shahraki faculty of Computer Engineering Najafabad BranchIslamic Azad UniversityNajafabad***Iran Big Data Research Center Najafabad BranchIslamic Azad UniversityNajafabad***Iran

Hybrid metaheuristic algorithms play a prominent role in improving algorithms' searchability by combining each algorithm's advantages and minimizing any substantial shortcomings. The Quantum-based Avian navigation Optimizer Algorithm (QANA) is a recent metaheuristic algorithm inspired by the navigation behavior of migratory birds. Different experimental results show that QANA is a competitive and applicable algorithm in different optimization fields. However, it suffers from shortcomings such as low solution quality and premature convergence when tackling some complex problems. Therefore, instead of proposing a new algorithm to solve these weaknesses, we use the advantages of the bonobo optimizer to improve global search capability and mitigate premature convergence of the original QANA. The effectiveness of the proposed Hybrid Quantum-based Avian navigation Optimizer Algorithm (HQANA) is assessed on 29 test functions of the CEC 2018 benchmark test suite with different dimensions, 30, 50, and 100. The results are then statistically investigated by the Friedman test and compared with the results of eight well-known optimization algorithms, including PSO, KH, GWO, WOA, CSA, HOA, BO, and QANA. Ultimately, five constrained engineering optimization problems from the latest test suite, CEC 2020 are used to assess the applicability of HQANA to solve complex real-world engineering optimization problems. The experimental and statistical findings prove that the proposed HQANA algorithm is superior to the comparative algorithms.

关键词： Optimization Metaheuristic algorithms Evolutionary algorithm Quantum-based avian navigation optimizer algorithm Engineering optimization problems,Bionic algorithm

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