planning algorithm
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2022 ◽  
Vol 13 (2) ◽  
pp. 0-0

This paper investigates sensing data acquisition issues from large-scale hazardous environments using UAVs-assisted WSNs. Most of the existing schemes suffer from low scalability, high latency, low throughput, and low service time of the deployed network. To overcome these issues, we considered a clustered WSN architecture in which multiple UAVs are dispatched with assigned path knowledge for sensing data acquisition from each cluster heads (CHs) of the network. This paper first presents a non-cooperative Game Theory (GT)-based CHs selection algorithm and load balanced cluster formation scheme. Next, to provide timely delivery of sensing information using UAVs, hybrid meta-heuristic based optimal path planning algorithm is proposed by combing the best features of Dolphin Echolocation and Crow Search meta-heuristic techniques. In this research work, a novel objective function is formulated for both load-balanced CHs selection and for optimal the path planning problem. Results analyses demonstrate that the proposed scheme significantly performs better than the state-of-art schemes.

2022 ◽  
Vol 12 ◽  
Michaela Schuermann ◽  
Yvonne Dzierma ◽  
Frank Nuesken ◽  
Joachim Oertel ◽  
Christian Rübe ◽  

BackgroundNavigated transcranial magnetic stimulation (nTMS) of the motor cortex has been successfully implemented into radiotherapy planning by a number of studies. Furthermore, the hippocampus has been identified as a radiation-sensitive structure meriting particular sparing in radiotherapy. This study assesses the joint protection of these two eloquent brain regions for the treatment of glioblastoma (GBM), with particular emphasis on the use of automatic planning.Patients and MethodsPatients with motor-eloquent brain glioblastoma who underwent surgical resection after nTMS mapping of the motor cortex and adjuvant radiotherapy were retrospectively evaluated. The radiotherapy treatment plans were retrieved, and the nTMS-defined motor cortex and hippocampus contours were added. Four additional treatment plans were created for each patient: two manual plans aimed to reduce the dose to the motor cortex and hippocampus by manual inverse planning. The second pair of re-optimized plans was created by the Auto-Planning algorithm. The optimized plans were compared with the “Original” plan regarding plan quality, planning target volume (PTV) coverage, and sparing of organs at risk (OAR).ResultsA total of 50 plans were analyzed. All plans were clinically acceptable with no differences in the PTV coverage and plan quality metrics. The OARs were preserved in all plans; however, overall the sparing was significantly improved by Auto-Planning. Motor cortex protection was feasible and significant, amounting to a reduction in the mean dose by >6 Gy. The dose to the motor cortex outside the PTV was reduced by >12 Gy (mean dose) and >5 Gy (maximum dose). The hippocampi were significantly improved (reduction in mean dose: ipsilateral >6 Gy, contralateral >4.6 Gy; reduction in maximum dose: ipsilateral >5 Gy, contralateral >5 Gy). While the dose reduction using Auto-Planning was generally better than by manual optimization, the radiated total monitor units were significantly increased.ConclusionConsiderable dose sparing of the nTMS-motor cortex and hippocampus could be achieved with no disadvantages in plan quality. Auto-Planning could further contribute to better protection of OAR. Whether the improved dosimetric protection of functional areas can translate into improved quality of life and motor or cognitive performance of the patients can only be decided by future studies.

Drones ◽  
2022 ◽  
Vol 6 (1) ◽  
pp. 20
Ji-Won Woo ◽  
Yoo-Seung Choi ◽  
Jun-Young An ◽  
Chang-Joo Kim

Recently, interest in mission autonomy related to Unmanned Combat Aerial Vehicles(UCAVs) for performing highly dangerous Air-to-Surface Missions(ASMs) has been increasing. Regarding autonomous mission planners, studies currently being conducted in this field have been mainly focused on creating a path from a macroscopic 2D environment to a dense target area or proposing a route for intercepting a target. For further improvement, this paper treats a mission planning algorithm on an ASM which can plan the path to the target dense area in consideration of threats spread in a 3D terrain environment while planning the shortest path to intercept multiple targets. To do so, ASMs are considered three sequential mission elements: ingress, intercept, and egress. The ingress and egress elements require a terrain flight path to penetrate deep into the enemy territory. Thus, the proposed terrain flight path planner generates a nap-of-the-earth path to avoid detection by enemy radar while avoiding enemy air defense threats. In the intercept element, the shortest intercept path planner based on the Dubins path concept combined with nonlinear programming is developed to minimize exposure time for survivability. Finally, the integrated ASM planner is applied to several mission scenarios and validated by simulations using a rotorcraft model.

Shunchao Wang ◽  
Zhibin Li ◽  
Bingtong Wang ◽  
Jingfeng Ma ◽  
Jingcai Yu

This study proposes a novel collision avoidance and motion planning framework for connected and automated vehicles based on an improved velocity obstacle (VO) method. The controller framework consists of two parts, that is, collision avoidance method and motion planning algorithm. The VO algorithm is introduced to deduce the velocity conditions of a vehicle collision. A collision risk potential field (CRPF) is constructed to modify the collision area calculated by the VO algorithm. A vehicle dynamic model is presented to predict vehicle moving states and trajectories. A model predictive control (MPC)-based motion tracking controller is employed to plan collision-avoidance path according to the collision-free principles deduced by the modified VO method. Five simulation scenarios are designed and conducted to demonstrate the control maneuver of the proposed controller framework. The results show that the constructed CRPF can accurately represent the collision risk distribution of the vehicles with different attributes and motion states. The proposed framework can effectively handle the maneuver of obstacle avoidance, lane change, and emergency response. The controller framework also presents good performance to avoid crashes under different levels of collision risk strength.

2022 ◽  
Vol 2022 ◽  
pp. 1-10
Li Lu ◽  
Chenyu Liu

Dynamic window algorithm (DWA) is a local path-planning algorithm, which can be used for obstacle avoidance through speed selection and obtain the optimal path, but the algorithm mainly plans the path for fixed obstacles. Based on DWA algorithm, this paper proposes an improved DWA algorithm based on space-time correlation, namely, space-time dynamic window approach. In SDWA algorithm, a DWA associated with obstacle position and time is proposed to achieve the purpose of path planning for moving obstacles. Then, by setting the coordinates of the initial moving obstacle and identifying safety distance, we can define the shape of the obstacle and the path planning of the approach segment in thunderstorm weather based on the SDWA model was realized. Finally, the superior performance of the model was verified by setting moving obstacles for path planning and selecting the aircraft approach segment in actual thunderstorm weather. The results showed that SDWA has good path-planning performance in a dynamic environment. Its path-planning results were very similar to an actual aircraft performing thunderstorm-avoidance maneuvers, but with more smooth and economical trajectory. The proposed SDWA model had great decision-making potential for approach segment planning in thunderstorm weather.

2022 ◽  
Vol 2022 ◽  
pp. 1-11
Yu Wang

In this paper, we use machine learning algorithms to conduct in-depth research and analysis on the construction of human-computer interaction systems and propose a simple and effective method for extracting salient features based on contextual information. The method can retain the dynamic and static information of gestures intact, which results in a richer and more robust feature representation. Secondly, this paper proposes a dynamic planning algorithm based on feature matching, which uses the consistency and accuracy of feature matching to measure the similarity of two frames and then uses a dynamic planning algorithm to find the optimal matching distance between two gesture sequences. The algorithm ensures the continuity and accuracy of the gesture description and makes full use of the spatiotemporal location information of the features. The features and limitations of common motion target detection methods in motion gesture detection and common machine learning tracking methods in gesture tracking are first analyzed, and then, the kernel correlation filter method is improved by designing a confidence model and introducing a scale filter, and finally, comparison experiments are conducted on a self-built gesture dataset to verify the effectiveness of the improved method. During the training and validation of the model by the corpus, the complementary feature extraction methods are ablated and learned, and the corresponding results obtained are compared with the three baseline methods. But due to this feature, GMMs are not suitable when users want to model the time structure. It has been widely used in classification tasks. By using the kernel function, the support vector machine can transform the original input set into a high-dimensional feature space. After experiments, the speech emotion recognition method proposed in this paper outperforms the baseline methods, proving the effectiveness of complementary feature extraction and the superiority of the deep learning model. The speech is used as the input of the system, and the emotion recognition is performed on the input speech, and the corresponding emotion obtained is successfully applied to the human-computer dialogue system in combination with the online speech recognition method, which proves that the speech emotion recognition applied to the human-computer dialogue system has application research value.

2022 ◽  
Justice Darko ◽  
Larkin Folsom ◽  
Hyoshin Park ◽  
Masashi Minamide ◽  
Masahiro Ono ◽  

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