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用于互联网遥操作的基于速率的点对点传输协议的研究 被引量:1
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作者 叶秀芬 liu peter xiaoping +1 位作者 冯伟兴 李国斌 《哈尔滨工程大学学报》 EI CAS CSCD 2003年第3期273-277,共5页
互联网的传输时延、时延抖动、带宽限制和带宽变化都对遥操作不利,但互联网的这种通信条件常作为给定条件,很少有人专门研究.互联网传输层的两个协议TCP和UDP以及其他新开发的实时应用协议都不适合于基于互联网的遥操作系统的数据传输,... 互联网的传输时延、时延抖动、带宽限制和带宽变化都对遥操作不利,但互联网的这种通信条件常作为给定条件,很少有人专门研究.互联网传输层的两个协议TCP和UDP以及其他新开发的实时应用协议都不适合于基于互联网的遥操作系统的数据传输,为此,本文首先为基于互联网的遥操作系统提出了一种新的拥塞控制算法,开发了基于速率的点对点三项式传输协议.然后,从理论上说明该协议能够探测网络状态变化,并对这种网络带宽变化是易响应的;另外,该协议也是协议内部公平、协议间公平和有效收敛的.最后,通过仿真比较可以推知,该协议能最小化时延和时延抖动及丢包率. 展开更多
关键词 遥操作 拥塞控制算法 互联网传输协议
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Path prediction of flexible needles based on Fokker-Planck equation and disjunctive Kriging model
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作者 Xiong Pengwen Zhou Xueting +2 位作者 Li Qian Song Aiguo liu peter xiaoping 《Journal of Southeast University(English Edition)》 EI CAS 2022年第2期118-125,共8页
Path prediction of flexible needles based on the Fokker-Planck equation and disjunctive Kriging model is proposed to improve accuracy and consider the nonlinearity and anisotropy of soft tissues.The stochastic differe... Path prediction of flexible needles based on the Fokker-Planck equation and disjunctive Kriging model is proposed to improve accuracy and consider the nonlinearity and anisotropy of soft tissues.The stochastic differential equation is developed into the Fokker-Planck equation with Gaussian noise,and the position and orientation probability density function of flexible needles are then optimized by the stochastic differential equation.The probability density function obtains the mean and covariance of flexible needle movement and helps plan puncture paths by combining with the probabilistic path algorithm.The weight coefficients of the ordinary Kriging are extended to nonlinear functions to optimize the planned puncture path,and the Hermite expansion is used to calculate nonlinear parameter values of the disjunctive Kriging optimization model.Finally,simulation experiments are performed.Detailed comparison results under different path planning maps show that the kinematics model can plan optimal puncture paths under clinical requirements with an error far less than 2 mm.It can effectively optimize the path prediction model and help improve the target rate of soft tissue puncture with flexible needles through data analysis and processing of the mean value and covariance parameters derived by the probability density and disjunctive Kriging algorithms. 展开更多
关键词 flexible needle puncture NONLINEAR Fokker-Planck equation disjunctive Kriging error analysis
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