Max-Min Adaptive Ant Colony Optimization Approach to Multi-UAVs Coordinated Trajectory Replanning in Dynamic and Uncertain Environments

Multiple Uninhabited Aerial Vehicles (multi-UAVs) coordinated trajectory replanning is one of the most complicated global optimum problems in multi-UAVs coordinated control. Based on the construction of the basic model of multi-UAVs coordinated trajectory replanning, which includes problem description, threat modeling, constraint conditions, coordinated function and coordination mechanism, a novel Max-Min adaptive Ant Colony Optimization (ACO) approach is presented in detail. In view of the characteristics of multi-UAVs coordinated trajectory replanning in dynamic and uncertain environments, the minimum and maximum pheromone trails in ACO are set to enhance the searching capability, and the point pheromone is adopted to achieve the collision avoidance between UAVs at the trajectory planner layer. Considering the simultaneous arrival and the air-space collision avoidance, an Estimated Time of Arrival (ETA) is decided first. Then the trajectory and flight velocity of each UAV are determined. Simulation experiments are performed under the complicated combating environment containing some static threats and popup threats. The results demonstrate the feasibility and the effectiveness of the proposed approach.

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

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.

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

Multi-robot mission planning is composed of assignment allocation and mobile-robot route planning in this paper.Multi-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 path.Meanwhile,we design multi-robot mission replanning mechanism based on the rules system of greedy algorithm for dynamic stochastic increment missions.Finally,extensive simulation experiments were shown that FCM for assignment allocation and HICHA for route planning were efficacious for mobile-robot exploration mission planning.Furthermore,the improved greedy algorithm based on experience rules met dynamic stochastic increment missions replanning requirement for load balance.

Adaptive radiation therapy of breast cancer by repeated imaging during irradiation

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 treatment.RT composes an integral part of breast conserving treatment,and is typically used after breast conserving surgery to improve local control.Recent years have witnessed significant improvements in the discipline of radiation oncology which allow for more focused and precise treatment delivery.Adaptive 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 irradiation.In 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 bed.Primary 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 irradiation.Herein,we provide a concise review of ART for breast cancer in light of the literature.

Development of ground control station and path planning for autonomous MUAV

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 developed.This paper emphasizes the global planning and the local replanning arithmetic based on three-dimensional velocity potential field for the moving threats.During the test on the ground and in the sky,GCS show the remote sensing information precisely and send the control command in time.The system can be used to assist in the function of autonomous complex task for MUAV.

BIM-based framework of automatic tunnel segment assembly and deviation control

The design of universal segments and deviation control of segment assembly are essential for robust and low-risk tunnel construction.A building information modeling(BIM)-based framework was proposed for parametric modeling,automatic assembly,and deviation control of universal segments.First,segment models of different levels of detail(LoDs)were built based on BIM visual programming language(VPL)for different project life cycles.Then,the geometric constraints,requirements,and procedures for parametric segment assembly were distilled to develop a program that combines a novel typesetting algorithm with a 3D path replanning algorithm.Typesetting is implemented by introducing a point indication matrix,characterizing segments by sides,and manipulating geometries in a VPL.Simultaneously,3D path replanning,with non-uniform rational B-splines(NURBS)and arcs as basic shapes,was used to resolve unacceptable deviation situations after typesetting.Finally,the proposed framework was validated on a water diversion line and was found to be more effective and accurate than the previous method.

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

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.