A path planning method for robot patrol inspection in chemical industrial parks

Safety patrol inspection in chemical industrial parks is a complex multi-objective task with multiple degrees of freedom.Traditional pointer instruments with advantages like high reliability and strong adaptability to harsh environment,are widely applied in such parks.However,they rely on manual readings which have problems like heavy patrol workload,high labor cost,high false positives/negatives and poor timeliness.To address the above problems,this study proposes a path planning method for robot patrol in chemical industrial parks,where a path optimization model based on improved iterated local search and random variable neighborhood descent(ILS-RVND)algorithm is established by integrating the actual requirements of patrol tasks in chemical industrial parks.Further,the effectiveness of the model and algorithm is verified by taking real park data as an example.The results show that compared with GA and ILS-RVND,the improved algorithm reduces quantification cost by about 24%and saves patrol time by about 36%.Apart from shortening the patrol time of robots,optimizing their patrol path and reducing their maintenance loss,the proposed algorithm also avoids the untimely patrol of robots and enhances the safety factor of equipment.

A Survey of Multi-robot Regular and Adversarial Patrolling

Multi-robot systems can be applied to patrol a concerned environment for security purposes.According to different goals,this work reviews the existing researches in a multi-robot patrolling field from the perspectives of regular and adversarial patrolling.Regular patrolling requires robots to visit important locations as frequently as possible and a series of deterministic strategies are proposed,while adversarial one focuses on unpredictable robots’moving patterns to maximize adversary detection probability.Under each category,a systematic survey is done including problem statements and modeling,patrolling objectives and evaluation criteria,and representative patrolling strategies and approaches.Existing problems and open questions are presented accordingly.

A multi-UAV deployment method for border patrolling based on Stackelberg game

To strengthen border patrol measures, unmanned aerial vehicles(UAVs) are gradually used in many countries to detect illegal entries on borders. However, how to efficiently deploy limited UAVs to patrol on borders of large areas remains challenging. In this paper, we first model the problem of deploying UAVs for border patrol as a Stackelberg game. Two players are considered in this game: The border patrol agency is the leader,who optimizes the patrol path of UAVs to detect the illegal immigrant. The illegal immigrant is the follower, who selects a certain area of the border to pass through at a certain time after observing the leader’s strategy. Second, a compact linear programming problem is proposed to tackle the exponential growth of the number of leader’s strategies. Third, a method is proposed to reduce the size of the strategy space of the follower. Then, we provide some theoretic results to present the effect of parameters of the model on leader’s utilities. Experimental results demonstrate the positive effect of limited starting and ending areas of UAV’s patrolling conditions and multiple patrolling altitudes on the leader ’s utility, and show that the proposed solution outperforms two conventional patrol strategies and has strong robustness.

Research on the Anomaly Detection Method in Intelligent Patrol Based on Big Data Analysis

The network anomaly detection in intelligent patrol is based on the trigger of a single threshold of network element performance parameters in patrol task, which has a high false alarm rate and low efficiency. In order to effectively and accurately integrate network performance, this paper proposes to mine network element performance data and network element log information in the integrated automatic patrol to detect network anomalies. Because log files have a large amount of data and a variety of types, and log data has a complex structure and contains large implied information. The relationship between network anomalies and time can actively discover through the analysis of the log files. Therefore, big data mining and classification can greatly improve the efficiency of data processing. However, the accuracy of finding network anomalies is insufficient only for log analysis. Therefore, this paper puts forward the performance indexes collected in the log analysis and patrol inspection system and adopts the sequence analysis algorithm to detect network anomalies, so as to improve the accuracy and efficiency of detection.

A cloud Bayesian network approach to situation assessment of scouting underwater targets with fixed-wing patrol aircraft

The battlefield situation changes rapidly because underwater targets'are concealment and the sea environment is uncertain.So,a great number of situation information greatly increase,which need to be dealt with in the course of scouting underwater targets.Situation assessment in sea battlefield with a lot of uncertain information is studied,and a new situation assessment method of scouting underwater targets with fixed-wing patrol aircraft is proposed based on the cloud Bayesian network,which overcomes the deficiency of the single cloud model in reasoning ability and the defect of Bayesian network in knowledge representation.Moreover,in the method,the cloud model knowledge deal with the input data of Bayesian network reasoning,and the advantages in knowledge representation of cloud theory and reasoning of Bayesian network are applied;also,the fuzziness and stochasticity of cloud theory in knowledge expression,the reasoning ability of Bayesian network,are combined.Then,the situation assessment model of scouting underwater targets with fixed-wing patrol aircraft is established.Hence,the directed acyclic graph of Bayesian network structure is constructed and the assessment index is determined.Next,the cloud model is used to deal with Bayesian network,and the discrete Bayesian network is obtained.Moreover,after CPT of each node and the transformation between certainty degree and probability are accomplished;the final situation level is obtained through a probability synthesis formula.Therefore,the target type and the operational intention of the other side are deduced to form the battlefield situation.Finally,simulations are carried out,and the rationality and validity of the proposed method are testified by simulation results.By this method,the battlefield situation can be gained.And this method has a wider application range,especially for large sample data processing,and it has better practicability.

Determination of Main Design Indicators of Patrol Road in Nature Reserves

In principle,nature reserves are managed and controlled according to the core area and the general control area.At present,there is no relevant design specification for the design system of patrol road in various protected areas.This paper analyzed the factors to be considered in determining the grade,horizontal and vertical design indicators,and cross section indicators of the patrol road in the protected area,and came up with the corresponding design indicators and parameters,so as to provide a certain reference for the subsequent patrol road design.

Do Observations during Patrolling Trips Detect Changes in Wildlife Presence & Diversity in National Parks?

Globally, mountains encompass spectacular landscapes and a great diversity of species. However, Savannah’s mountains in Sudan have been affected by the loss of diversity due to human activities and climate changes. Therefore, this study aims to assess changes in wildlife diversity in Jebel-Eldair Nation Park (JENP) based on only reports from patrolling activities, especially in the absence of regular wildlife monitoring programs. Reports of monthly wildlife observations during patrolling trips were used for the summer season in 2010 and 2018. Findings showed a moderate to high decline in the most important wildlife species (i.e. lion, wild dog, and crest porcupine). Six others are documented as rare species in reserve, including the civet, spotted hyena, striped hyena, jackal, seraval, and Siberian bird. Contrary and despite the diversity reduction, some species witnessed increases in their observation frequency, such as lesser kudu, caracal, monitor, and lunar bird. Moreover, human settlements, agricultural activities, and other anthropogenic factors were found to be the main drivers of biodiversity reduction in JENP. The study recommends adopting this method to detect changes in wildlife communities, especially in a situation of deficiency and lack of funding to conduct regular monitoring programs.

NISSAN PATROL 铁汉柔情

途乐是一款具有历史的车型，1951年第一代日产Patrol途乐4W60诞生，至今已经有64年历史，而现款途乐则是在2010年正式发布，发布地点则选择了纸醉金迷的阿联酋迪拜，从这点就可以看出，日产不仅仅希望途乐是那个频繁出现在联合国维和部队画面中，任劳任怨，永远不知疲倦的工具车辆，更是一款足够豪华的高端SUV。

BMC为强化服务级别管理业务推出PATROL for SLM

2000年11月13日美国拉斯维加斯讯——BMC软件公司今天宣布推出针对服务级别管理(Service Level Management【SLM】)的PATROL，这是一个基于PATROL产品线的解决方案，可作为监视和管理服务级别的标准。PATROL FOR SLM从顾客角度审视服务级别管理，可加速对服务级别协议(SLA)的制订和管理，促使企业系统地对其关键业务应用程序的可用性和性能进行优化处理。

赶在烦扰之前——BMC全面电子商务系统管理方案PATROL 2000

在新的网络经济环境下,服务速度与质量成为企业生存发展的关键,企业IT系统的高可用性和快响应速度成为企业服务的速度与质量的保证。在电子商务环境中,当企业业务发展超出预料的速度时,以什么为依据判断IT系统的性能是否正常?系统需做出明陛改善以适应发展?如何有效管理电子商务环境,使之成为电子商务顺利进行的重要保障?

PATROL UPLC巡查过程分析仪

2008年匹茨堡大会上，沃特世公司隆重推出PATROL^TM UPLC^TM过程分析仪，一种实时的液相色谱（LC）在线分析技术（PAT）系统，可以在生产线检测和定量多组分生产样品和最终产品。

脱胎换骨 全新日产Patrol

日产汽车在9月初推出了全新的Patrol,新车引人了多项突破性的改进包括引人注口的新设计、强大的V6双涡轮增压发动机、9挡自动变速器和可定制的自适应空气悬架以及增强全地形能力等。日产汽车在9月初推出了全新的Patrol,新车引入了多项突破性的改进,包括引人注目的新设计、强大的V6双涡轮增压发动机、9挡自动变速器和可定制的自适应空气悬架NISSA以及增强全地形能力等。

矿井巡检机器人复杂斜巷通过性能优化

为提高移动机器人在矿井巷道等复杂环境中的越障稳定性,通过理论分析与RecurDyn仿真试验,研究并提出了一种分析和优化摆臂履带式巡检机器人坡道越障能力和越障稳定性的方法。研究结果表明:坡度对所涉及的巡检机器人最大越障高度和稳定性均有较大影响,在坡度角为(0~35)°工况下,随坡度的增加理论最大越障高度从349mm逐渐减小至221mm,且当坡度角大于30°时,机器人在越障中易处于不稳定状态,故在越障控制时须考虑稳定性因素的影响。该结论可为所涉及巡检机器人的设计和自主越障控制提供理论依据。

基于最优探测航线椭圆拟合的战斗巡逻规划方法

针对远海弱情报支援背景下的空中编队战斗巡逻规划问题,提出了一种新的基于最优探测航线椭圆拟合的巡逻空域规划方法。以协同概率探测面积作为遗传算法的适应度函数,求解最优飞机协同探测航线,根据初始航路点列的统计学特征,提出了基于几何距离的双点移除椭圆拟合方法,求解航空兵实际可用的椭圆航线及对应巡逻空域。仿真结果表明,编队按照规划的矩形巡逻空域和椭圆航线进行战斗巡逻,可保持对总任务区域82.16%的协同探测,与最优雷达探测航线的平均实时探测范围相比仅下降1.93%,且探测盲区时间空窗小。规划结果能显著降低飞行员的认知载荷,具有较好的实用价值和现实意义。

Mobile sensors’patrol path planning in unobservable border region

Purpose-The border control becomes challenging when a protected region is large and there is a limited number of border patrols.This research paper proposes a novel heuristic-based patrol path planning scheme in order to efficiently patrol with resource scarcity.Design/methodology/approach-The trespasser influencing score,which is determined from the environmental characteristics and trespassing statistic of the region,is used as a heuristic for measuring a chance of approaching a trespasser.The patrol plan is occasionally updated with a new trespassing statistic during a border operation.The performance of the proposed patrol path planning scheme was evaluated and compared with other patrol path planning schemes by the empirical experiment under different scenarios.Findings-The result from the experiment indicates that the proposed patrol planning outperforms other patrol path planning schemes in terms of the trespasser detection rate,when more environment-aware trespassers are in the region.Research limitations/implications-The experiment was conducted through simulated agents in simulated environment,which were assumed to mimic real behavior and environment.Originality/value-This research paper contributes a heuristic-based patrol path planning scheme that applies the environmental characteristics and dynamic statistic of the region,as well as a border surveillance problem model that would be useful for mobile sensor planning in a border surveillance application.

JOINT PATROL

Chinese and Italian police offi cers patrol the Lujiazui area in Pudong,east China’s Shanghai,on June 26.The joint patrols,the third such exercise between Chinese and Italian police in China,are being conducted in Beijing,Shanghai,Chongqing and Guangzhou from June 24 to July 5.Police officers from both sides are also sharing their work experience to deepen mutual understanding and promote law enforcement cooperation and personnel exchanges during the patrols.

空间几何约束下的特高压变电站巡检机器人下坡节能控速方法

现有巡检机器人控速方法在实际使用过程中,缺乏对机器人本身位置变化的考虑,导致能耗高、速度偏差大,为此设计一种基于空间几何约束的特高压变电站巡检机器人下坡节能控速方法。在空间几何约束条件下,提取特征点进行匹配,基于拉格朗日方程建立机器人工作点轨迹与运行速度之间的驱动关系模型,根据机器人最大功率约束条件进行电机节能参数匹配,完成下坡速度控制方法设计。实验结果表明,该方法在不同工况下对特高压变电站巡检机器人的速度控制精度和节能效果都有一定提升。