Ant Colony Optimization with Potential Field Based on Grid Map for Mobile Robot Path Planning

For the mobile robot path planning under the complex environment,ant colony optimization with artificial potential field based on grid map is proposed to avoid traditional ant colony algorithm's poor convergence and local optimum.Firstly,the pheromone updating mechanism of ant colony is designed by a hybrid strategy of global map updating and local grids updating.Then,some angles between the vectors of artificial potential field and the orientations of current grid are introduced to calculate the visibility of eight-neighbor cells of cellular automata,which are adopted as ant colony's inspiring factor to calculate the transition probability based on the pseudo-random transition rule cellular automata.Finally,mobile robot dynamic path planning and the simulation experiments are completed by this algorithm,and the experimental results show that the method is feasible and effective.

Cooperative Search of UAV Swarm Based on Ant Colony Optimization with Artificial Potential Field

An ant colony optimization with artificial potential field(ACOAPF)algorithm is proposed to solve the cooperative search mission planning problem of unmanned aerial vehicle(UAV)swarm.This algorithm adopts a distributed architecture where each UAV is considered as an ant and makes decision autonomously.At each decision step,the ants choose the next gird according to the state transition rule and update its own artificial potential field and pheromone map based on the current search results.Through iterations of this process,the cooperative search of UAV swarm for mission area is realized.The state transition rule is divided into two types.If the artificial potential force is larger than a threshold,the deterministic transition rule is adopted,otherwise a heuristic transition rule is used.The deterministic transition rule can ensure UAVs to avoid the threat or approach the target quickly.And the heuristics transition rule considering the pheromone and heuristic information ensures the continuous search of area with the goal of covering more unknown area and finding more targets.Finally,simulations are carried out to verify the effectiveness of the proposed ACOAPF algorithm for cooperative search mission of UAV swarm.

Size dependency and potential field influence on deriving mechanical properties of carbon nanotubes using molecular dynamics

A thorough understanding on the mechanical properties of carbon nanotube （CNT） is essential in extending the advanced applications of CNT based systems. However, conducting experiments to estimate mechanical properties at this scale is extremely challenging. Therefore, development of mechanistic models to estimate the mechanical properties of CNTs along with the integration of existing continuum mechanics concepts is critically important. This paper presents a comprehensive molecular dynamics simulation study on the size dependency and potential function influence of mechanical properties of CNT. Commonly used reactive bond order （REBO） and adaptive intermolecular reactive bond order （A1REBO） potential functions were considered in this regard. Young＇s modulus and shear modulus of CNTs are derived by integrating classical continuum mechanics concepts with molecular dynamics simulations. The results indicate that the potential function has a significant influence on the estimated mechanical properties of CNTs, and the influence of potential field is much higher when studying the torsional behaviour of CNTs than the tensile behaviour.

Higher-Order Line Element Analysis of Potential Field with Slender Heterogeneities

Potential field due to line sources residing on slender heterogeneities is involved in various areas,such as heat conduction,potential flow,and electrostatics.Often dipolar line sources are either prescribed or induced due to close interaction with other objects.Its calculation requires a higher-order scheme to take into account the dipolar effect as well as net source effect.In the present work,we apply such a higher-order line element method to analyze the potential field with cylindrical slender heterogeneities.In a benchmark example of two parallel rods,we compare the line element solution with the boundary element solution to show the accuracy as a function in terms of rods distance.Furthermore,we use more complicated examples to demonstrate the capability of the line element technique.

Abnormality Degree Detection Method Using Negative Potential Field Group Detectors

Online monitoring methods have been widely used in many major devices, however the normal and abnormal states of equipment are estimated mainly based on the monitoring results whether monitored parameters exceed the setting thresholds. Using these monitoring methods may cause serious false positive or false negative results. In order to precisely monitor the state of equipment, the problem of abnormality degree detection without fault sample is studied with a new detection method called negative potential field group detectors（NPFG-detectors）. This method achieves the quantitative expression of abnormality degree and provides the better detection results compared with other methods. In the process of Iris data set simulation, the new algorithm obtains the successful results in abnormal detection. The detection rates for 3 types of Iris data set respectively reach 100%, 91.6%, and 95.24% with 50% training samples. The problem of Bearing abnormality degree detection via an abnormality degree curve is successfully solved.

NOVEL APPROACH FOR ROBOT PATH PLANNING BASED ON NUMERICAL ARTIFICIAL POTENTIAL FIELD AND GENETIC ALGORITHM

A novel approach for collision-free path planning of a multiple degree-of-freedom （DOF） articulated robot in a complex environment is proposed. Firstly, based on visual neighbor point （VNP）, a numerical artificial potential field is constructed in Cartesian space, which provides the heuristic information, effective distance to the goal and the motion direction for the motion of the robot joints. Secondly, a genetic algorithm, combined with the heuristic rules, is used in joint space to determine a series of contiguous configurations piecewise from initial configuration until the goal configuration is attained. A simulation shows that the method can not only handle issues on path planning of the articulated robots in environment with complex obstacles, but also improve the efficiency and quality of path planning.

ON THE STABILITY ESTIMATION OF ANALYTIC CONTINUATION FOR POTENTIAL FIELD

This paper discusses the stability of solutions to a class of Cauchy problems for Laplace equations under two kinds of nonclassical circumstances. By means of conformal mapping and Tikhonov, Luan Wengui and Yamamoto's methods for solving ill-posed problems respectively, the stability estimations of weighted Holder type and logarithmic type, have been obtained accordingly.

New multi-UAV formation keeping method based on improved artificial potential field

Formation keeping is important for multiple Unmanned Aerial Vehicles(multi-UAV)to fully play their roles in cooperative combats and improve their mission success rate.However,in practical applications,it is difficult to achieve formation keeping precisely and obstacle avoidance autonomously at the same time.This paper proposes a joint control method based on robust H∞ controller and improved Artificial Potential Field(APF)method.Firstly,we build a formation flight model based on the “Leader-Follower”structure and design a robust H∞ controller with three channels X,Y and Z to eliminate dynamic uncertainties,so as to realize high-precision formation keeping.Secondly,to fulfill obstacle avoidance efficiently in complex situations where UAVs fly at high speed with high inertia,this paper comes up with the improved APF method with deformation factor considered.The judgment criterion is proposed and applied to ensure flight safety.In the end,the simulation results show that the designed controller is effective with the formation keeping a high accuracy and in the meantime,it enables UAVs to avoid obstacles autonomously and recover the formation rapidly when coming close to obstacles.Therefore,the method proposed here boasts good engineering application prospect.

Multiple air route crossing waypoints optimization via artificial potential field method

Air route crossing waypoint optimization is one of the effective ways to improve airspace utilization,capacity and resilience in dealing with air traffic congestion and delay.However,research is lacking on the optimization of multiple Crossing Waypoints(CWPs)in the fragmented airspace separated by Prohibited,Restricted and Dangerous areas(PRDs).To tackle this issue,this paper proposes an Artificial Potential Field(APF)model considering attractive forces produced by the optimal routes and repulsive forces generated by obstacles.An optimization framework based on the APF model is proposed to optimize the different airspace topologies varying the number of CWPs,air route segments and PRDs.Based on the framework,an adaptive method is developed to dynamically control the optimization process in minimizing the total air route cost.The proposed model is applied to a busy controlled airspace.And the obtained results show that after optimization the safety-related indicators:conflict number and controller workload reduced by 7.75%and 6.51%respectively.As for the cost-effectiveness indicators:total route length,total air route cost and non-linear coefficient,declined by 1.74%,3.13%and 1.70%respectively.While the predictability indicator,total flight delay,saw a notable reduction by 7.96%.The proposed framework and methodology can also provide an insight in the understanding of the optimization to other network systems.

Psychological potential field and human eye fixation on binary line-drawing images: A comparative experimental study

Quantitatively evaluating the psychological and perceptual effects of objects is an important issue,but is difficult. In cognitive studies, the psychological potential field(PPF), which represents psychological intensities in vision and can be calculated by applying computational algorithms to digital images, may help with this issue. Although studies have reported using the PPF to evaluate psychological effects, such as impressions, detailed investigations on how the PPF represents psychological perception and its limitations have not yet been performed. Another relevant tool is the fixation map, which visualizes human eye fixations;this map is generated from actual measurements acquired by eye-tracking and does not represent psychological effects directly. Although the PPF and the fixation map are based on visual imaging, they have never been compared. In this paper, we do so for the first time, using psychological and perceptual properties of line-drawing images. The results demonstrate the difference between these methods, including their representation of different properties with respect to visual perception. Moreover, the similarity between the two methods highlights the possibility of assessing perceptual phenomena such as categorization and cognition of objects based on human vision.

Simulation research for mobile robot path planning based on improved artificial potential field method recommended by the AsiaSim

Mobile robot path planning is an important research branch in the field of mobile robots.The main disadvantage of the traditional artificial potential field(APF)method is prone to local minima problems.Improved artificial potential field(IAPF)method is presented in this paper to solve the problem in the traditional APF method for robot path planning in different conditions.We introduce the distance between the robot and the target point to the function of the original repulsive force field and change the original direction of the repulsive force to avoid the trap problem caused by the local minimum point.The IAPF method is suitable for mobile robot path planning in the complicated environment.Simulation and experiment results at the robot platform illustrated the superiority of the modified IAPF method.

Hippocampal ischemia causes deficits in local field potential and synaptic plasticity

The long-term enhancement in glutamate receptor mediated excitatory responses has been observed in stroke model. This pathological form of plasticity, termed post-ischemic long-term potentiation （i-LTP）, points to functional reorganization after stroke. Little is known, however, about whether and how this i-LTP would affect subsequent induction of synaptic plasticity. Here, we first directly confirmed that i-LTP was induced in the endothelin-l-induced ischemia model as in other in vitro models. We also demonstrated increased expression of NR2B, CaMKII and p-CaMKII, which are reminiscent of i-LTP. We further induced LTP of field excitatory post- synaptic potentials （fEPSPs） on CA1 hippocampal neurons in peri-infarct regions of the endothelin-l-induced mini-stroke model. We found that LTP of fEPSPs, induced by high-frequency stimulation, displayed a progressive impairment at 12 and 24 hours after ischemia. Moreover, using in vivo multi-channel recording, we found that the local field potential, which represents electrical property of cell ensembles in more restricted regions, was also dam- pened at these two time points. These results suggest that i-LTP elevates the induction threshold of subsequent synap- tic plasticity. Our data helps to deepen the knowledge of meta-synaptic regulation of plasticity after focal ischemia.

Molecular properties and potential energy function model of BH under external electric field

Using the density functional B3P86/cc-PV5Z method, the geometric structure of BH molecule under different external electric fields is optimized, and the bond lengths, dipole moments, vibration frequencies, and other physical properties parameters are obtained. On the basis of setting appropriate parameters, scanning single point energies are obtained by the same method and the potential energy curves under different external fields are also obtained. These results show that the physical property parameters and potential energy curves may change with external electric field, especially in the case of reverse direction electric field. The potential energy function without external electric field is fitted by Morse potential, and the fitting parameters are obtained which are in good agreement with experimental values. In order to obtain the critical dissociation electric parameter, the dipole approximation is adopted to construct a potential model fitting the corresponding potential energy curve of the external electric field. It is found that the fitted critical dissociation electric parameter is consistent with numerical calculation, so that the constructed model is reliable and accurate. These results will provide important theoretical and experimental reference for further studying the molecular spectrum, dynamics, and molecular cooling with Stark effect.

The role of local field potential coupling in epileptic synchronization

This review hopes to clearly explain the following viewpoints： （1） Neuronal synchronization underlies brain functioning, and it seems possible that blocking excessive synchronization in an epileptic neural network could reduce or even control seizures. （2） Local field potential coupling is a very common phenomenon during synchronization in networks. Removal of neurons or neuronal networks that are coupled can significantly alter the extracellular field potential. Interventions of coupling mediated by local field potentials could result in desynchronization of epileptic seizures. （3） The synchronized electrical activity generated by neurons is sensitive to changes in the size of the extracellular space, which affects the efficiency of field potential transmission and the threshold of cell excitability. （4） Manipulations of the field potential fluctuations could help block synchronization at seizure onset.

The Analytical Potential Energy Function of NH Radical Molecule in External Electric Field

The geometric structures of an Nit radical in different external electric fields are optimized by using the density functional B3P86/cc-PVSZ method, and the bond lengths, dipole moments, vibration frequencies and IR spectrum are obtained. The potential energy curves are gained by the CCSD （T） method with the same basis set. These results indicate that the physical property parameters and potential energy curves may change with the external electric field, especially in the reverse direction electric field. The potential energy function of zero field is fitted by the Morse potential, and the fitting parameters are in good accordance with the experimental data. The potential energy functions of different external electric fields are fitted adopting the constructed potential model. The fitted critical dissociation electric parameters are shown to be consistent with the numerical calculation, and the relative errors are only 0.27% and 6.61%, hence the constructed model is reliable and accurate. The present results provide an important reference for further study of the molecular spectrum, dynamics and molecular cooling with Stark effect.

Effect of focused ultrasound stimulation at different ultrasonic power levels on the local field potential power spectrum

Local field potential(LFP) signals of the rat hippocampus were recorded under noninvasive focused ultrasound stimulation(FUS) with different ultrasonic powers. The LFP mean absolute power was calculated with the Welch algorithm at the delta, theta, alpha, beta, and gamma frequency bands. The experimental results demonstrate that the LFP mean absolute power at different frequency bands increases as the ultrasound power increases.

SOLPS-ITER drift modeling of neon impurity seeded plasmas in EAST with favorable and unfavorable toroidal magnetic field direction

To better understand divertor detachment and asymmetry in the Experimental Advanced Superconducting Tokamak(EAST),drift modeling via the comprehensive edge plasma code SOLPS-ITER of neon impurity seeded plasmas in favorable/unfavorable toroidal magnetic field(BT)has been performed.Firstly,electrostatic potential/field(f/E)distribution has been analyzed,to make sure that f and E are correctly described and to better understand drift-driven processes.After that,drift effects on divertor detachment and asymmetry have been focused on.In accordance with the corresponding experimental observations,simulation results demonstrate that in favorable BTthe onset of detachment is highly asymmetric between the inner and outer divertors;and reversing BT can significantly decrease the magnitude of in-out asymmetry in the onset of detachment,physics reasons for which have been explored.It is found that,apart from the well-known E×B drift particle flow from one divertor to the other through the private flux region,scrape-off layer(SOL)heat flow,which is much more asymmetrically distributed between the high field side and low field side for favorable BTthan that for unfavorable B_T,is also a critical parameter affecting divertor detachment and asymmetry.During detachment,upstream pressure(P_u)reduction occurs and tends to be more dramatical in the colder side than that in the hotter side.The convective SOL heat flow,emerging due to in-out asymmetry in P_u reduction,is found to be critical for understanding divertor detachment and asymmetry observed in EAST.To better understand the calculated drastic power radiation in the core and upstream SOL,drift effects on divertor leakage/retention of neon in EAST with both BTdirections have been addressed for the first time,by analyzing profile of poloidal neon velocity and that of neon ionization source from atoms.This work can be a reference for future numeric simulations performed more closely related to experimental regimes.

Promising application of a new ulnar nerve compound muscle action potential measurement montage in amyotrophic lateral sclerosis:a prospective cross-sectional study

Previous studies have shown that ulnar nerve compound muscle action potential recorded by the conventional“belly-tendon”montage does not accurately and completely reflect the action potential of the ulnar nerve dominating the abductor digiti minimi muscle due to the effects of far-field potentials of intrinsic hand muscles.A new method of ulnar nerve compound muscle action potential measurement was developed in 2020,which adjusts the E2 electrode from the distal tendon of the abductor digitorum to the middle of the back of the proximal wrist.This new method may reduce the influence of the reference electrode and better reflect the actual ulnar nerve compound muscle action potential.In this prospective cross-sectional study,we included 64 patients with amyotrophic lateral sclerosis and 64 age-and sex-matched controls who underwent conventional and novel ulnar nerve compound muscle action potential measurement between April 2020 and May 2021 in Peking University Third Hospital.The compound muscle action potential waveforms recorded by the new montage were unimodal and more uniform than those recorded by traditional montage.In the controls,no significant difference in the compound muscle action potential waveforms was found between the traditional montage and new montage recordings.In amyotrophic lateral sclerosis patients presenting with abductor digiti minimi spontaneous activity and muscular atrophy,the amplitude of compound muscle action potential-pE2 was significantly lower than that of compound muscle action potential-dE2(P<0.01).Using the new method,damaged axons were more likely to exhibit more severe amplitude decreases than those measured with the traditional method,in particular for patients in early stage amyotrophic lateral sclerosis.In addition,the decline in compound muscle action potential amplitude measured by the new method was correlated with a decrease in Revised Amyotrophic Lateral Sclerosis Functional Rating Scale scores.These findings suggest that the new ulnar nerve compound muscle action potential measurement montage reduces the effects of the reference electrode through altering the E2 electrode position,and that this method is more suitable for monitoring disease progression than the traditional montage.This method may be useful as a biomarker for longitudinal follow-up and clinical trials in amyotrophic lateral sclerosis.

A Dynamical Approach to the Explanation of the Upper Critical Field Data of Compressed H3S

Excellent fits were obtained by Talantsev (MPLB 33, 1950195, 2019) to the temperature (T)-dependent upper critical field (Hc2(T)) data of H3S reported by Mozaffari et al. [Nature Communications 10, 2522 (2019)] by employing four alternative phenomenological models, each of which invoked two or more properties from its sample-specific set S1 = {Tc, gap, coherence length, penetration depth, jump in sp.ht.} and a single value of the effective mass (m*) of an electron. Based on the premise that the variation of Hc2(T) is due to the variation of the chemical potential μ(T), we report here fits to the same data by employing a T-, μ- and m*-dependent equation for Hc2(T) and three models of μ(T), viz. the linear, the parabolic and the concave-upward model. For temperatures up to which the data are available, each of these provides a good fit. However, for lower values of T, their predictions differ. Notably, the predicted values of Hc2(0) are much higher than in any of the models dealt with by Talantsev. In sum, we show here that the addressed data are explicable in a framework comprising the set S2 = {μ, m*, interaction parameter λm, Landau index NL}, which is altogether different from S1.

Path Planning for AUVs Based on Improved APF-AC Algorithm

With the increase in ocean exploration activities and underwater development,the autonomous underwater vehicle(AUV)has been widely used as a type of underwater automation equipment in the detection of underwater environments.However,nowadays AUVs generally have drawbacks such as weak endurance,low intelligence,and poor detection ability.The research and implementation of path-planning methods are the premise of AUVs to achieve actual tasks.To improve the underwater operation ability of the AUV,this paper studies the typical problems of path-planning for the ant colony algorithm and the artificial potential field algorithm.In response to the limitations of a single algorithm,an optimization scheme is proposed to improve the artificial potential field ant colony(APF-AC)algorithm.Compared with traditional ant colony and comparative algorithms,the APF-AC reduced the path length by 1.57%and 0.63%(in the simple environment),8.92%and 3.46%(in the complex environment).The iteration time has been reduced by approximately 28.48%and 18.05%(in the simple environment),18.53%and 9.24%(in the complex environment).Finally,the improved APF-AC algorithm has been validated on the AUV platform,and the experiment is consistent with the simulation.Improved APF-AC algorithm can effectively reduce the underwater operation time and overall power consumption of the AUV,and shows a higher safety.