Cooperative Path Dynamic Planning Model of UCAV Team Based on Global Optimization Method

Cooperative path dynamic planning of a UCAV （unmanned combat air vehicle） team not only considers the capability of task requirement of single UCAV, but also considers the cooperative dynamic connection among members of the UCAV team. A cooperative path dynamic planning model of the UCAV team by applying a global optimization method is discussed in this paper and the corresponding model is built and analyzed. By the example simulation, the reasonable result acquired indicates that the model could meet dynamic planning demand under the circumstance of membership functions. The model is easy to be realized and has good practicability.

Cooperative path planning for multi-AUV in time-varying ocean flows

For low-speed underwater vehicles, the ocean currents has a great influence on them, and the changes in ocean currents is complex and continuous, thus whose impact must be taken into consideration in the path planning. There are still lack of authoritative indicator and method for the cooperating path planning. The calculation of the voyage time is a difficult problem in the time-varying ocean, for the existing methods of the cooperating path planning, the computation time will increase exponentially as the autonomous underwater vehicle（AUV） counts increase, rendering them unfeasible. A collaborative path planning method is presehted for multi-AUV under the influence of time-varying ocean currents based on the dynamic programming algorithm. Each AUV cooperates with the one who has the longest estimated time of sailing, enabling the arrays of AUV to get their common goal in the shortest time with minimum timedifference. At the same time, they could avoid the obstacles along the way to the target. Simulation results show that the proposed method has a promising applicability.

Cooperative Sampling Path Planning of Underwater Glider Fleet with Simultaneous Launch and Recovery

As low-cost and highly autonomous ocean observation platforms,underwater gliders encounter risks during their launch and recovery,especially when coordinating multi-glider deployments.This work focuses on cooperative path planning of an underwater glider fleet with simultaneous launch and recovery to enhance the autonomy of sampling and reduce deployment risks.Specifically,the gliders collaborate to achieve sampling considering the specified routines of interest.The overall paths to be planned are divided into four rectangular parts with the same starting point,and each glider is assigned a local sampling route.A clipped-oriented line-of-sight algorithm is proposed to ensure the coverage of the desired edges.The pitch angle of the glider is selected as the optimizing parameter to coordinate the overall progress considering the susceptibility of gliders to currents and the randomness of paths produced by complex navigational strategies.Therefore,a multi-actuation deep-Q network algorithm is proposed to ensure simultaneous launch and recovery.Simulation results demonstrate the acceptable effectiveness of the proposed method.

Application of Nursing Cooperation Path in Operating Room and Analysis of Complication Rate During Laparoscopic Hysterectomy

Objective:To explore the clinical benefits achieved by implementing the operating room nursing cooperation path for patients undergoing laparoscopic hysterectomy.Methods:64 laparoscopic hysterectomy cases were divided into groups according to the order of admission.The control group received routine perioperative care.The observation group implemented the nursing cooperation path in the operating room on the same basis as the control group.The two groups’physiological responses,stimulus indicators,anxiety,and complication rates were compared.Results:The heart rate,blood pressure 0.5 hours after surgery,anxiety scores 1 day before and 3 days after surgery,and the total number of complications in the observation group were all lower than those in the control group(P<0.05).Conclusion:The development of a nursing cooperation path in the operating room can help patients undergoing laparoscopic hysterectomy reduce heart rate,blood pressure,stress responses,and the risk of complications,and is worthy of promotion.

Dynamic collision avoidance for cooperative fixed-wing UAV swarm based on normalized artificial potential field optimization

Cooperative path planning is an important area in fixed-wing UAV swarm.However,avoiding multiple timevarying obstacles and avoiding local optimum are two challenges for existing approaches in a dynamic environment.Firstly,a normalized artificial potential field optimization is proposed by reconstructing a novel function with anisotropy in each dimension,which can make the flight speed of a fixed UAV swarm independent of the repulsive/attractive gain coefficient and avoid trapping into local optimization and local oscillation.Then,taking into account minimum velocity and turning angular velocity of fixed-wing UAV swarm,a strategy of decomposing target vector to avoid moving obstacles and pop-up threats is proposed.Finally,several simulations are carried out to illustrate superiority and effectiveness.

Class hierarchical test case generation algorithm based on expanded EMDPN model

A new model of event and message driven Petri network(EMDPN) based on the characteristic of class interaction for messages passing between two objects was extended. Using EMDPN interaction graph, a class hierarchical test-case generation algorithm with cooperated paths (copaths) was proposed, which can be used to solve the problems resulting from the class inheritance mechanism encountered in object-oriented software testing such as oracle, message transfer errors, and unreachable statement. Finally, the testing sufficiency was analyzed with the ordered sequence testing criterion(OSC). The results indicate that the test cases stemmed from newly proposed automatic algorithm of copaths generation satisfies synchronization message sequences testing criteria, therefore the proposed new algorithm of copaths generation has a good coverage rate.

Cooperative guidance strategy for multiple hypersonic gliding vehicles system

Cooperative guidance strategy for multiple hypersonic gliding vehicles system with flight constraints and cooperative constraints is investigated.This paper mainly cares about the coordination of the entry glide flight phase and driving-down phase.Different from the existing results,both the attack time and the attack angle constraints are considered simultaneously.Firstly, for the entry glide flight phase, a two-stage method is proposed to achieve the rapid cooperative trajectories planning, where the control signal corridors are designed based on the quasi-equilibrium gliding conditions.In the first stage, the bank angle curve is optimized to achieve the attack angle coordination.In the second stage, the angle of attack curve is optimized to achieve the attack time coordination.The optimized parameters can be obtained by the secant method.Secondly, for the driving-down phase, the cooperative terminal guidance law is designed where the terminal attack time and attack angle are considered.The guidance law is then transformed into the bank angle and angle of attack commands.The cooperative guidance strategy is summarized as an algorithm.Finally, a numerical simulation example with three hypersonic gliding vehicles is provided for revealing the effectiveness of the acquired strategy and algorithm.