A digital twins enabled underwater intelligent internet vehicle path planning system via reinforcement learning and edge computing

The Autonomous Underwater Glider(AUG)is a kind of prevailing underwater intelligent internet vehicle and occupies a dominant position in industrial applications,in which path planning is an essential problem.Due to the complexity and variability of the ocean,accurate environment modeling and flexible path planning algorithms are pivotal challenges.The traditional models mainly utilize mathematical functions,which are not complete and reliable.Most existing path planning algorithms depend on the environment and lack flexibility.To overcome these challenges,we propose a path planning system for underwater intelligent internet vehicles.It applies digital twins and sensor data to map the real ocean environment to a virtual digital space,which provides a comprehensive and reliable environment for path simulation.We design a value-based reinforcement learning path planning algorithm and explore the optimal network structure parameters.The path simulation is controlled by a closed-loop model integrated into the terminal vehicle through edge computing.The integration of state input enriches the learning of neural networks and helps to improve generalization and flexibility.The task-related reward function promotes the rapid convergence of the training.The experimental results prove that our reinforcement learning based path planning algorithm has great flexibility and can effectively adapt to a variety of different ocean conditions.

Rural Revitalization Planning under the Territorial Spatial Planning System

With the rapid development of China’s social economy,village planning is increasingly important.Departments should fully draw up practical village plan“integrating various plans”.In the context of“rural revitalization”,how to better promote“rural revitalization”and realize the concept that“lucid waters and lush mountains are invaluable assets”is a difficult problem in front of everyone.After many years of pilot of“integrating various plans”,“five levels,three categories and four systems”have been formed,but the territorial spatial planning in the new era under the construction of ecological civilization still faces many problems and challenges.In this paper,the practical village planning of“integrating various plans”under the background of territorial spatial planning was analyzed,aiming to establish and improve a complete rural spatial system and provide an effective scheme for rural governance mechanism by analyzing and refining the key points of rural planning.

Shipbuilding—An Analysis from the Perspective of Enterprise Resources Planning System

Designed as a tool for business intelligence, resource planning is used to manage the essentials of a business by integrating processes into a single system. Enterprise Resource Planning (ERP) solutions ensure all the organizational, operational, and procedural structures interconnection, which can be both an advantage and a disadvantage, knowing that inefficiency within one structure will lead to inefficiency in others. The originality of the approach consists in the unitary analysis of all processes which shipbuilding involves (design;evaluation of ship construction possibilities;contracting of works;contracting of supply of materials and equipment;presentation of inspections for the completed works reception;delivery of the ship into operation). The systemic approach is a notable contribution by highlighting the input and output quantities for the analyzed processes. Also, where it was found relevant, the diagrams highlight the owners of the process and show the interconnectivity of the functional departments within a shipyard. Although it is obviously the expression of in-depth knowledge of the peculiarities of Romanian shipyards, the authors hope that the work can support any shipyard that may be interested in knowing these structures (as a logical scheme mandatory to design a custom ERP software system).

Timeline based autonomous mission planning system for deep space exploration

In order to realize the explorer autonomy, the software architecture of autonomous mission management system (AMMS) is given for the deep space explorer, and the autonomous mission planning system, the kernel part of this architecture, is designed in detail. In order to describe the parallel activity, the state timeline is introduced to build the formal model of the planning system and based on this model, the temporal constraint satisfaction planning algorithm is proposed to produce the explorer’s activity sequence. With some key subsystems of the deep space explorer as examples, the autonomous mission planning simulation system is designed. The results show that this system can calculate the executable activity sequence with the given mission goals and initial state of the explorer.

Autonomous planning system based on temporal constraint satisfaction

In order to realize spacecraft autonomy activity duration and complex temporal relations must be taken into consideration. In the space mission planning system, the traditional planners are unable to describe this knowledge, so an object-oriented temporal knowledge representation method is proposed to model every activity as an object to describe the activity's duration, start-time, end-time and the temporal relations with other activities. The layered planning agent architecture is then designed for spacecraft autonomous operation, and the functions of every component are given. A planning algorithm based on the temporal constraint satisfaction is built in detail using this knowledge representation and system architecture. The prototype of Deep Space Mission Autonomous Planning System is implemented. The results show that with the object-oriented temporal knowledge description method, the space mission planning system can be used to describe simultaneous activities, resource and temporal constraints, and produce a complete plan for exploration mission quickly under complex constraints.

An Architecture of Computer Aided Process Planning System Integrated with Scheduling Using Decision Support System

Process planning and scheduling are two major plann in g and control activities that consume significant part of the lead-time, theref ore all attempts are being made to reduce lead-time by automating them. Compute r Aided Process Planning (CAPP) is a step in this direction. Most of the existin g CAPP systems do not consider scheduling while generating a process plan. Sched uling is done separately after the process plan has been generated and therefore , it is possible that a process plan so generated is either not optimal or feasi ble from scheduling point of view. As process plans are generated without consid eration of job shop status, many problems arise within the manufacturing environ ment. Investigations have shown that 20%～30% of all process plans generated are not valid and have to be altered or suffer production delays when production sta rts. There is thus a major need for integration of scheduling with computer aide d process planning for generating more realistic process plans. In doing so, eff iciency of the manufacturing system as a whole is expected to improve. Decision support system performs many functions such as selection of machine too ls, cutting tools, sequencing of operations, determination of optimum cutting pa rameters and checking availability of machine tool before allocating any operati on to a machine tool. The process of transforming component data, process capabi lity and decision rules into computer readable format is still a major obstacle. This paper proposes architecture of a system, which integrates computer aided p rocess-planning system with scheduling using decision support system. A decisio n support system can be defined as " an interactive system that provides the use rs with easy access to decision models in order to support semi-structured or u nstructured decision making tasks".

Application of Structuration Theory and Activity Theory in Enterprise Resources Planning Systems Implementation for Universities

An integration of organization culture in the conceptualization and development of Enterprise Resource Planning Systems （ERPs） is critical for an organization to reap potential benefits of the system. In this paper, the authors present an analytical approach through the Structuration Theory： How a university can assess its culture for the purposes of design and development of the ERPs. The authors extend the Structuration Theory by integrating it with the Activity Theory to provide the means of evaluating the activities that the system is to perform. The modified Orlikowski model is applied to depict the relationship between institutional properties, human agents, and technology in the university setup and how this offers a more inclusive approach to ERP systems development and implementation.

Integrated Virtual Assembly Process Planning System

Assembly process planning（APP） for complicated products is a time-consuming and difficult work with conventional method. Virtual assembly process planning（VAPP） provides engineers a new and efficiency way. Previous studies in VAPP are almost isolated and dispersive, and have not established a whole understanding and discussed key realization techniques of VAPP from a systemic and integrated view. The integrated virtual assembly process planning（IVAPP） system is a new virtual reality based engineering application, which offers engineers an efficient, intuitive, immersive and integrated method for assembly process planning in a virtual environment. Based on analysis the information integration requirement of VAPP, the architecture of IVAPP is proposed. Through the integrated structure, IVAPP system can realize information integration and workflow controlling. In order to mode/the assembly process in IVAPP, a hierarchical assembly task list（HATL） is presented, in which different assembly tasks for assembling different components are organized into a hierarchical list. A process-oriented automatic geometrical constraint recognition algorithm（AGCR） is proposed, so that geometrical constraints between components can be automatically recognized during the process of interactive assembling. At the same time, a progressive hierarchical reasoning（PHR） model is discussed. AGCR and PHR will greatly reduce the interactive workload. A discrete control node model（DCNM） for cable harness assembly planning in IVAPP is detailed. DCNM converts a cable harness into continuous flexed line segments connected by a series of section center points, and designs can realize cable harness planning through controlling those control nodes. Mechanical assemblies （such as transmission case and engine of automobile） are used to illustrate the feasibility of the proposed method and algorithms. The application of IVAPP system reveals advantages over the traditional assembly process planning method in shortening the time-consumed in assembly planning and in minimizing the handling difficulty, excessive reorientation and dissimilarity of assembly operations.

Emergency Tasks Planning Based on Formal Modeling of Emergency Plan and HTN Planning System SHOP2

A theoretical approach of ordered emergency tasks generation is proposed for dealing with a specific emergency event rapidly, exactly and effectively. According to the general principles of an emergency plan developed to response to an emergency management, a workflow model is employed to complete the formal modeling of concrete emergency plan firstly. Then the HTN planning system SHOP2 is introduced, the transformation method of domain knowledge from emergency domain to SHOP2 domain is studied. At last, the general procedure to solve the emergency decision prob-lems and to generate executive emergency tasks is set up drawing support from SHOP2 planning system, which will combine the principles (or knowledge) of emergency plan and the real emergency situations.

Context-Aware Tour Planning System Based on Satisfaction Model

With the development of communication and ubiquitous computing technologies, context-aware services, which acquire contextual information of users and environment, have become critical applications providing customization in mobile commerce. Meanwhile, tourism has attracted increasing attention as a high value-added service and a hot academic topic. However, the research on how to provide tour services based on context-aware services is in fact still at an early stage, limited to concept elaboration, service framework discussion, prototype system development etc. In this paper, we summarized the previous researches on context-aware services to establish the research foundation, put forward a way of analyzing a tour planning problem with a modified model of Traveling Salesman Problem （TSP） and Vehicle Routing Problem （VRP）, and we applied an innovated Resource Constrain Project Scheduling Problem （RCPSP） mathematical model to solve the tour planning problem based on context information. The simulation under branch and bound algoritban evaluated the validity of our solution.

A Practical Method to Evaluate and Verify Dose Calculation Algorithms in the Treatment Planning System of Radiation Therapy

Purpose: To introduce a practical method of using an Electron Density Phantom (EDP) to evaluate different dose calculation algorithms for photon beams in a treatment planning system (TPS) and to commission the Anisotropic Analytical Algorithm (AAA) with inhomogeneity correction in Varian Eclipse TPS. Methods and Materials: The same EDP with various tissue-equivalent plugs (water, lung exhale, lung inhale, liver, breast, muscle, adipose, dense bone, trabecular bone) used to calibrate the computed tomography (CT) simulator was adopted to evaluate different dose calculation algorithms in a TPS by measuring the actual dose delivered to the EDP. The treatment plans with a 6-Megavolt (MV) single field of 20 × 20, 10 × 10, and 4 × 4 cm2 field sizes were created based on the CT images of the EDP. A dose of 200 cGy was prescribed to the exhale-lung insert. Dose calculations were performed with AAA with inhomogeneity correction, Pencil Beam Convolution (PBC), and AAA without inhomogeneity correction. The plans were delivered and the actual doses were measured using radiation dosimetry devices MapCheck, EDR2-film, and ionization chamber respectively. Measured doses were compared with the calculated doses from the treatment plans. Results: The calculated dose using the AAA with inhomogeneity correction was most consistent with the measured dose. The dose discrepancy for all types of tissues covered by beam fields is at the level of 2%. The effect of AAA inhomogeneity correction for lung tissues is over 14%. Conclusions: The use of EDP and Map Check to evaluate and commission the dose calculation algorithms in a TPS is practical. In Varian Eclipse TPS, the AAA with inhomogeneity correction should be used for treatment planning especially when lung tissues are involved in a small radiation field.

Motion Planning System for Bin Picking Using 3-D Point Cloud

In this paper, we propose a motion planning system for bin picking using 3-D point cloud. The situation that the objects are put miscellaneously like the inside in a house is assumed. In the home, the equipment which makes an object stand in line doesn’t exist. Therefore the motion planning system which considered a collision problem becomes important. In this paper, Information on the objects is measured by a laser range finder (LRF). The information is used as 3-D point cloud, and the objects are recognized by model-base. We propose search method of a grasping point for two-fingered robotic hand, and propose search method of a path to approach the grasping point without colliding with other objects.

MULTI-AGENT COMPUTER AIDED ASSEMBLY PROCESS PLANNING SYSTEM FOR SHIP HULL

A multi agent computer aided assembly process planning system (MCAAPP) for ship hull is presented. The system includes system framework, global facilitator, the macro agent structure, agent communication language, agent oriented programming language, knowledge representation and reasoning strategy. The system can produce the technological file and technological quota, which can satisfy the production needs of factory.

Experience of the UK in Urban and Rural Planning System and Rural Planning Management and Recommendations for China

Based on the field survey,training and related literature review of urban and rural planning system and rural planning management and protection in the UK,this paper summarized the development history,basic experience and main characteristics of the UK's urban and rural planning system and rural planning management.It is intended to analyze its reference significance to China's current efforts to strengthen agricultural and rural planning management,promote urban and rural development,and promote the construction of new urbanization.It was found that the establishment of the UK's urban and rural planning system can be contributed to the problem of "urban diseases" arising from the process of urbanization development.Its development has undergone many revisions and adjustments,and has now formed a two-level planning structure,namely "regional spatial strategies" and "local development framework";the UK's urban and rural planning system stresses the planning management and protection of rural areas and small towns,and has formed a series of important rules and systems.In the process of urbanization development,the UK has completely preserved the historical buildings,local culture and landscape environment of traditional villages,which is worthy of our learning.With reference to the experience of the UK,in the process of coordinating urban and rural development and promoting new urbanization construction,it is recommended to give full play to the guiding role of planning and the participation of the public,attach great importance to the protection and planning management of agriculture and rural areas,and also emphasize the re-innovation based on China's national conditions.

Integration of Enterprise Resource Planning System Based on SOAP

While the enterprise resource planning (ERP) systems become more and more complex, the traditional tools such as DCOM, CORBA or EJB encounter more difficulties than before especially when heterogenous and distributed environment and multiple companies are involved. The newly born international specification SOAP brings a new solution to ERP because of its simplicity and high extensibility. This paper analyses the techniques to extend basic SOAP to implement ERP system. The techniques, including data envelope, dynamically and loosely coupled remote process calling (RPC), support to the multiple communication protocol, and security and performance improvement, greatly enhance the ability of basic SOAP and make it capable to accomplish the integration task in large scale ERP systems. All the techniques we discusse here are successfully utilized in the ERP system in the Three Gorge Cascade Dispatch Center of China Three Gorge Project Corporation.

Dose Distributions in Simulated Electron Radiotherapy with Intraoral Cones Using Treatment Planning System

Aim: This study aims to evaluate the difference between depth data from an intraoral cone and a conventional irradiation tube calculated using a treatment planning system (TPS), and that measured using an intraoral cone for electron radiotherapy. Background: A TPS is only compatible with conventional irradiation tubes. However, such systems are not suitable for determining dose distributions when a special cone is employed. Materials and Methods: Dose distributions were calculated using the beam data for mounted intraoral cones using a TPS. Then, the dose distribution by field size was calculated for a low-melting-point lead alloy using the beam data for a mounted conventional tube. The calculated data were evaluated against the measured intraoral-cone depth data based on the dose and depth differences. Results: The calculated data for the intraoral cone case did not match the measured data. However, the depth data obtained considering the field size determined for the lead alloy using the conventional tube were close to the measured values for the intraoral cone case. The difference in the depth at which the absorbed dose was 50% of the maximum value of the percentage depth dose was less than ±4 mm for the generalized Gaussian pencil beam convolution algorithm and less than ±1 mm for the electron Monte Carlo algorithm. Conclusion: It was found that the measured and calculated dose distributions were in agreement, especially when then electron Monte Carlo algorithm was used. Thus, the TPS can be employed to determine dose distributions for intraoral cone applications.

Case Analysis for USV Integrated Mission Planning System

Advanced countries around the world are spurring the development of Unmanned Surface Vehicles (USVs) that can operate autonomously at marine environment. The key enabling technology for such USVs is the mission planning system (MPS) that can autonomously navigate through the harsh waters. The MPS not only has the functions for the navigation, but also has the capabilities, such as obstacle avoidance, malfunction corrections, dealing with unexpected events, return home functions, and many other eventualities that cannot be programmed in advance. The autonomy levels are increasingly moving higher and it is foreseeable that the trend will continue in the future. The main purpose of this paper is the analysis of the MPS onboard the USVs, in terms of the categories, functions, and technological details. Also, we analyze the case study of autonomous mission planning control systems in various fields and introduce the features that constitute the critical functionalities of the mission planning systems.

Remote Operation SW for USV: Part I. Integrated Mission Planning System

The integrated Mission Planning System?(MPS) of Unmanned Surface Vehicle?(USV) refers to the process which can recognize, decide, plan situations and carry out missions, such as human beings, for all incidental or complex events occurring at sea. In the actual operating environment, it is necessary to develop a simulation software environment and analyze, verify it in advance so as to make an appropriate mission plan considering equipment, sensor, fuel, and other available resources. The existing USV mission planning process methodology has several limitations in the analysis of USV missions because the scenario to be tested is limited and autonomy of USV is not considered sufficiently. To overcome these problems, we constructed a process that considers various missions and is more autonomous, and an integrated environment in which to experiment. In this study, we designed a multi-agent based USV Integrated Mission Planning System and modeled each component. In addition, we constructed the USV remote operation S/W based on M&S that user can experiment with the modeled process and verified the usefulness of the developed system through simulations.

MAHIS-based analysis and design of financial investment planning system

In financial investment planning,a large number of components that interact in varying and complexways are involved.This leads to complex behavior that is difficult to understand,predict and manage.Asingle intelligent technique can not solve the complicated and elaborate investment planning problems.Itis necessary to study those problems synthetically by combining the multiple intelligent techniques.Weemployed fussy algorithms,genetic algorithms,etc.to solve complicated financial portfolio managementin this paper.We analyse and design an agent-based hybrid intelligent system by following the methodolo-gy for constructing agent-based hybrid intelligent system(MAHIS).The system starts with the financialrisk tolerance evaluation based on fussy algorithms.Asset allocation,portfolio selections,interest predic-tions,and ordered weighted averaging can be conducted by using hybrid intelligent techniques.The plan-ning agent in the system can easily access all the intelligent processing agents,including the agents of fi-nancial risk tolerance assessment,asset allocation,portfolio selection,interest prediction,and decisionaggregation.Overall system robustness is facilitated.

Participatory Road Planning System in Japan and Its Enlightenment

Japan has introduced public participation into road planning processes in recent years. This paper firstly describes the Japanese institutional system of public participation in infrastructure planning; then it focuses on the institutionalization of participatory road planning procedure and road planning framework. Taking Yokohama Northwest Line for an example, it explains the planning procedure and public participation techniques in detail and analyzes the special advanced characteristics of the procedure. Finally, it suggests that China could learn the following experience from Japan: the institutionalization of participatory planning procedure, detailed division of road planning stages, setup of third-party organization, full publicity of information, and adoption of public suggestion, and implementation of multiple involvement techniques.