When using the beam scanning method for particle beam therapy, the target volume is divided into many iso-energy slices and is irradiated slice by slice. Each slice may comprise thousands of discrete scanning beam pos...When using the beam scanning method for particle beam therapy, the target volume is divided into many iso-energy slices and is irradiated slice by slice. Each slice may comprise thousands of discrete scanning beam positions. An optimized scanning path can decrease the transit dose and may bypass important organs. The minimization of the scanning path length can be considered as a variation of the traveling salesman problem; the simulated annealing algorithm is adopted to solve this problem. The initial scanning path is assumed as a simple zigzag path;subsequently, random searches for accepted new paths are performed through cost evaluation and criteria-based judging. To reduce the optimization time of a given slice,random searches are parallelized by employing thousands of threads. The simultaneous optimization of multiple slices is realized by using many thread blocks of generalpurpose computing on graphics processing units hardware.Running on a computer with an Intel i7-4790 CPU and NVIDIA K2200 GPU, our new method required only 1.3 s to obtain optimized scanning paths with a total of 40 slices in typically studied cases. The procedure and optimization results of this new method are presented in this work.展开更多
随着产业的不断发展,各领域尝试利用全自动商用机器人提升生产工作效率,降低重复劳动成本,解放生产力。商用清扫机器人广泛应用于商业、办公以及制造领域,是新兴的一个产业,其中推进商用清扫机器人全自动化运行是商用清扫机器人中的重...随着产业的不断发展,各领域尝试利用全自动商用机器人提升生产工作效率,降低重复劳动成本,解放生产力。商用清扫机器人广泛应用于商业、办公以及制造领域,是新兴的一个产业,其中推进商用清扫机器人全自动化运行是商用清扫机器人中的重点研究方向。随着硬件产业的快速发展,算法有待进一步提升,其中定位追踪和路径规划是急需解决的核心算法问题。为解决上述问题,现提出基于卡尔曼滤波的多传感器信息融合定位追踪算法和用于路径规划的弓字型规划式路径全覆盖算法。定位追踪算法通过集成陀螺仪、加速度传感器、人工智能与视觉解读(Artificial Intelligence and Visual Interpretation,AIVI)摄像头以及激光测距雷达等多传感器,设计了一种基于卡尔曼滤波的轨迹推算方法,通过最小化系统协方差矩阵实现多源信息融合。弓字型规划式路径全覆盖算法是一种优先考虑完成效果,降低效率比重,充分发挥了机器人可持续工作的特性,同时基于采用Dynamic A Star算法完成断点续扫功能。展开更多
文摘When using the beam scanning method for particle beam therapy, the target volume is divided into many iso-energy slices and is irradiated slice by slice. Each slice may comprise thousands of discrete scanning beam positions. An optimized scanning path can decrease the transit dose and may bypass important organs. The minimization of the scanning path length can be considered as a variation of the traveling salesman problem; the simulated annealing algorithm is adopted to solve this problem. The initial scanning path is assumed as a simple zigzag path;subsequently, random searches for accepted new paths are performed through cost evaluation and criteria-based judging. To reduce the optimization time of a given slice,random searches are parallelized by employing thousands of threads. The simultaneous optimization of multiple slices is realized by using many thread blocks of generalpurpose computing on graphics processing units hardware.Running on a computer with an Intel i7-4790 CPU and NVIDIA K2200 GPU, our new method required only 1.3 s to obtain optimized scanning paths with a total of 40 slices in typically studied cases. The procedure and optimization results of this new method are presented in this work.
文摘随着产业的不断发展,各领域尝试利用全自动商用机器人提升生产工作效率,降低重复劳动成本,解放生产力。商用清扫机器人广泛应用于商业、办公以及制造领域,是新兴的一个产业,其中推进商用清扫机器人全自动化运行是商用清扫机器人中的重点研究方向。随着硬件产业的快速发展,算法有待进一步提升,其中定位追踪和路径规划是急需解决的核心算法问题。为解决上述问题,现提出基于卡尔曼滤波的多传感器信息融合定位追踪算法和用于路径规划的弓字型规划式路径全覆盖算法。定位追踪算法通过集成陀螺仪、加速度传感器、人工智能与视觉解读(Artificial Intelligence and Visual Interpretation,AIVI)摄像头以及激光测距雷达等多传感器,设计了一种基于卡尔曼滤波的轨迹推算方法,通过最小化系统协方差矩阵实现多源信息融合。弓字型规划式路径全覆盖算法是一种优先考虑完成效果,降低效率比重,充分发挥了机器人可持续工作的特性,同时基于采用Dynamic A Star算法完成断点续扫功能。
