Large-Scale Vehicle Platooning:Advances and Challenges in Scheduling and Planning Techniques

Through vehicle-to-vehicle(V2V)communication,autonomizing a vehicle platoon can significantly reduce the distance between vehicles,thereby reducing air resistance and improving road traffic efficiency.The gradual maturation of platoon control technology is enabling vehicle platoons to achieve basic driving functions,thereby permitting large-scale vehicle platoon scheduling and planning,which is essential for industrialized platoon applications and generates significant economic benefits.Scheduling and planning are required in many aspects of vehicle platoon operation;here,we outline the advantages and challenges of a number of the most important applications,including platoon formation scheduling,lane-change planning,passing traffic light scheduling,and vehicle resource allocation.This paper’s primary objective is to integrate current independent platoon scheduling and planning techniques into an integrated architecture to meet the demands of large-scale platoon applications.To this end,we first summarize the general techniques of vehicle platoon scheduling and planning,then list the primary scenarios for scheduling and planning technique application,and finally discuss current challenges and future development trends in platoon scheduling and planning.We hope that this paper can encourage related platoon researchers to conduct more systematic research and integrate multiple platoon scheduling and planning technologies and applications.

A Brief Discussion on the Penetration Point and Techniques of Tax Planning

Tax cost is one of the costs of business activities,and tax planning has become an indispensable financial activity.How to carry out effective tax planning has been the focus of enterprises.Therefore,this paper intends to discuss how to carry out tax planning from the penetration point and techniques of tax planning,with an aim to provide reference for enterprises’tax planning activities.

Cognitive Granular-Based Path Planning and Tracking for Intelligent Vehicle with Multi-Segment Bezier Curve Stitching

Unmanned vehicles are currently facing many difficulties and challenges in improving safety performance when running in complex urban road traffic environments,such as low intelligence and poor comfort perfor-mance in the driving process.The real-time performance of vehicles and the comfort requirements of passengers in path planning and tracking control of unmanned vehicles have attracted more and more attentions.In this paper,in order to improve the real-time performance of the autonomous vehicle planning module and the comfort requirements of passengers that a local granular-based path planning method and tracking control based on multi-segment Bezier curve splicing and model predictive control theory are pro-posed.Especially,the maximum trajectory curvature satisfying ride comfort is regarded as an important constraint condition,and the corresponding curvature threshold is utilized to calculate the control points of Bezier curve.By using low-order interpolation curve splicing,the planning computation is reduced,and the real-time performance of planning is improved,com-pared with one-segment curve fitting method.Furthermore,the comfort performance of the planned path is reflected intuitively by the curvature information of the path.Finally,the effectiveness of the proposed control method is verified by the co-simulation platform built by MATLAB/Simulink and Carsim.The simulation results show that the path tracking effect of multi-segment Bezier curve fitting is better than that of high-order curve planning in terms of real-time performance and comfort.

Feasibility of the partial-single arc technique in RapidArc planning for prostate cancer treatment

The volumetric modulated arc therapy(VMAT)technique,in the form of RapidArc,is widely used to treat prostate cancer.The full-single arc(f-SA)technique in RapidArc planning for prostate cancer treatment provides efficient treatment,but it also delivers a higher radiation dose to the rectum.This study aimed to compare the dosimetric results from the new partial-single arc(p-SA)technique with those from the f-SA technique in RapidArc planning for prostate cancer treatment.In this study,10 patients with lowrisk prostate cancer were selected.For each patient,two sets of RapidArc plans(f-SA and p-SA)were created in the Eclipse treatment planning system.The f-SA plan was created using one full arc,and the p-SA plan was created using planning parameters identical to those of the f-SA plan but with anterior and posterior avoidance sectors.Various dosimetric parameters of the f-SA and p-SA plans were evaluated and compared for the same target coverage and identical plan optimization parameters.The f-SA and p-SA plans showed an average difference of±1%for the doses to the planning target volume(PTV),and there were no clear differences in dose homogeneity or plan conformity.In comparison to the f-SA technique,the p-SA technique reduced the doses to the rectum by approximately 6.1%to 21.2%,to the bladder by approximately 10.3%to 29.5%,and to the penile bulb by approximately 2.2%.In contrast,the dose to the femoral heads,the integral dose,and the number of monitor units were higher in the p-SA plans by approximately 34.4%,7.7%,and 9.2%,respectively.In conclusion,it is feasible to use the p-SA technique for RapidArc planning for prostate cancer treatment.For the same PTV coverage and identical plan optimization parameters,the p-SA technique is better in sparing the rectum and bladder without compromising plan conformity or target homogeneity when compared to the f-SA technique.

Manufacturing Resource Planning Technology Based on Genetic Programming Simulationnn

Network-based manufacturing is a kind of distributed system, which enables manufacturers to finish production tasks as well as to grasp the opportunities in the market, even if manufacturing resources are insufficient. One of the main problems in network-based manufacturing is the allocation of resources and the assignment of tasks rationally, according to flexible resource distribution. The mapping rules and relations between production techniques and resources are proposed, followed by the definition of the resource unit. Ultimately, the genetic programming method for the optimization of the manufacturing system is put forward. A set of software for the optimization system of simulation process using genetic programming techniques has been developed, and the problems of manufacturing resource planning in network-based manufacturing are solved with the simulation of optimizing methods by genetic programming. The optimum proposal of hardware planning, selection of company and scheduling will be obtained in theory to help company managers in scientific decision-making.

CT image fusion in the evaluation of radiation treatment planning for non-small cell lung cancer

Objective: We studied the application of CT image fusion in the evaluation of radiation treatment planning for non-small cell lung cancer (NSCLC). Methods: Eleven patients with NSCLC, who were treated with three-dimensional con-formal radiation therapy, were studied. Each patient underwent twice sequential planning CT scan, i.e., at pre-treatment, and at mid-treatment for field reduction planning. Three treatment plans were established in each patient: treatment plan A was based on the pre-treatment planning CT scans for the first course of treatment, plan B on the mid-treatment planning CT scans for the second course of treatment, and treatment plan F on the fused images for the whole treatment. The irradiation doses received by organs at risk in the whole treatment with treatment A and B plans were estimated by the plus of the parameters in treatment plan A and B, assuming that the parameters involve the different tissues (i.e. V20=AV20+BV20), or the same tissues within an organ (i.e. Dmax=ADmax+BDmax). The assessment parameters in the treatment plan F were calculated on the basis of the DVH of the whole treatment. Then the above assessment results were compared. Results: There were marked differ-ences between the assessment results derived from the plus of assessment parameters in treatment plan A and B, and the ones derived from treatment plan F. Conclusion: When a treatment plan is altered during the course of radiation treatment, image fusion technique should be performed in the establishment of a new one. The estimation of the assessment parameters for the whole treatment with treatment plan A and B by simple plus, is inaccurate.

Improving Access to Quality Care in Family Planning:WHO’s Four Cornerstones of Evidence-based Guidance

The four cornerstones of guidance in technique service of family planning are established by WHO based on high quality evidences. They have been updated according to the appearing new evidences, and the consensuses were reached by the international experts in this field. The four documents include Medical Eligibility Criteria for Contraceptive Use, Selected Practice Recommendations for Contraceptive Use, Decision-making Tool for Family Planning Clients and Providers and The Global Handbook for Family Planning Providers. The first two documents mainly face to the policymakers and programme managers and were treated as the important references for creating the local guideline. The other two documents were developed for the front-line health-care and family planning providers at different levels, which include plenty of essential technical information to help providers improve their ability in service delivery and counselling. China paid great attention to the introduction and application of WHO guidelines. As soon as the newer editions of these documents were available, the Chinese version would be followed. WHO guidelines have been primarily adapted with the newly issued national guideline, The Clinical Practical Skill Guidelines-Family Planning Part, which was established by China Medical Association. At the same time, the WHO guidelines have been introduced to some of the clinicians and family planning providers at different levels. In the future, more special training courses will be introduced to the township level based on the needs of grass-root providers.

Optimizing Rank of Landscape Planning Works of Urban Wetland Park

Classifying and ranking the huge amounts of landscape planning works of urban wetland park is always difficult due to the multi-functions （ecological, leisure, educational and disaster prevention） of the urban wetland park. Therefore, an optimizing rank system is urgently needed. Analytic Hierarchy Process （AHP） and Technique for Order Preference by Similarity to Ideal Solution （TOPSIS） models were used to rank the planning works of 30 urban wetland park based on four mainly factors, which included landscape ecological planning, landscape planning, ecological planning and economic planning. The study indicated that the AHP- TOPSIS model had good discrimination in the classification and ranking of landscape planning works of urban wetland park and it was also applicable to the planning works of other urban greenbelts.

Protective and Constructive Strategies of Rural Landscape Elements in Local Landscape Planning

As a carrier of traditional techniques and local culture, local landscape contains profound theofies of garden aesthetics and landscape ecology. Creating a local landscape is not only important to modem urban landscape design and utban planning, but also an. important part of the construction of current distinctive towns. Based on the analysis of the application of native landscape elements in urban gardens, the research points out the innovative design and application of the local landscape elements. Moreover it uses the artistic expression techniques of extracting the native landscape elements into the garden landscape as the entry point, and analyzes the designing principle and planning key points in die ptocess of creating a local landscape of the cultural square park in charactenstic towns, providing constructing and protecting strategies for creating a landscape of rural landscapes in China＇s landscape planning.

Power Generation Expansion Planning Using an Interior Point with Cutting Plane （IP/CP） Method

The generation expansion planning is one of complex mixed-integer optimization problems, which involves a large number of continuous or discrete decision variables and constraints. In this paper, an interior point with cutting plane （IP/CP） method is proposed to solve the mixed-integer optimization problem of the electrical power generation expansion planning. The IP/CP method could improve the overall efficiency of the solution and reduce the computational time. Proposed method is combined with the Bender＇s decomposition technique in order to decompose the generation expansion problem into a master investment problem and a slave operational problem. The numerical example is presented to compare with the effectiveness of the proposed algorithm.

A Fast Approach for Time Optimal and Smooth Trajectory Planning of Robot Manipulators

In this paper, a fast approach to generate time optimal and smooth trajectory has been developed and tested. Minimum time is critical for the productivity in industrial applications. Meanwhile, smooth trajectories based on cubic splines are desirable for their ability to limit vibrations and ensure the continuity of position, velocity and acceleration during the robot movement. The main feature of the approach is a satisfactory solution that can be obtained by a local modification process among each intermal between two consecutive via-points. An analytical formulation simplifies the approach to smooth trajectory and few,iterations are enough to determine the correct values. The approach can be applied in many robot manipulators which require high performance on time and smooth. The simulation and application of the approach on a palletizer robot are performed, and the experimental results provide evidence that the approach can realize the robot manipulators more efficiency and high smooth performance.

村镇社区数字化规划管理功能与技术研究

当前,村镇社区亟待构建以科学、高效、共治、共管为目标的数字化规划管理系统,针对规划管理数据、政民交流、决策技术、实施效果等方面的问题,本文归纳了“规划制定-实施监督-建设运行”全过程管理功能框架,提出公共信息、辅助决策、实施管理、监督检查、信息互馈与数据录入六大数字化管理功能系统及其集成技术逻辑,研发了多源多模态数据融合与集成技术、“规划编制-实施评价”辅助决策技术,旨在为乡村地区提供科学有效、简单易行的数字化规划管理技术。

考虑地域建筑特色偏好的城市主题公园景观规划设计

城市主题公园作为传承和促进城市文化发展的载体,其规划设计非常重要。基于当前城市主题公园景观规划设计中存在的不足,文章在考虑地域建筑特色偏好的基础上提出城市主题公园景观规划设计方法,并进行仿真实验。实验结果表明:该方法提取城市建筑屋顶轮廓较为精准,规划设计城市主题公园驳岸视线、指标以及防洪涝灾害效果均较好,具备较强的城市主题公园景观规划设计能力。

城郊融合类村庄规划编制思路与实践

城郊融合类村庄具有向城市转型的条件,但在我国进入城镇化中后期后,其转型时间、转型程度均存在较大的不确定性。在现有的国土空间规划体系下,根据城镇开发边界划定在高度城乡一体化区域推进控制性详细规划和村庄规划两类详细规划编制已经难以应对空间发展的不确定性。通过分析城郊融合类村庄的特征、问题和发展趋势,阐述了村庄规划编制内涵的转变,提出了城郊融合类村庄规划编制的思路。以福建省惠安县崇武镇五峰村为例,结合其现状特征及发展问题,将村庄空间进一步细化为城镇功能区、城乡协调发展区、乡村功能区,探索不同用途管制下控制性详细规划、村庄规划联合编制的技术及成果表达形式,并提出该类地区详细规划一体化编制的路径,为优化城郊融合类村庄的规划编制技术、提升乡村空间治理能力提供参考和借鉴。

维持性血液透析合并便秘患者护理干预方案的构建

目的以计划行为理论与知信行整合模式为理论框架,构建维持性血液透析(maintenance hemodialysis,MHD)合并便秘患者护理干预方案,为临床患者提供系统化、标准化、规范化的护理干预措施。方法以计划行为理论与知信行整合模式为理论框架,通过文献回顾及专家讨论,初步拟定MHD合并便秘患者干预方案初稿;采用德尔菲专家函询方法,根据专家意见对护理干预方案条目进行修改,形成最终方案。结果16位专家经过2轮函询后意见趋于一致,第1、2轮函询问卷有效回收率分别为80%、100%,专家权威系数为0.89,第1、2轮函询各项指标重要性的肯德尔协调系数W分别为0.299、0.355,具有统计学意义(均P<0.05)。最终构建的干预方案包括提高疾病知识、转变行为态度、引导主观规范、强化行为控制及转变行为意向5个一级指标、10个二级指标、40个三级指标。结论本研究构建的护理干预方案具有可靠性、科学性及实用性,可供临床医护人员应用于MHD合并便秘患者的护理。

B样条技术与遗传算法融合的全局路径规划

针对机器人在复杂障碍物环境下的路径规划问题,提出B样条技术与遗传算法融合的路径规划方法.设计基于多目标A^(*)算法生成路径型值点以及反求控制点的策略,产生优质初始种群以增加种群多样性,提高算法早期的收敛速度;融合路径的连续性、安全性和最短性等因素设计新型适应度函数,计算每条路径的适应度;引入自适应策略调整交叉、变异算子以增加个体的多样性,避免早熟收敛至局部最优解.基于MATLAB对所提算法进行仿真实验.在复杂静态环境下的实验结果表明,与GABE算法、IPSO-SP算法生成的路径比较,所提算法生成的机器人行驶路径在长度上平均减少8.22%和2.15%,在早熟率上平均减少88.31%和77.08%,且路径具有二阶连续可导(即C~2连续),提升了机器人的行驶稳定性.结合机器人操作平台,通过导航实验验证了所提算法能在实际环境中完成路径规划.

基于熵权TOPSIS法综合评价应用PDCA法管控抗菌药物的成效——以某三甲医院为例

目的 探讨某三甲医院构建抗菌药物科学化管理策略与实施成效,为医疗机构加强抗菌药物管理提供参考依据。方法 使用计划、执行、检查、处理(PDCA)管理工具,构建科学有效的抗菌药物管理系统,选取抗菌药物管理相关5个维度、14个指标构建质量评价考核体系,并采用熵权逼近理想解排序法(TOPSIS)法对实施PDCA改进后各项指标的变化情况进行综合评价与分析。结果 基于熵权TOPSIS法分析,2018年的相对接近度(Ci)值为0.313 5,该年抗菌药物管理质量最低;2022年的Ci值为0.747 4,该年抗菌药物管理质量最高。抗菌药物合理使用5个维度方面,使用强度维度2017年Ci值最高;使用率维度2021年Ci值最高;送检率维度2022年Ci值最高;Ⅰ类切口预防用药维度2022年Ci值最高;住院患者抗菌药物费用维度2022年Ci值最高。应用PDCA法进行抗菌药物管理,管理质量整体呈现改善趋势。结论 基于PDCA法通过多部门协作进行抗菌药物管理干预效果显著,熵权TOPSIS法可用于评价抗菌药物管理成效,为医院抗菌药物管控方向指导及政策制定提供参考。

人工智能技术用于肺癌放射治疗靶区勾画中的临床效果研究

目的:探讨人工智能(AI)技术在肺癌患者放射治疗中靶区勾画的临床效果。方法:选择2021年9月至2023年3月在萍乡市人民医院行放疗治疗的60例肺癌患者,采用随机信封法将其分为对照组和观察组,每组30例。对照组按照传统方法勾画靶区,观察组采用深度学习技术进行训练,输出和利用UNet网络模型完成患者放疗靶区的自动勾画,比较两组近期疗效、计划靶区体积(PTV)、靶区辐射剂量、危及器官(OAR)体积和剂量、生存期及不良反应发生率。结果:观察组干预后客观缓解率(ORR)为70.0%(21/30),高于对照组的46.67%(14/30),其差异有统计学意义(χ2=5.691,P<0.05);观察组内靶区(ITV)及计划靶区辐射剂量低于对照组,差异有统计学意义(t=4.591、4.934,P<0.05);观察组正常肺组织接受放射剂量20 Gy、5Gy的体积百分比(V20、V5)、双肺接受的平均肺部剂量(MLD)及脊髓1cc体积所受照剂量(D1cc)辐射剂量均低于对照组,差异有统计学意义(t=5.249、4.571、6.092、5.339,P<0.05);两组放疗过程中不良反应发生率比较,差异无统计意义(P>0.05)。结论:AI技术用于肺癌放疗中靶区勾画,能够提高患者ORR,有助于降低PTV、D95及适形指数,减少OAR体积和剂量,且未增加不良反应发生率。

基于4D-CT的三种呼吸门控技术对肺癌立体定向放射治疗计划靶区及正常组织器官体积、受照剂量的影响

目的:探讨基于4D-CT的三种呼吸门控技术对肺癌立体定向放射治疗(SBRT)计划靶区及正常组织器官体积、受照剂量的影响。方法:收集108例肺癌患者的病例资料,比较患者在基于4D-CT的三种呼吸门控技术下接受SBRT治疗的肿瘤靶区(GTV)、计划靶区(PTV)体积和受照剂量,并比较三种呼吸门控技术下正常组织的受照剂量。结果:三种不同技术下,患者GTV与PTV体积比较存在统计学意义差异(均P<0.05),其中自由呼吸(FB)技术下的GTV与PTV体积较主动呼吸控制(ABC)、呼吸门控(RG)技术下高,RG技术下GTV与PTV体积较ABC技术下高(均P<0.05);三种不同技术下PTV受照剂量参数靶区适形度指数(CI)水平差异无统计学意义(均P>0.05);三种不同技术下PTV受照剂量参数靶区剂量均匀性指数(HI)、GI水平差异有统计学意义(均P<0.05);其中FB技术下的GI较ABC技术和RG技术下低,HI水平较ABC技术和RG技术下高,ABC技术下的HI水平较RG技术下低(均P<0.05);三种不同技术下心脏、大血管、气管、食管以及脊髓的受照剂量比较差异无统计学意义(均P>0.05);三种不同技术下双肺V_(5)、V_(20)以及平均照射剂量(MLD)比较差异有统计学意义(均P<0.05);FB技术下的V_(5)、V_(20)以及MLD较ABC、RG技术下高,RG技术下V_(5)、V_(20)以及MLD较ABC技术下高(均P<0.05)。结论:基于4D-CT的ABC与RG技术相较于FB技术更有利于缩小靶区体积,提高治疗剂量,同时更有利于降低病灶危及器官与组织的受照剂量。

调强技术、治疗部位以及剂量体积算法对调强放疗计划三维剂量验证结果的影响研究

目的:研究调强技术、治疗部位以及剂量体积算法对调强放疗(intensity-modulated radiation therapy,IMRT)计划三维剂量验证结果的影响,探究建立个体化放疗计划质量保证(quality assurance,QA)评估标准的重要性。方法:回顾性选取2017年1月—2022年2月在某院接受放疗的350例肿瘤患者IMRT计划的三维剂量验证结果,通过COMPASS系统进行数据采集,分别以不同调强技术(固定射束调强放疗、容积旋转调强放疗)、治疗部位(颈部、胸部和腹部)和剂量体积算法(各向异性解析算法和坍缩锥卷积算法)进行分组。比较各组3%/2 mm标准下的10%处方剂量区域的Gamma通过率(GP_(10%))、50%处方剂量区域的Gamma通过率(GP_(50%))和50%处方剂量区域的平均Gamma指数(μGI_(50%)),95%靶区体积的剂量D_(95%)、5%靶区体积的剂量D_(5%)和靶区平均剂量Dmean,头颈部放疗计划下腮腺的平均剂量D_(mean)、1%脊髓体积的剂量D_(1%)和1%脑干体积的剂量D_(1%),胸部放疗计划下肺、心脏的平均剂量D_(mean)和1%脊髓体积的剂量D_(1%),腹部放疗计划下膀胱、直肠和股骨头的平均剂量D_(mean)。采用SPSS 26.0软件进行统计学分析。结果:对于不同调强技术,除了腹部放疗计划的GP_(50%)之外,其余QA结果差异有统计学意义(P<0.05)。对于不同治疗部位,头颈部和腹部放疗计划、胸部和腹部放疗计划的QA结果差异有统计学意义(P<0.05),头颈部和胸部放疗计划的QA结果差异无统计学意义(P>0.05)。对于不同剂量体积算法,除了腹部放疗计划计划靶区(planning target volume,PTV)的D5%和胸部放疗计划PTV的D_(mean)和脊髓的D1%之外,其余的QA结果差异有统计学意义(P<0.05)。结论:剂量验证结果会因调强技术、治疗部位和剂量体积算法的不同而产生差异。当通用评估阈值不适用时,可考虑采用AAPM TG-218号报告所推荐的统计过程控制方法建立符合实际情况的放疗计划个性化QA评估标准。