Multi-Behavior Fusion Based Potential Field Method for Path Planning of Unmanned Surface Vessel

The problem of the unmanned surface vessel (USV) path planning in static and dynamic obstacle environments is addressed in this paper. Multi-behavior fusion based potential field method is proposed, which contains three behaviors: goal-seeking, boundary-memory following and dynamic-obstacle avoidance. Then, different activation conditions are designed to determine the current behavior. Meanwhile, information on the positions, velocities and the equation of motion for obstacles are detected and calculated by sensor data. Besides, memory information is introduced into the boundary following behavior to enhance cognition capability for the obstacles, and avoid local minima problem caused by the potential field method. Finally, the results of theoretical analysis and simulation show that the collision-free path can be generated for USV within different obstacle environments, and further validated the performance and effectiveness of the presented strategy.

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.

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.

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.

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.

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.

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.

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.

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.

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.

Photon Structure and Wave Function from the Vector Potential Quantization

A photon structure is advanced based on the experimental evidence and the vector potential quantization at a single photon level. It is shown that the photon is neither a point particle nor an infinite wave but behaves rather like a local “wave-corpuscle” extended over a wavelength, occupying a minimum quantization volume and guided by a non-local vector potential real wave function. The quantized vector potential oscillates over a wavelength with circular left or right polarization giving birth to orthogonal magnetic and electric fields whose amplitudes are proportional to the square of the frequency. The energy and momentum are carried by the local wave-corpuscle guided by the non-local vector potential wave function suitably normalized.

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.

Effect of propofol on local field potential in rat prefrontal cortex during working memory task

Propofol may produce memory impairment during anesthesia procedure. Local field potentials (LFPs) are used with increasing frequency in recent years to link neural activity to perception and cognition. In this study, effect of propofol on LFPs in rat’s prefrontal cortex during working memory task was evaluated. Young (approximately 3 month) male Sprague-Dawley rats were divided into two group: propofol rats and control rats. Propofol rats received propofol at 0.9 mg/Kg·min intravenously for 2 h. After 12 h, LFPs of all rats were measured simultaneously from multiple electrodes placed in prefrontal cortex while rats were performing a working memory task in Y-maze. LFPs instantaneous phase were obtained by applying Hilbert transform, and cross-correlation coherence of LFPs was calculated. The results indicate that propofol decreased the correct rate and crosscorrelation coherence of LFPs on the first two days (p 0.05). Our results suggest that propofol can impair cross-correlation coherence of LFPs in the first two days, but not long time.

Hybrid Methods for Computing the Streamfunction and Velocity Potential for Complex Flow Fields over Mesoscale Domains

Three types of previously used numerical methods are revisited for computing the streamfunctionψand velocity potentialχfrom the horizontal velocity v in limited domains.The first type,called the SOR-based method,uses a classical successive over-relaxation(SOR)scheme to computeψ(orχ)first with an arbitrary boundary condition(BC)and thenχ(orψ)with the BC derived from v.The second type,called the spectral method,uses spectral formulations to construct the inner part of(ψ,χ)-the inversion of(vorticity,divergence)with a homogeneous BC,and then the remaining harmonic part of(ψ,χ)with BCs from v.The third type,called the integral method,uses integral formulas to compute the internally induced(ψ,χ)-the inversion of domain-internal(vorticity,divergence)using the free-space Greenꞌs function without BCs and then the remaining harmonicψ(orχ)with BCs from v minus the internally-induced part.Although these methods have previously been successfully applied to flows in large-scale and synoptic-scale domains,their accuracy is compromised when applied to complex flows over mesoscale domains,as shown in this paper.To resolve this problem,two hybrid approaches,the integral-SOR method and the integral-spectral method,are developed by combining the first step of the integral method with the second step adopted from the SOR-based and spectral methods,respectively.Upon testing these methods on real-case complex flows,the integral-SOR method is significantly more accurate than the integral-spectral method,noting that the latter is still generally more accurate than the three previously-used methods.The integral-SOR method is recommended for future applications and diagnostic studies of complex flows.

A new edge recognition technology based on the normalized vertical derivative of the total horizontal derivative for potential field data

边察觉和改进技术通常在用潜在的域数据认出地质的身体的边被使用。我们在场一种新边识别技术基于有边察觉和改进技术的功能的全部的水平衍生物的规范的垂直衍生物。首先，我们计算潜在地的数据的全部的水平衍生物(THDR ) 然后计算 n 顺序 THDR 的垂直衍生物(VDRn ) 。为 n 顺序垂直衍生物，全部的水平衍生物(PTHDR ) 的山峰价值用比 0 大的阀值价值被获得。这 PTHDR 能被用于边察觉。第二， PTHDR 价值被全部的水平衍生物划分并且由最大的价值使正常化。最后，我们使用了数字模型的不同类型验证新边识别技术的有效性和可靠性。

Beat-to-Beat Variability in Field Potential Duration in Human Embryonic Stem Cell-Derived Cardiomyocyte Clusters for Assessment of Arrhythmogenic Risk, and a Case Study of Its Application

We established a QT interval assessment system that uses human embryonic stem cell-derived cardiomyocyte clusters (hES-CMCs) in which the field potential duration (FPD) or corrected FPD (FPDc) was measured as an indicator of drug-induced QT interval prolongation. To investigate the applicability of the hES-CMC system to drug safety assessment, we investigated short-term variability in FPDc (STVFPDc) (beat rate rhythmicity) as a marker of torsadogenic risk. We investigated the FPDc and STVFPDc of hES-CMCs treated with hERG channel blockers (E-4031 or cisapride) or with our proprietary compounds X, Y, and Z. We also evaluated the electrocardiograms and hemodynamics of dogs treated with compound X, Y, or Z. The torsadogenic hERG channel blockers increased STVFPDc and prolonged FPDc. Compounds X, Y, and Z had hERG inhibitory activity. Compound X prolonged FPDc with increased STVFPDc, whereas compounds Y and Z tended to shorten FPDc in the hES-CMC system. In the in vivo canine study, compound X prolonged corrected QT (QTc), and compounds Y and Z tended to shorten QTc, showing a good correlation with the results in hES-CMCs. These findings suggest that combined assessment of FPDc and STVFPDc in the hES-CMC system increases the predictability of torsadogenic risk.

The mechanisms underlying long-term potentiation of C-fiber evoked field potentials in spinal dorsal horn

Long-term potentiation(LTP) of C-fiber evoked field potentials in spinal dorsal horn is first reported in 1995.Since then,the mechanisms underlying the long-lasting enhancement in synaptic transmission between primary afferent C-fibers and neurons in spinal dorsal horn have been investigated by different laboratories.In this article,the related data were summarized and discussed.

Virtual local target method for avoiding local minimum in potential field based robot navigation

A novel robot navigation algorithm with global path generation capability is presented. Local minimum is a most intractable but is an encountered frequently problem in potential field based robot navigation.Through appointing appropriately some virtual local targets on the journey, it can be solved effectively. The key concept employed in this algorithm are the rules that govern when and how to appoint these virtual local targets. When the robot finds itself in danger of local minimum, a virtual local target is appointed to replace the global goal temporarily according to the rules. After the virtual target is reached, the robot continues on its journey by heading towards the global goal. The algorithm prevents the robot from running into local minima anymore. Simulation results showed that it is very effective in complex obstacle environments.