Path Planning of Multi-Axis Robotic Arm Based on Improved RRT*

An improved RRT∗algorithm,referred to as the AGP-RRT∗algorithm,is proposed to address the problems of poor directionality,long generated paths,and slow convergence speed in multi-axis robotic arm path planning.First,an adaptive biased probabilistic sampling strategy is adopted to dynamically adjust the target deviation threshold and optimize the selection of random sampling points and the direction of generating new nodes in order to reduce the search space and improve the search efficiency.Second,a gravitationally adjustable step size strategy is used to guide the search process and dynamically adjust the step-size to accelerate the search speed of the algorithm.Finally,the planning path is processed by pruning,removing redundant points and path smoothing fitting using cubic B-spline curves to improve the flexibility of the robotic arm.Through the six-axis robotic arm path planning simulation experiments on the MATLAB platform,the results show that the AGP-RRT∗algorithm reduces 87.34%in terms of the average running time and 40.39%in terms of the average path cost;Meanwhile,under two sets of complex environments A and B,the average running time of the AGP-RRT∗algorithm is shortened by 94.56%vs.95.37%,and the average path cost is reduced by 55.28%vs.47.82%,which proves the effectiveness of the AGP-RRT∗algorithm in improving the efficiency of multi-axis robotic arm path planning.

Path planning for moving target tracking by fixed-wing UAV

For the automatic tracking of unknown moving targets on the ground,most of the commonly used methods involve circling above the target.With such a tracking mode,there is a moving laser spot on the target,which will bring trouble for cooperative manned helicopters.In this paper,we propose a new way of tracking,where an unmanned aerial vehicle(UAV) circles on one side of the tracked target.A circular path algorithm is developed for monitoring the relative position between the UAV and the target considering the real-time range and the bearing angle.This can determine the center of the new circular path if the predicted range between the UAV and the target does not meet the monitoring requirements.A transition path algorithm is presented for planning the transition path between circular paths that constrain the turning radius of the UAV.The transition path algorithm can generate waypoints that meet the flight ability.In this paper,we analyze the entire method and detail the scope of applications.We formulate an observation angle as an evaluation index.A series of simulations and evaluation index comparisons verify the effectiveness of the proposed algorithms.

Complex Target Volume Delineation and Treatment Planning in Radiotherapy for Malignant Pleural Mesothelioma (MPM)

Introduction: Radiotherapy alone or combined with surgery and/or chemotherapy is being investigated in the treatment of malignant pleural mesothelioma (MPM). This study aimed to simulate a Volumetric Modulated Arc Therapy (VMAT) treatment of a patient with MPM. Materials and Methods: CT images from a patient with intact lungs were imported via DICOM into the Pinnacle3 treatment planning (TP) system (TPS) and used as a model for MPM to delineate organs at risk (OAR) and both clinical and planning target volumes (CTV and PTV) with a margin of 5 mm. Elekta Synergy with 6 MV photons and 80 leafs MLCi2 was employed. VMAT plans were generated using two coplanar arcs with gantry rotation angles of 178° - 182°, the collimator angles of each arc were set to 90°, Octavius® 4D 729 was employed for quality assurance while the calculated and measured doses were compared using VeriSoft. Results: A TP was achieved. The Gamma volume analysis with criteria of 3 mm distance to agreement and 3% dose difference yielded the gamma passing rate = 99.9%. The reference isodose was 42.75 Gy with the coverage constraints for the PTV D95 and V95 = 95.0% of 45 Gy. The remaining dosimetric parameters met the recommendations from the clinically acceptable guidelines for the radiotherapy of MPM. Conclusion: Using well-defined TV and VMAT, a consistent TP compared to similar ones from publications was achieved. We obtained a high agreement between the 3D dose reconstructed and the dose calculated.

The collision-free trajectory planning for the space robot to capture a target based on the wavelet interpolation algorithm

In the research of path planning for manipulators with many DOF, generally there is a problem in most traditional methods, which is that their computational cost (time and memory space) increases exponentially as DOF or resolution of the discrete configuration space increases. So this paper presents the collision-free trajectory planning for the space robot to capture a target based on the wavelet interpolation algorithm. We made wavelet sample on the desired trajectory of the manipulator’s end-effector to do trajectory planning by use of the proposed wavelet interpolation formula, and then derived joint vectors from the trajectory information of the end-effector based on the fixed-attitude-restrained generalized Jacobian matrix of multi-arm coordinated motion, so as to control the manipulator to capture a static body along the desired collision-free trajectory. The method overcomes the shortcomings of the typical methods, and the desired trajectory of the end-effector can be any kind of complex nonlinear curve. The algorithm is simple and highly effective and the real trajectory is close to the desired trajectory. In simulation, the planar dual-arm three DOF space robot is used to demonstrate the proposed method, and it shows that the algorithm is feasible.

Minority Rural Tourism Development Planning Based on Targeted Poverty Alleviation: A Case Study of Chaikeng She Village in Jiaocheng District of Ningde City, Fujian Province, China

Developing tourism to help ethnic minorities' rural areas get rid of poverty and achieve prosperity is one path for targeted poverty alleviation in the ethnic rural regions with economic backwardness. Ethnic minorities' rural areas have benefited from the national poverty alleviation policies and subsidies, the economy has made certain progress and the ethic minorities' living standard has been improved to a certain extent. However, the economic and social development still lags behind overall. Research and practice have proved that the ethnic minorities' rural tourism development planning is a forward-looking option for minority villages to implement poverty alleviation, get rid of poverty and become better off and achieve sustainable development.

The Dilemma of Target Delineation with PET/CT in Radiotherapy Planning for Malignant Tumors

Currently there are many unanswered questions concerning contouring a target with PET/CT in radiotherapy planning. Who should contour the PET volume-the radiation oncologist or the nuclear medicine physician？ Which factors will contribute to the dual-observer variability between them？ What should be taken as the optimal SUV threshold to demarcate a malignant tumor from the normal tissue？ When the PET volume does not coincide with the local area CT findings, which portion should be contoured as the target？ If a reginal lymph node,draining area or a remote region is shown to be PET positive but CT negative, or PET negative but CT positive, how is the target identified and selected？ Further studies concerning the relationship between PET/CT and the cancerous tissue are needed. The long-term clinical results showing an increased therapeutic ratio will finally verify the applicability of guidelines to contour the target with PET/CT in radiotherapy planning.

Hybrid hierarchical trajectory planning for a fixed-wing UCAV performing air-to-surface multi-target attack

This paper considers the problem of generating a flight trajectory for a single fixed-wing unmanned combat aerial vehicle （UCAV） performing an air-to-surface multi-target attack （A/SMTA） mission using satellite-guided bombs. First, this problem is formulated as a variant of the traveling salesman problem （TSP）, called the dynamic-constrained TSP with neighborhoods （DCT- SPN）. Then, a hierarchical hybrid approach, which partitions the planning algorithm into a roadmap planning layer and an optimal control layer, is proposed to solve the DCTSPN. In the roadmap planning layer, a novel algorithm based on an updatable proba- bilistic roadmap （PRM） is presented, which operates by randomly sampling a finite set of vehicle states from continuous state space in order to reduce the complicated trajectory planning problem to planning on a finite directed graph. In the optimal control layer, a collision-free state-to-state trajectory planner based on the Gauss pseudospectral method is developed, which can generate both dynamically feasible and optimal flight trajectories. The entire process of solving a DCTSPN consists of two phases. First, in the offline preprocessing phase, the algorithm constructs a PRM, and then converts the original problem into a standard asymmet- ric TSP （ATSP）. Second, in the online querying phase, the costs of directed edges in PRM are updated first, and a fast heuristic searching algorithm is then used to solve the ATSP. Numerical experiments indicate that the algorithm proposed in this paper can generate both feasible and near-optimal solutions quickly for online purposes.

Modeling of UAV path planning based on IMM under POMDP framework

In order to enhance the capability of tracking targets autonomously of unmanned aerial vehicle (UAV), the partially observable Markov decision process (POMDP) model for UAV path planning is established based on the POMDP framework. The elements of the POMDP model are analyzed and described. The state transfer law in the model can be described by the method of interactive multiple model (IMM) due to the diversity of the target motion law, which is used to switch the motion model to accommodate target maneuvers, and hence improving the tracking accuracy. The simulation results show that the model can achieve efficient planning for the UAV route, and effective tracking for the target. Furthermore, the path planned by this model is more reasonable and efficient than that by using the single state transition law.

Dynamic path planning strategy based on improved RRT^(*)algorithm

In order to solve the problem of path planning of mobile robots in a dynamic environment,an improved rapidly-exploring random tree^(*)(RRT^(*))algorithm is proposed in this paper.First,the target bias sampling is introduced to reduce the randomness of the RRT^(*)algorithm,and then the initial path planning is carried out in a static environment.Secondly,apply the path in a dynamic environment,and use the initially planned path as the path cache.When a new obstacle appears in the path,the invalid path is clipped and the path is replanned.At this time,there is a certain probability to select the point in the path cache as the new node,so that the new path maintains the trend of the original path to a greater extent.Finally,MATLAB is used to carry out simulation experiments for the initial planning and replanning algorithms,respectively.More specifically,compared with the original RRT^(*)algorithm,the simulation results show that the number of nodes used by the new improved algorithm is reduced by 43.19%on average.

Quadratic Programming-based Approach for Autonomous Vehicle Path Planning in Space

Path planning for space vehicles is still a challenging problem although considerable progress has been made over the past decades.The major difficulties are that most of existing methods only adapt to static environment instead of dynamic one,and also can not solve the inherent constraints arising from the robot body and the exterior environment.To address these difficulties,this research aims to provide a feasible trajectory based on quadratic programming（QP） for path planning in three-dimensional space where an autonomous vehicle is requested to pursue a target while avoiding static or dynamic obstacles.First,the objective function is derived from the pursuit task which is defined in terms of the relative distance to the target,as well as the angle between the velocity and the position in the relative velocity coordinates（RVCs）.The optimization is in quadratic polynomial form according to QP formulation.Then,the avoidance task is modeled with linear constraints in RVCs.Some other constraints,such as kinematics,dynamics,and sensor range,are included.Last,simulations with typical multiple obstacles are carried out,including in static and dynamic environments and one of human-in-the-loop.The results indicate that the optimal trajectories of the autonomous robot in three-dimensional space satisfy the required performances.Therefore,the QP model proposed in this paper not only adapts to dynamic environment with uncertainty,but also can satisfy all kinds of constraints,and it provides an efficient approach to solve the problems of path planning in three-dimensional space.

Analysis of Some Problems Arising From the Current Domestic Clothing Product Planning

At present,the importance of product planning is valued unceasingly by the domestic garment enterprises. But there are a number of garment enterprises not fully understanding the significance of product planning, let alone mastering how to make a successful product planning. Therefore, this paper is based on the related theory of product planning, analyses the basic content of garment product planning, explains the main types of product planning in China and the current situation and existing problems of the product plalming in our country, and puts forward the corresponding solutions. There are a certain guiding significance and reference value to garment product planning in the future.

THE NINTH FIVE-YEAR PLAN AND LONG-TERM TARGET BY 2010 FOR CHINA'S FOOD INDUSTRY

The"Ninth Five-Year Plan for theNational Economy and SocialDevelopment and the Long-TermTarget by the Year 2010" adopted at theFourth Session of the Eighth National People’sCongress have opened up a vast new worldfor the development of China’s food industry.The food industry should seize the opportunityto strengthen itself and speed up itsdevelopment for meeting the needs ofimproving the people’s living standards andperform well in modernized socialistconstruction.

Target for Power Construction in 9th Five-year Plan Period Set-up

According to the National Meeting on Power Construction and Cost Control held in Beijing on 26th August 1996, the target for power construction in the period of 9th Five- year Plan is set-up as follows:

Evaluation of 3D-CRT and VMAT Radiotherapy Plans for Left Breast Cancer with Regional Lymph Nodes Irradiation

Introduction: Radiation therapy after breast surgery is an integral part of the treatment of early breast cancer. The goal of radiation therapy is to achieve the best possible coverage of the planning target volume (PTV), while reducing the dose to organs at risk (OARs) which are normal tissues whose sensitivity to irradiation could cause damage that can lead to modification of the treatment plan. In the last decade, radiation oncologist started to use the Intensity Modulated Radiotherapy (IMRT) and Volumetric Modulated Arc Therapy (VMAT) for irradiating the breast, in order to achieve better dose distribution and target dose to the PTV and OAR. The aim of this study is to compare 2 external radiotherapy techniques (VMAT vs 3D) for patients with node-positive left breast cancer. Patients and Methods: We randomly selected 10 cases of postoperative radiotherapy for breast cancer in our hospital. The patients are all female, the average age was 45.4 years old, and the primary lesions are left breast. The ANOVA test was used to compare the mean difference between subgroups, and the p value Results: Dose volume histogram (DVH) was used to analyze each evaluation dose of clinical target volume (CTV) and organs at risk (OARs). Compared to 3DCRT plans, VMAT provided more uniform coverage to the breast and regional lymph nodes. The max point dose for tVMAT was lower on average (106.4% for VMAT versus 109% for 3DCRT). OAR sparing was improved with tVMAT, with a lower average V17Gy for the left lung (27.91% for VMAT versus 30.04% for 3DCRT, p and lower for V28Gy (13.75% for VMAT versus 22.34% for 3DCRT, p = 0.01). We also found a lower V35Gy for the heart on VMAT plan (p = 0.02). On the contrary, dose of contralateral breast was lower in 3DCRT than VMAT (0.59 Gy vs 3.65 Gy, p = 0.00). Conclusion: The both types of plans can meet the clinical dosimetry demands of postoperative radiotherapy for left breast cancer. The VMAT plan has a better conformity, but 3CDRT can provide a lower dose to the contralateral organs (breast and lung) to avoid the risk of secondary cancers.

China Attains Targets in National Human Rights Action Plan

In April 2009, after receiving ap- proval from the State Council, the Information Office of the State Council published the NationalHuman Rights Action Plan of China （2009-2010）. It is China＇s first national plan on the theme of human rights, and serves as a policy document of the current stage for advancing China＇s human rights in a comprehensive way. It is an important move to implement the constitutional principle of respect- ing and safeguarding human rights, and to promote sustainable development and social harmony. It is also a solemn commitment to the world made by the Chinese government on human rights.

中国石油陆上中-高成熟度页岩油勘探现状、进展与未来思考

中国石油天然气集团公司(简称中国石油)矿权区陆相页岩油地质资源丰富,“十三五”资源评价,中国石油陆上中-高熟页岩油(简称页岩油)地质资源量201×108t,占中国页岩油地质资源总量的71%。鄂尔多斯盆地延长组7段、松辽盆地青山口组和准噶尔盆地芦草沟组等重点层系的产量显著增长,中国石油页岩油年产量从2010年的2.5×10^(4)t增至2023年的391.6×10^(4)t,勘探潜力巨大。研究表明:近年来由于陆相不同类型页岩油具有地质特征非均质性强、富集高产因素明显差异的特点,其效益勘探存在地质认识与勘探技术的双重挑战。特别是:(1)夹层型页岩油虽在鄂尔多斯盆地长71+2亚段(延长组7段1+2亚段)实现规模勘探,但勘探靶体钻遇率变化大,深湖区细粒沉积体系研究薄弱,靶体空间展布刻画技术的准确性仍需提升;(2)混积型页岩油地层垂向厚度大、岩性频繁变化、发育多套地质甜点,在柴达木盆地、渤海湾盆地虽然实现了勘探突破,但垂向地质甜点产量差异明显,页岩油高产主控因素不清,主力靶体评价优选技术、方法仍需完善;(3)页岩型页岩油在松辽盆地青山口组实现了古龙页岩油勘探突破,但陆相湖盆不同类型页岩生、排烃差异明显,页岩原位滞留烃特征变化大,地质-工程一体化靶体评价技术、方法仍需深化研究。总体上中国石油页岩油勘探开发仍处于快速推进阶段,未来应:(1)加强淡水湖盆深湖区多类型砂体成因机制研究,实现薄层浊积砂体等夹层型页岩油效益勘探;(2)加强咸化湖盆富碳酸盐混积型页岩油源-储组合评价,优选主体靶体实现混积型页岩油高效勘探;(3)加强淡水、咸化湖盆优质源岩生、排烃差异性评价,优选最佳靶体,实现不同湖盆页岩型页岩油地质-工程一体化精细勘探。

改进RRT算法的全向机器人路径规划

针对快速扩展随机树(RRT)算法在进行全局路径规划时生成路径时间长,长度长,在采样时缺乏目标导引性。所以改进了一种目标偏向采样策略,通过引入由初始点,终点,障碍物和随机点构成的虚拟力场,促使随机采样导向目标点。对于障碍物远近的影响,设定障碍物影响的阈值,引入了自适应系数λ,在扩展步长方面,加入了角度约束,根据偏向目标点角度,选择不同的扩展步长。引入冗余节点剔除策略,缩短路径长度,最后加入贪心策略,减少不必要采样节点的个数。首先,在MATLAB2018a仿真进行实验对比,其次在实际环境中进行实验。实验结果显示,在路径搜索时间,拐点数量以及路径距离等均有明显的提高。

改进人工势场算法的路径规划

人工势场法是一种适用于局部路径规划的算法,针对人工势场法存在的目标不可达、局部极小值等固有缺陷,提出了一种改进后的人工势场法。首先针对目标不可达问题,将引力影响因子添加到斥力场的生成中,改进斥力场函数,从而避免引力与斥力合力为零的情况。针对局部极小值问题,通过设立虚拟目标点来引入额外外力,打破机器人的平衡问题。通过与其他算法的对比实验,仿真结果显示,改进人工势场法规划的路径长度和消耗时间都更短,稳定性更强。

融合目标检测与DWA算法的AGV路径

针对AGV(Automated Guided Vehicle)叉车处于环境信息未知或环境动态变化情况下的路径规划及导航问题,文中提出了一种由YOLOv5(You Only Look Once version 5)目标检测算法获取目标位置。根据目标位置规划出全局基础路径,再融合DWA(Dynamic Window Approach)局部动态路径规划算法进行AGV路径规划与导航,使AGV叉车在未知环境或局部环境信息未知的环境中能快速识别目标位置并完成路径规划到达目标位置。实验结果表明,相较于改进前方法,文中所提方法在路径长度、耗费时间以及AGV叉车航向误差方面均有良好表现,路径长度平均减少12%,耗费时间平均减少约5%且AGV航向与目标航向的平均误差在5°以内。所提方法提高了AGV叉车在未知环境中的工作效率以及工作灵活性。

目标区域引导的RRT^(*)机械臂路径规划算法

针对传统RRT^(*)算法在机械臂路径规划的过程中存在规划效率低、路径质量不佳、机械臂位姿不当等问题,提出一种目标区域引导的RRT^(*)机械臂路径规划算法(TA-RRT^(*))。在传统RRT^(*)算法基础上,引入目标偏向策略并使用球形子集约束采样,缩小采样范围并使新节点朝向目标点扩展,增强目标导向性;对新节点采用直连策略,让算法可以更快地收敛从而提升路径生成速度。对初始规划路径去除冗余点并使用三次B样条曲线转换成平滑路径,优化了路径质量。对机械臂进行位姿约束,通过机械臂逆运动学判断机械臂连杆位姿可达性,并利用包络盒模型判断机械臂是否与障碍物碰撞。实验结果表明,在二维以及三维场景下,TA-RRT^(*)算法在采样次数、规划时间、路径长度以及平滑度等方面的性能均优于RRT^(*)算法,验证了该方法的正确性及可行性。机械臂仿真实验以及在真实环境下的测试结果显示,加入位姿约束后机械臂运行规划好的轨迹时,机械臂各个关节在运行规划路径的过程中并未与障碍物发生碰撞且具有良好的稳定性。