Search

Replacing traditional manual sweeping with unmanned sweepers in closed parks can not only greatly reduce labor costs, but also improve sweeping efficiency. Efficient path planning is the key technology for unmanned sweepers to complete the sweeping task. Existing unmanned sweepers are often based on fixed path sweeping or completely traversing the sweeping mode, this mode does not have the environmental adaptability, in the actual sweeping is often high energy cost, and sweeping is not complete. In this paper, an environment-adaptive sweeping path planning method is proposed to improve the sweeping intelligence and environmental adaptability of unmanned sweepers, reduce the energy consumption of sweeping and improve the efficiency of sweeping. Specifically, in this paper, we first use YOLOv5 to complete the accurate identification of individual garbage and obstacles in the road, and then work with LIDAR and Gaussian Mixture Model(GMM) to remove redundant targets. We also propose a Permutation Entropy(PE) value-based discrimination method to complete the target distribution posture analysis of each complex garbage pile. Finally, the traditional path planning problem is transformed into a combinatorial optimization problem of garbage areas, and a sweeping path accurate method based on Simulated Annealing(SA) algorithm is proposed. Through comprehensive theoretical analysis and simulation study, the optimality and effectiveness of the proposed method are proved by comparing A star and Coverage Path Planning(CPP) algorithms in a variety of experimental scenarios. [ABSTRACT FROM AUTHOR]

This paper addresses the problem of searching for a randomly located target in a bounded, known region by using two unit-speed searchers. The searching process starts at (0 , 0) . The area is divided into a finite set of cells. The position of the target has a symmetric probability distribution. It is desired to search in an optimal manner to minimize the expected time for detecting the target. The search strategy is derived using a dynamic programming algorithm. We present some special cases in which the cells are symmetric and asymmetric, and the algorithm depends on the dimensions of the search area. We give an illustrative example to demonstrate the applicability of this technique. [ABSTRACT FROM AUTHOR]

Replacing traditional manual sweeping with unmanned sweepers in closed parks can not only greatly reduce labor costs, but also improve sweeping efficiency. Efficient path planning is the key technology for unmanned sweepers to complete the sweeping task. Existing unmanned sweepers are often based on fixed path sweeping or completely traversing the sweeping mode, this mode does not have the environmental adaptability, in the actual sweeping is often high energy cost, and sweeping is not complete. In this paper, an environment-adaptive sweeping path planning method is proposed to improve the sweeping intelligence and environmental adaptability of unmanned sweepers, reduce the energy consumption of sweeping and improve the efficiency of sweeping. Specifically, in this paper, we first use YOLOv5 to complete the accurate identification of individual garbage and obstacles in the road, and then work with LIDAR and Gaussian Mixture Model(GMM) to remove redundant targets. We also propose a Permutation Entropy(PE) value-based discrimination method to complete the target distribution posture analysis of each complex garbage pile. Finally, the traditional path planning problem is transformed into a combinatorial optimization problem of garbage areas, and a sweeping path accurate method based on Simulated Annealing(SA) algorithm is proposed. Through comprehensive theoretical analysis and simulation study, the optimality and effectiveness of the proposed method are proved by comparing A star and Coverage Path Planning(CPP) algorithms in a variety of experimental scenarios.

Numerous studies have shown that near repeat victimization of burglaries can account for a substantial minority of burglaries in urban settings. Using a method based on the distribution of potential targets to determine the size of spatial bandwidths, the presence of burglary near repeats in rural areas was examined and compared to the level of near repeats in urban areas. A significant burglary near repeat pattern was observed in rural areas, but was restricted to the spatial and temporal bands that were closest to and most recently after a previous burglary. The proportion of all burglaries that were near repeats in this nearest spatial and temporal bands was greater than that observed in urban areas. The findings lead to extending how the boost account and offender foraging principles may apply in rural settings, and the identification of crime prevention opportunities that counter near repeats in rural areas. [ABSTRACT FROM AUTHOR]

Background: Little is known about the differences among ventricular arrhythmias (VAs) ablated in different subregions of the aortic sinuses of Valsalva (ASVs). We aim to investigate the distribution, precordial electrocardiographic patterns, and bipolar electrogram characteristics of VAs ablated in different subregions of the ASVs.Methods: We divided the right ASV and the left ASV into a total of 6 subregions and studied 51 idiopathic VAs ablated first time successfully in the ASVs.Results: These 51 VAs were inhomogeneously distributed among the 6 subregions, which comprised the right-lateral ASV (1/51), the right-anterior ASV (11/51), the regions along the right (13/51) and left (9/51) sides of the ASV junction, the left-anterior ASV (5/51), and the left-lateral ASV (12/51). Fractionated potentials were dominant (39/51, 76%) among the 3 types of target electrograms. From the right-lateral ASV to the left-lateral ASV, the percentage of fractionated potentials gradually decreased from 100 to 59%. A precordial rebound notch in V3-V4 or V4-V5 had sensitivity of 90.9%, specificity of 85.0%, and negative predictive value (NPV) of 97.1% to predict VAs ablated in the right-anterior ASV. A precordial rebound notch in V2-V3 had sensitivity of 50.0%, specificity of 94.9%, and NPV of 86.0% to predict VAs ablated in the left-lateral ASV.Conclusion: VA targets were mainly distributed in the anterior and the left-lateral ASVs. Fractionated potentials were common among target electrograms, especially in theright-anterolateral ASV. Precordial electrocardiographic rebound notch has high predictive accuracy in identifying different subregions of the ASVs as target ablation sites.

Aim: To explore the diverse target distribution and variable mechanisms of different fangjis prescriptions when treating arrhythmias based on the systems pharmacology.Methods: The active ingredients and their corresponding targets were acquired from the three fangjis [Zhigancao Tang (ZT), Guizhigancao Longgumuli Tang (GLT), and Huanglian E'jiao Tang (HET)] and the arrhythmia-related genes were identified based on comprehensive database screening. Networks were constructed between the fangjis and arrhythmia and used to define arrhythmia modules. Common and differential gene targets were identified within the arrhythmia network modules and the cover rate (CR) matrix was applied to compare the contributions of the fangjis to the network and modules. Comparative pharmacogenetics analyses were then conducted to define the arrhythmia-related signaling pathways regulated by the fangjis prescriptions. Finally, the divergence and convergence points of the arrhythmia pathways were deciphered based on databases and the published literature.Results: A total of 187, 105, and 68 active ingredients and 1,139, 1,195, and 811 corresponding gene targets of the three fangjis were obtained and 102 arrhythmia-related genes were acquired. An arrhythmia network was constructed and subdivided into 4 modules. For the target distribution analysis, 65.4% of genes were regulated by the three fangjis within the arrhythmia network. ZT and GLT were more similar to each other, mainly regulated by module two, whereas HET was divided among all the modules. From the perspective of signal transduction, calcium-related pathways [calcium, cyclic guanosine 3′,5′-monophosphate (cGMP)-PKG, and cyclic adenosine 3′,5′-monophosphate (cAMP)] and endocrine system-related pathways (oxytocin signaling pathway and renin secretion pathways) were associated with all the three fangjis prescriptions. Nevertheless, heterogeneity existed between the biological processes and pathway distribution among the three prescriptions. GLT and HET were particularly inclined toward the conditions involving abnormal hormone secretion, whereas ZT tended toward renin-angiotensin-aldosterone system (RAAS) disorders. However, calcium signaling-related pathways prominently feature in the pharmacological activities of the decoctions. Experimental validation indicated that ZT, GLT, and HET significantly shortened the duration of ventricular arrhythmia (VA) and downregulated the expression of CALM2 and interleukin-6 (IL-6) messenger RNAs (mRNAs); GLT and HET downregulated the expression of CALM1 and NOS3 mRNAs; HET downregulated the expression of CRP mRNA.Conclusion: Comparing the various distributions of the three fangjis, pathways provide evidence with respect to precise applications toward individualized arrhythmia treatments.

The assessment of efficiency gains of solving the problem target distribution with use of the method of determining importance target as potential air attack means risk for object is realised.

The understanding of metabolic disease and diabetes on a molecular level has increased significantly due to the recent advances in molecular biology and biotechnology. However, in vitro studies and animal models do not always translate to the human disease, perhaps illustrated by the failure of many drug candidates in the clinical phase. Non-invasive biomedical imaging techniques such as Positron Emission Tomography (PET) offer tools for direct visualization and quantification of molecular processes in humans. Developments in this area potentially enable longitudinal in vivo studies of receptors and processes involved in diabetes guiding drug development and diagnosis in the near future. This mini-review focuses on describing the overall perspective of how PET can be used to increase our understanding and improve treatment of diabetes. The methodological aspects and future developments and challenges are highlighted. [ABSTRACT FROM AUTHOR]

As the traditional imaging dead zone, how to achieve high angular resolution in forward-looking region is always a big challenge in radar imaging field. In recent years, many approaches are proposed to solve this problem. However, most of the proposed forward-looking imaging approaches fail to work in the complex sea-surface situation. In this study, a Bayesian deconvolution method aimed at the sea-surface target is presented, which relies on the convolution model between the target distribution and the antenna pattern of scanning radar. In view of the situation of sea surface, Rayleigh distribution is adopted to describe the statistical property of sea-surface clutter, and lognormal distribution is employed to represent the prior distribution of sea-surface target. Then, the optimisation theory is utilised to obtain the iterative estimated solution. The simulation results are given to verify the superior performance of the presented method.

As the traditional imaging dead zone, how to achieve high angular resolution in forward-looking region is always a big challenge in radar imaging field. In recent years, many approaches are proposed to solve this problem. However, most of the proposed forward-looking imaging approaches fail to work in the complex sea-surface situation. In this study, a Bayesian deconvolution method aimed at the sea-surface target is presented, which relies on the convolution model between the target distribution and the antenna pattern of scanning radar. In view of the situation of sea surface, Rayleigh distribution is adopted to describe the statistical property of sea-surface clutter, and lognormal distribution is employed to represent the prior distribution of sea-surface target. Then, the optimisation theory is utilised to obtain the iterative estimated solution. The simulation results are given to verify the superior performance of the presented method. [ABSTRACT FROM AUTHOR]