This study focuses on the improvement of path planning efficiency for underwater gravity-aided navigation.Firstly,a Depth Sorting Fast Search(DSFS)algorithm was proposed to improve the planning speed of the Quick Rapi...This study focuses on the improvement of path planning efficiency for underwater gravity-aided navigation.Firstly,a Depth Sorting Fast Search(DSFS)algorithm was proposed to improve the planning speed of the Quick Rapidly-exploring Random Trees*(Q-RRT*)algorithm.A cost inequality relationship between an ancestor and its descendants was derived,and the ancestors were filtered accordingly.Secondly,the underwater gravity-aided navigation path planning system was designed based on the DSFS algorithm,taking into account the fitness,safety,and asymptotic optimality of the routes,according to the gravity suitability distribution of the navigation space.Finally,experimental comparisons of the computing performance of the ChooseParent procedure,the Rewire procedure,and the combination of the two procedures for Q-RRT*and DSFS were conducted under the same planning environment and parameter conditions,respectively.The results showed that the computational efficiency of the DSFS algorithm was improved by about 1.2 times compared with the Q-RRT*algorithm while ensuring correct computational results.展开更多
针对城市信息模型(city information modeling,CIM)平台中Docker容器依赖顺序难以确定以及现有启动机制无法确保所有容器顺利运行的问题,提出了一种Docker容器编排优化方法,创新的应用于CIM平台。该方法通过引入基于深度优先搜索的拓扑...针对城市信息模型(city information modeling,CIM)平台中Docker容器依赖顺序难以确定以及现有启动机制无法确保所有容器顺利运行的问题,提出了一种Docker容器编排优化方法,创新的应用于CIM平台。该方法通过引入基于深度优先搜索的拓扑排序,并定制启发式比较器,实现了对容器的精确排序。同时,结合Docker Compose和端口扫描技术进行容器编排,解决了因容器未初始化导致的启动失败问题。在沣西新城CIM平台的应用表明,引入此方案后容器顺序合理,系统成功运行率超过93%,比传统方法提高了约20%。该方法增强了CIM平台容器编排的健壮性,为复杂系统的容器管理提供了参考依据。展开更多
基金the National Natural Science Foundation of China(Grant No.42274119)the Liaoning Revitalization Talents Program(Grant No.XLYC2002082)+1 种基金National Key Research and Development Plan Key Special Projects of Science and Technology Military Civil Integration(Grant No.2022YFF1400500)the Key Project of Science and Technology Commission of the Central Military Commission.
文摘This study focuses on the improvement of path planning efficiency for underwater gravity-aided navigation.Firstly,a Depth Sorting Fast Search(DSFS)algorithm was proposed to improve the planning speed of the Quick Rapidly-exploring Random Trees*(Q-RRT*)algorithm.A cost inequality relationship between an ancestor and its descendants was derived,and the ancestors were filtered accordingly.Secondly,the underwater gravity-aided navigation path planning system was designed based on the DSFS algorithm,taking into account the fitness,safety,and asymptotic optimality of the routes,according to the gravity suitability distribution of the navigation space.Finally,experimental comparisons of the computing performance of the ChooseParent procedure,the Rewire procedure,and the combination of the two procedures for Q-RRT*and DSFS were conducted under the same planning environment and parameter conditions,respectively.The results showed that the computational efficiency of the DSFS algorithm was improved by about 1.2 times compared with the Q-RRT*algorithm while ensuring correct computational results.
文摘针对城市信息模型(city information modeling,CIM)平台中Docker容器依赖顺序难以确定以及现有启动机制无法确保所有容器顺利运行的问题,提出了一种Docker容器编排优化方法,创新的应用于CIM平台。该方法通过引入基于深度优先搜索的拓扑排序,并定制启发式比较器,实现了对容器的精确排序。同时,结合Docker Compose和端口扫描技术进行容器编排,解决了因容器未初始化导致的启动失败问题。在沣西新城CIM平台的应用表明,引入此方案后容器顺序合理,系统成功运行率超过93%,比传统方法提高了约20%。该方法增强了CIM平台容器编排的健壮性,为复杂系统的容器管理提供了参考依据。
