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,a...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.展开更多
Based on current research in neuroscience,systems biology,and clinical medicine,we propose a novel theoretical concept:the“Homeostasis Threshold Deviation(HTD)Theory of Wide-Range Oscillatory Physiological Parameters...Based on current research in neuroscience,systems biology,and clinical medicine,we propose a novel theoretical concept:the“Homeostasis Threshold Deviation(HTD)Theory of Wide-Range Oscillatory Physiological Parameters”.HTD posits that,when the external environment undergoes significant and sustained changes or when visceral signals exhibit long-term abnormalities,central nervous system(CNS)network topologies reset first,establishing a new range of physiological setpoints before peripheral organs adapt.This central reset leads to a deviation in the topological information network structure of central nuclei,resulting in the displacement of the original range of physiological parameters that become challenging to restore.This deviation further triggers passive adaption in peripheral organs,ultimately causing complex multi-organ diseases and severe organ dysfunction.By targeting the CNS threshold shift,HTD provides a novel path for precision medicine.That is,restoring original homeostatic setpoints could enable both early prevention and durable treatment of hypertension and metabolic disorders,achieving a“two birds with one stone”effect or even partially curing related conditions.展开更多
基金supported by Foundation of key Laboratory of AI and Information Processing of Education Department of Guangxi(No.2022GXZDSY002)(Hechi University),Foundation of Guangxi Key Laboratory of Automobile Components and Vehicle Technology(Nos.2022GKLACVTKF04,2023GKLACVTZZ06)。
文摘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.
基金supported by the National Natural Science Foundation of China(No.82150002).
文摘Based on current research in neuroscience,systems biology,and clinical medicine,we propose a novel theoretical concept:the“Homeostasis Threshold Deviation(HTD)Theory of Wide-Range Oscillatory Physiological Parameters”.HTD posits that,when the external environment undergoes significant and sustained changes or when visceral signals exhibit long-term abnormalities,central nervous system(CNS)network topologies reset first,establishing a new range of physiological setpoints before peripheral organs adapt.This central reset leads to a deviation in the topological information network structure of central nuclei,resulting in the displacement of the original range of physiological parameters that become challenging to restore.This deviation further triggers passive adaption in peripheral organs,ultimately causing complex multi-organ diseases and severe organ dysfunction.By targeting the CNS threshold shift,HTD provides a novel path for precision medicine.That is,restoring original homeostatic setpoints could enable both early prevention and durable treatment of hypertension and metabolic disorders,achieving a“two birds with one stone”effect or even partially curing related conditions.
