BACKGROUND Electromagnetic navigational bronchoscopy(ENB)is an emerging diagnostic tool that enables practitioners to biopsy peripheral lung tissues that were previously only accessible under computed tomography(CT)gu...BACKGROUND Electromagnetic navigational bronchoscopy(ENB)is an emerging diagnostic tool that enables practitioners to biopsy peripheral lung tissues that were previously only accessible under computed tomography(CT)guidance.However,few studies have investigated ENB use in children.Here,we report a case of a 10-yearold girl with peripheral lung lesions who complained of a 7-d persistent fever.She was diagnosed with Streptococcus parasanguinis infection based on findings obtained using ENB-guided transbronchial lung biopsy(TBLB).CASE SUMMARY A 10-year-old girl presented with constitutional symptoms of cough and fever of 7 days’duration.Chest CT scans detected peripheral lung lesions and no endobronchial lesions.TBLB performed under the guidance of an ENB Lungpro navigation system was safe,well-tolerated,and effective for biopsying peripheral lung lesions.Examination of biopsied samples indicated the patient had a pulmonary Streptococcus parasanguinis infection,which was treated with antibiotics instead of more invasive treatment interventions.The patient’s symptoms resolved after she received a 3-wk course of oral linezolid.Comparisons of pretreatment and post-treatment CT scans revealed absorption of some lung lesions within 7 mo of hospital discharge.CONCLUSION ENB-guided TBLB biopsying of peripheral lung lesions in this child is a safe,well-tolerated,and effective alternative to conventional interventions.展开更多
By use of bathymetric chart, recent change of the riverbed in the North Passage of the Yangtze Estuary has been studied in this paper. The main channel of the upper, middle and lower （section） in the North Passage h...By use of bathymetric chart, recent change of the riverbed in the North Passage of the Yangtze Estuary has been studied in this paper. The main channel of the upper, middle and lower （section） in the North Passage has been successively eroded and its groin field significantly deposited. At the same time, sediment has been deposited on the entrance region. Erosion and deposition had responded rapidly to the construction of the regulation engineering. There was about one year duration of lagging between erosion in the deep channel and the construction of the regulation engineering. The siltation lag of time in the groin field varied with the initial depth, but the average deposited thickness was about 0.5 m per year. Volumetric analysis demonstrates that there is a increasing trend of siltation in the North Passage after 2002, because of the difference in duration and quantity between erosion in the deep channel and deposition in the groin field. The water volume of the North Passage was reduced by =9% （280 million m^3） between 2002 and 2006. Sediment budget reveals that the main sediment deposited in the North Passage takes its source from the river and the ocean. The decreasing water volume was attributable to shoaling in the groin field. Its triggering factors for increased sedimentation are the navigational improvements（jetties and groins） after 1998, which altered the passage boundary and destroyed the equilibrium state on the average ebb and flood sediment fluxes. The establishment of a stable estuary is attributed to a reduction in depth of the groin field. The forecast on the sediment deposition quantity and continuous infilling time in the groin system is about 325 × 10^6m^3 and 6 - 7 years, respectively.展开更多
Purpose: Professional high speed sea navigational procedures are based on turn points, courses, dangers and steering cues in the environment. Since navigational aids have become less expensive and due to the fact that...Purpose: Professional high speed sea navigational procedures are based on turn points, courses, dangers and steering cues in the environment. Since navigational aids have become less expensive and due to the fact that electronic sea charts can be integrated with both radar and transponder information, it may be assumed that traditional navigation by using paper based charts and radar will play a less significant role in the future, especially among less experienced navigators. Possible navigational differences between experienced and non-experienced boat drivers is thus of interest with regards to their use of navigational aids. It may be assumed that less experienced navigators rely too much on the information given by the electronic sea chart, despite the fact that it is based on GPS information that can be questioned, especially in littoral waters close to land. Method: This eye tracking study investigates gaze behaviour from 16 ex perienced and novice boat drivers during high speed navigation at sea. Results: The results show that the novice drivers look at objects that are close to themselves, like instrumentation, while the experienced look more at objects far away from the boat. This is in accordance with previous research on car drivers. Further, novice boat drivers used the electronic navigational aids to a larger extent than the experienced, especially during high speed conditions. The experienced drivers focused much of their attention on objects outside the boat. Conclusions: The findings verify that novice boat drivers tend to rely on electronic navigational aids. Experienced drivers presumably use the navigational aids to verify what they have observed in the surrounding environment and further use the paper based sea chart to a larger extent than the novice drivers.展开更多
This paper proposes a safety evaluation model of inland waterway ship navigation based on the fuzzy theory and evidential reasoning(ER)approach.The proposed model is a three-level hierarchical system consisting of 18 ...This paper proposes a safety evaluation model of inland waterway ship navigation based on the fuzzy theory and evidential reasoning(ER)approach.The proposed model is a three-level hierarchical system consisting of 18 indicators that are identified and determined through literature review and expert surveys.By using fuzzy theory,the factors of the index level are converted into belief distributions,and the information of indicators within each level is merged by using the ER approach so that the evaluation of the ship’s navigation safety can be realized.This model can deal with multi-source information and both qualitative and quantitative indicators in an integrated framework.Some case studies on the safety status of ships navigating in the middle reaches of the Yangtze River during dry season are conducted to validate the feasibility and practicability of the proposed model.The results show that the risk levels obtained from the proposed model are consistent with the real-life situation to a large extent.The novel model proposed in this study provides a useful reference for maritime safety management and will help managers and decision-makers in the risk prevention and early warning of inland waterway transportation accidents.展开更多
Traditional sampling-based path planning algorithms,such as the rapidly-exploring random tree star(RRT^(*)),encounter critical limitations in unstructured orchard environments,including low sampling efficiency in narr...Traditional sampling-based path planning algorithms,such as the rapidly-exploring random tree star(RRT^(*)),encounter critical limitations in unstructured orchard environments,including low sampling efficiency in narrow passages,slow convergence,and high computational costs.To address these challenges,this paper proposes a novel hybrid global path planning algorithm integrating Gaussian sampling and quadtree optimization(RRT^(*)-GSQ).This methodology aims to enhance path planning by synergistically combining a Gaussian mixture sampling strategy to improve node generation in critical regions,an adaptive step-size and direction optimization mechanism for enhanced obstacle avoidance,a Quadtree-AABB collision detection framework to lower computational complexity,and a dynamic iteration control strategy for more efficient convergence.In obstacle-free and obstructed scenarios,compared with the conventional RRT^(*),the proposed algorithm reduced the number of node evaluations by 67.57%and 62.72%,and decreased the search time by 79.72%and 78.52%,respectively.In path tracking tests,the proposed algorithm achieved substantial reductions in RMSE of the final path compared to the conventional RRT^(*).Specifically,the lateral RMSE was reduced by 41.5%in obstacle-free environments and 59.3%in obstructed environments,while the longitudinal RMSE was reduced by 57.2%and 58.5%,respectively.Furthermore,the maximum absolute errors in both lateral and longitudinal directions were constrained within 0.75 m.Field validation experiments in an operational orchard confirmed the algorithm's practical effectiveness,showing reductions in the mean tracking error of 47.6%(obstacle-free)and 58.3%(with obstructed),alongside a 5.1%and 7.2%shortening of the path length compared to the baseline method.The proposed algorithm effectively enhances path planning efficiency and navigation accuracy for robots,presenting a superior solution for high-precision autonomous navigation of agricultural robots in orchard environments and holding significant value for engineering applications.展开更多
Unmanned aerial vehicles(UAVs),especially quadcopters,have become indispensable in numerous industrial and scientific applications due to their flexibility,lowcost,and capability to operate in dynamic environments.Thi...Unmanned aerial vehicles(UAVs),especially quadcopters,have become indispensable in numerous industrial and scientific applications due to their flexibility,lowcost,and capability to operate in dynamic environments.This paper presents a complete design and implementation of a compact autonomous quadcopter capable of trajectory tracking,object detection,precision landing,and real-time telemetry via long-range communication protocols.The system integrates an onboard flight controller running real-time sensor fusion algorithms,a vision-based detection system on a companion single-board computer,and a telemetry unit using Long Range(LoRa)communication.Extensive flight tests were conducted to validate the system’s stability,communication range,and autonomous capabilities.Potential applications in law enforcement,agriculture,search and rescue,and environmental monitoring are also discussed.展开更多
The satellite-based augmentation system(SBAS)provides differential and integrity augmentation services for life safety fields of aviation and navigation.However,the signal structure of SBAS is public,which incurs a ri...The satellite-based augmentation system(SBAS)provides differential and integrity augmentation services for life safety fields of aviation and navigation.However,the signal structure of SBAS is public,which incurs a risk of spoofing attacks.To improve the anti-spoofing capability of the SBAS,European Union and the United States conduct research on navigation message authentication,and promote the standardization of SBAS message authentication.For the development of Beidou satellite-based augmentation system(BDSBAS),this paper proposes navigation message authentication based on the Chinese commercial cryptographic standards.Firstly,this paper expounds the architecture and principles of the SBAS message authentication,and then carries out the design of timed efficient streaming losstolerant authentication scheme(TESLA)and elliptic curve digital signature algorithm(ECDSA)authentication schemes based on Chinese commercial cryptographic standards,message arrangement and the design of over-the-air rekeying(OTAR)message.Finally,this paper conducts a theoretical analysis of the time between authentications(TBA)and maximum authentication latency(MAL)for L5 TESLA-I and L5 ECDSA-Q,and further simulates the reception time of OTAR message,TBA and MAL from the aspects of OTAR message weight and demodulation error rate.The simulation results can provide theoretical supports for the standardization of BDSBAS message authentication.展开更多
Objectives:One of the most notable challenges in endoscopic procedures is maintaining correct orientation.Mental rotation exercise(MRE)has been suggested as a potential aid for improving orientation.However,there is a...Objectives:One of the most notable challenges in endoscopic procedures is maintaining correct orientation.Mental rotation exercise(MRE)has been suggested as a potential aid for improving orientation.However,there is a lack of research on designing MREs with varying difficultylevels for training purposes.Furthermore,few studies provide solid evidence linking MRE difficultylevels with cognitive load measurements.This study aims to address this gap by investigating the correlation between the MRE difficultylevels and participants’cognitive load,as measured by pupil dilation.Method:We recruited 33 participants to perform MREs on a computer equipped with a screen-mounted eye-tracker.The test consisted of 15 MREs,with the first10 relatively easy(traditional cube)and the next 5 more complex(invented molecule).The participants’eye movements during MREs were recorded.The participants’MRE scores and pupil dilation were obtained and compared between two MRE difficultylevels.Results:The participants who performed traditional cube MREs achieved significantlybetter MRE scores(0.77±0.11 vs.0.58±0.03,p<0.001)and lower pupil dilation(0.27±0.04 pixels vs.0.47±0.09 pixels,p<0.001)than did those who performed the invented molecule MREs.Moreover,there were significant negative correlations(r=0.62,p=0.015)between pupil dilation and MRE scores.Conclusions:The results revealed a significantnegative correlation between MRE scores and pupil dilation.The more challenging MRE questions led to worse MRE scores but increased pupil dilation.The MRE difficultylevels can be evaluated not only by the degrees or dimensions with which the objects were rotated but also by the participants’MRE scores and pupil dilation.The results of this study provide a basis for training orientation skills in endoscopy using MREs.By incorporating MREs with varying difficultylevels,customized training programs can be developed to enhance camera navigation in endoscopic and laparoscopic procedures.展开更多
Surgical navigation has evolved significantly through advances in augmented reality,virtual reality,and mixed reality,improving precision and safety across many clinical applications,including neurosurgery,maxillofaci...Surgical navigation has evolved significantly through advances in augmented reality,virtual reality,and mixed reality,improving precision and safety across many clinical applications,including neurosurgery,maxillofacial,spinal,and arthroplasty procedures.By integrating preoperative imaging with real-time intraoperative data,these systems provide dynamic guidance,reduce radiation exposure,and minimize tissue damage.Key challenges persist,including intraoperative registration accuracy,flexible tissue deformation,respiratory compensation,and real-time imaging quality.Emerging solutions include artificial intelligence-driven segmentation,deformation-field modeling,and hybrid registration techniques.Future developments will include lightweight,portable systems,improved non-rigid registration algorithms,and greater clinical adoption.Despite advances in rigid-tissue applications,soft-tissue navigation requires additional innovation to address motion variability and registration reliability,ultimately advancing minimally invasive surgery and precision medicine.展开更多
Background:Artificial intelligence(AI)-assisted threedimensional(3D)surgical platforms,integrated with augmented reality,have the potential to improve intraoperative anatomical recognition and provide surgeons with an...Background:Artificial intelligence(AI)-assisted threedimensional(3D)surgical platforms,integrated with augmented reality,have the potential to improve intraoperative anatomical recognition and provide surgeons with an immersive,dynamic operating environment during urooncological procedures.This review aims to examine the current applications of AI in robotic uro-oncology,with a particular focus on its role in facilitating intraoperative navigation during complex surgeries.Methods:A systematic literature search was performed across PubMed,the National Library of Medicine,MEDLINE,the Cochrane Central Register of Controlled Trials(CENTRAL),ClinicalTrials.gov,and Google Scholar to identify relevant studies published up to July 2025.The search strategy incorporated a predefined set of keywords,including AI,machine learning,radical prostatectomy(RP),robotic-assisted radical prostatectomy(RARP),robotassisted partial nephrectomy(RAPN),and robot-assisted radical cystectomy(RARC).Only clinical trials,full-text peer-reviewed publications,and original research articles were included.Studies were eligible for inclusion if they evaluated or described applications of AI in RARP,RAPN,or RARC.Results:Technological advancements have substantially transformed the field of uro-oncologic surgery.In particular,AI and AI-assisted intraoperative navigation in RARP demonstrate considerable potential to objectively assess surgical performance and predict clinical outcomes.In RAPN,the adoption of preoperative,interactive 3D virtualmodels for surgical planning has influenced surgical decisions,thus,enhanced precision in resection planning correlates with superior nephron-sparing outcomes and optimized selective clamping.AI applications in RARC,techniques such as augmented reality(AR)can overlay critical information on the surgical field,by facilitating navigation through complex anatomical planes and enhancing identification of critical structures.Conclusion:AI appears to enhance robotic uro-oncologic procedures by increasing operative precision and supporting individualised surgical treatment strategies.展开更多
Autonomous navigation is a key technology for unmanned motion platforms to perform their tasks smoothly.The current approaches for daytime polarization navigation have been extensively researched.However,the polarizat...Autonomous navigation is a key technology for unmanned motion platforms to perform their tasks smoothly.The current approaches for daytime polarization navigation have been extensively researched.However,the polarization light intensity is the fundamental information within the polarization image,and the light intensity at night is 6-8 orders of magnitude lower than that during the day,which increase the noise and the loss of local polarization information due to occlusion,resulting in a significant decrease in the polarization orientation accuracy.Aimed at the problem,a bio-inspired model is introduced to denoise and enhance weak nighttime polarization patterns.Further,to address the issue of outlier interference in the occluded environment during practical application,a fast-fitting method of the solar meridian based on the anti-symmetric distribution of the polarization angle adjusted by Proportional and Differential(PD)control is proposed.The experimental results show that the method proposed in this paper achieves a dynamic orientation error Root Mean Square Error(RMSE)of 0.7°in the weak polarization mode at night and in the presence of local occlusion.The proposed method has strong robustness under weak polarization occlusion at night,and the orientation accuracy is improved by 97%and 80%in comparison to the least squares method,which provides a new method for polarization navigation at night.This effectively improves the robustness and environmental applicability of the bionic polarization compass for nighttime applications.展开更多
Microelectromechanical systems(MEMS)technology has gained significant attention over the past decade for measuring inertial angular velocity.However,due to inherent complexity,MEMS gyroscopes typically feature up to t...Microelectromechanical systems(MEMS)technology has gained significant attention over the past decade for measuring inertial angular velocity.However,due to inherent complexity,MEMS gyroscopes typically feature up to ten times more parameters than traditional sensors,making selection a challenging task even for experts.This study addresses this challenge,focusing on defensive guidance,navigation,and control(GNC)systems where precise and reliable angular velocity measurement is critical to overall performance.A comprehensive mathematical model is introduced to encapsulate all key MEMS parameters,accompanied by discussions on calibration and Allan variance interpretation.For six leading MEMS gyroscope applications,namely inertial navigation,integrated navigation,autopilot systems,rotating projectiles,homing guidance,and north finding,the most critical parameters are identified,distinguishing suitable and unsuitable sensor choices.Special emphasis is placed on inertial navigation systems,where practical rules of thumb for error evaluation are derived using six degrees of freedom motion equations.Rigorous simulations demonstrate the influence of various sensor parameters through real-world case studies,including static navigation,multi-rotor attitude estimation,gimbal stabilization,and north finding via a turntable.This work aims to be a beacon for practitioners across diverse fields,empowering them to make more informed design decisions.展开更多
The current inertial measurement unit(IMU)and odometry fusion navigation algorithms often incorporate non-holonomic constraints(NHC)to obtain three-dimensional velocity in the navigation frame.However,due to the integ...The current inertial measurement unit(IMU)and odometry fusion navigation algorithms often incorporate non-holonomic constraints(NHC)to obtain three-dimensional velocity in the navigation frame.However,due to the integral nature of the dead reckoning algorithm,the attitude errors of the IMU accumulate over time,causing the velocity transformation results to fail to accurately reflect the threedimensional velocity in the navigation frame.Based on the fact that during a vehicle's horizontal and uniform motion,the vertical acceleration is consistent with gravitational acceleration,this paper proposes an IMU/odometry fusion navigation algorithm based on horizontal attitude constraints(HAC).Building on non-holonomic constraints,this algorithm determines the motion state of the vehicle through accelerometer output and zeroes out the pitch and roll angles during horizontal and uniform motion.Verified through two sets of real-world vehicle test data,this algorithm improves horizontal positioning accuracy by approximately 63%and 70%,and vertical positioning accuracy by 98%and 97%,compared with the traditional NHC IMU/odometer fusion algorithm.展开更多
With the advancement of surgical techniques and enhanced management of early gastric cancer(EGC),minimally invasive function-preserving surgical approaches have emerged as a common goal for patients and clinicians.Lap...With the advancement of surgical techniques and enhanced management of early gastric cancer(EGC),minimally invasive function-preserving surgical approaches have emerged as a common goal for patients and clinicians.Laparoscopic-endoscopic cooperative surgery combined with sentinel lymph node navigation surgery(LECSSNNS)has drawn increasing interest because of its dual benefits of minimal invasiveness and organ function preservation.However,robust evidence-based support for guiding clinical implementation remains limited.To address this gap,we systematically evaluated available studies on the clinical application of LECS-SNNS in EGC and integrated expert insights to formulate 20 recommendations.These included preoperative assessment,surgical techniques,intraoperative endoscopic procedures,pathological evaluation,postoperative care,and follow-up.This consensus aimed to provide comprehensive guidance for the standardized application of LECS-SNNS,thereby advancing precise,minimally invasive,and function-preserving treatment for EGC.展开更多
The selection of a suitable navigation area is pivotal in aircraft scene matching guidance technology.This study addresses the challenge of identifying suitable reference image ranges for precise scene matching,which ...The selection of a suitable navigation area is pivotal in aircraft scene matching guidance technology.This study addresses the challenge of identifying suitable reference image ranges for precise scene matching,which is crucial for enhancing aircraft positioning accuracy.Traditional methods for image matchability analysis are often limited by their reliance on manual feature parameter design and threshold-based filtering,resulting in suboptimal accuracy and efficiency.This paper proposes a novel network architecture for selecting suitable navigation areas using image Matching Level Segmentation(MLSNet).The approach involves two key innovations:a method for generating segmentation labels that quantify matchability levels and an end-to-end network architecture for rapid and precise prediction of reference image matchability segmentation maps.The network includes two core modules:the saliency analysis module uses multi-layer convolutional networks to accurately detect image saliency features across various levels and scales;the multidimensional attention module utilizes attention mechanisms to focus on feature channels and spatial neighborhood scenes to assess the image’s matchability.Our method was rigorously tested on an extensive collection of remote sensing images,where it was benchmarked against a range of both traditional and cutting-edge deep learning methods.The findings indicate that MLSNet is significantly superior to traditional methods in accuracy and efficiency of matchability analysis,and is also relatively ahead of state-of-the-art deep learning models.展开更多
Dear Editor,This letter addresses the formation control problem for unmanned surface vehicles(USVs)under GPS-denied environments.A novel visual servo formation control scheme,utilizing a monocular camera on the follow...Dear Editor,This letter addresses the formation control problem for unmanned surface vehicles(USVs)under GPS-denied environments.A novel visual servo formation control scheme,utilizing a monocular camera on the follower to obtain the leader’s global position,is developed,which is also capable of guaranteeing collision avoidance and visibility maintenance(CA&VM)raised by the requirement of actual formation navigation.展开更多
基金Supported by The Natural Science Foundation of Jilin Province,No.20200201475JC.
文摘BACKGROUND Electromagnetic navigational bronchoscopy(ENB)is an emerging diagnostic tool that enables practitioners to biopsy peripheral lung tissues that were previously only accessible under computed tomography(CT)guidance.However,few studies have investigated ENB use in children.Here,we report a case of a 10-yearold girl with peripheral lung lesions who complained of a 7-d persistent fever.She was diagnosed with Streptococcus parasanguinis infection based on findings obtained using ENB-guided transbronchial lung biopsy(TBLB).CASE SUMMARY A 10-year-old girl presented with constitutional symptoms of cough and fever of 7 days’duration.Chest CT scans detected peripheral lung lesions and no endobronchial lesions.TBLB performed under the guidance of an ENB Lungpro navigation system was safe,well-tolerated,and effective for biopsying peripheral lung lesions.Examination of biopsied samples indicated the patient had a pulmonary Streptococcus parasanguinis infection,which was treated with antibiotics instead of more invasive treatment interventions.The patient’s symptoms resolved after she received a 3-wk course of oral linezolid.Comparisons of pretreatment and post-treatment CT scans revealed absorption of some lung lesions within 7 mo of hospital discharge.CONCLUSION ENB-guided TBLB biopsying of peripheral lung lesions in this child is a safe,well-tolerated,and effective alternative to conventional interventions.
基金The workis supported bythe Open Foundation of State Key Laboratory of Hydrology-Water Resources Hydraulic Engineering,Hohai University(Grant No.2005409111)
文摘By use of bathymetric chart, recent change of the riverbed in the North Passage of the Yangtze Estuary has been studied in this paper. The main channel of the upper, middle and lower （section） in the North Passage has been successively eroded and its groin field significantly deposited. At the same time, sediment has been deposited on the entrance region. Erosion and deposition had responded rapidly to the construction of the regulation engineering. There was about one year duration of lagging between erosion in the deep channel and the construction of the regulation engineering. The siltation lag of time in the groin field varied with the initial depth, but the average deposited thickness was about 0.5 m per year. Volumetric analysis demonstrates that there is a increasing trend of siltation in the North Passage after 2002, because of the difference in duration and quantity between erosion in the deep channel and deposition in the groin field. The water volume of the North Passage was reduced by =9% （280 million m^3） between 2002 and 2006. Sediment budget reveals that the main sediment deposited in the North Passage takes its source from the river and the ocean. The decreasing water volume was attributable to shoaling in the groin field. Its triggering factors for increased sedimentation are the navigational improvements（jetties and groins） after 1998, which altered the passage boundary and destroyed the equilibrium state on the average ebb and flood sediment fluxes. The establishment of a stable estuary is attributed to a reduction in depth of the groin field. The forecast on the sediment deposition quantity and continuous infilling time in the groin system is about 325 × 10^6m^3 and 6 - 7 years, respectively.
文摘Purpose: Professional high speed sea navigational procedures are based on turn points, courses, dangers and steering cues in the environment. Since navigational aids have become less expensive and due to the fact that electronic sea charts can be integrated with both radar and transponder information, it may be assumed that traditional navigation by using paper based charts and radar will play a less significant role in the future, especially among less experienced navigators. Possible navigational differences between experienced and non-experienced boat drivers is thus of interest with regards to their use of navigational aids. It may be assumed that less experienced navigators rely too much on the information given by the electronic sea chart, despite the fact that it is based on GPS information that can be questioned, especially in littoral waters close to land. Method: This eye tracking study investigates gaze behaviour from 16 ex perienced and novice boat drivers during high speed navigation at sea. Results: The results show that the novice drivers look at objects that are close to themselves, like instrumentation, while the experienced look more at objects far away from the boat. This is in accordance with previous research on car drivers. Further, novice boat drivers used the electronic navigational aids to a larger extent than the experienced, especially during high speed conditions. The experienced drivers focused much of their attention on objects outside the boat. Conclusions: The findings verify that novice boat drivers tend to rely on electronic navigational aids. Experienced drivers presumably use the navigational aids to verify what they have observed in the surrounding environment and further use the paper based sea chart to a larger extent than the novice drivers.
基金supported by the National Key Research and De-velopment Project (2019YFB1600600)the Natural Science Foun-dation of Hubei Province (2020CFB691)+2 种基金the National Natu-ral Science Foundation of China (51609228)the research project of Hubei Vocational and Technical Education Association (ZJGA201928)supported by the European Union’s Horizon 2020 Research and Innovation Programme RISE under grant agreement No.823759 (REMESH).
文摘This paper proposes a safety evaluation model of inland waterway ship navigation based on the fuzzy theory and evidential reasoning(ER)approach.The proposed model is a three-level hierarchical system consisting of 18 indicators that are identified and determined through literature review and expert surveys.By using fuzzy theory,the factors of the index level are converted into belief distributions,and the information of indicators within each level is merged by using the ER approach so that the evaluation of the ship’s navigation safety can be realized.This model can deal with multi-source information and both qualitative and quantitative indicators in an integrated framework.Some case studies on the safety status of ships navigating in the middle reaches of the Yangtze River during dry season are conducted to validate the feasibility and practicability of the proposed model.The results show that the risk levels obtained from the proposed model are consistent with the real-life situation to a large extent.The novel model proposed in this study provides a useful reference for maritime safety management and will help managers and decision-makers in the risk prevention and early warning of inland waterway transportation accidents.
基金National Natural Science Foundation of China(32301712)Natural Science Foundation of Jiangsu Province(BK20230548,BK20250876)+2 种基金Project of Faculty of Agricultural Equipment of Jiangsu University(NGXB20240203)A Project Funded by the Priority Academic Program Development of Jiangsu Higher Education Institutions(PAPD-2023-87)Open Funding Project of the Key Laboratory of Modern Agricultural Equipment and Technology(Jiangsu University),Ministry of Education(MAET202101)。
文摘Traditional sampling-based path planning algorithms,such as the rapidly-exploring random tree star(RRT^(*)),encounter critical limitations in unstructured orchard environments,including low sampling efficiency in narrow passages,slow convergence,and high computational costs.To address these challenges,this paper proposes a novel hybrid global path planning algorithm integrating Gaussian sampling and quadtree optimization(RRT^(*)-GSQ).This methodology aims to enhance path planning by synergistically combining a Gaussian mixture sampling strategy to improve node generation in critical regions,an adaptive step-size and direction optimization mechanism for enhanced obstacle avoidance,a Quadtree-AABB collision detection framework to lower computational complexity,and a dynamic iteration control strategy for more efficient convergence.In obstacle-free and obstructed scenarios,compared with the conventional RRT^(*),the proposed algorithm reduced the number of node evaluations by 67.57%and 62.72%,and decreased the search time by 79.72%and 78.52%,respectively.In path tracking tests,the proposed algorithm achieved substantial reductions in RMSE of the final path compared to the conventional RRT^(*).Specifically,the lateral RMSE was reduced by 41.5%in obstacle-free environments and 59.3%in obstructed environments,while the longitudinal RMSE was reduced by 57.2%and 58.5%,respectively.Furthermore,the maximum absolute errors in both lateral and longitudinal directions were constrained within 0.75 m.Field validation experiments in an operational orchard confirmed the algorithm's practical effectiveness,showing reductions in the mean tracking error of 47.6%(obstacle-free)and 58.3%(with obstructed),alongside a 5.1%and 7.2%shortening of the path length compared to the baseline method.The proposed algorithm effectively enhances path planning efficiency and navigation accuracy for robots,presenting a superior solution for high-precision autonomous navigation of agricultural robots in orchard environments and holding significant value for engineering applications.
文摘Unmanned aerial vehicles(UAVs),especially quadcopters,have become indispensable in numerous industrial and scientific applications due to their flexibility,lowcost,and capability to operate in dynamic environments.This paper presents a complete design and implementation of a compact autonomous quadcopter capable of trajectory tracking,object detection,precision landing,and real-time telemetry via long-range communication protocols.The system integrates an onboard flight controller running real-time sensor fusion algorithms,a vision-based detection system on a companion single-board computer,and a telemetry unit using Long Range(LoRa)communication.Extensive flight tests were conducted to validate the system’s stability,communication range,and autonomous capabilities.Potential applications in law enforcement,agriculture,search and rescue,and environmental monitoring are also discussed.
基金supported by National Natural Science Foundation of China:Space-based occultation detection with ground-based GNSS atmospheric horizontal gradient model(41904033).
文摘The satellite-based augmentation system(SBAS)provides differential and integrity augmentation services for life safety fields of aviation and navigation.However,the signal structure of SBAS is public,which incurs a risk of spoofing attacks.To improve the anti-spoofing capability of the SBAS,European Union and the United States conduct research on navigation message authentication,and promote the standardization of SBAS message authentication.For the development of Beidou satellite-based augmentation system(BDSBAS),this paper proposes navigation message authentication based on the Chinese commercial cryptographic standards.Firstly,this paper expounds the architecture and principles of the SBAS message authentication,and then carries out the design of timed efficient streaming losstolerant authentication scheme(TESLA)and elliptic curve digital signature algorithm(ECDSA)authentication schemes based on Chinese commercial cryptographic standards,message arrangement and the design of over-the-air rekeying(OTAR)message.Finally,this paper conducts a theoretical analysis of the time between authentications(TBA)and maximum authentication latency(MAL)for L5 TESLA-I and L5 ECDSA-Q,and further simulates the reception time of OTAR message,TBA and MAL from the aspects of OTAR message weight and demodulation error rate.The simulation results can provide theoretical supports for the standardization of BDSBAS message authentication.
文摘Objectives:One of the most notable challenges in endoscopic procedures is maintaining correct orientation.Mental rotation exercise(MRE)has been suggested as a potential aid for improving orientation.However,there is a lack of research on designing MREs with varying difficultylevels for training purposes.Furthermore,few studies provide solid evidence linking MRE difficultylevels with cognitive load measurements.This study aims to address this gap by investigating the correlation between the MRE difficultylevels and participants’cognitive load,as measured by pupil dilation.Method:We recruited 33 participants to perform MREs on a computer equipped with a screen-mounted eye-tracker.The test consisted of 15 MREs,with the first10 relatively easy(traditional cube)and the next 5 more complex(invented molecule).The participants’eye movements during MREs were recorded.The participants’MRE scores and pupil dilation were obtained and compared between two MRE difficultylevels.Results:The participants who performed traditional cube MREs achieved significantlybetter MRE scores(0.77±0.11 vs.0.58±0.03,p<0.001)and lower pupil dilation(0.27±0.04 pixels vs.0.47±0.09 pixels,p<0.001)than did those who performed the invented molecule MREs.Moreover,there were significant negative correlations(r=0.62,p=0.015)between pupil dilation and MRE scores.Conclusions:The results revealed a significantnegative correlation between MRE scores and pupil dilation.The more challenging MRE questions led to worse MRE scores but increased pupil dilation.The MRE difficultylevels can be evaluated not only by the degrees or dimensions with which the objects were rotated but also by the participants’MRE scores and pupil dilation.The results of this study provide a basis for training orientation skills in endoscopy using MREs.By incorporating MREs with varying difficultylevels,customized training programs can be developed to enhance camera navigation in endoscopic and laparoscopic procedures.
基金Supported by the National Natural Science Foundation of China(NSFC)under Grants 62025104,62422102,62331005,62301034,and U22A2052the Beijing Natural Science Foundation-Daxing Innovation Joint Fund(L256040).
文摘Surgical navigation has evolved significantly through advances in augmented reality,virtual reality,and mixed reality,improving precision and safety across many clinical applications,including neurosurgery,maxillofacial,spinal,and arthroplasty procedures.By integrating preoperative imaging with real-time intraoperative data,these systems provide dynamic guidance,reduce radiation exposure,and minimize tissue damage.Key challenges persist,including intraoperative registration accuracy,flexible tissue deformation,respiratory compensation,and real-time imaging quality.Emerging solutions include artificial intelligence-driven segmentation,deformation-field modeling,and hybrid registration techniques.Future developments will include lightweight,portable systems,improved non-rigid registration algorithms,and greater clinical adoption.Despite advances in rigid-tissue applications,soft-tissue navigation requires additional innovation to address motion variability and registration reliability,ultimately advancing minimally invasive surgery and precision medicine.
文摘Background:Artificial intelligence(AI)-assisted threedimensional(3D)surgical platforms,integrated with augmented reality,have the potential to improve intraoperative anatomical recognition and provide surgeons with an immersive,dynamic operating environment during urooncological procedures.This review aims to examine the current applications of AI in robotic uro-oncology,with a particular focus on its role in facilitating intraoperative navigation during complex surgeries.Methods:A systematic literature search was performed across PubMed,the National Library of Medicine,MEDLINE,the Cochrane Central Register of Controlled Trials(CENTRAL),ClinicalTrials.gov,and Google Scholar to identify relevant studies published up to July 2025.The search strategy incorporated a predefined set of keywords,including AI,machine learning,radical prostatectomy(RP),robotic-assisted radical prostatectomy(RARP),robotassisted partial nephrectomy(RAPN),and robot-assisted radical cystectomy(RARC).Only clinical trials,full-text peer-reviewed publications,and original research articles were included.Studies were eligible for inclusion if they evaluated or described applications of AI in RARP,RAPN,or RARC.Results:Technological advancements have substantially transformed the field of uro-oncologic surgery.In particular,AI and AI-assisted intraoperative navigation in RARP demonstrate considerable potential to objectively assess surgical performance and predict clinical outcomes.In RAPN,the adoption of preoperative,interactive 3D virtualmodels for surgical planning has influenced surgical decisions,thus,enhanced precision in resection planning correlates with superior nephron-sparing outcomes and optimized selective clamping.AI applications in RARC,techniques such as augmented reality(AR)can overlay critical information on the surgical field,by facilitating navigation through complex anatomical planes and enhancing identification of critical structures.Conclusion:AI appears to enhance robotic uro-oncologic procedures by increasing operative precision and supporting individualised surgical treatment strategies.
基金co-supported by the Excellent Youth Foundation of Shanxi Province,China(No.202103021222011)the Key Research and Development project of Shanxi Province of China(No.202202020101002)+3 种基金the Fundamental Research Program of Shanxi Province of China(No.202303021211150)the Aviation Science Foundation of China(No.2022Z0220U0002)the Graduate Education Innovation Plan Project of Shanxi Province,China(No.2023KY588)the Shanxi Province Key Laboratory of Quantum Sensing and Precision Measurement,China(No.201905D121001).
文摘Autonomous navigation is a key technology for unmanned motion platforms to perform their tasks smoothly.The current approaches for daytime polarization navigation have been extensively researched.However,the polarization light intensity is the fundamental information within the polarization image,and the light intensity at night is 6-8 orders of magnitude lower than that during the day,which increase the noise and the loss of local polarization information due to occlusion,resulting in a significant decrease in the polarization orientation accuracy.Aimed at the problem,a bio-inspired model is introduced to denoise and enhance weak nighttime polarization patterns.Further,to address the issue of outlier interference in the occluded environment during practical application,a fast-fitting method of the solar meridian based on the anti-symmetric distribution of the polarization angle adjusted by Proportional and Differential(PD)control is proposed.The experimental results show that the method proposed in this paper achieves a dynamic orientation error Root Mean Square Error(RMSE)of 0.7°in the weak polarization mode at night and in the presence of local occlusion.The proposed method has strong robustness under weak polarization occlusion at night,and the orientation accuracy is improved by 97%and 80%in comparison to the least squares method,which provides a new method for polarization navigation at night.This effectively improves the robustness and environmental applicability of the bionic polarization compass for nighttime applications.
文摘Microelectromechanical systems(MEMS)technology has gained significant attention over the past decade for measuring inertial angular velocity.However,due to inherent complexity,MEMS gyroscopes typically feature up to ten times more parameters than traditional sensors,making selection a challenging task even for experts.This study addresses this challenge,focusing on defensive guidance,navigation,and control(GNC)systems where precise and reliable angular velocity measurement is critical to overall performance.A comprehensive mathematical model is introduced to encapsulate all key MEMS parameters,accompanied by discussions on calibration and Allan variance interpretation.For six leading MEMS gyroscope applications,namely inertial navigation,integrated navigation,autopilot systems,rotating projectiles,homing guidance,and north finding,the most critical parameters are identified,distinguishing suitable and unsuitable sensor choices.Special emphasis is placed on inertial navigation systems,where practical rules of thumb for error evaluation are derived using six degrees of freedom motion equations.Rigorous simulations demonstrate the influence of various sensor parameters through real-world case studies,including static navigation,multi-rotor attitude estimation,gimbal stabilization,and north finding via a turntable.This work aims to be a beacon for practitioners across diverse fields,empowering them to make more informed design decisions.
基金from the National Key Research and Development Program project"Adaptive Navigation Software and Hardware Technology(2018YFB0505200)."。
文摘The current inertial measurement unit(IMU)and odometry fusion navigation algorithms often incorporate non-holonomic constraints(NHC)to obtain three-dimensional velocity in the navigation frame.However,due to the integral nature of the dead reckoning algorithm,the attitude errors of the IMU accumulate over time,causing the velocity transformation results to fail to accurately reflect the threedimensional velocity in the navigation frame.Based on the fact that during a vehicle's horizontal and uniform motion,the vertical acceleration is consistent with gravitational acceleration,this paper proposes an IMU/odometry fusion navigation algorithm based on horizontal attitude constraints(HAC).Building on non-holonomic constraints,this algorithm determines the motion state of the vehicle through accelerometer output and zeroes out the pitch and roll angles during horizontal and uniform motion.Verified through two sets of real-world vehicle test data,this algorithm improves horizontal positioning accuracy by approximately 63%and 70%,and vertical positioning accuracy by 98%and 97%,compared with the traditional NHC IMU/odometer fusion algorithm.
基金supported by National Key Research and Development Program of China(No.2023YFC2507406)National Natural Science Foundation of China(No.82300646)+6 种基金Beijing Natural Science Foundation(No.7232334)Beijing Municipal Administration of Hospitals Incubating Program(No.PX2024002,PX2020001)Capital Fund for Health Development Scientific Research(No.2024-2-2028)Beijing Municipal Science&Technology Commission AI+Health Collaborative Innovation Cultivation Project(No.Z241100007724004)Research Ward Excellence Program of Beijing Municipal Health Commission(No.BRWEP2024W162020100,BRWEP2024W162020112,BRWEP2024W162020114)Excellent Plan for Capital Medicine Scientific and Technological Innovation Achievement Transformation Promotion Plan(No.YC202401QX0824)Clinical Scientific Research Fund of Beijing Integrated Medical Association[No.ZHKY-2025-1869(B012)]。
文摘With the advancement of surgical techniques and enhanced management of early gastric cancer(EGC),minimally invasive function-preserving surgical approaches have emerged as a common goal for patients and clinicians.Laparoscopic-endoscopic cooperative surgery combined with sentinel lymph node navigation surgery(LECSSNNS)has drawn increasing interest because of its dual benefits of minimal invasiveness and organ function preservation.However,robust evidence-based support for guiding clinical implementation remains limited.To address this gap,we systematically evaluated available studies on the clinical application of LECS-SNNS in EGC and integrated expert insights to formulate 20 recommendations.These included preoperative assessment,surgical techniques,intraoperative endoscopic procedures,pathological evaluation,postoperative care,and follow-up.This consensus aimed to provide comprehensive guidance for the standardized application of LECS-SNNS,thereby advancing precise,minimally invasive,and function-preserving treatment for EGC.
基金supported in part by the National Natural Science Foundation of China(No.42271446)in part by the Tianjin Key Laboratory of Rail Transit Navigation Positioning and Spatio-Temporary Big Data Technology,China(No.TKL2024B13)in part by the Science and Technology Program of Tianjin,China(No.24YFYSHZ00080)。
文摘The selection of a suitable navigation area is pivotal in aircraft scene matching guidance technology.This study addresses the challenge of identifying suitable reference image ranges for precise scene matching,which is crucial for enhancing aircraft positioning accuracy.Traditional methods for image matchability analysis are often limited by their reliance on manual feature parameter design and threshold-based filtering,resulting in suboptimal accuracy and efficiency.This paper proposes a novel network architecture for selecting suitable navigation areas using image Matching Level Segmentation(MLSNet).The approach involves two key innovations:a method for generating segmentation labels that quantify matchability levels and an end-to-end network architecture for rapid and precise prediction of reference image matchability segmentation maps.The network includes two core modules:the saliency analysis module uses multi-layer convolutional networks to accurately detect image saliency features across various levels and scales;the multidimensional attention module utilizes attention mechanisms to focus on feature channels and spatial neighborhood scenes to assess the image’s matchability.Our method was rigorously tested on an extensive collection of remote sensing images,where it was benchmarked against a range of both traditional and cutting-edge deep learning methods.The findings indicate that MLSNet is significantly superior to traditional methods in accuracy and efficiency of matchability analysis,and is also relatively ahead of state-of-the-art deep learning models.
基金supported by the National Natural Science Foundation of China(62421004,U24A20279,62473243,62533004)。
文摘Dear Editor,This letter addresses the formation control problem for unmanned surface vehicles(USVs)under GPS-denied environments.A novel visual servo formation control scheme,utilizing a monocular camera on the follower to obtain the leader’s global position,is developed,which is also capable of guaranteeing collision avoidance and visibility maintenance(CA&VM)raised by the requirement of actual formation navigation.
