Multi-robot systems can be applied to patrol a concerned environment for security purposes.According to different goals,this work reviews the existing researches in a multi-robot patrolling field from the perspectives...Multi-robot systems can be applied to patrol a concerned environment for security purposes.According to different goals,this work reviews the existing researches in a multi-robot patrolling field from the perspectives of regular and adversarial patrolling.Regular patrolling requires robots to visit important locations as frequently as possible and a series of deterministic strategies are proposed,while adversarial one focuses on unpredictable robots’moving patterns to maximize adversary detection probability.Under each category,a systematic survey is done including problem statements and modeling,patrolling objectives and evaluation criteria,and representative patrolling strategies and approaches.Existing problems and open questions are presented accordingly.展开更多
To strengthen border patrol measures, unmanned aerial vehicles(UAVs) are gradually used in many countries to detect illegal entries on borders. However, how to efficiently deploy limited UAVs to patrol on borders of l...To strengthen border patrol measures, unmanned aerial vehicles(UAVs) are gradually used in many countries to detect illegal entries on borders. However, how to efficiently deploy limited UAVs to patrol on borders of large areas remains challenging. In this paper, we first model the problem of deploying UAVs for border patrol as a Stackelberg game. Two players are considered in this game: The border patrol agency is the leader,who optimizes the patrol path of UAVs to detect the illegal immigrant. The illegal immigrant is the follower, who selects a certain area of the border to pass through at a certain time after observing the leader’s strategy. Second, a compact linear programming problem is proposed to tackle the exponential growth of the number of leader’s strategies. Third, a method is proposed to reduce the size of the strategy space of the follower. Then, we provide some theoretic results to present the effect of parameters of the model on leader’s utilities. Experimental results demonstrate the positive effect of limited starting and ending areas of UAV’s patrolling conditions and multiple patrolling altitudes on the leader ’s utility, and show that the proposed solution outperforms two conventional patrol strategies and has strong robustness.展开更多
The network anomaly detection in intelligent patrol is based on the trigger of a single threshold of network element performance parameters in patrol task, which has a high false alarm rate and low efficiency. In orde...The network anomaly detection in intelligent patrol is based on the trigger of a single threshold of network element performance parameters in patrol task, which has a high false alarm rate and low efficiency. In order to effectively and accurately integrate network performance, this paper proposes to mine network element performance data and network element log information in the integrated automatic patrol to detect network anomalies. Because log files have a large amount of data and a variety of types, and log data has a complex structure and contains large implied information. The relationship between network anomalies and time can actively discover through the analysis of the log files. Therefore, big data mining and classification can greatly improve the efficiency of data processing. However, the accuracy of finding network anomalies is insufficient only for log analysis. Therefore, this paper puts forward the performance indexes collected in the log analysis and patrol inspection system and adopts the sequence analysis algorithm to detect network anomalies, so as to improve the accuracy and efficiency of detection.展开更多
The battlefield situation changes rapidly because underwater targets'are concealment and the sea environment is uncertain.So,a great number of situation information greatly increase,which need to be dealt with in ...The battlefield situation changes rapidly because underwater targets'are concealment and the sea environment is uncertain.So,a great number of situation information greatly increase,which need to be dealt with in the course of scouting underwater targets.Situation assessment in sea battlefield with a lot of uncertain information is studied,and a new situation assessment method of scouting underwater targets with fixed-wing patrol aircraft is proposed based on the cloud Bayesian network,which overcomes the deficiency of the single cloud model in reasoning ability and the defect of Bayesian network in knowledge representation.Moreover,in the method,the cloud model knowledge deal with the input data of Bayesian network reasoning,and the advantages in knowledge representation of cloud theory and reasoning of Bayesian network are applied;also,the fuzziness and stochasticity of cloud theory in knowledge expression,the reasoning ability of Bayesian network,are combined.Then,the situation assessment model of scouting underwater targets with fixed-wing patrol aircraft is established.Hence,the directed acyclic graph of Bayesian network structure is constructed and the assessment index is determined.Next,the cloud model is used to deal with Bayesian network,and the discrete Bayesian network is obtained.Moreover,after CPT of each node and the transformation between certainty degree and probability are accomplished;the final situation level is obtained through a probability synthesis formula.Therefore,the target type and the operational intention of the other side are deduced to form the battlefield situation.Finally,simulations are carried out,and the rationality and validity of the proposed method are testified by simulation results.By this method,the battlefield situation can be gained.And this method has a wider application range,especially for large sample data processing,and it has better practicability.展开更多
In principle,nature reserves are managed and controlled according to the core area and the general control area.At present,there is no relevant design specification for the design system of patrol road in various prot...In principle,nature reserves are managed and controlled according to the core area and the general control area.At present,there is no relevant design specification for the design system of patrol road in various protected areas.This paper analyzed the factors to be considered in determining the grade,horizontal and vertical design indicators,and cross section indicators of the patrol road in the protected area,and came up with the corresponding design indicators and parameters,so as to provide a certain reference for the subsequent patrol road design.展开更多
Safety patrol inspection in chemical industrial parks is a complex multi-objective task with multiple degrees of freedom.Traditional pointer instruments with advantages like high reliability and strong adaptability to...Safety patrol inspection in chemical industrial parks is a complex multi-objective task with multiple degrees of freedom.Traditional pointer instruments with advantages like high reliability and strong adaptability to harsh environment,are widely applied in such parks.However,they rely on manual readings which have problems like heavy patrol workload,high labor cost,high false positives/negatives and poor timeliness.To address the above problems,this study proposes a path planning method for robot patrol in chemical industrial parks,where a path optimization model based on improved iterated local search and random variable neighborhood descent(ILS-RVND)algorithm is established by integrating the actual requirements of patrol tasks in chemical industrial parks.Further,the effectiveness of the model and algorithm is verified by taking real park data as an example.The results show that compared with GA and ILS-RVND,the improved algorithm reduces quantification cost by about 24%and saves patrol time by about 36%.Apart from shortening the patrol time of robots,optimizing their patrol path and reducing their maintenance loss,the proposed algorithm also avoids the untimely patrol of robots and enhances the safety factor of equipment.展开更多
Globally, mountains encompass spectacular landscapes and a great diversity of species. However, Savannah’s mountains in Sudan have been affected by the loss of diversity due to human activities and climate changes. T...Globally, mountains encompass spectacular landscapes and a great diversity of species. However, Savannah’s mountains in Sudan have been affected by the loss of diversity due to human activities and climate changes. Therefore, this study aims to assess changes in wildlife diversity in Jebel-Eldair Nation Park (JENP) based on only reports from patrolling activities, especially in the absence of regular wildlife monitoring programs. Reports of monthly wildlife observations during patrolling trips were used for the summer season in 2010 and 2018. Findings showed a moderate to high decline in the most important wildlife species (i.e. lion, wild dog, and crest porcupine). Six others are documented as rare species in reserve, including the civet, spotted hyena, striped hyena, jackal, seraval, and Siberian bird. Contrary and despite the diversity reduction, some species witnessed increases in their observation frequency, such as lesser kudu, caracal, monitor, and lunar bird. Moreover, human settlements, agricultural activities, and other anthropogenic factors were found to be the main drivers of biodiversity reduction in JENP. The study recommends adopting this method to detect changes in wildlife communities, especially in a situation of deficiency and lack of funding to conduct regular monitoring programs.展开更多
2000年11月13日美国拉斯维加斯讯——BMC软件公司今天宣布推出针对服务级别管理(Service Level Management【SLM】)的PATROL，这是一个基于PATROL产品线的解决方案，可作为监视和管理服务级别的标准。PATROL FOR SLM从顾客角度审视服务...2000年11月13日美国拉斯维加斯讯——BMC软件公司今天宣布推出针对服务级别管理(Service Level Management【SLM】)的PATROL，这是一个基于PATROL产品线的解决方案，可作为监视和管理服务级别的标准。PATROL FOR SLM从顾客角度审视服务级别管理，可加速对服务级别协议(SLA)的制订和管理，促使企业系统地对其关键业务应用程序的可用性和性能进行优化处理。展开更多
This study aims to reveal the hydrogen leakage and diffusion characteristics of the hydrogen supply pipeline in a fuel cell patrol vehicle and to evaluate the damage distance following an explosion.Through numerical a...This study aims to reveal the hydrogen leakage and diffusion characteristics of the hydrogen supply pipeline in a fuel cell patrol vehicle and to evaluate the damage distance following an explosion.Through numerical analysis,the impact of the position,diameter,shape,and direction of leakage holes,as well as ambient wind,on hydrogen diffusion was discussed.The results show that different leakage positions are affected by surrounding objects and the height above the ground,altering the volume and diffusion distance of the flammable hydrogen cloud(FHC).An increase in leakage aperture leads to a significant rise in hydrogen leakage,the volume of the FHC,and the damage range after an explosion.The shape of the leakage hole affects the velocity distribution of hydrogen upon impacting a wall,resulting in a different distribution of the FHC.When the leakage direction is 180°,the volume of the FHC decreases by 79.2%.Environmental winds significantly influence hydrogen diffusion,with lateral winds reducing the volume of the FHC by 74%.The maximum hazard radius of hydrogen leakage is 4.09 m,the maximum distance for multiple fatalities caused by a hydrogen explosion is 1.48 m,and the maximum distance for minor injuries is 6.04 m.展开更多
Purpose-The border control becomes challenging when a protected region is large and there is a limited number of border patrols.This research paper proposes a novel heuristic-based patrol path planning scheme in order...Purpose-The border control becomes challenging when a protected region is large and there is a limited number of border patrols.This research paper proposes a novel heuristic-based patrol path planning scheme in order to efficiently patrol with resource scarcity.Design/methodology/approach-The trespasser influencing score,which is determined from the environmental characteristics and trespassing statistic of the region,is used as a heuristic for measuring a chance of approaching a trespasser.The patrol plan is occasionally updated with a new trespassing statistic during a border operation.The performance of the proposed patrol path planning scheme was evaluated and compared with other patrol path planning schemes by the empirical experiment under different scenarios.Findings-The result from the experiment indicates that the proposed patrol planning outperforms other patrol path planning schemes in terms of the trespasser detection rate,when more environment-aware trespassers are in the region.Research limitations/implications-The experiment was conducted through simulated agents in simulated environment,which were assumed to mimic real behavior and environment.Originality/value-This research paper contributes a heuristic-based patrol path planning scheme that applies the environmental characteristics and dynamic statistic of the region,as well as a border surveillance problem model that would be useful for mobile sensor planning in a border surveillance application.展开更多
Chinese and Italian police offi cers patrol the Lujiazui area in Pudong,east China’s Shanghai,on June 26.The joint patrols,the third such exercise between Chinese and Italian police in China,are being conducted in Be...Chinese and Italian police offi cers patrol the Lujiazui area in Pudong,east China’s Shanghai,on June 26.The joint patrols,the third such exercise between Chinese and Italian police in China,are being conducted in Beijing,Shanghai,Chongqing and Guangzhou from June 24 to July 5.Police officers from both sides are also sharing their work experience to deepen mutual understanding and promote law enforcement cooperation and personnel exchanges during the patrols.展开更多
基金supported in part by the International Collaborative Project of the Shanghai Committee of Science and Technology(16510711100)National Natural Science Foundation of China(61603090,61806051)+2 种基金the Fundamental Research Funds for the Central Universities(2232017D-08,2232017D-13)Shanghai Sailing Program(17YF1426100)by FDCT(Fundo para o Desenvolvimento das Ciencias e da Tecnologia)(119/2014/A3)
文摘Multi-robot systems can be applied to patrol a concerned environment for security purposes.According to different goals,this work reviews the existing researches in a multi-robot patrolling field from the perspectives of regular and adversarial patrolling.Regular patrolling requires robots to visit important locations as frequently as possible and a series of deterministic strategies are proposed,while adversarial one focuses on unpredictable robots’moving patterns to maximize adversary detection probability.Under each category,a systematic survey is done including problem statements and modeling,patrolling objectives and evaluation criteria,and representative patrolling strategies and approaches.Existing problems and open questions are presented accordingly.
基金supported by the National Natural Science Foundation of China (71971075,71871079)the National Key Research and Development Program of China (2019YFE0110300)+1 种基金the Anhui Provincial Natural Science Foundation (1808085MG213)the Fundamental R esearch Funds for the Central Universities (PA2019GDPK0082)。
文摘To strengthen border patrol measures, unmanned aerial vehicles(UAVs) are gradually used in many countries to detect illegal entries on borders. However, how to efficiently deploy limited UAVs to patrol on borders of large areas remains challenging. In this paper, we first model the problem of deploying UAVs for border patrol as a Stackelberg game. Two players are considered in this game: The border patrol agency is the leader,who optimizes the patrol path of UAVs to detect the illegal immigrant. The illegal immigrant is the follower, who selects a certain area of the border to pass through at a certain time after observing the leader’s strategy. Second, a compact linear programming problem is proposed to tackle the exponential growth of the number of leader’s strategies. Third, a method is proposed to reduce the size of the strategy space of the follower. Then, we provide some theoretic results to present the effect of parameters of the model on leader’s utilities. Experimental results demonstrate the positive effect of limited starting and ending areas of UAV’s patrolling conditions and multiple patrolling altitudes on the leader ’s utility, and show that the proposed solution outperforms two conventional patrol strategies and has strong robustness.
文摘The network anomaly detection in intelligent patrol is based on the trigger of a single threshold of network element performance parameters in patrol task, which has a high false alarm rate and low efficiency. In order to effectively and accurately integrate network performance, this paper proposes to mine network element performance data and network element log information in the integrated automatic patrol to detect network anomalies. Because log files have a large amount of data and a variety of types, and log data has a complex structure and contains large implied information. The relationship between network anomalies and time can actively discover through the analysis of the log files. Therefore, big data mining and classification can greatly improve the efficiency of data processing. However, the accuracy of finding network anomalies is insufficient only for log analysis. Therefore, this paper puts forward the performance indexes collected in the log analysis and patrol inspection system and adopts the sequence analysis algorithm to detect network anomalies, so as to improve the accuracy and efficiency of detection.
基金Natural Science Foundation of Shangdong,Grant/Award Number:ZR2019MF065.
文摘The battlefield situation changes rapidly because underwater targets'are concealment and the sea environment is uncertain.So,a great number of situation information greatly increase,which need to be dealt with in the course of scouting underwater targets.Situation assessment in sea battlefield with a lot of uncertain information is studied,and a new situation assessment method of scouting underwater targets with fixed-wing patrol aircraft is proposed based on the cloud Bayesian network,which overcomes the deficiency of the single cloud model in reasoning ability and the defect of Bayesian network in knowledge representation.Moreover,in the method,the cloud model knowledge deal with the input data of Bayesian network reasoning,and the advantages in knowledge representation of cloud theory and reasoning of Bayesian network are applied;also,the fuzziness and stochasticity of cloud theory in knowledge expression,the reasoning ability of Bayesian network,are combined.Then,the situation assessment model of scouting underwater targets with fixed-wing patrol aircraft is established.Hence,the directed acyclic graph of Bayesian network structure is constructed and the assessment index is determined.Next,the cloud model is used to deal with Bayesian network,and the discrete Bayesian network is obtained.Moreover,after CPT of each node and the transformation between certainty degree and probability are accomplished;the final situation level is obtained through a probability synthesis formula.Therefore,the target type and the operational intention of the other side are deduced to form the battlefield situation.Finally,simulations are carried out,and the rationality and validity of the proposed method are testified by simulation results.By this method,the battlefield situation can be gained.And this method has a wider application range,especially for large sample data processing,and it has better practicability.
文摘In principle,nature reserves are managed and controlled according to the core area and the general control area.At present,there is no relevant design specification for the design system of patrol road in various protected areas.This paper analyzed the factors to be considered in determining the grade,horizontal and vertical design indicators,and cross section indicators of the patrol road in the protected area,and came up with the corresponding design indicators and parameters,so as to provide a certain reference for the subsequent patrol road design.
基金the National Key R&D Plan of China(No.2021YFE0105000)the National Natural Science Foundation of China(No.52074213)+1 种基金the Shaanxi Key R&D Plan Project(No.2021SF-472)the Yulin Science and Technology Plan Project(No.CXY-2020-036).
文摘Safety patrol inspection in chemical industrial parks is a complex multi-objective task with multiple degrees of freedom.Traditional pointer instruments with advantages like high reliability and strong adaptability to harsh environment,are widely applied in such parks.However,they rely on manual readings which have problems like heavy patrol workload,high labor cost,high false positives/negatives and poor timeliness.To address the above problems,this study proposes a path planning method for robot patrol in chemical industrial parks,where a path optimization model based on improved iterated local search and random variable neighborhood descent(ILS-RVND)algorithm is established by integrating the actual requirements of patrol tasks in chemical industrial parks.Further,the effectiveness of the model and algorithm is verified by taking real park data as an example.The results show that compared with GA and ILS-RVND,the improved algorithm reduces quantification cost by about 24%and saves patrol time by about 36%.Apart from shortening the patrol time of robots,optimizing their patrol path and reducing their maintenance loss,the proposed algorithm also avoids the untimely patrol of robots and enhances the safety factor of equipment.
文摘Globally, mountains encompass spectacular landscapes and a great diversity of species. However, Savannah’s mountains in Sudan have been affected by the loss of diversity due to human activities and climate changes. Therefore, this study aims to assess changes in wildlife diversity in Jebel-Eldair Nation Park (JENP) based on only reports from patrolling activities, especially in the absence of regular wildlife monitoring programs. Reports of monthly wildlife observations during patrolling trips were used for the summer season in 2010 and 2018. Findings showed a moderate to high decline in the most important wildlife species (i.e. lion, wild dog, and crest porcupine). Six others are documented as rare species in reserve, including the civet, spotted hyena, striped hyena, jackal, seraval, and Siberian bird. Contrary and despite the diversity reduction, some species witnessed increases in their observation frequency, such as lesser kudu, caracal, monitor, and lunar bird. Moreover, human settlements, agricultural activities, and other anthropogenic factors were found to be the main drivers of biodiversity reduction in JENP. The study recommends adopting this method to detect changes in wildlife communities, especially in a situation of deficiency and lack of funding to conduct regular monitoring programs.
文摘2000年11月13日美国拉斯维加斯讯——BMC软件公司今天宣布推出针对服务级别管理(Service Level Management【SLM】)的PATROL，这是一个基于PATROL产品线的解决方案，可作为监视和管理服务级别的标准。PATROL FOR SLM从顾客角度审视服务级别管理，可加速对服务级别协议(SLA)的制订和管理，促使企业系统地对其关键业务应用程序的可用性和性能进行优化处理。
基金supported by the Jiangsu Graduate Student Research and Practice Innovation Project(SJCX23_2061)the Carbon Peak and Carbon Neutral Technology Innovation Fund Project of Jiangsu Province(BE2022001-4)+2 种基金the State Key Laboratory of Automotive Safety and Energy under Project(KFY2227)the Zhenjiang Key R&D Program-Social Development(SH2020006)the Project of Natural Science Foundation of Jiangsu Province(BK20200910).
文摘This study aims to reveal the hydrogen leakage and diffusion characteristics of the hydrogen supply pipeline in a fuel cell patrol vehicle and to evaluate the damage distance following an explosion.Through numerical analysis,the impact of the position,diameter,shape,and direction of leakage holes,as well as ambient wind,on hydrogen diffusion was discussed.The results show that different leakage positions are affected by surrounding objects and the height above the ground,altering the volume and diffusion distance of the flammable hydrogen cloud(FHC).An increase in leakage aperture leads to a significant rise in hydrogen leakage,the volume of the FHC,and the damage range after an explosion.The shape of the leakage hole affects the velocity distribution of hydrogen upon impacting a wall,resulting in a different distribution of the FHC.When the leakage direction is 180°,the volume of the FHC decreases by 79.2%.Environmental winds significantly influence hydrogen diffusion,with lateral winds reducing the volume of the FHC by 74%.The maximum hazard radius of hydrogen leakage is 4.09 m,the maximum distance for multiple fatalities caused by a hydrogen explosion is 1.48 m,and the maximum distance for minor injuries is 6.04 m.
文摘Purpose-The border control becomes challenging when a protected region is large and there is a limited number of border patrols.This research paper proposes a novel heuristic-based patrol path planning scheme in order to efficiently patrol with resource scarcity.Design/methodology/approach-The trespasser influencing score,which is determined from the environmental characteristics and trespassing statistic of the region,is used as a heuristic for measuring a chance of approaching a trespasser.The patrol plan is occasionally updated with a new trespassing statistic during a border operation.The performance of the proposed patrol path planning scheme was evaluated and compared with other patrol path planning schemes by the empirical experiment under different scenarios.Findings-The result from the experiment indicates that the proposed patrol planning outperforms other patrol path planning schemes in terms of the trespasser detection rate,when more environment-aware trespassers are in the region.Research limitations/implications-The experiment was conducted through simulated agents in simulated environment,which were assumed to mimic real behavior and environment.Originality/value-This research paper contributes a heuristic-based patrol path planning scheme that applies the environmental characteristics and dynamic statistic of the region,as well as a border surveillance problem model that would be useful for mobile sensor planning in a border surveillance application.
文摘Chinese and Italian police offi cers patrol the Lujiazui area in Pudong,east China’s Shanghai,on June 26.The joint patrols,the third such exercise between Chinese and Italian police in China,are being conducted in Beijing,Shanghai,Chongqing and Guangzhou from June 24 to July 5.Police officers from both sides are also sharing their work experience to deepen mutual understanding and promote law enforcement cooperation and personnel exchanges during the patrols.
