Under ongoing global warming,reliable projections of Arctic sea-ice conditions and future navigability are of strategic significance.Using a combination of observational and physical constraints,we systematically eval...Under ongoing global warming,reliable projections of Arctic sea-ice conditions and future navigability are of strategic significance.Using a combination of observational and physical constraints,we systematically evaluated the performance of 48 Coupled Model Intercomparison Project 6(CMIP6)models in simulating Arctic sea ice and selected 12 skillful models for detailed analysis.Navigability of the Northeast Passage(NEP),Northwest Passage(NWP),and Transpolar Sea Route(TSR)during 2015–2100 was assessed under Shared Socioeconomic Pathways(SSP)2-4.5 and SSP5-8.5 scenarios.Results indicate that for open water vessels under the SSP2-4.5,TSR is not projected to become navigable until 2029.In contrast,under the SSP5-8.5 scenario,both NWP and NEP are expected to support year-round navigation by the late 21st century,while TSR is not anticipated to become fully operational until after 2090.Polar Class 6 vessels achieve near year-round navigation by 2100 under SSP2-4.5,and full-year operation as early as 2048 under SSP5-8.5.展开更多
Direction navigability analysis is a supplement to the navigability analysis theory, in which extraction of the direction suitable-matching features(DSMFs) determines the evaluation performance. A method based on the ...Direction navigability analysis is a supplement to the navigability analysis theory, in which extraction of the direction suitable-matching features(DSMFs) determines the evaluation performance. A method based on the Gabor filter is proposed to estimate the direction navigability of the geomagnetic field. First,the DSMFs are extracted based on the Gabor filter’s responses.Second, in the view of pattern recognition, the classification accuracy in fault diagnosis is introduced as the objective function of the hybrid particle swarm optimization(HPSO) algorithm to optimize the Gabor filter’s parameters. With its guidance, the DSMFs are extracted. Finally, a direction navigability analysis model is established with the support vector machine(SVM), and the performances of the models under different objective functions are discussed. Simulation results show the parameters of the Gabor filter have a significant influence on the DSMFs, which, in turn, affects the analysis results of direction navigability. Moreover, the risk of misclassification can be effectively reduced by using the analysis model with optimal Gabor filter parameters. The proposed method is not restricted in geomagnetic navigation, and it also can be used in other fields such as terrain matching and gravity navigation.展开更多
The decreasing of Arctic sea ice is projected to continue with global warming,which makes the summer navigation conditions of the Arctic improve.Based on the multi-source remote-sensing data with inter-sensor calibrat...The decreasing of Arctic sea ice is projected to continue with global warming,which makes the summer navigation conditions of the Arctic improve.Based on the multi-source remote-sensing data with inter-sensor calibration processing and the ship-based observational data from R/V Xuelong and M/V Yongsheng,the sea ice conditions of the Arctic Northeast Passage(NEP)during the 2002-2021 summer seasons were analyzed,and the navigability of the NEP between July and October from 2002 to 2021 was discussed.Inter-sensor calibration could effectively reduce the deviation from different passive microwave data.Sea ice extent and thickness in the NEP decreased annually,which resulted in the navigability of the NEP showing a potential tendency toward improvement in navigability.The navigation period was mainly concentrated in early August to early October.The middle part of the NEP was primarily affected by sea ice.This influence decreased over time,while the navigation period increased,especially in the Vilkitsky Strait,which is a key shipping area.This analysis of sea ice conditions and navigability in the past 20 years could provide a reference for future scientific investigations and aid in merchant ship navigation in the Arctic summer.展开更多
Purpose： This study introduces an algorithm to construct tag trees that can be used as a userfriendly navigation tool for knowledge sharing and retrieval by solving two issues of previous studies, i.e. semantic drift...Purpose： This study introduces an algorithm to construct tag trees that can be used as a userfriendly navigation tool for knowledge sharing and retrieval by solving two issues of previous studies, i.e. semantic drift and structural skew.Design/methodology/approach： Inspired by the generality based methods, this study builds tag trees from a co-occurrence tag network and uses the h-degree as a node generality metric. The proposed algorithm is characterized by the following four features：（1） the ancestors should be more representative than the descendants,（2） the semantic meaning along the ancestor-descendant paths needs to be coherent,（3） the children of one parent are collectively exhaustive and mutually exclusive in describing their parent, and（4） tags are roughly evenly distributed to their upper-level parents to avoid structural skew. Findings： The proposed algorithm has been compared with a well-established solution Heymann Tag Tree（HTT）. The experimental results using a social tag dataset showed that the proposed algorithm with its default condition outperformed HTT in precision based on Open Directory Project（ODP） classification. It has been verified that h-degree can be applied as a better node generality metric compared with degree centrality.Research limitations： A thorough investigation into the evaluation methodology is needed, including user studies and a set of metrics for evaluating semantic coherence and navigation performance.Practical implications： The algorithm will benefit the use of digital resources by generating a flexible domain knowledge structure that is easy to navigate. It could be used to manage multiple resource collections even without social annotations since tags can be keywords created by authors or experts, as well as automatically extracted from text.Originality/value： Few previous studies paid attention to the issue of whether the tagging systems are easy to navigate for users. The contributions of this study are twofold：（1） an algorithm was developed to construct tag trees with consideration given to both semanticcoherence and structural balance and（2） the effectiveness of a node generality metric, h-degree, was investigated in a tag co-occurrence network.展开更多
Emergency navigation with a large number of sensors can serve as a safety service in emergencies. Recent studies have focused on navigation protocols to safely guide people to exits while helping them avoid hazardous ...Emergency navigation with a large number of sensors can serve as a safety service in emergencies. Recent studies have focused on navigation protocols to safely guide people to exits while helping them avoid hazardous areas. However, those approaches are not applicable in all circumstances. Both the dynamics of the environment and the mobility of users are key challenges for the efficiency and effectiveness of navigation protocols. The concepts of navigability and reachability are used to evaluate three typical navigation approaches. A large number of simulation results show that these two indicators effectively identify the performance levels of navigation protocols in changing environments.展开更多
Website navigability is acquiring a growing importance in website design and redesign,quality evaluation,and improvement.Existing navigability measures mainly depend on site link structure,so that they only consider t...Website navigability is acquiring a growing importance in website design and redesign,quality evaluation,and improvement.Existing navigability measures mainly depend on site link structure,so that they only consider the impact of site link structure for navigability and ignore the impact of Web page content.A continuous Markov chain model which depicts the user＇s surfing behavior can balance these two factors in the evaluation of website navigability,and it needs to estimate the page transition probabilities and user stay time according to user access log.In this way,we can obtain more reliable results for website navigability measure than the existed methods.Experiments show that our method is effective.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
The thoracic duct(TD),the largest lymphatic vessel in the human body,plays a critical role in returning lymph to the circulatory system.However,its dynamic,distensible nature and concealed anatomical location make int...The thoracic duct(TD),the largest lymphatic vessel in the human body,plays a critical role in returning lymph to the circulatory system.However,its dynamic,distensible nature and concealed anatomical location make intraoperative visualization critically challenging and increase the risk of injury.Real-time,high-resolution assessment of TD leaks remains an urgent clinical need.Here,we present a breakthrough molecular engineering strategy that leverages an intestinally lipophilic fluorescent formulation for dynamic in vivo TD imaging.Our rationally designed cyanine derivative IR790+,known for its rapid membrane permeability and endoplasmic reticulum(ER)targeting localization,demonstrates unprecedented chylomicron affinity,which subsequently transports the dye through the lymphatic system to the TD.Notably,dynamic,high-contrast intraoperative TD imaging is achieved from rat models to swine models.Administered orally as near-infrared(NIR)fluorescent contrast agent,this ultra-stable IR790+@oil formulation,engineered via flash nanoprecipitation,surpasses conventional counterparts by enabling non-invasive,real-time identification of TD.Intriguingly,this first-reported ER-targeting NIR formulation,delivered orally,represents a paradigm shift in fluorescence-guided surgery,significantly improving intraoperative accuracy.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
Unmanned Aerial Vehicle(UAV)plays a prominent role in various fields,and autonomous navigation is a crucial component of UAV intelligence.Deep Reinforcement Learning(DRL)has expanded the research avenues for addressin...Unmanned Aerial Vehicle(UAV)plays a prominent role in various fields,and autonomous navigation is a crucial component of UAV intelligence.Deep Reinforcement Learning(DRL)has expanded the research avenues for addressing challenges in autonomous navigation.Nonetheless,challenges persist,including getting stuck in local optima,consuming excessive computations during action space exploration,and neglecting deterministic experience.This paper proposes a noise-driven enhancement strategy.In accordance with the overall learning phases,a global noise control method is designed,while a differentiated local noise control method is developed by analyzing the exploration demands of four typical situations encountered by UAV during navigation.Both methods are integrated into a dual-model for noise control to regulate action space exploration.Furthermore,noise dual experience replay buffers are designed to optimize the rational utilization of both deterministic and noisy experience.In uncertain environments,based on the Twin Delay Deep Deterministic Policy Gradient(TD3)algorithm with Long Short-Term Memory(LSTM)network and Priority Experience Replay(PER),a Noise-Driven Enhancement Priority Memory TD3(NDE-PMTD3)is developed.We established a simulation environment to compare different algorithms,and the performance of the algorithms is analyzed in various scenarios.The training results indicate that the proposed algorithm accelerates the convergence speed and enhances the convergence stability.In test experiments,the proposed algorithm successfully and efficiently performs autonomous navigation tasks in diverse environments,demonstrating superior generalization results.展开更多
Sea ice conditions and navigability along four typical routes of the Northeast Passage(NEP)are analysed using remote-sensing data from 1979 to 2019.The influence of air temperature(T_(air))and surface wind on the sea ...Sea ice conditions and navigability along four typical routes of the Northeast Passage(NEP)are analysed using remote-sensing data from 1979 to 2019.The influence of air temperature(T_(air))and surface wind on the sea ice concentration(SIC)and the navigability of routes is determined.It is found that the annually averaged SICs of the different routes have decreased over the past 41 years.The fastest rate of decrease occurred in the Kara Sea(∼−1%per year),while the slowest rates of decrease occurred in the Laptev/East Siberian Sea(∼−0.42%per year).The number of navigable days for the Kara Sea has become∼1–2 months longer than the Laptev/East Siberian Sea route as a result.The effect of T_(air) on SIC,quantified byΔSIC/ΔT_(air) in the routes through the eastern Kara Sea and Laptev/East Siberian Sea in 2010s was∼−0.04/℃,two to three times that seen during the 1980s.Air temperature is becoming a significant driving force of melting ice in these routes.Surface winds are also a crucial factor for the navigability of the Vilkitsky Strait and Long Strait,as they drive ice drift,and affect the navigability of the Kara Strait by introducing warm air.展开更多
基金supported by the National Natural Science Foundation of China(Grant no.42430411)the National Key Research and Development Program of China(Grant no.2019YFA0607004)+1 种基金the National Natural Science Foundation of China(Grant no.42075024)the Innovation and Development Program of China Meteorological Administration(Grant no.CXFZ2024J033).
文摘Under ongoing global warming,reliable projections of Arctic sea-ice conditions and future navigability are of strategic significance.Using a combination of observational and physical constraints,we systematically evaluated the performance of 48 Coupled Model Intercomparison Project 6(CMIP6)models in simulating Arctic sea ice and selected 12 skillful models for detailed analysis.Navigability of the Northeast Passage(NEP),Northwest Passage(NWP),and Transpolar Sea Route(TSR)during 2015–2100 was assessed under Shared Socioeconomic Pathways(SSP)2-4.5 and SSP5-8.5 scenarios.Results indicate that for open water vessels under the SSP2-4.5,TSR is not projected to become navigable until 2029.In contrast,under the SSP5-8.5 scenario,both NWP and NEP are expected to support year-round navigation by the late 21st century,while TSR is not anticipated to become fully operational until after 2090.Polar Class 6 vessels achieve near year-round navigation by 2100 under SSP2-4.5,and full-year operation as early as 2048 under SSP5-8.5.
基金supported by the Key Project of Military Research on Weapons and Equipment(2014551)
文摘Direction navigability analysis is a supplement to the navigability analysis theory, in which extraction of the direction suitable-matching features(DSMFs) determines the evaluation performance. A method based on the Gabor filter is proposed to estimate the direction navigability of the geomagnetic field. First,the DSMFs are extracted based on the Gabor filter’s responses.Second, in the view of pattern recognition, the classification accuracy in fault diagnosis is introduced as the objective function of the hybrid particle swarm optimization(HPSO) algorithm to optimize the Gabor filter’s parameters. With its guidance, the DSMFs are extracted. Finally, a direction navigability analysis model is established with the support vector machine(SVM), and the performances of the models under different objective functions are discussed. Simulation results show the parameters of the Gabor filter have a significant influence on the DSMFs, which, in turn, affects the analysis results of direction navigability. Moreover, the risk of misclassification can be effectively reduced by using the analysis model with optimal Gabor filter parameters. The proposed method is not restricted in geomagnetic navigation, and it also can be used in other fields such as terrain matching and gravity navigation.
基金supported by the National Key Research and Development Program of China[grant number 2017YFA0603104]the National Natural Science Foundation of China[grant number 42076235]+1 种基金the Fundamental Research Funds for the Central Universities[grant number 2042022kf0018]the Special Fund for High Resolution Images Surveying and Mapping Application[grant number 42-Y30B04-9001-19/21]。
文摘The decreasing of Arctic sea ice is projected to continue with global warming,which makes the summer navigation conditions of the Arctic improve.Based on the multi-source remote-sensing data with inter-sensor calibration processing and the ship-based observational data from R/V Xuelong and M/V Yongsheng,the sea ice conditions of the Arctic Northeast Passage(NEP)during the 2002-2021 summer seasons were analyzed,and the navigability of the NEP between July and October from 2002 to 2021 was discussed.Inter-sensor calibration could effectively reduce the deviation from different passive microwave data.Sea ice extent and thickness in the NEP decreased annually,which resulted in the navigability of the NEP showing a potential tendency toward improvement in navigability.The navigation period was mainly concentrated in early August to early October.The middle part of the NEP was primarily affected by sea ice.This influence decreased over time,while the navigation period increased,especially in the Vilkitsky Strait,which is a key shipping area.This analysis of sea ice conditions and navigability in the past 20 years could provide a reference for future scientific investigations and aid in merchant ship navigation in the Arctic summer.
基金funded by the National Natural Science Foundation of China(Grand No.:70903008)supported by COGS Lab in School of Government,Beijing Normal University
文摘Purpose： This study introduces an algorithm to construct tag trees that can be used as a userfriendly navigation tool for knowledge sharing and retrieval by solving two issues of previous studies, i.e. semantic drift and structural skew.Design/methodology/approach： Inspired by the generality based methods, this study builds tag trees from a co-occurrence tag network and uses the h-degree as a node generality metric. The proposed algorithm is characterized by the following four features：（1） the ancestors should be more representative than the descendants,（2） the semantic meaning along the ancestor-descendant paths needs to be coherent,（3） the children of one parent are collectively exhaustive and mutually exclusive in describing their parent, and（4） tags are roughly evenly distributed to their upper-level parents to avoid structural skew. Findings： The proposed algorithm has been compared with a well-established solution Heymann Tag Tree（HTT）. The experimental results using a social tag dataset showed that the proposed algorithm with its default condition outperformed HTT in precision based on Open Directory Project（ODP） classification. It has been verified that h-degree can be applied as a better node generality metric compared with degree centrality.Research limitations： A thorough investigation into the evaluation methodology is needed, including user studies and a set of metrics for evaluating semantic coherence and navigation performance.Practical implications： The algorithm will benefit the use of digital resources by generating a flexible domain knowledge structure that is easy to navigate. It could be used to manage multiple resource collections even without social annotations since tags can be keywords created by authors or experts, as well as automatically extracted from text.Originality/value： Few previous studies paid attention to the issue of whether the tagging systems are easy to navigate for users. The contributions of this study are twofold：（1） an algorithm was developed to construct tag trees with consideration given to both semanticcoherence and structural balance and（2） the effectiveness of a node generality metric, h-degree, was investigated in a tag co-occurrence network.
基金Supported in part by the National Natural Science Foundation of China (No. 60970123)the Technology Research and Development Program of Qinhuangdao City (No. 201001A061)
文摘Emergency navigation with a large number of sensors can serve as a safety service in emergencies. Recent studies have focused on navigation protocols to safely guide people to exits while helping them avoid hazardous areas. However, those approaches are not applicable in all circumstances. Both the dynamics of the environment and the mobility of users are key challenges for the efficiency and effectiveness of navigation protocols. The concepts of navigability and reachability are used to evaluate three typical navigation approaches. A large number of simulation results show that these two indicators effectively identify the performance levels of navigation protocols in changing environments.
基金supported by the National Natural Science Foundation of China (60873050,60973046,61003040)the Opening Foundation of Jiangsu Key Laboratory of Computer Information Processing Technology in Soochow University (KJS0714)+1 种基金the Opening Foundation of State Key Laboratory of Software Engineering, Wuhan University (BJ211002)The Natural Science Foundation of the Jiangsu Higher Education Institutions of China (09KJB520012)
文摘Website navigability is acquiring a growing importance in website design and redesign,quality evaluation,and improvement.Existing navigability measures mainly depend on site link structure,so that they only consider the impact of site link structure for navigability and ignore the impact of Web page content.A continuous Markov chain model which depicts the user＇s surfing behavior can balance these two factors in the evaluation of website navigability,and it needs to estimate the page transition probabilities and user stay time according to user access log.In this way,we can obtain more reliable results for website navigability measure than the existed methods.Experiments show that our method is effective.
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.
基金supported by the National Natural Science Foundation of China(22225805,81400681,32394001,32121005)the Shanghai Science and Technology Innovation Action Plan(22Y11907200,23J21901600)the Innovation Program of Shanghai Municipal Education Commission,Shanghai Municipal Health Commission(2024ZZ2025)。
文摘The thoracic duct(TD),the largest lymphatic vessel in the human body,plays a critical role in returning lymph to the circulatory system.However,its dynamic,distensible nature and concealed anatomical location make intraoperative visualization critically challenging and increase the risk of injury.Real-time,high-resolution assessment of TD leaks remains an urgent clinical need.Here,we present a breakthrough molecular engineering strategy that leverages an intestinally lipophilic fluorescent formulation for dynamic in vivo TD imaging.Our rationally designed cyanine derivative IR790+,known for its rapid membrane permeability and endoplasmic reticulum(ER)targeting localization,demonstrates unprecedented chylomicron affinity,which subsequently transports the dye through the lymphatic system to the TD.Notably,dynamic,high-contrast intraoperative TD imaging is achieved from rat models to swine models.Administered orally as near-infrared(NIR)fluorescent contrast agent,this ultra-stable IR790+@oil formulation,engineered via flash nanoprecipitation,surpasses conventional counterparts by enabling non-invasive,real-time identification of TD.Intriguingly,this first-reported ER-targeting NIR formulation,delivered orally,represents a paradigm shift in fluorescence-guided surgery,significantly improving intraoperative accuracy.
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the Collaborative Innovation Project of Shanghai,China for the financial support。
文摘Unmanned Aerial Vehicle(UAV)plays a prominent role in various fields,and autonomous navigation is a crucial component of UAV intelligence.Deep Reinforcement Learning(DRL)has expanded the research avenues for addressing challenges in autonomous navigation.Nonetheless,challenges persist,including getting stuck in local optima,consuming excessive computations during action space exploration,and neglecting deterministic experience.This paper proposes a noise-driven enhancement strategy.In accordance with the overall learning phases,a global noise control method is designed,while a differentiated local noise control method is developed by analyzing the exploration demands of four typical situations encountered by UAV during navigation.Both methods are integrated into a dual-model for noise control to regulate action space exploration.Furthermore,noise dual experience replay buffers are designed to optimize the rational utilization of both deterministic and noisy experience.In uncertain environments,based on the Twin Delay Deep Deterministic Policy Gradient(TD3)algorithm with Long Short-Term Memory(LSTM)network and Priority Experience Replay(PER),a Noise-Driven Enhancement Priority Memory TD3(NDE-PMTD3)is developed.We established a simulation environment to compare different algorithms,and the performance of the algorithms is analyzed in various scenarios.The training results indicate that the proposed algorithm accelerates the convergence speed and enhances the convergence stability.In test experiments,the proposed algorithm successfully and efficiently performs autonomous navigation tasks in diverse environments,demonstrating superior generalization results.
基金supported by the National Key Research and Development Program of China[grant number 2017YFE0111400]the National Natural Science Foundation of China[grant numbers 41922045,41906198,41876213,and 51639003]+2 种基金the High-tech Ship Research Project of China[grant number 350631009]the National Postdoctoral Program for Innovative Talents[grant number BX20190051]the Liao Ning Revitalization Talents Program[grant number XLYC1908027].
文摘Sea ice conditions and navigability along four typical routes of the Northeast Passage(NEP)are analysed using remote-sensing data from 1979 to 2019.The influence of air temperature(T_(air))and surface wind on the sea ice concentration(SIC)and the navigability of routes is determined.It is found that the annually averaged SICs of the different routes have decreased over the past 41 years.The fastest rate of decrease occurred in the Kara Sea(∼−1%per year),while the slowest rates of decrease occurred in the Laptev/East Siberian Sea(∼−0.42%per year).The number of navigable days for the Kara Sea has become∼1–2 months longer than the Laptev/East Siberian Sea route as a result.The effect of T_(air) on SIC,quantified byΔSIC/ΔT_(air) in the routes through the eastern Kara Sea and Laptev/East Siberian Sea in 2010s was∼−0.04/℃,two to three times that seen during the 1980s.Air temperature is becoming a significant driving force of melting ice in these routes.Surface winds are also a crucial factor for the navigability of the Vilkitsky Strait and Long Strait,as they drive ice drift,and affect the navigability of the Kara Strait by introducing warm air.
