Almost at every mouth of the tributary creek of the Three Gorges inthe Gezhouba Reservoir, the alluvial fans or alluvial cones formed the rapids, whichare called rapids of creek mouth--bar. They are composed of pebble...Almost at every mouth of the tributary creek of the Three Gorges inthe Gezhouba Reservoir, the alluvial fans or alluvial cones formed the rapids, whichare called rapids of creek mouth--bar. They are composed of pebble bed load with d>20 mm. Based upon geological and geomorphological investigations, the authors detect that the pebble bed load at the Gezhouba Re3ervoir comes from two sources,namely, the region mainly with limestone and The region mainly with pyrolith, andtheir converging area is within the Gezhouba Project. percentages of the pebble bedload are calculated. The calculated result stows that, 65% of pebble bed load comesfrom the region mainly with limestone, and 93 % of the rapids of creek mouth--bar isdistributed in the region mainly with limestone. Considering the water level fluctuations, the rapids of creek mouth--bar can be divided into 3 types i. e. flood waterones, medium water ones and low water ones. Due to the rise of water level afterbuilding the Gezhouba Reservoir, the navigable channels in the area of rapids ofcreek mouth--bar within varied back water region are improved, taking up 50% of all12 rapids. But the rapids of creek mouth--bar in the tail region where the water levelrises less than 1 m, the conditions of navigable channels are little improved and evendeterioration, because of the continuous supply of pebble bed load. Therefore, thoserapids must be regulated before the completion of the Three Gorges Project.展开更多
Definition of hydraulic geometry of navigable canals and its expression are studied in this paper.The hydrodynamic and morphologic characteristics of navigable canals are analyzed on the basis of the data collected fr...Definition of hydraulic geometry of navigable canals and its expression are studied in this paper.The hydrodynamic and morphologic characteristics of navigable canals are analyzed on the basis of the data collected from field surveys conducted at two segments of the Grand Canal in Jiangsu Province,China.The channel morphologic factor and the ship hydrodynamic factor are adopted to describe the hydraulic geometry relation of navigable canals.The correlation analysis shows that the ship hydrodynamics can be a dominant factor influencing the channel evolution with larger determination coefficient.Furthermore,the undetermined index in the proposed hydraulic geometry relation is also discussed,which indicates that the index related to the intensity of water flow(qualitatively reflected by the integrated ship flow intensity)is within a range of 0.5 to 1.0.展开更多
The design lowest navigable water level is a primary index to the channel grade division.But differ- ent method can get different calculated result,and that even brings contradiction to decide the navigation grade.In ...The design lowest navigable water level is a primary index to the channel grade division.But differ- ent method can get different calculated result,and that even brings contradiction to decide the navigation grade.In this paper the differences between guaranteed rate method and guaranteed rate-frequency method on the fundamental concept of guaranteed rate and the calculated result are carried out.According to the theoreti- cal expression forms of the two methods,the reason leading to the difference is an...展开更多
At intensive winter navigation, the ships should separate under movement on opposite courses or make overtaking of slowly moving cargo vessels in the water areas covered with ice. Under navigation within ice channel, ...At intensive winter navigation, the ships should separate under movement on opposite courses or make overtaking of slowly moving cargo vessels in the water areas covered with ice. Under navigation within ice channel, possibilities for maneuvering are reduced; therefore, danger of collision of ships exists. The ice floes between vessels hulls and outside are the major factors defining values and direction of side force and yawing moment that arise on their hulls during divergence. Ice loads on the ship hull exceed considerably the loads caused by water flow around hull. Performed previously experiments in the ice basin have detected that besides increase of side force and yawing moment modules the change of side force directions occurs during the divergence of vessels in comparison with same maneuvering on water area without ice cover. Article contains the detailed problem definition and mathematical model of ships interaction during opposite passing by or overtaking and technical approach to computation of loads on vessels hulls. As example of strategy application, the simulation of loads on overtaking ship was performed, and main results of computations are presented. Outcomes of investigation are character of variation of side force and yawing moment during passage along overtaken ship and dependence of the peak values of additional ice resistance, side force and yawing moment on beam distance between vessels and thickness that are contained in the article.展开更多
Background and Objective Electromagnetic navigation technology has demonstrated significant potential in enhancing the accuracy and safety of neurosurgical procedures.However,traditional electromagnetic navigation sys...Background and Objective Electromagnetic navigation technology has demonstrated significant potential in enhancing the accuracy and safety of neurosurgical procedures.However,traditional electromagnetic navigation systems face challenges such as high equipment costs,complex operation,bulky size,and insufficient anti-interference performance.To address these limitations,our study developed and validated a novel portable electromagnetic neuronavigation system designed to improve the precision,accessibility,and clinical applicability of electromagnetic navigation technology in cranial surgery.Methods The software and hardware architecture of a portable neural magnetic navigation system was designed.The key technologies of the system were analysed,including electromagnetic positioning algorithms,miniaturized sensor design,optimization of electromagnetic positioning and navigation algorithms,anti-interference signal processing methods,and fast three-dimensional reconstruction algorithms.A prototype was developed,and its accuracy was tested.Finally,a preliminary clinical application evaluation was conducted.Results This study successfully developed a comprehensive portable electromagnetic neuronavigation system capable of achieving preoperative planning,intraoperative real-time positioning and navigation,and postoperative evaluation of navigation outcomes.Through rigorous collaborative testing of the system’s software and hardware,the accuracy of electromagnetic neuronavigation has been validated to meet clinical requirements.Conclusions This study developed a portable neuroelectromagnetic navigation system and validated its effectiveness and safety through rigorous model testing and preliminary clinical applications.The system is characterized by its compact size,high precision,excellent portability,and user-friendly operation,making it highly valuable for promoting navigation technology and advancing the precision and minimally invasive nature of neurosurgical procedures.展开更多
Nonlinear variations in the coordinate time series of global navigation satellite system(GNSS) reference stations are strongly correlated with surface displacements caused by environmental loading effects,including at...Nonlinear variations in the coordinate time series of global navigation satellite system(GNSS) reference stations are strongly correlated with surface displacements caused by environmental loading effects,including atmospheric, hydrological, and nontidal ocean loading. Continuous improvements in the accuracy of surface mass loading products, performance of Earth models, and precise data-processing technologies have significantly advanced research on the effects of environmental loading on nonlinear variations in GNSS coordinate time series. However, owing to theoretical limitations, the lack of high spatiotemporal resolution surface mass observations, and the coupling of GNSS technology-related systematic errors, environmental loading and nonlinear GNSS reference station displacements remain inconsistent. The applicability and capability of these loading products across different regions also require further evaluation. This paper outlines methods for modeling environmental loading, surface mass loading products, and service organizations. In addition, it summarizes recent advances in applying environmental loading to address nonlinear variations in global and regional GNSS coordinate time series. Moreover, the scientific questions of existing studies are summarized, and insights into future research directions are provided. The complex nonlinear motion of reference stations is a major factor limiting the accuracy of the current terrestrial reference frame. Further refining the environmental load modeling method, establishing a surface mass distribution model with high spatiotemporal resolution and reliability, exploring other environmental load factors such as ice sheet and artificial mass-change effects, and developing an optimal data-processing model and strategy for reprocessing global reference station data consistently could contribute to the development of a millimeter-level nonlinear motion model for GNSS reference stations with actual physical significance and provide theoretical support for establishing a terrestrial reference frame with 1 mm accuracy by 2050.展开更多
Terrain Aided Navigation(TAN)technology has become increasingly important due to its effectiveness in environments where Global Positioning System(GPS)is unavailable.In recent years,TAN systems have been extensively r...Terrain Aided Navigation(TAN)technology has become increasingly important due to its effectiveness in environments where Global Positioning System(GPS)is unavailable.In recent years,TAN systems have been extensively researched for both aerial and underwater navigation applications.However,many TAN systems that rely on recursive Unmanned Aerial Vehicle(UAV)position estimation methods,such as Extended Kalman Filters(EKF),often face challenges with divergence and instability,particularly in highly non-linear systems.To address these issues,this paper proposes and investigates a hybrid two-stage TAN positioning system for UAVs that utilizes Particle Filter.To enhance the system’s robustness against uncertainties caused by noise and to estimate additional system states,a Fuzzy Particle Filter(FPF)is employed in the first stage.This approach introduces a novel terrain composite feature that enables a fuzzy expert system to analyze terrain non-linearities and dynamically adjust the number of particles in real-time.This design allows the UAV to be efficiently localized in GPS-denied environments while also reducing the computational complexity of the particle filter in real-time applications.In the second stage,an Error State Kalman Filter(ESKF)is implemented to estimate the UAV’s altitude.The ESKF is chosen over the conventional EKF method because it is more suitable for non-linear systems.Simulation results demonstrate that the proposed fuzzy-based terrain composite method achieves high positional accuracy while reducing computational time and memory usage.展开更多
Fluorescence imaging in the second near-infrared window(NIR-II,900-1880 nm)offers high signalto-background ratio(SBR),enhanced definition,and superior tissue penetration,making it ideal for real-time surgical navigati...Fluorescence imaging in the second near-infrared window(NIR-II,900-1880 nm)offers high signalto-background ratio(SBR),enhanced definition,and superior tissue penetration,making it ideal for real-time surgical navigation.However,with single-channel imaging,surgeons must frequently switch between the surgi⁃cal field and the NIR-II images on the monitor.To address this,a coaxial dual-channel imaging system that com⁃bines visible light and 1100 nm longpass(1100LP)fluorescence was developed.The system features a custom⁃ized coaxial dual-channel lens with optimized distortion,achieving precise alignment with an error of less than±0.15 mm.Additionally,the shared focusing mechanism simplifies operation.Using FDA-approved indocya⁃nine green(ICG),the system was successfully applied in dual-channel guided rat lymph node excision,and blood supply assessment of reconstructed human flap.This approach enhances surgical precision,improves opera⁃tional efficiency,and provides a valuable reference for further clinical translation of NIR-II fluorescence imaging.展开更多
With the increase of international trade activities and the gradual melting of the polar ice cap,the importance of the Arctic route for marine transportation has been emphasized.Prediction of the polar navigation wind...With the increase of international trade activities and the gradual melting of the polar ice cap,the importance of the Arctic route for marine transportation has been emphasized.Prediction of the polar navigation window period is crucial for navigating in the Arctic route,which is of great significance to the selection of the route and the optimization of navigation.This paper introduces the establishment of a risk index system,determination of risk index weight,establishment of a risk evaluation model,and prediction algorithm for the window period.In addition,data sources of both environmental factors and ship factors are introducted,and their shortcomings are analyzed,followed by introduction of various methods involved in window prediction and analysis of their advantages and disadvantages.The quantitative risk evaluation and window period algorithm can provide a reference for the research of polar navigation window period prediction.展开更多
1. Introduction Celestial navigation is a kind of navigation with a long history.With the increasing demand for intelligent autonomy and antielectromagnetic interference in spacecraft, celestial navigation has become ...1. Introduction Celestial navigation is a kind of navigation with a long history.With the increasing demand for intelligent autonomy and antielectromagnetic interference in spacecraft, celestial navigation has become one of the current research hotspots in spacecraft autonomous navigation. Spacecraft face complex electromagnetic interference in orbit. The time-varying, non-Gaussian interference from internal devices and external environment can lead to measurement distortion.展开更多
In order to address the challenges encountered in visual navigation for asteroid landing using traditional point features,such as significant recognition and extraction errors,low computational efficiency,and limited ...In order to address the challenges encountered in visual navigation for asteroid landing using traditional point features,such as significant recognition and extraction errors,low computational efficiency,and limited navigation accuracy,a novel approach for multi-type fusion visual navigation is proposed.This method aims to overcome the limitations of single-type features and enhance navigation accuracy.Analytical criteria for selecting multi-type features are introduced,which simultaneously improve computational efficiency and system navigation accuracy.Concerning pose estimation,both absolute and relative pose estimation methods based on multi-type feature fusion are proposed,and multi-type feature normalization is established,which significantly improves system navigation accuracy and lays the groundwork for flexible application of joint absolute-relative estimation.The feasibility and effectiveness of the proposed method are validated through simulation experiments through 4769 Castalia.展开更多
Navigable flow condition simulations can provide detailed information on water depth and velocity distribution, simulation speed is one of the key factors which influence real-time navigation. In this paper, a navigab...Navigable flow condition simulations can provide detailed information on water depth and velocity distribution, simulation speed is one of the key factors which influence real-time navigation. In this paper, a navigable flow condition simulation system is developed to provide useful information for waterway management and shipping safety. To improve the simulation speed of 2-D hydrodynamic model, an explicit finite volume method and Open MP are used to realize parallel computing. Two mesh schemes and two computing platforms are adopted to study the parallel model＇s performance in the Yangtze River, China. The results show that the parallel model achieves dramatic acceleration, with a maximum speedup ratio of 34.94？. The parallel model can determine the flow state of the navigable channel in about 4 min, efficiency is further improved by a flow simulation scheme database. The developed system can provide early warning information for shipping safety, allowing ships to choose better routes and navigation areas according to real-time navigable flow conditions.展开更多
As the core information infrastructure of modern information warfare,the offensive and defensive confrontations of satellite navigation systems have given rise to navigation warfare,which focuses on seizing control of...As the core information infrastructure of modern information warfare,the offensive and defensive confrontations of satellite navigation systems have given rise to navigation warfare,which focuses on seizing control of navigation resources.Based on the space segment,control segment,and user segment of satellite navigation systems,this paper systematically constructs an offensive-defensive technology system for navigation warfare,and deeply analyzes core measures such as signal enhancement and suppression,autonomous navigation and link jamming,anti-jamming reception,and integrated navigation.It extracts key technologies including adaptive nulling antennas,joint filtering,and multi-dimensional combined jamming,and discusses the technical effectiveness of these technologies by incorporating relevant cases.The advantages of navigation warfare stem from multi-segment coordination and technological inte-gration.In the future,the development directions of navigation warfare will focus on three aspects:enhancing satellite capabilities,tackling core technical challenges,and building a multi-dimensional system.展开更多
This paper presents the design and ground verification for vision-based relative navigation systems of microsatellites,which offers a comprehensive hardware design solution and a robust experimental verification metho...This paper presents the design and ground verification for vision-based relative navigation systems of microsatellites,which offers a comprehensive hardware design solution and a robust experimental verification methodology for practical implementation of vision-based navigation technology on the microsatellite platform.Firstly,a low power consumption,light weight,and high performance vision-based relative navigation optical sensor is designed.Subsequently,a set of ground verification system is designed for the hardware-in-the-loop testing of the vision-based relative navigation systems.Finally,the designed vision-based relative navigation optical sensor and the proposed angles-only navigation algorithms are tested on the ground verification system.The results verify that the optical simulator after geometrical calibration can meet the requirements of the hardware-in-the-loop testing of vision-based relative navigation systems.Based on experimental results,the relative position accuracy of the angles-only navigation filter at terminal time is increased by 25.5%,and the relative speed accuracy is increased by 31.3% compared with those of optical simulator before geometrical calibration.展开更多
The Global Navigation Satellite System(GNSS)has been widely adopted in numerous fields,including intelligent transportation,remote sensing,and aeronautical and astronautical engineering.As new navigation approaches,te...The Global Navigation Satellite System(GNSS)has been widely adopted in numerous fields,including intelligent transportation,remote sensing,and aeronautical and astronautical engineering.As new navigation approaches,technologies,and applications continue to emerge,they attract significant global attention.Ensuring reliable positioning solutions with high accuracy,strong anti-interference capabilities,high availability and low integrity risks has become increasingly critical.展开更多
Objective:To observe the guiding role of image navigation technology in the treatment of patients with tuberculosis.Methods:A total of 188 patients with multidrug-resistant tuberculosis(MDR-TB)and rifampin-resistant t...Objective:To observe the guiding role of image navigation technology in the treatment of patients with tuberculosis.Methods:A total of 188 patients with multidrug-resistant tuberculosis(MDR-TB)and rifampin-resistant tuberculosis(RR-TB)who were hospitalized in the hospital from September 2023 to September 2024 were included.After random equal division,94 patients were included in the control group and received systemic anti-tuberculosis chemotherapy;94 patients were included in the treatment group.Based on systemic anti-tuberculosis treatment,digital subtraction angiography(DSA)technology was used to inject targeted drugs into the bronchial lumen through bronchoscopy to complete anti-tuberculosis treatment.The changes in sputum bacteria and imaging were observed in the two groups.Results:The sputum negative conversion rate in the treatment group was significantly higher than that in the control group(86.2%;70.2%)(u=2.74,P<0.01).The absorption rate of CT imaging lesions(significant absorption)was significantly higher than that of the control group(83.0%;50%)(u=2.45,P<0.05).The closure rate of chest CT cavities was significantly higher than that of the control group(74.2%;39.1%)(u=2.20,P<0.05).During the treatment process,the improvement of clinical symptoms was significantly higher than that of the control group,and the difference was statistically significant.There was no statistically significant difference in the incidence of adverse reactions between the two groups(x^(2)=0.434,P>0.05).Conclusion:Based on DSA,targeted drug infusion within the bronchoscope can significantly improve the efficacy of the disease,with mild adverse reactions that patients can tolerate.It is worthy of promotion and application.展开更多
In multiple Unmanned Aerial Vehicles(UAV)systems,achieving efficient navigation is essential for executing complex tasks and enhancing autonomy.Traditional navigation methods depend on predefined control strategies an...In multiple Unmanned Aerial Vehicles(UAV)systems,achieving efficient navigation is essential for executing complex tasks and enhancing autonomy.Traditional navigation methods depend on predefined control strategies and trajectory planning and often perform poorly in complex environments.To improve the UAV-environment interaction efficiency,this study proposes a multi-UAV integrated navigation algorithm based on Deep Reinforcement Learning(DRL).This algorithm integrates the Inertial Navigation System(INS),Global Navigation Satellite System(GNSS),and Visual Navigation System(VNS)for comprehensive information fusion.Specifically,an improved multi-UAV integrated navigation algorithm called Information Fusion with MultiAgent Deep Deterministic Policy Gradient(IF-MADDPG)was developed.This algorithm enables UAVs to learn collaboratively and optimize their flight trajectories in real time.Through simulations and experiments,test scenarios in GNSS-denied environments were constructed to evaluate the effectiveness of the algorithm.The experimental results demonstrate that the IF-MADDPG algorithm significantly enhances the collaborative navigation capabilities of multiple UAVs in formation maintenance and GNSS-denied environments.Additionally,it has advantages in terms of mission completion time.This study provides a novel approach for efficient collaboration in multi-UAV systems,which significantly improves the robustness and adaptability of navigation systems.展开更多
Since its inception in the 1960s,light detection and ranging(LiDAR)technology has demonstrated great potential in various fields such as autonomous driving,robot navigation,and environmental monitoring due to its high...Since its inception in the 1960s,light detection and ranging(LiDAR)technology has demonstrated great potential in various fields such as autonomous driving,robot navigation,and environmental monitoring due to its high precision,high resolution,and strong anti-interference capability.This paper reviews the development history,technical principles,application fields,and future development trends of LiDAR technology.It introduces the technical applications of LiDAR technology in autonomous driving,robot navigation,and environmental monitoring,and explores the development direction of SLAM algorithms in multi-sensor fusion and real-time map construction,providing a reference basis for the development and research of LiDAR.展开更多
Robot navigation in complex crowd service scenarios,such as medical logistics and commercial guidance,requires a dynamic balance between safety and efficiency,while the traditional fixed reward mechanism lacks environ...Robot navigation in complex crowd service scenarios,such as medical logistics and commercial guidance,requires a dynamic balance between safety and efficiency,while the traditional fixed reward mechanism lacks environmental adaptability and struggles to adapt to the variability of crowd density and pedestrian motion patterns.This paper proposes a navigation method that integrates spatiotemporal risk field modeling and adaptive reward optimization,aiming to improve the robot’s decision-making ability in diverse crowd scenarios through dynamic risk assessment and nonlinear weight adjustment.We construct a spatiotemporal risk field model based on a Gaussian kernel function by combining crowd density,relative distance,andmotion speed to quantify environmental complexity and realize crowd-density-sensitive risk assessment dynamically.We apply an exponential decay function to reward design to address the linear conflict problem of fixed weights in multi-objective optimization.We adaptively adjust weight allocation between safety constraints and navigation efficiency based on real-time risk values,prioritizing safety in highly dense areas and navigation efficiency in sparse areas.Experimental results show that our method improves the navigation success rate by 9.0%over state-of-the-art models in high-density scenarios,with a 10.7%reduction in intrusion time ratio.Simulation comparisons validate the risk field model’s ability to capture risk superposition effects in dense scenarios and the suppression of near-field dangerous behaviors by the exponential decay mechanism.Our parametric optimization paradigm establishes an explicit mapping between navigation objectives and risk parameters through rigorous mathematical formalization,providing an interpretable approach for safe deployment of service robots in dynamic environments.展开更多
Instantaneous Global Navigation Satellite System(GNSS)attitude determination method which achieves real-time attitude determination using GNSS signal has been extensively studied,particularly the one using a priori at...Instantaneous Global Navigation Satellite System(GNSS)attitude determination method which achieves real-time attitude determination using GNSS signal has been extensively studied,particularly the one using a priori attitude information replacing the code measurements to enhance the successful rate for ambiguity resolution.However,there exists a key limitation that this method relies on considerable Monte Carlo sampling particles to construct the pdf of ambiguities,resulting in significant computational burdens.To address this limitation,this paper provides a rapid single-epoch GNSS attitude determination method based on a priori attitude information.It utilizes a second-order Taylor expansion to analytically estimate the covariance of the baseline conditioned on a priori attitude information.This is followed by deriving the float solution and covariance of ambiguities,which are then processed using the standard LAMBDA method for integer ambiguity resolution.Experimental results demonstrate that our method is both efficient and accurate,significantly reducing computational costs compared to previous methods,thereby enhancing its applicability for GNSS-based attitude determination.展开更多
文摘Almost at every mouth of the tributary creek of the Three Gorges inthe Gezhouba Reservoir, the alluvial fans or alluvial cones formed the rapids, whichare called rapids of creek mouth--bar. They are composed of pebble bed load with d>20 mm. Based upon geological and geomorphological investigations, the authors detect that the pebble bed load at the Gezhouba Re3ervoir comes from two sources,namely, the region mainly with limestone and The region mainly with pyrolith, andtheir converging area is within the Gezhouba Project. percentages of the pebble bedload are calculated. The calculated result stows that, 65% of pebble bed load comesfrom the region mainly with limestone, and 93 % of the rapids of creek mouth--bar isdistributed in the region mainly with limestone. Considering the water level fluctuations, the rapids of creek mouth--bar can be divided into 3 types i. e. flood waterones, medium water ones and low water ones. Due to the rise of water level afterbuilding the Gezhouba Reservoir, the navigable channels in the area of rapids ofcreek mouth--bar within varied back water region are improved, taking up 50% of all12 rapids. But the rapids of creek mouth--bar in the tail region where the water levelrises less than 1 m, the conditions of navigable channels are little improved and evendeterioration, because of the continuous supply of pebble bed load. Therefore, thoserapids must be regulated before the completion of the Three Gorges Project.
基金the National Natural Science Foundation of China(No.51479035)the Scientific Research Foundation of Graduate School of Southeast University(No.YBPY1883)
文摘Definition of hydraulic geometry of navigable canals and its expression are studied in this paper.The hydrodynamic and morphologic characteristics of navigable canals are analyzed on the basis of the data collected from field surveys conducted at two segments of the Grand Canal in Jiangsu Province,China.The channel morphologic factor and the ship hydrodynamic factor are adopted to describe the hydraulic geometry relation of navigable canals.The correlation analysis shows that the ship hydrodynamics can be a dominant factor influencing the channel evolution with larger determination coefficient.Furthermore,the undetermined index in the proposed hydraulic geometry relation is also discussed,which indicates that the index related to the intensity of water flow(qualitatively reflected by the integrated ship flow intensity)is within a range of 0.5 to 1.0.
基金Supported by the National Key Basic Resarch and Development Plan (Grant 2003CB415200)
文摘The design lowest navigable water level is a primary index to the channel grade division.But differ- ent method can get different calculated result,and that even brings contradiction to decide the navigation grade.In this paper the differences between guaranteed rate method and guaranteed rate-frequency method on the fundamental concept of guaranteed rate and the calculated result are carried out.According to the theoreti- cal expression forms of the two methods,the reason leading to the difference is an...
文摘At intensive winter navigation, the ships should separate under movement on opposite courses or make overtaking of slowly moving cargo vessels in the water areas covered with ice. Under navigation within ice channel, possibilities for maneuvering are reduced; therefore, danger of collision of ships exists. The ice floes between vessels hulls and outside are the major factors defining values and direction of side force and yawing moment that arise on their hulls during divergence. Ice loads on the ship hull exceed considerably the loads caused by water flow around hull. Performed previously experiments in the ice basin have detected that besides increase of side force and yawing moment modules the change of side force directions occurs during the divergence of vessels in comparison with same maneuvering on water area without ice cover. Article contains the detailed problem definition and mathematical model of ships interaction during opposite passing by or overtaking and technical approach to computation of loads on vessels hulls. As example of strategy application, the simulation of loads on overtaking ship was performed, and main results of computations are presented. Outcomes of investigation are character of variation of side force and yawing moment during passage along overtaken ship and dependence of the peak values of additional ice resistance, side force and yawing moment on beam distance between vessels and thickness that are contained in the article.
基金funded by National Natural Science Foundation of China(No.82272134)Innovative Research Group Project of the National Natural Science Foundation of China(No.82272134,Xiao-lei Chen).
文摘Background and Objective Electromagnetic navigation technology has demonstrated significant potential in enhancing the accuracy and safety of neurosurgical procedures.However,traditional electromagnetic navigation systems face challenges such as high equipment costs,complex operation,bulky size,and insufficient anti-interference performance.To address these limitations,our study developed and validated a novel portable electromagnetic neuronavigation system designed to improve the precision,accessibility,and clinical applicability of electromagnetic navigation technology in cranial surgery.Methods The software and hardware architecture of a portable neural magnetic navigation system was designed.The key technologies of the system were analysed,including electromagnetic positioning algorithms,miniaturized sensor design,optimization of electromagnetic positioning and navigation algorithms,anti-interference signal processing methods,and fast three-dimensional reconstruction algorithms.A prototype was developed,and its accuracy was tested.Finally,a preliminary clinical application evaluation was conducted.Results This study successfully developed a comprehensive portable electromagnetic neuronavigation system capable of achieving preoperative planning,intraoperative real-time positioning and navigation,and postoperative evaluation of navigation outcomes.Through rigorous collaborative testing of the system’s software and hardware,the accuracy of electromagnetic neuronavigation has been validated to meet clinical requirements.Conclusions This study developed a portable neuroelectromagnetic navigation system and validated its effectiveness and safety through rigorous model testing and preliminary clinical applications.The system is characterized by its compact size,high precision,excellent portability,and user-friendly operation,making it highly valuable for promoting navigation technology and advancing the precision and minimally invasive nature of neurosurgical procedures.
基金supported by the Basic Science Center Project of the National Natural Science Foundation of China(42388102)the National Natural Science Foundation of China(42174030)+2 种基金the Special Fund of Hubei Luojia Laboratory(220100020)the Major Science and Technology Program for Hubei Province(2022AAA002)the Fundamental Research Funds for the Central Universities of China(2042022dx0001 and 2042023kfyq01)。
文摘Nonlinear variations in the coordinate time series of global navigation satellite system(GNSS) reference stations are strongly correlated with surface displacements caused by environmental loading effects,including atmospheric, hydrological, and nontidal ocean loading. Continuous improvements in the accuracy of surface mass loading products, performance of Earth models, and precise data-processing technologies have significantly advanced research on the effects of environmental loading on nonlinear variations in GNSS coordinate time series. However, owing to theoretical limitations, the lack of high spatiotemporal resolution surface mass observations, and the coupling of GNSS technology-related systematic errors, environmental loading and nonlinear GNSS reference station displacements remain inconsistent. The applicability and capability of these loading products across different regions also require further evaluation. This paper outlines methods for modeling environmental loading, surface mass loading products, and service organizations. In addition, it summarizes recent advances in applying environmental loading to address nonlinear variations in global and regional GNSS coordinate time series. Moreover, the scientific questions of existing studies are summarized, and insights into future research directions are provided. The complex nonlinear motion of reference stations is a major factor limiting the accuracy of the current terrestrial reference frame. Further refining the environmental load modeling method, establishing a surface mass distribution model with high spatiotemporal resolution and reliability, exploring other environmental load factors such as ice sheet and artificial mass-change effects, and developing an optimal data-processing model and strategy for reprocessing global reference station data consistently could contribute to the development of a millimeter-level nonlinear motion model for GNSS reference stations with actual physical significance and provide theoretical support for establishing a terrestrial reference frame with 1 mm accuracy by 2050.
文摘Terrain Aided Navigation(TAN)technology has become increasingly important due to its effectiveness in environments where Global Positioning System(GPS)is unavailable.In recent years,TAN systems have been extensively researched for both aerial and underwater navigation applications.However,many TAN systems that rely on recursive Unmanned Aerial Vehicle(UAV)position estimation methods,such as Extended Kalman Filters(EKF),often face challenges with divergence and instability,particularly in highly non-linear systems.To address these issues,this paper proposes and investigates a hybrid two-stage TAN positioning system for UAVs that utilizes Particle Filter.To enhance the system’s robustness against uncertainties caused by noise and to estimate additional system states,a Fuzzy Particle Filter(FPF)is employed in the first stage.This approach introduces a novel terrain composite feature that enables a fuzzy expert system to analyze terrain non-linearities and dynamically adjust the number of particles in real-time.This design allows the UAV to be efficiently localized in GPS-denied environments while also reducing the computational complexity of the particle filter in real-time applications.In the second stage,an Error State Kalman Filter(ESKF)is implemented to estimate the UAV’s altitude.The ESKF is chosen over the conventional EKF method because it is more suitable for non-linear systems.Simulation results demonstrate that the proposed fuzzy-based terrain composite method achieves high positional accuracy while reducing computational time and memory usage.
基金Supported by the National Natural Science Foundation of China(U23A20487)the National Key R&D Program of China(2022YFB3206000)+1 种基金Dr.Li Dak Sum&Yip Yio Chin Development Fund for Regenerative Medicine,Zhejiang Universitythe National Natural Science Foundation of China(61975172).
文摘Fluorescence imaging in the second near-infrared window(NIR-II,900-1880 nm)offers high signalto-background ratio(SBR),enhanced definition,and superior tissue penetration,making it ideal for real-time surgical navigation.However,with single-channel imaging,surgeons must frequently switch between the surgi⁃cal field and the NIR-II images on the monitor.To address this,a coaxial dual-channel imaging system that com⁃bines visible light and 1100 nm longpass(1100LP)fluorescence was developed.The system features a custom⁃ized coaxial dual-channel lens with optimized distortion,achieving precise alignment with an error of less than±0.15 mm.Additionally,the shared focusing mechanism simplifies operation.Using FDA-approved indocya⁃nine green(ICG),the system was successfully applied in dual-channel guided rat lymph node excision,and blood supply assessment of reconstructed human flap.This approach enhances surgical precision,improves opera⁃tional efficiency,and provides a valuable reference for further clinical translation of NIR-II fluorescence imaging.
文摘With the increase of international trade activities and the gradual melting of the polar ice cap,the importance of the Arctic route for marine transportation has been emphasized.Prediction of the polar navigation window period is crucial for navigating in the Arctic route,which is of great significance to the selection of the route and the optimization of navigation.This paper introduces the establishment of a risk index system,determination of risk index weight,establishment of a risk evaluation model,and prediction algorithm for the window period.In addition,data sources of both environmental factors and ship factors are introducted,and their shortcomings are analyzed,followed by introduction of various methods involved in window prediction and analysis of their advantages and disadvantages.The quantitative risk evaluation and window period algorithm can provide a reference for the research of polar navigation window period prediction.
基金supported by the National Level Project of China (No. 2020-JCJQ-ZQ-059)。
文摘1. Introduction Celestial navigation is a kind of navigation with a long history.With the increasing demand for intelligent autonomy and antielectromagnetic interference in spacecraft, celestial navigation has become one of the current research hotspots in spacecraft autonomous navigation. Spacecraft face complex electromagnetic interference in orbit. The time-varying, non-Gaussian interference from internal devices and external environment can lead to measurement distortion.
基金supported by the National Natural Science Foundation of China(No.U2037602)。
文摘In order to address the challenges encountered in visual navigation for asteroid landing using traditional point features,such as significant recognition and extraction errors,low computational efficiency,and limited navigation accuracy,a novel approach for multi-type fusion visual navigation is proposed.This method aims to overcome the limitations of single-type features and enhance navigation accuracy.Analytical criteria for selecting multi-type features are introduced,which simultaneously improve computational efficiency and system navigation accuracy.Concerning pose estimation,both absolute and relative pose estimation methods based on multi-type feature fusion are proposed,and multi-type feature normalization is established,which significantly improves system navigation accuracy and lays the groundwork for flexible application of joint absolute-relative estimation.The feasibility and effectiveness of the proposed method are validated through simulation experiments through 4769 Castalia.
基金Project supported by the 13th Five-Year National Key Research and Development Program of China(Grant No.2016YFC0401407)the 12th Five-Year National Key Tech-nology R&D Program(Grant No.2012BAB05B05)the National Natural Science Foundation of China(Grant No.51722901)
文摘Navigable flow condition simulations can provide detailed information on water depth and velocity distribution, simulation speed is one of the key factors which influence real-time navigation. In this paper, a navigable flow condition simulation system is developed to provide useful information for waterway management and shipping safety. To improve the simulation speed of 2-D hydrodynamic model, an explicit finite volume method and Open MP are used to realize parallel computing. Two mesh schemes and two computing platforms are adopted to study the parallel model＇s performance in the Yangtze River, China. The results show that the parallel model achieves dramatic acceleration, with a maximum speedup ratio of 34.94？. The parallel model can determine the flow state of the navigable channel in about 4 min, efficiency is further improved by a flow simulation scheme database. The developed system can provide early warning information for shipping safety, allowing ships to choose better routes and navigation areas according to real-time navigable flow conditions.
文摘As the core information infrastructure of modern information warfare,the offensive and defensive confrontations of satellite navigation systems have given rise to navigation warfare,which focuses on seizing control of navigation resources.Based on the space segment,control segment,and user segment of satellite navigation systems,this paper systematically constructs an offensive-defensive technology system for navigation warfare,and deeply analyzes core measures such as signal enhancement and suppression,autonomous navigation and link jamming,anti-jamming reception,and integrated navigation.It extracts key technologies including adaptive nulling antennas,joint filtering,and multi-dimensional combined jamming,and discusses the technical effectiveness of these technologies by incorporating relevant cases.The advantages of navigation warfare stem from multi-segment coordination and technological inte-gration.In the future,the development directions of navigation warfare will focus on three aspects:enhancing satellite capabilities,tackling core technical challenges,and building a multi-dimensional system.
基金supported in part by the Doctoral Initiation Fund of Nanchang Hangkong University(No.EA202403107)Jiangxi Province Early Career Youth Science and Technology Talent Training Project(No.CK202403509).
文摘This paper presents the design and ground verification for vision-based relative navigation systems of microsatellites,which offers a comprehensive hardware design solution and a robust experimental verification methodology for practical implementation of vision-based navigation technology on the microsatellite platform.Firstly,a low power consumption,light weight,and high performance vision-based relative navigation optical sensor is designed.Subsequently,a set of ground verification system is designed for the hardware-in-the-loop testing of the vision-based relative navigation systems.Finally,the designed vision-based relative navigation optical sensor and the proposed angles-only navigation algorithms are tested on the ground verification system.The results verify that the optical simulator after geometrical calibration can meet the requirements of the hardware-in-the-loop testing of vision-based relative navigation systems.Based on experimental results,the relative position accuracy of the angles-only navigation filter at terminal time is increased by 25.5%,and the relative speed accuracy is increased by 31.3% compared with those of optical simulator before geometrical calibration.
文摘The Global Navigation Satellite System(GNSS)has been widely adopted in numerous fields,including intelligent transportation,remote sensing,and aeronautical and astronautical engineering.As new navigation approaches,technologies,and applications continue to emerge,they attract significant global attention.Ensuring reliable positioning solutions with high accuracy,strong anti-interference capabilities,high availability and low integrity risks has become increasingly critical.
基金Science and Education Department Harbin Health Committee Project。
文摘Objective:To observe the guiding role of image navigation technology in the treatment of patients with tuberculosis.Methods:A total of 188 patients with multidrug-resistant tuberculosis(MDR-TB)and rifampin-resistant tuberculosis(RR-TB)who were hospitalized in the hospital from September 2023 to September 2024 were included.After random equal division,94 patients were included in the control group and received systemic anti-tuberculosis chemotherapy;94 patients were included in the treatment group.Based on systemic anti-tuberculosis treatment,digital subtraction angiography(DSA)technology was used to inject targeted drugs into the bronchial lumen through bronchoscopy to complete anti-tuberculosis treatment.The changes in sputum bacteria and imaging were observed in the two groups.Results:The sputum negative conversion rate in the treatment group was significantly higher than that in the control group(86.2%;70.2%)(u=2.74,P<0.01).The absorption rate of CT imaging lesions(significant absorption)was significantly higher than that of the control group(83.0%;50%)(u=2.45,P<0.05).The closure rate of chest CT cavities was significantly higher than that of the control group(74.2%;39.1%)(u=2.20,P<0.05).During the treatment process,the improvement of clinical symptoms was significantly higher than that of the control group,and the difference was statistically significant.There was no statistically significant difference in the incidence of adverse reactions between the two groups(x^(2)=0.434,P>0.05).Conclusion:Based on DSA,targeted drug infusion within the bronchoscope can significantly improve the efficacy of the disease,with mild adverse reactions that patients can tolerate.It is worthy of promotion and application.
基金co-supported by the National Natural Science Foundation of China(Nos.92371201 and 52192633)the Natural Science Foundation of Shaanxi Province of China(No.2022JC-03)the Aeronautical Science Foundation of China(No.ASFC-20220019070002)。
文摘In multiple Unmanned Aerial Vehicles(UAV)systems,achieving efficient navigation is essential for executing complex tasks and enhancing autonomy.Traditional navigation methods depend on predefined control strategies and trajectory planning and often perform poorly in complex environments.To improve the UAV-environment interaction efficiency,this study proposes a multi-UAV integrated navigation algorithm based on Deep Reinforcement Learning(DRL).This algorithm integrates the Inertial Navigation System(INS),Global Navigation Satellite System(GNSS),and Visual Navigation System(VNS)for comprehensive information fusion.Specifically,an improved multi-UAV integrated navigation algorithm called Information Fusion with MultiAgent Deep Deterministic Policy Gradient(IF-MADDPG)was developed.This algorithm enables UAVs to learn collaboratively and optimize their flight trajectories in real time.Through simulations and experiments,test scenarios in GNSS-denied environments were constructed to evaluate the effectiveness of the algorithm.The experimental results demonstrate that the IF-MADDPG algorithm significantly enhances the collaborative navigation capabilities of multiple UAVs in formation maintenance and GNSS-denied environments.Additionally,it has advantages in terms of mission completion time.This study provides a novel approach for efficient collaboration in multi-UAV systems,which significantly improves the robustness and adaptability of navigation systems.
文摘Since its inception in the 1960s,light detection and ranging(LiDAR)technology has demonstrated great potential in various fields such as autonomous driving,robot navigation,and environmental monitoring due to its high precision,high resolution,and strong anti-interference capability.This paper reviews the development history,technical principles,application fields,and future development trends of LiDAR technology.It introduces the technical applications of LiDAR technology in autonomous driving,robot navigation,and environmental monitoring,and explores the development direction of SLAM algorithms in multi-sensor fusion and real-time map construction,providing a reference basis for the development and research of LiDAR.
基金supported by the Sichuan Science and Technology Program(2025ZNSFSC0005).
文摘Robot navigation in complex crowd service scenarios,such as medical logistics and commercial guidance,requires a dynamic balance between safety and efficiency,while the traditional fixed reward mechanism lacks environmental adaptability and struggles to adapt to the variability of crowd density and pedestrian motion patterns.This paper proposes a navigation method that integrates spatiotemporal risk field modeling and adaptive reward optimization,aiming to improve the robot’s decision-making ability in diverse crowd scenarios through dynamic risk assessment and nonlinear weight adjustment.We construct a spatiotemporal risk field model based on a Gaussian kernel function by combining crowd density,relative distance,andmotion speed to quantify environmental complexity and realize crowd-density-sensitive risk assessment dynamically.We apply an exponential decay function to reward design to address the linear conflict problem of fixed weights in multi-objective optimization.We adaptively adjust weight allocation between safety constraints and navigation efficiency based on real-time risk values,prioritizing safety in highly dense areas and navigation efficiency in sparse areas.Experimental results show that our method improves the navigation success rate by 9.0%over state-of-the-art models in high-density scenarios,with a 10.7%reduction in intrusion time ratio.Simulation comparisons validate the risk field model’s ability to capture risk superposition effects in dense scenarios and the suppression of near-field dangerous behaviors by the exponential decay mechanism.Our parametric optimization paradigm establishes an explicit mapping between navigation objectives and risk parameters through rigorous mathematical formalization,providing an interpretable approach for safe deployment of service robots in dynamic environments.
基金supported by the Research Grants Council of the Hong Kong Special Administrative Region,China(Nos.25202520,15214523)the Fundamental Research Funds for the Central Universities,China(No.YWF-22-L-805)。
文摘Instantaneous Global Navigation Satellite System(GNSS)attitude determination method which achieves real-time attitude determination using GNSS signal has been extensively studied,particularly the one using a priori attitude information replacing the code measurements to enhance the successful rate for ambiguity resolution.However,there exists a key limitation that this method relies on considerable Monte Carlo sampling particles to construct the pdf of ambiguities,resulting in significant computational burdens.To address this limitation,this paper provides a rapid single-epoch GNSS attitude determination method based on a priori attitude information.It utilizes a second-order Taylor expansion to analytically estimate the covariance of the baseline conditioned on a priori attitude information.This is followed by deriving the float solution and covariance of ambiguities,which are then processed using the standard LAMBDA method for integer ambiguity resolution.Experimental results demonstrate that our method is both efficient and accurate,significantly reducing computational costs compared to previous methods,thereby enhancing its applicability for GNSS-based attitude determination.
