BACKGROUND Prior studies have shown that preserving the left colic artery(LCA)during laparo-scopic radical resection for rectal cancer(RC)can reduce the occurrence of anasto-motic leakage(AL),without compromising onco...BACKGROUND Prior studies have shown that preserving the left colic artery(LCA)during laparo-scopic radical resection for rectal cancer(RC)can reduce the occurrence of anasto-motic leakage(AL),without compromising oncological outcomes.However,anatomical variations in the branches of the inferior mesenteric artery(IMA)and LCA present significant surgical challenges.In this study,we present our novel three dimensional(3D)printed IMA model designed to facilitate preoperative rehearsal and intraoperative navigation to analyze its impact on surgical safety.AIM To investigate the effect of 3D IMA models on preserving the LCA during RC surgery.METHODS We retrospectively collected clinical dates from patients with RC who underwent laparoscopic radical resection from January 2022 to May 2024 at Fuyang People’s Hospital.Patients were divided into the 3D printing and control groups for sta-tistical analysis of perioperative characteristics.RESULTS The 3D printing observation group comprised of 72 patients,while the control group comprised 68 patients.The operation time(174.5±38.2 minutes vs 198.5±49.6 minutes,P=0.002),intraoperative blood loss(43.9±31.3 mL vs 58.2±30.8 mL,P=0.005),duration of hospitalization(13.1±3.1 days vs 15.9±5.6 days,P<0.001),postoperative recovery time(8.6±2.6 days vs 10.5±4.9 days,P=0.007),and the postoperative complication rate(P<0.05)were all significantly lower in the observation group.CONCLUSION Utilization of a 3D-printed IMA model in laparoscopic radical resection of RC can assist surgeons in understanding the LCA anatomy preoperatively,thereby reducing intraoperative bleeding and shortening operating time,demonstrating better clinical application potential.展开更多
With the continuous development of digital medicine,minimally invasive precision and safety have become the primary development trends in hepatobiliary surgery.Due to the specificity and complexity of hepatobiliary su...With the continuous development of digital medicine,minimally invasive precision and safety have become the primary development trends in hepatobiliary surgery.Due to the specificity and complexity of hepatobiliary surgery,traditional preoperative imaging techniques such as computed tomography and magnetic resonance imaging cannot meet the need for identification of fine anatomical regions.Imaging-based three-dimensional(3D)reconstruction,virtual simulation of surgery and 3D printing optimize the surgical plan through preoperative assessment,improving the controllability and safety of intraoperative operations,and in difficult-to-reach areas of the posterior and superior liver,assistive robots reproduce the surgeon’s natural movements with stable cameras,reducing natural vibrations.Electromagnetic navigation in abdominal surgery solves the problem of conventional surgery still relying on direct visual observation or preoperative image assessment.We summarize and compare these recent trends in digital medical solutions for the future development and refinement of digital medicine in hepatobiliary surgery.展开更多
The inertial navigation system(INS),which is frequently used in emergency rescue operations and other situations,has the benefits of not relying on infrastructure,high positioning frequency,and strong real-time perfor...The inertial navigation system(INS),which is frequently used in emergency rescue operations and other situations,has the benefits of not relying on infrastructure,high positioning frequency,and strong real-time performance.However,the intricate and unpredictable pedestrian motion patterns lead the INS localization error to significantly diverge with time.This paper aims to enhance the accuracy of zero-velocity interval(ZVI)detection and reduce the heading and altitude drift of foot-mounted INS via deep learning and equation constraint of dual feet.Aiming at the observational noise problem of low-cost inertial sensors,we utilize a denoising autoencoder to automatically eliminate the inherent noise.Aiming at the problem that inaccurate detection of the ZVI detection results in obvious displacement error,we propose a sample-level ZVI detection algorithm based on the U-Net neural network,which effectively solves the problem of mislabeling caused by sliding windows.Aiming at the problem that Zero-Velocity Update(ZUPT)cannot suppress heading and altitude error,we propose a bipedal INS method based on the equation constraint and ellipsoid constraint,which uses foot-to-foot distance as a new observation to correct heading and altitude error.We conduct extensive and well-designed experiments to evaluate the performance of the proposed method.The experimental results indicate that the position error of our proposed method did not exceed 0.83% of the total traveled distance.展开更多
Nonverbal and noncontact behaviors play a significant role in allowing service robots to structure their interactions withhumans.In this paper, a novel human-mimic mechanism of robot’s navigational skills was propose...Nonverbal and noncontact behaviors play a significant role in allowing service robots to structure their interactions withhumans.In this paper, a novel human-mimic mechanism of robot’s navigational skills was proposed for developing sociallyacceptable robotic etiquette.Based on the sociological and physiological concerns of interpersonal interactions in movement,several criteria in navigation were represented by constraints and incorporated into a unified probabilistic cost grid for safemotion planning and control, followed by an emphasis on the prediction of the human’s movement for adjusting the robot’spre-collision navigational strategy.The human motion prediction utilizes a clustering-based algorithm for modeling humans’indoor motion patterns as well as the combination of the long-term and short-term tendency prediction that takes into accountthe uncertainties of both velocity and heading direction.Both simulation and real-world experiments verified the effectivenessand reliability of the method to ensure human’s safety and comfort in navigation.A statistical user trials study was also given tovalidate the users’favorable views of the human-friendly navigational behavior.展开更多
Unmanned Aircraft Systems(UASs) have advanced technologically and surged exponentially over recent years. Currently, due to safety concerns, most civil operations of UAS are conducted in low-level uncontrolled area or...Unmanned Aircraft Systems(UASs) have advanced technologically and surged exponentially over recent years. Currently, due to safety concerns, most civil operations of UAS are conducted in low-level uncontrolled area or in segregated controlled airspace. As the industry progresses, both operational and technological capabilities have matured to the point where UASs are expected to gain greater freedom of access to both controlled and uncontrolled airspace. Extensive technical and regulatory surveys have been conducted to enable the expanded operations. However, most surveys are derived from the perspective of UAS own operating mechanism and barely consider interactions of their non-segregated activities with the Air Traffic Management(ATM) system. Hence, to fill the gap, this paper presents a survey conducted from the perspective of Air Navigation Service Provider(ANSP), which serves to accommodate these new entrants to the overall national airspace while continuing flight safety and efficiency. The primary objectives of this paper are to:(A) describe what typical ANSP-supplied UAS Traffic Management(UTM) architecture is required to facilitate all types of civil UAS operations;(B) identify three major ANSP considerations on how UAS can be accommodated safely in civil airspace;(C) outline future directions and challenges related with UAS operations for the ANSP.展开更多
●AIM:To explore the combined application of surgical navigation nasal endoscopy(NNE)and three-dimensional printing technology(3DPT)for the adjunctive treatment of orbital blowout fractures(OBF).●METHODS:Retrospectiv...●AIM:To explore the combined application of surgical navigation nasal endoscopy(NNE)and three-dimensional printing technology(3DPT)for the adjunctive treatment of orbital blowout fractures(OBF).●METHODS:Retrospective analysis was conducted on the data of patients with OBF who underwent surgical treatment at the Affiliated Eye Hospital of Nanchang University between July 2012 and November 2022.The control group consisted of patients who received traditional surgical treatment(n=43),while the new surgical group(n=52)consisted of patients who received NNE with 3DPT.The difference in therapeutic effects between the two groups was evaluated by comparing the duration of the operation,best corrected visual acuity(BCVA),enophthalmos difference,recovery rate of eye movement disorder,recovery rate of diplopia,and incidence of postoperative complications.●RESULTS:The study included 95 cases(95 eyes),with 63 men and 32 women.The patients’age ranged from 5 to 67y(35.21±15.75y).The new surgical group and the control group exhibited no statistically significant differences in the duration of the operation,BCVA and enophthalmos difference.The recovery rates of diplopia in the new surgical group were significantly higher than those in the control group at 1mo[OR=0.03,95%CI(0.01–0.15),P<0.0000]and 3mo[OR=0.11,95%CI(0.03–0.36),P<0.0000]postoperation.Additionally,the recovery rates of eye movement disorders at 1 and 3mo after surgery were OR=0.08,95%CI(0.03–0.24),P<0.0000;and OR=0.01,95%CI(0.00–0.18),P<0.0000.The incidence of postoperative complications was lower in the new surgical group compared to the control group[OR=4.86,95%CI(0.95–24.78),P<0.05].●CONCLUSION:The combination of NNE and 3DPT can shorten the recovery time of diplopia and eye movement disorder in patients with OBF.展开更多
User response or reaction to navigation applications is influenced by relevance in geographic information, in terms of cartographic context and content delivered within a definite time, providing a direct impact to ou...User response or reaction to navigation applications is influenced by relevance in geographic information, in terms of cartographic context and content delivered within a definite time, providing a direct impact to outcome or consequence based on decision making and hence user reaction. Location Based Navigation Services (LBNS) have continuously advanced in cartographic visualization, making maps interpretation easy and ubiquitous to any user, as compared to pre-historic times when maps were a preserve of a few. Despite rapid growth in LBNS, there exist challenges that may be characterized as technical and non-technical challenges, among them being process of conveying geospatial information to user. LBNS system deliver appropriate information to a user through smartphone (mobile device) for effective decision making and response within a given time span. This research focuses on optimization of cartographic content for contextual information in LBNS to users, based on prevailing circumstances of various components that constitute it. The research looks into Geographic Information Retrieval (GIR), as a technical challenge centered on a non-technical issue of social being of user satisfaction, leading to decision making in LBNS, hence response and outcome. Though advanced technologically, current LBNS on information sourcing depends on user manual web pages navigation and maneuver, this can be painstaking and time consuming that it may cause unnecessary delay in information delivery, resulting to delayed information response time (DIRT). This in turn may lead to unappropriate decision making with erroneous reaction or response being taken, resulting in loss of opportunity, resources, time and even life. Optimization in LBNS is achieved by a mathematical relationship developed between user status, mobile device variables against cartographic content. The relationship is in turn applied in LBNS android application to fulfill optimization solution for user consumption.展开更多
The evolution of the society and economy has stimulated the development of Knowledge Service(KS), making it an indispensable solution to address future challenges facing libraries and information institutions. However...The evolution of the society and economy has stimulated the development of Knowledge Service(KS), making it an indispensable solution to address future challenges facing libraries and information institutions. However at present, academic research on knowledge service is falling short and its definition is far from clear and complete. As such,this article proposes the Three-dimensional Framework Knowledge Service(TdFKS) for libraries and information institutions based on the knowledge value chain model. By making reliability analysis and mean value analysis of a questionnaire survey result, the article clarifies the structure of the three-dimensional framework and verifies the rationality of the TdFKS.展开更多
The traditional guidance law only guarantees the accuracy of attacking a target. However, the look angle and acceleration constraints are indispensable in applications. A new adaptive three-dimensional proportional na...The traditional guidance law only guarantees the accuracy of attacking a target. However, the look angle and acceleration constraints are indispensable in applications. A new adaptive three-dimensional proportional navigation(PN) guidance law is proposed based on convex optimization. Decomposition of the three-dimensional space is carried out to establish threedimensional kinematic engagements. The constraints and the performance index are disposed by using the convex optimization method. PN guidance gains can be obtained by solving the optimization problem. This solution is more rapid and programmatic than the traditional method and provides a foundation for future online guidance methods, which is of great value for engineering applications.展开更多
BACKGROUND Three-dimensional(3D)modelling technology translates the patient-specific anatomical information derived from two-dimensional radiological images into virtual or physical 3D models,which more closely resemb...BACKGROUND Three-dimensional(3D)modelling technology translates the patient-specific anatomical information derived from two-dimensional radiological images into virtual or physical 3D models,which more closely resemble the complex environment encountered during surgery.It has been successfully applied to surgical planning and navigation,as well as surgical training and patient education in several surgical specialties,but its uptake lags behind in colorectal surgery.Rectal cancer surgery poses specific challenges due to the complex anatomy of the pelvis,which is difficult to comprehend and visualise.AIM To review the current and emerging applications of the 3D models,both virtual and physical,in rectal cancer surgery。METHODS Medline/PubMed,Embase and Scopus databases were searched using the keywords“rectal surgery”,“colorectal surgery”,“three-dimensional”,“3D”,“modelling”,“3D printing”,“surgical planning”,“surgical navigation”,“surgical education”,“patient education”to identify the eligible full-text studies published in English between 2001 and 2020.Reference list from each article was manually reviewed to identify additional relevant papers.The conference abstracts,animal and cadaveric studies and studies describing 3D pelvimetry or radiotherapy planning were excluded.Data were extracted from the retrieved manuscripts and summarised in a descriptive way.The manuscript was prepared and revised in accordance with PRISMA 2009 checklist.RESULTS Sixteen studies,including 9 feasibility studies,were included in the systematic review.The studies were classified into four categories:feasibility of the use of 3D modelling technology in rectal cancer surgery,preoperative planning and intraoperative navigation,surgical education and surgical device design.Thirteen studies used virtual models,one 3D printed model and 2 both types of models.The construction of virtual and physical models depicting the normal pelvic anatomy and rectal cancer,was shown to be feasible.Within the clinical context,3D models were used to identify vascular anomalies,for surgical planning and navigation in lateral pelvic wall lymph node dissection and in management of recurrent rectal cancer.Both physical and virtual 3D models were found to be valuable in surgical education,with a preference for 3D printed models.The main limitations of the current technology identified in the studies were related to the restrictions of the segmentation process and the lack of 3D printing materials that could mimic the soft and deformable tissues.CONCLUSION 3D modelling technology has potential to be utilised in multiple aspects of rectal cancer surgery,however,it is still at the experimental stage of application in this setting.展开更多
Location Based Navigation System (LBNS) is a specific Location Based Service (LBS) purely for navigational purpose. These systems resolve position of a user by using GNSS/GPS positioning technologies, to which supplem...Location Based Navigation System (LBNS) is a specific Location Based Service (LBS) purely for navigational purpose. These systems resolve position of a user by using GNSS/GPS positioning technologies, to which supplementary information on goods and services are tagged. The navigation services have become popular and can be installed on mobile phones to provide route information, location of points of interest and user’s current location. LBS has continued to face challenges which include “communication” process towards user reference. Location Based Service System conveys suitable information through a mobile device for effective decision making and reaction within a given time span. This research was geared at understanding the state of LBS technology acceptance and adoption by users in Nairobi Kenya. To do this a quantitative study was carried out through a questionnaire, to investigate mobile phone users’ response on awareness and use of LBS technology. Testing the growth of this technology in this region compared to predictions in previous studies using Technology Acceptance Model (TAM), it is evident that many users may be aware of GPS functionality in mobile phones but are certainly yet to fully embrace the technology as they rarely use it. This points to some underlying challenges towards this technology within this part of the World, thereby recommending for deliberate monitoring and evaluation of LBS technology for sustenance growth based on user satisfaction and acceptance for improved usability.展开更多
The present study aimed to design, develop, operate and evaluate a sightseeing navigation system in order to support foreign tourists＇ efficient acquisition of sightseeing spot information in Japanese urban tourist a...The present study aimed to design, develop, operate and evaluate a sightseeing navigation system in order to support foreign tourists＇ efficient acquisition of sightseeing spot information in Japanese urban tourist areas, about which a variety of information is transmitted, by enabling information to be accumulated, shared and recommended. The system was developed by integrating Web-GIS （Geographic Information Systems）, SNS （Social Networking Services） as well as the recommendation system into a single system. The system used the non-language information such as signs, marks and pictograms in addition to English information, and displayed sightseeing spot information and conduct navigation on 2D and 3D digital maps of the Web-GIS. Additionally, the system was operated for two weeks in the central part of Yokohama city in Kanagawa Prefecture, Japan, and the total number of users was 54. Based on the results of the web questionnaire survey, all of the specific functions are highly evaluated, and the usefulness of the system when sightseeing was excellent. From the results of the access analysis of users＇ log data, it is evident that it can be said that the system was mainly used before sightseeing and users confirm their favorite sightseeing spots and made their tour planning in advance, using 2D and 3D digital maps.展开更多
This paper proposes a local point cloud map-based Web augmented reality(AR)indoor navigation system solution.By delivering the local point cloud map to the web front end for positioning,the real-time positioning can b...This paper proposes a local point cloud map-based Web augmented reality(AR)indoor navigation system solution.By delivering the local point cloud map to the web front end for positioning,the real-time positioning can be implemented only with the help of the computing power of the web front end.In addition,with the characteristics of short time consumption and accurate positioning,an optimization solution to the local point cloud map is proposed,which includes specific measures such as descriptor de-duplicating and outlier removal,thus improving the quality of the point cloud.In this document,interpolation and smoothing effects are introduced for local map positioning,enhancing the anchoring effect and improving the smoothness and appearance of user experience.In small-scale indoor scenarios,the positioning frequency on an iPhone 13 can reach 30 fps,and the positioning precision is within 50 cm.Compared with an existing mainstream visual-based positioning manner for AR navigation,this specification does not rely on any additional sensor or cloud computing device,thereby greatly saving computing resources.It takes a very short time to meet the real-time requirements and provide users with a smooth positioning effect.展开更多
A navigation method based on the partially observable markov decision process （POMDP） for smart wheelchairs in uncertain environments is presented in this paper. The design key factors for the navigation system of a...A navigation method based on the partially observable markov decision process （POMDP） for smart wheelchairs in uncertain environments is presented in this paper. The design key factors for the navigation system of a smart wheelchair are discussed. A kinematics model of the smart wheelchair is given, and the model and principle of POMDP are introduced. In order to respond in uncertain local environments, a novel navigation methodology based on POMDP using the sensors perception and the user＇s joystick input is presented. The state space, the action set, the observations and the sensor fusion of the navigation method are given in detail, and the optimal policy of the POMDP model is proposed. Experimental results demonstrate the feasibility of this navigation method. Analysis is also conducted to investigate performance evaluation, advantages of the approach and potential generalization of this paper.展开更多
During recent years, walking humanoid robots have gained popularity from wheeled vehicle robots in various assistive roles in human’s environment. Self-localization is a necessary requirement for the humanoid robots ...During recent years, walking humanoid robots have gained popularity from wheeled vehicle robots in various assistive roles in human’s environment. Self-localization is a necessary requirement for the humanoid robots used in most of the assistive tasks. This is because the robots have to be able to locate themselves in their environment in order to accomplish their tasks. In addition, autonomous navigation of walking robots to the pre-defined destination is equally important mission, and therefore it is required that the robot knows its initiate location precisely. The indoor navigation is based on the map of the environment used by the robot. Assuming that the walking robot is capable of locating itself based on its initiate location and the distance walked from it, there are still factors that impair the map-based navigation. One of them is the robot’s limited ability to keep its direction when it is walking, which means that the robot is not able to walk directly from one point to another due to a stochastic error in walking direction. In this paper we present an algorithm for straightening the walking path using distance measurements by built-in sonar sensors of a NAO humanoid robot. The proposed algorithm enables the robot to walk directly from one point to another, which enables precise map-based indoor navigation.展开更多
基金Supported by the Health Commission of Fuyang City,No.FY2021-18Bengbu Medical College of Bengbu City,No.2023byzd215the Health Commission Anhui Provence,No.AHWJ2023BAa20164.
文摘BACKGROUND Prior studies have shown that preserving the left colic artery(LCA)during laparo-scopic radical resection for rectal cancer(RC)can reduce the occurrence of anasto-motic leakage(AL),without compromising oncological outcomes.However,anatomical variations in the branches of the inferior mesenteric artery(IMA)and LCA present significant surgical challenges.In this study,we present our novel three dimensional(3D)printed IMA model designed to facilitate preoperative rehearsal and intraoperative navigation to analyze its impact on surgical safety.AIM To investigate the effect of 3D IMA models on preserving the LCA during RC surgery.METHODS We retrospectively collected clinical dates from patients with RC who underwent laparoscopic radical resection from January 2022 to May 2024 at Fuyang People’s Hospital.Patients were divided into the 3D printing and control groups for sta-tistical analysis of perioperative characteristics.RESULTS The 3D printing observation group comprised of 72 patients,while the control group comprised 68 patients.The operation time(174.5±38.2 minutes vs 198.5±49.6 minutes,P=0.002),intraoperative blood loss(43.9±31.3 mL vs 58.2±30.8 mL,P=0.005),duration of hospitalization(13.1±3.1 days vs 15.9±5.6 days,P<0.001),postoperative recovery time(8.6±2.6 days vs 10.5±4.9 days,P=0.007),and the postoperative complication rate(P<0.05)were all significantly lower in the observation group.CONCLUSION Utilization of a 3D-printed IMA model in laparoscopic radical resection of RC can assist surgeons in understanding the LCA anatomy preoperatively,thereby reducing intraoperative bleeding and shortening operating time,demonstrating better clinical application potential.
基金Supported by National Natural Science Foundation of China,No.82070638 and No.81770621and JSPS KAKENHI,No.JP18H02866.
文摘With the continuous development of digital medicine,minimally invasive precision and safety have become the primary development trends in hepatobiliary surgery.Due to the specificity and complexity of hepatobiliary surgery,traditional preoperative imaging techniques such as computed tomography and magnetic resonance imaging cannot meet the need for identification of fine anatomical regions.Imaging-based three-dimensional(3D)reconstruction,virtual simulation of surgery and 3D printing optimize the surgical plan through preoperative assessment,improving the controllability and safety of intraoperative operations,and in difficult-to-reach areas of the posterior and superior liver,assistive robots reproduce the surgeon’s natural movements with stable cameras,reducing natural vibrations.Electromagnetic navigation in abdominal surgery solves the problem of conventional surgery still relying on direct visual observation or preoperative image assessment.We summarize and compare these recent trends in digital medical solutions for the future development and refinement of digital medicine in hepatobiliary surgery.
基金supported in part by National Key Research and Development Program under Grant No.2020YFB1708800China Postdoctoral Science Foundation under Grant No.2021M700385+5 种基金Guang Dong Basic and Applied Basic Research Foundation under Grant No.2021A1515110577Guangdong Key Research and Development Program under Grant No.2020B0101130007Central Guidance on Local Science and Technology Development Fund of Shanxi Province under Grant No.YDZJSX2022B019Fundamental Research Funds for Central Universities under Grant No.FRF-MP-20-37Interdisciplinary Research Project for Young Teachers of USTB(Fundamental Research Funds for the Central Universities)under Grant No.FRF-IDRY-21-005National Natural Science Foundation of China under Grant No.62002026。
文摘The inertial navigation system(INS),which is frequently used in emergency rescue operations and other situations,has the benefits of not relying on infrastructure,high positioning frequency,and strong real-time performance.However,the intricate and unpredictable pedestrian motion patterns lead the INS localization error to significantly diverge with time.This paper aims to enhance the accuracy of zero-velocity interval(ZVI)detection and reduce the heading and altitude drift of foot-mounted INS via deep learning and equation constraint of dual feet.Aiming at the observational noise problem of low-cost inertial sensors,we utilize a denoising autoencoder to automatically eliminate the inherent noise.Aiming at the problem that inaccurate detection of the ZVI detection results in obvious displacement error,we propose a sample-level ZVI detection algorithm based on the U-Net neural network,which effectively solves the problem of mislabeling caused by sliding windows.Aiming at the problem that Zero-Velocity Update(ZUPT)cannot suppress heading and altitude error,we propose a bipedal INS method based on the equation constraint and ellipsoid constraint,which uses foot-to-foot distance as a new observation to correct heading and altitude error.We conduct extensive and well-designed experiments to evaluate the performance of the proposed method.The experimental results indicate that the position error of our proposed method did not exceed 0.83% of the total traveled distance.
基金supported by the National High Technology Research and Development Program(863 Program)of China(Grant No.2006AA040202 and No.2007AA041703)the National Natural Science Foundation of China(Grant No.60805032)
文摘Nonverbal and noncontact behaviors play a significant role in allowing service robots to structure their interactions withhumans.In this paper, a novel human-mimic mechanism of robot’s navigational skills was proposed for developing sociallyacceptable robotic etiquette.Based on the sociological and physiological concerns of interpersonal interactions in movement,several criteria in navigation were represented by constraints and incorporated into a unified probabilistic cost grid for safemotion planning and control, followed by an emphasis on the prediction of the human’s movement for adjusting the robot’spre-collision navigational strategy.The human motion prediction utilizes a clustering-based algorithm for modeling humans’indoor motion patterns as well as the combination of the long-term and short-term tendency prediction that takes into accountthe uncertainties of both velocity and heading direction.Both simulation and real-world experiments verified the effectivenessand reliability of the method to ensure human’s safety and comfort in navigation.A statistical user trials study was also given tovalidate the users’favorable views of the human-friendly navigational behavior.
基金co-supported by the Outstanding Youth Fund of the National Natural Science Foundation of China (No. 61822102)the MIIT Technological Base Program (No. JSZL2016601B003)the National Key Research and Development Program (No. 2018YFB0505105)。
文摘Unmanned Aircraft Systems(UASs) have advanced technologically and surged exponentially over recent years. Currently, due to safety concerns, most civil operations of UAS are conducted in low-level uncontrolled area or in segregated controlled airspace. As the industry progresses, both operational and technological capabilities have matured to the point where UASs are expected to gain greater freedom of access to both controlled and uncontrolled airspace. Extensive technical and regulatory surveys have been conducted to enable the expanded operations. However, most surveys are derived from the perspective of UAS own operating mechanism and barely consider interactions of their non-segregated activities with the Air Traffic Management(ATM) system. Hence, to fill the gap, this paper presents a survey conducted from the perspective of Air Navigation Service Provider(ANSP), which serves to accommodate these new entrants to the overall national airspace while continuing flight safety and efficiency. The primary objectives of this paper are to:(A) describe what typical ANSP-supplied UAS Traffic Management(UTM) architecture is required to facilitate all types of civil UAS operations;(B) identify three major ANSP considerations on how UAS can be accommodated safely in civil airspace;(C) outline future directions and challenges related with UAS operations for the ANSP.
基金Supported by the Jiangxi Provincial Natural Science Foundation(No.20232ACB206030)。
文摘●AIM:To explore the combined application of surgical navigation nasal endoscopy(NNE)and three-dimensional printing technology(3DPT)for the adjunctive treatment of orbital blowout fractures(OBF).●METHODS:Retrospective analysis was conducted on the data of patients with OBF who underwent surgical treatment at the Affiliated Eye Hospital of Nanchang University between July 2012 and November 2022.The control group consisted of patients who received traditional surgical treatment(n=43),while the new surgical group(n=52)consisted of patients who received NNE with 3DPT.The difference in therapeutic effects between the two groups was evaluated by comparing the duration of the operation,best corrected visual acuity(BCVA),enophthalmos difference,recovery rate of eye movement disorder,recovery rate of diplopia,and incidence of postoperative complications.●RESULTS:The study included 95 cases(95 eyes),with 63 men and 32 women.The patients’age ranged from 5 to 67y(35.21±15.75y).The new surgical group and the control group exhibited no statistically significant differences in the duration of the operation,BCVA and enophthalmos difference.The recovery rates of diplopia in the new surgical group were significantly higher than those in the control group at 1mo[OR=0.03,95%CI(0.01–0.15),P<0.0000]and 3mo[OR=0.11,95%CI(0.03–0.36),P<0.0000]postoperation.Additionally,the recovery rates of eye movement disorders at 1 and 3mo after surgery were OR=0.08,95%CI(0.03–0.24),P<0.0000;and OR=0.01,95%CI(0.00–0.18),P<0.0000.The incidence of postoperative complications was lower in the new surgical group compared to the control group[OR=4.86,95%CI(0.95–24.78),P<0.05].●CONCLUSION:The combination of NNE and 3DPT can shorten the recovery time of diplopia and eye movement disorder in patients with OBF.
文摘User response or reaction to navigation applications is influenced by relevance in geographic information, in terms of cartographic context and content delivered within a definite time, providing a direct impact to outcome or consequence based on decision making and hence user reaction. Location Based Navigation Services (LBNS) have continuously advanced in cartographic visualization, making maps interpretation easy and ubiquitous to any user, as compared to pre-historic times when maps were a preserve of a few. Despite rapid growth in LBNS, there exist challenges that may be characterized as technical and non-technical challenges, among them being process of conveying geospatial information to user. LBNS system deliver appropriate information to a user through smartphone (mobile device) for effective decision making and response within a given time span. This research focuses on optimization of cartographic content for contextual information in LBNS to users, based on prevailing circumstances of various components that constitute it. The research looks into Geographic Information Retrieval (GIR), as a technical challenge centered on a non-technical issue of social being of user satisfaction, leading to decision making in LBNS, hence response and outcome. Though advanced technologically, current LBNS on information sourcing depends on user manual web pages navigation and maneuver, this can be painstaking and time consuming that it may cause unnecessary delay in information delivery, resulting to delayed information response time (DIRT). This in turn may lead to unappropriate decision making with erroneous reaction or response being taken, resulting in loss of opportunity, resources, time and even life. Optimization in LBNS is achieved by a mathematical relationship developed between user status, mobile device variables against cartographic content. The relationship is in turn applied in LBNS android application to fulfill optimization solution for user consumption.
基金supported by the National Planning Office of Philosophy and Social Science(Grant No.06BTQ027)
文摘The evolution of the society and economy has stimulated the development of Knowledge Service(KS), making it an indispensable solution to address future challenges facing libraries and information institutions. However at present, academic research on knowledge service is falling short and its definition is far from clear and complete. As such,this article proposes the Three-dimensional Framework Knowledge Service(TdFKS) for libraries and information institutions based on the knowledge value chain model. By making reliability analysis and mean value analysis of a questionnaire survey result, the article clarifies the structure of the three-dimensional framework and verifies the rationality of the TdFKS.
基金supported by the National Natural Science Foundation of China(61803357)。
文摘The traditional guidance law only guarantees the accuracy of attacking a target. However, the look angle and acceleration constraints are indispensable in applications. A new adaptive three-dimensional proportional navigation(PN) guidance law is proposed based on convex optimization. Decomposition of the three-dimensional space is carried out to establish threedimensional kinematic engagements. The constraints and the performance index are disposed by using the convex optimization method. PN guidance gains can be obtained by solving the optimization problem. This solution is more rapid and programmatic than the traditional method and provides a foundation for future online guidance methods, which is of great value for engineering applications.
文摘BACKGROUND Three-dimensional(3D)modelling technology translates the patient-specific anatomical information derived from two-dimensional radiological images into virtual or physical 3D models,which more closely resemble the complex environment encountered during surgery.It has been successfully applied to surgical planning and navigation,as well as surgical training and patient education in several surgical specialties,but its uptake lags behind in colorectal surgery.Rectal cancer surgery poses specific challenges due to the complex anatomy of the pelvis,which is difficult to comprehend and visualise.AIM To review the current and emerging applications of the 3D models,both virtual and physical,in rectal cancer surgery。METHODS Medline/PubMed,Embase and Scopus databases were searched using the keywords“rectal surgery”,“colorectal surgery”,“three-dimensional”,“3D”,“modelling”,“3D printing”,“surgical planning”,“surgical navigation”,“surgical education”,“patient education”to identify the eligible full-text studies published in English between 2001 and 2020.Reference list from each article was manually reviewed to identify additional relevant papers.The conference abstracts,animal and cadaveric studies and studies describing 3D pelvimetry or radiotherapy planning were excluded.Data were extracted from the retrieved manuscripts and summarised in a descriptive way.The manuscript was prepared and revised in accordance with PRISMA 2009 checklist.RESULTS Sixteen studies,including 9 feasibility studies,were included in the systematic review.The studies were classified into four categories:feasibility of the use of 3D modelling technology in rectal cancer surgery,preoperative planning and intraoperative navigation,surgical education and surgical device design.Thirteen studies used virtual models,one 3D printed model and 2 both types of models.The construction of virtual and physical models depicting the normal pelvic anatomy and rectal cancer,was shown to be feasible.Within the clinical context,3D models were used to identify vascular anomalies,for surgical planning and navigation in lateral pelvic wall lymph node dissection and in management of recurrent rectal cancer.Both physical and virtual 3D models were found to be valuable in surgical education,with a preference for 3D printed models.The main limitations of the current technology identified in the studies were related to the restrictions of the segmentation process and the lack of 3D printing materials that could mimic the soft and deformable tissues.CONCLUSION 3D modelling technology has potential to be utilised in multiple aspects of rectal cancer surgery,however,it is still at the experimental stage of application in this setting.
文摘Location Based Navigation System (LBNS) is a specific Location Based Service (LBS) purely for navigational purpose. These systems resolve position of a user by using GNSS/GPS positioning technologies, to which supplementary information on goods and services are tagged. The navigation services have become popular and can be installed on mobile phones to provide route information, location of points of interest and user’s current location. LBS has continued to face challenges which include “communication” process towards user reference. Location Based Service System conveys suitable information through a mobile device for effective decision making and reaction within a given time span. This research was geared at understanding the state of LBS technology acceptance and adoption by users in Nairobi Kenya. To do this a quantitative study was carried out through a questionnaire, to investigate mobile phone users’ response on awareness and use of LBS technology. Testing the growth of this technology in this region compared to predictions in previous studies using Technology Acceptance Model (TAM), it is evident that many users may be aware of GPS functionality in mobile phones but are certainly yet to fully embrace the technology as they rarely use it. This points to some underlying challenges towards this technology within this part of the World, thereby recommending for deliberate monitoring and evaluation of LBS technology for sustenance growth based on user satisfaction and acceptance for improved usability.
文摘The present study aimed to design, develop, operate and evaluate a sightseeing navigation system in order to support foreign tourists＇ efficient acquisition of sightseeing spot information in Japanese urban tourist areas, about which a variety of information is transmitted, by enabling information to be accumulated, shared and recommended. The system was developed by integrating Web-GIS （Geographic Information Systems）, SNS （Social Networking Services） as well as the recommendation system into a single system. The system used the non-language information such as signs, marks and pictograms in addition to English information, and displayed sightseeing spot information and conduct navigation on 2D and 3D digital maps of the Web-GIS. Additionally, the system was operated for two weeks in the central part of Yokohama city in Kanagawa Prefecture, Japan, and the total number of users was 54. Based on the results of the web questionnaire survey, all of the specific functions are highly evaluated, and the usefulness of the system when sightseeing was excellent. From the results of the access analysis of users＇ log data, it is evident that it can be said that the system was mainly used before sightseeing and users confirm their favorite sightseeing spots and made their tour planning in advance, using 2D and 3D digital maps.
基金supported in part by ZTE Industry⁃University⁃Institute Coop⁃eration Funds.
文摘This paper proposes a local point cloud map-based Web augmented reality(AR)indoor navigation system solution.By delivering the local point cloud map to the web front end for positioning,the real-time positioning can be implemented only with the help of the computing power of the web front end.In addition,with the characteristics of short time consumption and accurate positioning,an optimization solution to the local point cloud map is proposed,which includes specific measures such as descriptor de-duplicating and outlier removal,thus improving the quality of the point cloud.In this document,interpolation and smoothing effects are introduced for local map positioning,enhancing the anchoring effect and improving the smoothness and appearance of user experience.In small-scale indoor scenarios,the positioning frequency on an iPhone 13 can reach 30 fps,and the positioning precision is within 50 cm.Compared with an existing mainstream visual-based positioning manner for AR navigation,this specification does not rely on any additional sensor or cloud computing device,thereby greatly saving computing resources.It takes a very short time to meet the real-time requirements and provide users with a smooth positioning effect.
文摘A navigation method based on the partially observable markov decision process （POMDP） for smart wheelchairs in uncertain environments is presented in this paper. The design key factors for the navigation system of a smart wheelchair are discussed. A kinematics model of the smart wheelchair is given, and the model and principle of POMDP are introduced. In order to respond in uncertain local environments, a novel navigation methodology based on POMDP using the sensors perception and the user＇s joystick input is presented. The state space, the action set, the observations and the sensor fusion of the navigation method are given in detail, and the optimal policy of the POMDP model is proposed. Experimental results demonstrate the feasibility of this navigation method. Analysis is also conducted to investigate performance evaluation, advantages of the approach and potential generalization of this paper.
基金Technology Development Center of Finland(TEKES)for financial support
文摘During recent years, walking humanoid robots have gained popularity from wheeled vehicle robots in various assistive roles in human’s environment. Self-localization is a necessary requirement for the humanoid robots used in most of the assistive tasks. This is because the robots have to be able to locate themselves in their environment in order to accomplish their tasks. In addition, autonomous navigation of walking robots to the pre-defined destination is equally important mission, and therefore it is required that the robot knows its initiate location precisely. The indoor navigation is based on the map of the environment used by the robot. Assuming that the walking robot is capable of locating itself based on its initiate location and the distance walked from it, there are still factors that impair the map-based navigation. One of them is the robot’s limited ability to keep its direction when it is walking, which means that the robot is not able to walk directly from one point to another due to a stochastic error in walking direction. In this paper we present an algorithm for straightening the walking path using distance measurements by built-in sonar sensors of a NAO humanoid robot. The proposed algorithm enables the robot to walk directly from one point to another, which enables precise map-based indoor navigation.
