Search Results (201)

The utilization of Unmanned Aerial Vehicles (UAVs) in missions such as reconnaissance and surveillance has grown rapidly, underscoring the need for efficient path planning algorithms that ensure both optimality and collision avoidance. The A-star algorithm is widely used for global path planning due to its ability to generate optimal routes; however, its high computational cost makes it unsuitable for real-time applications, particularly in unknown or dynamic environments. For local path planning, the Artificial Potential Field (APF) algorithm enables real-time navigation by attracting the UAV toward the target while repelling it from obstacles. Despite its efficiency, APF suffers from local minima and limited performance in dynamic settings. To address these challenges, this paper proposes the A-star-Guided Potential Field (AGPF) algorithm, which integrates the strengths of A-star and APF to achieve robust performance in both global and local path planning. The AGPF algorithm was validated through simulations conducted in the Robot Operating System (ROS) environment. Simulation results demonstrate that AGPF produces smoother and more optimal paths than A-star, while avoiding the local minima issues inherent in APF. Furthermore, AGPF effectively handles moving and previously unknown obstacles by generating real-time avoidance trajectories, demonstrating strong adaptability in dynamic and uncertain environments. Full article

Aiming at the problem that the anti-range-deception-jamming effect of a networked moving radar system is severely affected by the spatial distribution of each radar, an anti-range-deception-jamming method for networked moving radar based on trajectory optimization is proposed. Firstly, the anti-jamming method of networked moving radar considering the radar position error (RPE) is proposed. Then, the theoretical expression for the false target (FT) misjudgment probability of networked moving radar is deduced. Based on the theoretical expression, a trajectory optimization model is formulated to minimize FT misjudgment probability. Simulation experiments validate both the correctness of the derived probability expression and the significant influence of the radar spatial distribution position on the FT misjudgment probability. Moreover, the simulation results verify that the proposed anti-jamming method can effectively reduce the FT misjudgment probability of networked moving radar under the condition of a high discrimination probability of the physical target (PT). Full article

Background/Objectives: Body Mass Index (BMI) is a widely used indicator of children’s nutritional status and helps identify risks of being underweight and overweight during development. Understanding how BMI classifications evolve over time is crucial for early intervention and public health planning. This study aimed to determine the scope and direction of changes in BMI classification among children between the ages of 6 and 10. Methods: This longitudinal study included 1026 children (497 boys and 529 girls) from Gdansk, Poland. Standardized anthropometric measurements were collected at ages 6 and 10. BMI was calculated and classified using international reference systems (IOTF and OLAF). BMI classification changes were analyzed using rank transformations and Pearson correlation coefficients (p < 0.05) to explore relationships between body measurements. Results: Most children (76.51%) retained their BMI classifications over the four-year period. However, 23.49% experienced changes, with boys more often moving to a higher BMI category (15.29%) and girls more frequently shifting to a lower category (14.03%). The prevalence of children classified as living with obesity declined between ages 6 and 10, while both overweight and underweight classifications slightly increased. Strong correlations were observed between somatic features and BMI at both ages. Conclusions: The stability of BMI classification over time underscores the importance of early identification and sustained monitoring of nutritional status. The sex-specific patterns observed highlight the importance of targeted health promotion strategies. In this context, incorporating dietary interventions—such as promoting balanced meals and reducing unhealthy food intake—could play a significant role in maintaining healthy BMI trajectories and preventing both obesity and undernutrition during childhood. Full article

Background/Objectives: Accurately predicting the arrival position of a moving target is essential in sports and daily life. While predictive saccades are known to enhance performance, the neural mechanisms underlying the timing of these strategies remain unclear. This study investigated how the timing of saccadic strategies—executed early versus late—affects cortical activity patterns, as measured by electroencephalography (EEG). Methods: Sixteen participants performed a task requiring them to predict the arrival position and timing of a parabolically moving target that became occluded midway through its trajectory. Based on eye movement behavior, participants were classified into an Early Saccade Strategy Group (SSG) or a Late SSG. EEG signals were analyzed in the low beta band (13–15 Hz) using the Hilbert transform. Group differences in eye movements and EEG activity were statistically assessed. Results: No significant group differences were observed in final position or response timing errors. However, time-series analysis showed that the Early SSG achieved earlier and more accurate eye positioning. EEG results revealed greater low beta activity in the Early SSG at electrode sites FC6 and P8, corresponding to the frontal eye field (FEF) and middle temporal (MT) visual area, respectively. Conclusions: Early execution of predictive saccades was associated with enhanced cortical activity in visuomotor and motion-sensitive regions. These findings suggest that early engagement of saccadic strategies supports more efficient visuospatial processing, with potential applications in dynamic physical tasks and digitally mediated performance domains such as eSports. Full article

During the excavation of the underground cavern at the Baihetan hydropower station, significant time-dependent deformation of the surrounding rock was observed, posing a serious challenge to the long-term stability control of the caverns. In this study, numerical models of the layered excavation for typical monitoring sections in the main and auxiliary powerhouses on both banks of the Baihetan hydropower station were established using a viscoplastic damage model. The time-dependent deformation responses of the surrounding rock during the entire underground cavern excavation process were successfully simulated, and the deformation and failure mechanisms of the surrounding rock during layered excavation were analyzed in combination with field monitoring data. The results demonstrate that the maximum stress trajectories at the right-bank powerhouse under higher stress conditions exceeded those at the left-bank powerhouse by 6 MPa after the powerhouse excavation. A larger stress difference caused stress trajectories to move closer to the rock strength surface, therefore making creep failure more likely to occur in the right bank. Targeted reinforcement in high-disturbance zones of the right-bank powerhouse reduced the damage progression rate at borehole openings from 0.295 per month to 0.0015 per month, effectively suppressing abrupt deformations caused by cumulative damage. These findings provide a basis for optimizing the excavation design of deep underground caverns. Full article

The detection of weak moving targets in heterogeneous clutter backgrounds is a significant challenge in radar systems. In this paper, we propose a track-before-detect (TBD) method based on information geometry (IG) theory applied to range-azimuth measurements, which extends the IG detectors to multi-frame detection through inter-frame information integration. The approach capitalizes on the distinctive benefits of the information geometry detection framework in scenarios with strong clutter, while enhancing the integration of information across multiple frames within the TBD approach. Specifically, target and clutter trajectories in multi-frame range-azimuth measurements are modeled on the Hermitian positive definite (HPD) and power spectrum (PS) manifolds. A scoring function based on information geometry, which uses Kullback–Leibler (KL) divergence as a geometric metric, is then devised to assess these motion trajectories. Moreover, this study devises a solution framework employing dynamic programming (DP) with constraints on state transitions, culminating in an integrated merit function. This algorithm identifies target trajectories by maximizing the integrated merit function. Experimental validation using real-recorded sea clutter datasets showcases the effectiveness of the proposed algorithm, yielding a minimum 3 dB enhancement in signal-to-clutter ratio (SCR) compared to traditional approaches. Full article

Dynamic weighing systems, an advanced technology for traffic management, are designed to measure the weight of moving vehicles without obstructing traffic flow. These systems play a critical role in monitoring freight vehicle overloading, collecting weight-based tolls, and assessing the structural health of roads and bridges. However, due to the complex road traffic environment in real-world applications of dynamic weighing systems, some vehicles cannot be accurately weighed, even though precise parameter calibration was conducted prior to the system’s official use. The variation in driving behaviors among different drivers contributes to this issue. When different types and sizes of vehicles pass through the dynamic weighing area simultaneously, changes in the vehicles’ motion states are the main factors affecting weighing accuracy. This study proposes an improved SSD vehicle detection model to address the high sensitivity to vehicle occlusion and frequent vehicle ID changes in current multi-target tracking methods. The goal is to reduce detection omissions caused by vehicle occlusion. Additionally, to obtain more stable trajectory and speed data, a Gaussian Smoothing Interpolation (GSI) method is introduced into the DeepSORT algorithm. The fusion of dynamic weighing data is used to analyze the impact of changes in vehicle size and motion states on weighing accuracy, followed by compensation and experimental validation. A compensation strategy is implemented to address the impact of speed fluctuations on the weighing accuracy of vehicles approximately 12.5 m in length. This is completed to verify the feasibility of the compensation method proposed in this paper, which is based on vehicle information. A dataset containing vehicle length, width, height, and speed fluctuation information in the dynamic weighing area is constructed, followed by an analysis of the key factors influencing dynamic weighing accuracy. Finally, the improved dynamic weighing model for extracting vehicle motion state information is validated using a real dataset. The results demonstrate that the model can accurately detect vehicle targets in video footage and shows strong robustness under varying road illumination conditions. Full article

Unmanned Surface Vehicles (USVs) are commonly used as mobile docking stations for Unmanned Aerial Vehicles (UAVs) to ensure sustained operational capabilities. Conventional vision-based techniques based on horizontally-placed fiducial markers for autonomous landing are not only susceptible to interference from lighting and shadows but are also restricted by the limited Field of View (FOV) of the visual system. This study proposes a method that integrates an improved minimum snap trajectory planning algorithm with an event-triggered vision-based technique to achieve autonomous landing on a small USV. The trajectory planning algorithm ensures trajectory smoothness and controls deviations from the target flight path, enabling the UAV to approach the USV despite the visual system’s limited FOV. To avoid direct contact between the UAV and the fiducial marker while mitigating the interference from lighting and shadows on the marker, a landing platform with a vertically placed fiducial marker is designed to separate the UAV landing area from the fiducial marker detection region. Additionally, an event-triggered mechanism is used to limit excessive yaw angle adjustment of the UAV to improve its autonomous landing efficiency and stability. Experiments conducted in both terrestrial and river environments demonstrate that the UAV can successfully perform autonomous landing on a small USV in both stationary and moving scenarios. Full article

Background: S1 nerve roots are difficult to approach during percutaneous procedures for the diagnostic and treatment procedures of low back pain with radicular symptoms. This is harder in older patients with obscure anatomies, due to the low bone density with overimposing degenerative changes in the facets and deformations. The otherwise straightforward procedure for the lumbar nerve roots, placing the needle in the proximity of the S1 under fluoroscopic guidance, becomes quite a challenge. Case presentation: In the proposed technique, the initial target for the needle is the lower part of the S1 facet in the convergent trajectory of the needle. After achieving contact with the bone the tip of the needle is moved caudally as, in proximity, it reaches the dorsal foramina of the S1/S2 segment—this is named “wandering to the hole”. The convergent trajectory of the needle ensures the success of the procedure with a minimal risk of intravenous drug administration, which is characteristic for the suprapedicular technique. Conclusions: The proposed technique is straightforward and reproducible due to the combination of the understanding of the surgical and radiological anatomy of this region, in spite of degenerative changes in the spine. Full article

Continuum robots (CRs) are highly effective in grasping moving targets in space through whole-arm grasping (WAG), offering broad applicability and reliable capture. These characteristics make CRs particularly suitable for capturing non-cooperative space targets. Compliant control plays a crucial role in ensuring safe and reliable interactions during the grasping process. This paper proposes a virtual-integrated admittance control (VIAC) method specifically designed to enhance WAG by CRs. By proactively adjusting the robot’s trajectory before contact, the VIAC method effectively reduces the contact force exerted on the target during grasping, enabling compliant capture while preventing target escape and minimizing potential damage. This study first develops a mathematical model of the CR and addresses the inverse dynamics problem. Subsequently, the VIAC method is introduced to regulate contact force and improve grasping performance. This approach integrates virtual forces, derived from position information, with actual contact forces acting on the robot’s links, facilitating trajectory replanning through an admittance controller. The virtual forces, constructed based on improved virtual potential fields, reduce the relative velocities of robot links with respect to the target during the approach, ensuring successful grasping. Simulation results validate the effectiveness of the VIAC method, demonstrating a significant reduction in contact force compared to conventional admittance control. Full article

Modeling pedestrian–vehicle interaction behaviors not only helps better predict the intentions and actions of traffic participants but also contributes to generating more realistic pedestrian trajectories for testing autonomous vehicles. Most existing pedestrian–vehicle interaction models use repulsive forces toward target directions to avoid collisions. However, pedestrian agents in these models lack the ability to plan avoidance routes based on their positions when facing conflicting vehicles, leading to poor simulation effects at unsignalized intersections. By analyzing the crossing trajectories of pedestrians at unsignalized intersections through video data, we observed that when participants reject a current vehicle gap, they may tend to move toward the vehicle’s rear to start crossing the traffic flow earlier, thereby obtaining a safer opportunity to cross the road. In contrast, most previous pedestrian–vehicle interaction models only simulated pedestrians’ avoidance by moving away from vehicles. In response, we propose a pedestrian–vehicle interaction model incorporating pedestrian avoidance tendencies, which is based on the social force framework. Our improvements include refining the vehicle’s influence on pedestrians in lateral and longitudinal dimensions. The pedestrian agents in this model can make appropriate crossing decisions and select collision avoidance paths according to traffic conditions. This model can simulate pedestrian–vehicle interaction scenarios at unsignalized intersections and can be extended to pedestrian safety testing for autonomous vehicles. Full article

Video satellites provide high-temporal-resolution remote sensing images that enable continuous monitoring of the ground for applications such as target tracking and airport traffic detection. In this paper, we address the problems of object occlusion and the tracking of rotating objects in satellite videos by introducing a rotation-adaptive tracking algorithm for correlation filters with motion estimation (RACFME). Our algorithm proposes the following improvements over the KCF method: (a) A rotation-adaptive feature enhancement module (RA) is proposed to obtain the rotated image block by affine transformation combined with the target rotation direction prior, which overcomes the disadvantage of HOG features lacking rotation adaptability, improves tracking accuracy while ensuring real-time performance, and solves the problem of tracking failure due to insufficient valid positive samples when tracking rotating targets. (b) Based on the correlation between peak response and occlusion, an occlusion detection method for vehicles and ships in satellite video is proposed. (c) Motion estimations are achieved by combining Kalman filtering with motion trajectory averaging, which solves the problem of tracking failure in the case of object occlusion. The experimental results show that the proposed RACFME algorithm can track a moving target with a 95% success score, and the RA module and ME both play an effective role. Full article

The path planning algorithm not only ensures that the mobile robot can avoid obstacles to reach the target point at a safe speed but also ensures that the mobile robot can quickly adapt to the complex changing environment. In this paper, the existing path planning algorithms of mobile robots are analyzed, and then the fusion path planning algorithm is studied. The main work is summarized as follows: A* algorithm is used to complete global path planning and path smoothing, the basic principle of dynamic window method (DWA) is studied, and the dynamic constraints of mobile robots are discussed. The shortcomings of the dynamic window method, i.e., that the dynamic window method does not have the ability to self-learn and self-adapt in the dynamic and unknown environment, are analyzed through simulation experiments. In addition, by studying the basic principle of deep reinforcement learning, the essence and characteristics of DWA algorithm and DQN algorithm are analyzed, which provides ideas for the fusion path planning algorithm based on DQN and DWA. Finally, to cope with the complex and changeable environment and improve the real-time obstacle avoidance ability of mobile robots, a fusion path planning algorithm based on DQN and DWA is proposed. First, the dynamic window method is used to limit the driving of the mobile robot directly to the velocity space. Then, a deep Q network is designed and trained to approximate the state-action value function of the mobile robot, then dynamically interact with the environment to adjust the robot’s moving trajectory in real time, and finally, find the optimal path for the robot. The simulation results show that the fusion path planning algorithm proposed in this paper ensures that the mobile robot has strong generalization ability and robustness under the complex, variable, and dynamic unknown environment. Compared with the existing DWA and DQN algorithms, the proposed fusion path planning algorithm achieves better path planning performance with less training times, shorter computation time, and faster convergence speed. Full article

Unmanned Aerial Vehicles (UAVs) have progressively gained interest in recent years due to the wide range of related applications, from aerial communications and autonomous flight to agriculture and logistics. However, accurate 3D localization is crucial for enabling these kinds of applications, and commonly used tracking algorithms are often performing unsatisfactorily in critical scenarios like urban canyons and environments, characterized by dense multipath and line of sight obstruction. In this work we derive a novel 3D tracking algorithm which, despite its mathematical simplicity, can efficiently track moving targets handling asynchronous arrival of the anchor measurements or obstructions of line-of-sight links and outperforming commonly used algorithms like the Extended Kalman Filter (EKF) and the Particle Filter (PF). The proposed algorithm tracks the 3D position, velocity, and acceleration of a moving target through the combination of range measurements, between the target and different anchors, which become available in numbers and time instants not necessarily ordered as usually assumed in these applications. We denote this condition as asynchronous measurements, meaning that the ranging measurements are not available from all the anchors and they refer to different positions of the UAV during the tracking. We also show that our estimator is optimal among the linear ones, meaning that within this class, it minimizes the estimation error variance. Finally, we explore the accuracy that can be achieved in simulated scenarios defined by realistic UAV altitudes, velocities, and trajectories, as well as typical ranging errors of wideband localization systems. Full article

Mosquitoes, as vectors of numerous serious infectious diseases, require rigorous behavior monitoring for effective disease prevention and control. Simultaneously, precise surveillance of flying insect behavior is also crucial in agricultural pest management. This study proposes a three-dimensional trajectory reconstruction method for mosquito behavior analysis based on video data. By employing multiple synchronized cameras to capture mosquito flight images, using background subtraction to extract moving targets, applying Kalman filtering to predict target states, and integrating the Hungarian algorithm for multi-target data association, the system can automatically reconstruct three-dimensional mosquito flight trajectories. Experimental results demonstrate that this approach achieves high-precision flight path reconstruction, with a detection accuracy exceeding 95%, an F1-score of 0.93, and fast processing speeds that enables real-time tracking. The mean error of three-dimensional trajectory reconstruction is only 10 ± 4 mm, offering significant improvements in detection accuracy, tracking robustness, and real-time performance over traditional two-dimensional methods. These findings provide technological support for optimizing vector control strategies and enhancing precision pest control and can be further extended to ecological monitoring and agricultural pest management, thus bearing substantial significance for both public health and agriculture. Full article