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| 1 | A review:On path planning strategies for navigation of mobile robot显示文摘This paper presents the rigorous study of mobile robot navigation techniques used so far.The step by step investigations of classical and reactive approaches are made here to understand the development of path planning strategies in various environmental conditions and to identify research gap.The classical approaches such as cell decomposition(CD),roadmap approach(RA),artificial potential field(APF);reactive approaches such as genetic algorithm(GA),fuzzy logic(FL),neural network(NN),firefly algorithm(FA),particle swarm optimization(PSO),ant colony optimization(ACO),bacterial foraging optimization(BFO),artificial bee colony(ABC),cuckoo search(CS),shuffled frog leaping algorithm(SFLA)and other miscellaneous algorithms(OMA)are considered for study.The navigation over static and dynamic condition is analyzed(for single and multiple robot systems)and it has been observed that the reactive approaches are more robust and perform well in all terrain when compared to classical approaches.It is also observed that the reactive approaches are used to improve the performance of the classical approaches as a hybrid algorithm.Hence,reactive approaches are more popular and widely used for path planning of mobile robot.The paper concludes with tabular data and charts comparing the frequency of individual navigational strategies which can be used for specific application in robotics. | B.K. Patle Ganesh Babu L Anish Pandey D.R.K. Parhi A. Jagadeesh | 2019 | Defence Technology(防务技术)2019，15，4： | 60 |
| 2 | GNSS非差非组合精密单点定位的理论方法与应用研究张宝成显示文摘由美国GPS、俄罗斯GLONASS、欧盟Galileo和中国'北斗'联合组成的全球导航卫星系统(global navigation satellite system,GNSS)现已广泛地服务于地球和空间科学领域。最优地融合各类GNSS的观测数据,以快速、准确地估计位置、速度、时间、大气等参数,是当前和未来阶段的研究热点。为实现此目的,本文对精密单点定位(precise point positioning,PPP) | 张宝成 | 2014 | 测绘学报2014，43，10： | 33 |
| 3 | A Survey of Human-centered Intelligent Robots:Issues and Challenges显示文摘Intelligent techniques foster the dissemination of new discoveries and novel technologies that advance the ability of robots to assist and support humans. The human-centered intelligent robot has become an important research field that spans all of the robot capabilities including navigation, intelligent control, pattern recognition and human-robot interaction. This paper focuses on the recent achievements and presents a survey of existing works on human-centered robots. Furthermore, we provide a comprehensive survey of the recent development of the human-centered intelligent robot and discuss the issues and challenges in the field. | Wei He Zhijun Li C.L.Philip Chen | 2017 | IEEE/CAA Journal of Automatica Sinica2017，4，4： | 26 |
| 4 | Barometric altimetry system as virtual constellation applied in CAPS显示文摘This work describes the barometric altimetry as virtual constellation applied to the Chinese Area Positioning System (CAPS), which uses the transponders of communication satellites to transfer navigation messages to users. Barometric altimetry depends on the relationship of air pressure varying with altitude in the Earth’s atmosphere. Once the air pressure at a location is measured the site altitude can be found. This method is able to enhance and improve the availability of three-dimensional positioning. The difficulty is that the relation between barometric pressure and altitude is variable in different areas and under various weather conditions. Hence, in order to obtain higher accuracy, we need to acquire the real-time air pressure corresponding to an altimetric region’s reference height. On the other hand, the altimetry method will be applied to satellite navigation system, but the greatest difficulty lies in how to get the real-time air pressure value at the reference height in the broad areas overlaid by satellite navigation. We propose an innovational method to solve this problem. It is to collect the real-time air pressures and temperatures of the 1860 known-altitude weather observatories over China and around via satellite communication and to carry out time extrapolation forecast uniformly. To reduce data quantity, we first partition the data and encode them and then broadcast these information via navigation message to CAPS users’ receivers. Upon the interpolations being done in receivers, the reference air pressure and temperature at the receiver’s nearby place is derived. Lastly, combing with the receiver-observed real air pressure and temperature, the site’s altitude can be determined. The work is presented in the following aspects: the calculation principle, formulae, data collection, encoding, prediction, interpolation method, navigation message transmission together with errors causes and analyses. The advantages and shortcomings of the technique are discussed at the end. | AI GuoXiang SHENG PeiXuan DU JinLin ZHENG YongGuang CAI XianDe WU HaiTao HU YongHui HUA Yu LI XiaoHui | 2009 | Science China(Physics,Mechanics & Astronomy)2009，52，3： | 22 |
| 5 | The principle of the positioning system based on communication satellites显示文摘It is a long dream to realize the communication and navigation functionality in a satellite system in the world. This paper introduces how to establish the system, a positioning system based on communication satellites called Chinese Area Positioning System (CAPS). Instead of the typical navigation satellites, the communication satellites are configured firstly to transfer navigation signals from ground stations, and can be used to obtain service of the positioning, velocity and time, and to achieve the function of navigation and positioning. Some key technique issues should be first solved; they include the accuracy position determination and orbit prediction of the communication satellites, the measur- ing and calculation of transfer time of the signals, the carrier frequency drift in communication satellite signal transfer, how to improve the geometrical configuration of the constellation in the system, and the integration of navigation & communication. Several innovative methods are developed to make the new system have full functions of navigation and communication. Based on the development of crucial techniques and methods, the CAPS demonstration system has been designed and developed. Four communication satellites in the geosynchronous orbit (GEO) located at 87.5°E, 110.5°E, 134°E, 142°E and barometric altimetry are used in the CAPS system. The GEO satellites located at 134°E and 142°E are decommissioned GEO (DGEO) satellites. C-band is used as the navigation band. Dual frequency at C1=4143.15 MHz and C2=3826.02 MHz as well as dual codes with standard code (CA code and precision code (P code)) are adopted. The ground segment consists of five ground stations; the master station is in Lintong, Xi’an. The ground stations take a lot of responsibilities, including monitor and management of the operation of all system components, determination of the satellite position and prediction of the satellite orbit, accomplishment of the virtual atomic clock measurement, transmission and receiving navigation signals to and from each satellite. In the north, the south, the east, the west and the center of Chinese main land, the function of CAPS demonstration system is checked and measured. In cars and on board the system is also checked and measured. The results are as follow: CA-code, horizontal positioning accuracy, 15-25 m (1σ), vertical, 1-3 m; P-code, horizontal positioning accuracy, 8-10 m (1σ), vertical, 1-3 m; velocity accuracy, CA-code, 0.13-0.30 m/s, P-code, 0.15-0.17 m/s; time accuracy, CA-code, 160 ns, P-code, 13 ns; determination accuracy of orbit ≤2 m. About 20 million US $ and two years are spent for the development of demonstration. A complete CAPS system is now being established. | AI GuoXiang SHI HuLi WU HaiTao LI ZhiGang GUO Ji | 2009 | Science China(Physics,Mechanics & Astronomy)2009，52，3： | 21 |
| 6 | Resilient PNT Concept Frame显示文摘The concept of resilient positioning, navigation and timing (PNT) is described. The definition of resilient PNT is given, the relationship between integrated (or comprehensive) PNT and resilient PNT is analyzed, and it is pointed out that the integrated PNT is the foundation of resilient PNT. Resilient PNT should be divided into resilient sensor integration, resilient functional model and resilient stochastic model. The strategy and principles of resilient integration of sensors are discussed. The resilient integration of sensors should be designed following the optimal, available, compatible and interoperable principles. The concepts of resilient functional model and possible modification strategies of the different functional models are also described. Several possible optimal routes for resilient stochastic model improvements are also set forth. It is pointed out that the optimal improvements of stochastic models for multi PNT sources should follow the same variance scale. At last, the resilient PNT data fusion for state parameters are given based on the resilient functional and stochastic models. | Yuanxi YANG | 2019 | Journal of Geodesy and Geoinformation Science2019，2，3： | 21 |
| 7 | Progresses and Prospects of Marine Geodetic Datum and Marine Navigation in China显示文摘Territorial water is a significant part of national sovereignty of China,thus the infrastructures of national space datum and location services should cover the sea areas except for the land areas.China has established relatively complete geodetic coordinate frame in land areas over the past decades,including the lastest developed China Geodetic Coordinate System 2000(CGCS 2000)with its reference frame and the national gravity datum 2000.However,the currently used geodetic infrastructures have not well covered the sea areas of China.The marine geodetic datum and marine navigation technologies need to be further developed and extended to satisfy the national demands of marine environment and resources detection,scientific investigation as well as marine economy development in new era of China.This paper mainly reviews the development and the progress of Chinese marine geodetic datum and marine navigation,analyses related key technologies in establishing our national marine geodetic datum.Some current trends and future directions for independently developing our national marine geodetic datum and marine navigation technologies are discussed. | Yuanxi YANG Tianhe XU Shuqiang XUE | 2018 | Journal of Geodesy and Geoinformation Science2018，1，1： | 16 |
| 8 | Sentinel lymph node navigation surgery for early stage gastric cancer显示文摘We attempted to evaluate the history of sentinel node navigation surgery(SNNS),technical aspects,tracers,and clinical applications of SNNS using Infrared Ray Electronic Endoscopes(IREE)combined with Indocyanine Green(ICG).The sentinel lymph node(SLN)is defined as a first lymph node(LN)which receives cancer cells from a primary tumor.Reports on clinical application of SNNS for gastric cancers started to appear since early 2000s.Two prospective multicenter trials of SNNS for gastric cancer have also been accomplished in Japan.Kitagawa et al reported that the endoscopic dual(dye and radioisotope)tracer method for SN biopsy was confirmed acceptable and effective when applied to the early-stage gastric cancer(EGC).We have previously reported the usefulness of SNNS in gastrointestinal cancer using ICG as a tracer,combined with IREE(Olympus Optical,Tokyo,Japan)to detect SLN.LN metastasis rate of EGC is low.Hence,clinical application of SNNS for EGC might lead us to avoid unnecessary LN dissection,which could preserve the patient’s quality of life after operation.The most ideal method of SNNS should allow secure and accurate detection of SLN,and real time observation of lymphatic flow during operation. | Norio Mitsumori Hiroshi Nimura Naoto Takahashi Masahiko Kawamura Hiroaki Aoki Atsuo Shida Nobuo Omura Katsuhiko Yanaga | 2014 | World Journal of Gastroenterology2014，20，19： | 15 |
| 9 | Path planning in uncertain environment by using firefly algorithm显示文摘Autonomous mobile robot navigation is one of the most emerging areas of research by using swarm intelligence. Path planning and obstacle avoidance are most researched current topics like navigational challenges for mobile robot. The paper presents application and implementation of Firefly Algorithm(FA)for Mobile Robot Navigation(MRN) in uncertain environment. The uncertainty is defined over the changing environmental condition from static to dynamic. The attraction of one firefly towards the other firefly due to variation of their brightness is the key concept of the proposed study. The proposed controller efficiently explores the environment and improves the global search in less number of iterations and hence it can be easily implemented for real time obstacle avoidance especially for dynamic environment. It solves the challenges of navigation, minimizes the computational calculations, and avoids random moving of fireflies. The performance of proposed controller is better in terms of path optimality when compared to other intelligent navigational approaches. | B.K.Patle Anish Pandey A.Jagadeesh D.R.Parhi | 2018 | Defence Technology(防务技术)2018，14，6： | 14 |
| 10 | Orbit determination for geostationary satellites with the combination of transfer ranging and pseudorange data显示文摘Geostationary satellites(GEOs) play a significant role in the regional satellite navigation system.Simulation experiments show that the clock corrections could be mitigated through a single strategy or double differencing strategies for a navigation constellation,but for the mode of individual GEO orbit determination,high precision orbit and clock correction could not be obtained in the orbit determination based on the pseudorange data.A new GEO combined precise orbit determination(POD) strategy is studied in this paper,which combines pseudorange data and C-band transfer ranging data.This strategy overcomes the deficiency of C-band transfer ranging caused by limited stations and tracking time available.With the combination of transfer ranging and pseudorange data,clock corrections between the GEO and the stations can be estimated simultaneously along with orbital parameters,maintaining self-consistency between the satellite ephemeris and clock correction parameters.The error covariance analysis is conducted to illuminate the contributions from the transfer ranging data and the psudoranging data.Using data collected for a Chinese GEO satellite with 3 C-band transfer ranging stations and 4 L-band pseudorange tracking stations,POD experiments indicate that a meter-level accuracy is achievable.The root-mean-square(RMS) of the post-fit C-band ranging data is about 0.203 m,and the RMS of the post-fit pseudorange is 0.408 m.Radial component errors of the POD experiments are independently evaluated with the satellite laser ranging(SLR) data from a station in Beijing,with the residual RMS of 0.076 m.The SLR evaluation also suggests that for 2-h orbital predication,the predicted radial error is about 0.404 m,and the clock correction error is about 1.38 ns.Even for the combination of one C-band transfer ranging station and 4 pseudorange stations,POD is able to achieve a reasonable accuracy with the radial error of 0.280 m and the 2-h predicted radial error of 0.888 m.Clock synchronization between the GEO and tracking stations is achieved with an estimated accuracy of about 1.55 ns,meeting the navigation service requirements. | GUO Rui1,2,3,4,HU XiaoGong2,4,LIU Li1,WU XiaoLi1,HUANG Yong2,4 & HE Feng1 1 Beijing Global Information Application and Development Center,Beijing 100094,China 2 Shanghai Astronomical Observatory,Chinese Academy of Sciences,Shanghai 200030,China 3 Graduate University of Chinese Academy of Sciences,Beijing 100049,China 4 Space Navigation and Positioning Technology,Laboratory of Shanghai Municipal,Shanghai 200030,China | 2010 | Science China(Physics,Mechanics & Astronomy)2010，53，9： | 13 |
| 11 | Prediction of lymph node metastasis and sentinel node navigation surgery for patients with early-stage gastric cancer显示文摘Accurate prediction of lymph node(LN) status is crucially important for appropriate treatment planning in patients with early gastric cancer(EGC). However,consensus on patient and tumor characteristics associated with LN metastasis are yet to be reached. Through systematic search,we identified several independent variables associated with LN metastasis in EGC,which should be included in future research to assess which of these variables remain as significant predictors of LN metastasis. On the other hand,even if we use these promising parameters,we should realize the limitation and the difficulty of predicting LN metastasis accurately. The sentinel LN(SLN) is defined as first possible site to receive cancer cells along the route of lymphatic drainage from the primary tumor. The absence of metastasis in SLN is believed to correlate with the absence of metastasis in downstream LNs. In this review,we have attempted to focus on several independent parameters which have close relationship between tumor and LN metastasis in EGC. In addition,we evaluated the history of sentinel node navigation surgery and the usefulness for EGC. | Atsuo Shida Norio Mitsumori Hiroshi Nimura Yuta Takano Taizou Iwasaki Muneharu Fujisaki Naoto Takahashi Katsuhiko Yanaga | 2016 | World Journal of Gastroenterology2016，22，33： | 13 |
| 12 | Autosub6000:A Deep Diving Long Range AUV显示文摘With an ultimate range up to 1000 km,a maximum operating depth of 6000 m,and a generous payload capacity,Autosub6000is well placed to become one of the world’s most capable deep diving Autonomous Underwater Vehicles(AUVs).Recently,Autosub6000 successfully completed its first deep water engineering trials,and in September 2008,fitted with amultibeam sonar,will carry out its first science missions.This paper will describe how we are tackling the design issues thatspecifically affect a deep diving AUV which must be capable of operating with true autonomy,independently of the mother ship,namely:carrying adequate energy for long endurance and range,coping with varying buoyancy,and maintaining accuratenavigation throughout missions lasting up to several days.Results from the recent engineering trails are presented,and futuremissions and development plans are discussed. | Stephen McPhail | 2009 | Journal of Bionic Engineering2009，6，1： | 13 |
| 13 | Sentinel node navigation surgery for gastric cancer: Overview and perspective显示文摘The sentinel node(SN) technique has been established for the treatment of some types of solid cancers to avoid unnecessary lymphadenectomy. If node disease were diagnosed before surgery, minimal surgery with omission of lymph node dissection would be an option for patients with early gastric cancer. Although SN biopsy has been well ascertained in the treatment of breast cancer and melanoma, SN navigation surgery(SNNS) in gastric cancer has not been yet universal due to the complicated lymphatic flow from the stomach. Satisfactory establishment of SNNS will result in the possible indication of minimally invasive surgery of gastric cancer. However, the results reported in the literature on SN biopsy in gastric cancer are widely divergent and many issues are still to be resolved, such as the collection method of SN, detection of micrometastasis in SN, and clinical benefit. The difference in the procedural technique and learning phase of surgeons is also varied the accuracy of SN mapping. In this review, we outline the current status of application for SNNS in gastric cancer. | Masakazu Yashiro Tasuku Matsuoka | 2015 | World Journal of Gastrointestinal Surgery2015，7，1： | 13 |
| 14 | Study on autonomous navigation based on pulsar timing model显示文摘The basic principle of pulsar timing model was introduced, and the general relativistic corrections were analyzed when pulse time of arrival (TOA) was transferred to coordinate TOA at the Solar System Barycentre. Based on the shifting, an iterative method of autonomous position determination for spacecraft was developed. Accordingly, the linear form of the position offset equation was evolved. Using the initial estimated value of spacecraft’s position as the input of pulsar timing equation, through calculation of the offset between measured or transferred and predicted TOA, the position offset can be solved by Least Squares. At last, the main error sources including modeling error and parameters error were discussed. | LI JianXun KE XiZheng | 2009 | Science China(Physics,Mechanics & Astronomy)2009，52，2： | 12 |
| 15 | Optimum path planning of mobile robot in unknown static and dynamic environments using Fuzzy-Wind Driven Optimization algorithm显示文摘This article introduces a singleton type-1 fuzzy logic system(T1-SFLS) controller and Fuzzy-WDO hybrid for the autonomous mobile robot navigation and collision avoidance in an unknown static and dynamic environment. The WDO(Wind Driven Optimization) algorithm is used to optimize and tune the input/output membership function parameters of the fuzzy controller. The WDO algorithm is working based on the atmospheric motion of infinitesimal small air parcels navigates over an N-dimensional search domain. The performance of this proposed technique has compared through many computer simulations and real-time experiments by using Khepera-Ⅲ mobile robot. As compared to the T1-SFLS controller the Fuzzy-WDO algorithm is found good agreement for mobile robot navigation. | Anish Pandey Dayal R.Parhi | 2017 | Defence Technology(防务技术)2017，13，1： | 12 |
| 16 | Satellite virtual atomic clock with pseudorange difference function显示文摘Satellite atomic clocks are the basis of GPS for the control of time and frequency of navigation signals. In the Chinese Area Positioning System (CAPS), a satellite navigation system without the satellite atomic clocks onboard is successfully developed. Thus, the method of time synchronization based on satellite atomic clocks in GPS is not suitable. Satellite virtual atomic clocks are used to implement satellite navigation. With the satellite virtual atomic clocks, the time at which the signals are transmitted from the ground can be delayed into the time that the signals are transmitted from the satellites and the pseudorange measuring can be fulfilled as in GPS. Satellite virtual atomic clocks can implement the navigation, make a pseudorange difference, remove the ephemeris error, and improve the accuracy of navigation positioning. They not only provide a navigation system without satellite clocks, but also a navigation system with pseudorange difference. | LI XiaoHui WU HaiTao BIAN YuJing WANG DanNi | 2009 | Science China(Physics,Mechanics & Astronomy)2009，52，3： | 11 |
| 17 | 中海达HGO软件在GPS/BDS/GLONASS静态解算的应用分析显示文摘一、引言
2012年10月20日我国成功发射了第16颗北斗卫星,至此,我国北斗导航工程区域组网顺利完成。同时,2012年12月27日,北斗卫星导航系统(BeiDou navigation satellite system.BDS)空间信号接口控制文件正式版正式公布, | 周正朝 袁本银 潘国富 | 2013 | 测绘通报2013，，3： | 11 |
| 18 | A Survey of the Research Status of Pedestrian Dead Reckoning Systems Based on Inertial Sensors显示文摘With the development of micro-electromechanical systems(MEMS), miniaturized, low-power and low-cost inertial measurement units(IMUs) have been widely integrated into mobile terminals and smart wearable devices. This provides the prospect of a broad application for the inertial sensor-based pedestrian dead-reckoning(IPDR) systems. Especially for indoor navigation and indoor positioning, the IPDR systems have many unique advantages that other methods do not have. At present, a large number of technologies and methods for IPDR systems are proposed. In this paper, we have analyzed and outlined the IPDR systems based on about 80 documents in the field of IPDR in recent years. The article is structured in the form of an introduction-elucidation-conclusion framework. First, we proposed a general framework to explore the structure of an IPDR system. Then, according to this framework, the IPDR system was divided into six relatively independent sub-problems, which were discussed and summarized separately. Finally, we proposed a graph structure of IPDR systems, and a sub-directed graph, formed by selecting a combined path from the start node to the end node, skillfully constitutes a technical route of one specific IPDR system. At the end of the article, we summarized some key issues that need to be resolved before the IPDR systems are widely used. | Yuan Wu Hai-Bing Zhu Qing-Xiu Du Shu-Ming Tang | 2019 | International Journal of Automation and computing2019，16，1： | 10 |
| 19 | ZAX-N型喷气织机简介显示文摘 | 李小兰 | 2005 | 棉纺织技术2005，33，9： | 10 |
| 20 | Research on SINS Alignment Algorithm Based on FIR Filters显示文摘An inertial frame based alignment (IFBA) method is presented, especially for the applications on a rocking platform, e.g., marine applications. Defining the initial body frame as the inertial frame, the IFBA method achieves the alignment by virtue of a cascade of low-pass FIR filters, which attenuate the disturbing acceleration and maintain the gravity vector. The aligning time rests with the orders of the FIR filter group, and the method is suitable for large initial misalignment case. An alignment scheme comprising a coarse phase by the IFBA method and a fine phase by a Kalman filter is presented. Both vehicle-based and ship-based alignment experiments were carried out. The results show that the proposed scheme converges much faster than the traditional method at no cost of precision and also works well under any large initial misalignment. | 练军想 胡德文 武元新 胡小平 | 2007 | Journal of Beijing Institute of Technology2007，16，4： | 10 |
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