给出了跳点搜索（Jump Point Search，JPS）算法的原理，分析了邻居裁剪规则，并试着用图来解释该算法而不诉诸于其原始研究论文中提出的基本数学证明．通过3个实验综合分析了JPS的性能优势，实验结果表明：同等地图尺寸下JPS扩展的节...给出了跳点搜索（Jump Point Search，JPS）算法的原理，分析了邻居裁剪规则，并试着用图来解释该算法而不诉诸于其原始研究论文中提出的基本数学证明．通过3个实验综合分析了JPS的性能优势，实验结果表明：同等地图尺寸下JPS扩展的节点数与障碍物密度成正比，与查看的邻居数成反比；随着地图尺寸的增加，JPS相比于其他典型寻路算法，在时间效率上优势更加显著；地图环境的对称性越高，JPS较之于A＋的优势越明显．总之，JPS保持了A＊的最优性，可将A＊提速一个数量级甚至更多，该算法更适合需要快速寻路的领域．展开更多
A robotic planning system using the technique of expert system for multirobotic coordi-nated motion with collision-avoidance has been developed.Its general architecture and theroles of its components are introduced in...A robotic planning system using the technique of expert system for multirobotic coordi-nated motion with collision-avoidance has been developed.Its general architecture and theroles of its components are introduced in this paper.The task planning diagram of this sys-tem is also briefly explained.A mechanism for multirobotic planning has been proposed.Two examples of traffic control system,i.e.two-robot coordinated pathfinding system withcollision-avoidance have been demonstrated.In order to avoid the collision,some controlstrategies are applied.The results of this planning system are valuable and helpful for plan-ning the multirohotic coordinated motion with collision-avoidance.展开更多
Neural tissue engineering is premised on the integration of engineered living tissue with the host nervous system to directly restore lost function or to augment regenerative capacity following ner- vous system injury...Neural tissue engineering is premised on the integration of engineered living tissue with the host nervous system to directly restore lost function or to augment regenerative capacity following ner- vous system injury or neurodegenerative disease. Disconnection of axon pathways - the long-distance fibers connecting specialized regions of the central nervous system or relaying peripheral signals - is a common feature of many neurological disorders and injury. However, functional axonal regenera- tion rarely occurs due to extreme distances to targets, absence of directed guidance, and the presence of inhibitory factors in the central nervous system, resulting in devastating effects on cognitive and sensorimotor function. To address this need, we are pursuing multiple strategies using tissue engi- neered ＂living scaffolds＂, which are preformed three-dimensional constructs consisting of living neural cells in a defined, often anisotropic architecture. Living scaffolds are designed to restore function by serving as a living labeled pathway for targeted axonal regeneration - mimicking key developmental mechanisms- or by restoring lost neural circuitry via direct replacement of neurons and axonal tracts. We are currently utilizing preformed living scaffolds consisting of neuronal dusters spanned by long axonal tracts as regenerative bridges to facilitate long-distance axonal regeneration and for targeted neurosurgical reconstruction of local circuits in the brain. Although there are formidable challenges in predinical and clinical advancement, these living tissue engineered constructs represent a promising strategy to facilitate nervous system repair and functional recovery.展开更多
文摘给出了跳点搜索（Jump Point Search，JPS）算法的原理，分析了邻居裁剪规则，并试着用图来解释该算法而不诉诸于其原始研究论文中提出的基本数学证明．通过3个实验综合分析了JPS的性能优势，实验结果表明：同等地图尺寸下JPS扩展的节点数与障碍物密度成正比，与查看的邻居数成反比；随着地图尺寸的增加，JPS相比于其他典型寻路算法，在时间效率上优势更加显著；地图环境的对称性越高，JPS较之于A＋的优势越明显．总之，JPS保持了A＊的最优性，可将A＊提速一个数量级甚至更多，该算法更适合需要快速寻路的领域．
文摘A robotic planning system using the technique of expert system for multirobotic coordi-nated motion with collision-avoidance has been developed.Its general architecture and theroles of its components are introduced in this paper.The task planning diagram of this sys-tem is also briefly explained.A mechanism for multirobotic planning has been proposed.Two examples of traffic control system,i.e.two-robot coordinated pathfinding system withcollision-avoidance have been demonstrated.In order to avoid the collision,some controlstrategies are applied.The results of this planning system are valuable and helpful for plan-ning the multirohotic coordinated motion with collision-avoidance.
基金support provided by the U.S.Army Medical Research and Materiel Command through the Joint Warfighter Medical Research Program(#W81XWH-13-13207004)Axonia Medical,Inc.+3 种基金Department of Veterans Affairs(RR&D Merit Review#B1097-I)National Institutes of Health(NINDS T32-NS043126)Penn Medicine Neuroscience Centerthe National Science Foundation(Graduate Research Fellowship DGE-1321851)
文摘Neural tissue engineering is premised on the integration of engineered living tissue with the host nervous system to directly restore lost function or to augment regenerative capacity following ner- vous system injury or neurodegenerative disease. Disconnection of axon pathways - the long-distance fibers connecting specialized regions of the central nervous system or relaying peripheral signals - is a common feature of many neurological disorders and injury. However, functional axonal regenera- tion rarely occurs due to extreme distances to targets, absence of directed guidance, and the presence of inhibitory factors in the central nervous system, resulting in devastating effects on cognitive and sensorimotor function. To address this need, we are pursuing multiple strategies using tissue engi- neered ＂living scaffolds＂, which are preformed three-dimensional constructs consisting of living neural cells in a defined, often anisotropic architecture. Living scaffolds are designed to restore function by serving as a living labeled pathway for targeted axonal regeneration - mimicking key developmental mechanisms- or by restoring lost neural circuitry via direct replacement of neurons and axonal tracts. We are currently utilizing preformed living scaffolds consisting of neuronal dusters spanned by long axonal tracts as regenerative bridges to facilitate long-distance axonal regeneration and for targeted neurosurgical reconstruction of local circuits in the brain. Although there are formidable challenges in predinical and clinical advancement, these living tissue engineered constructs represent a promising strategy to facilitate nervous system repair and functional recovery.
