In eukaryotic cells, initiation of protein translation is to recruit the ribosome to a specific mRNA, which is generally dependent on the 5＇ cap structure. However, protein translation can also be initiated in a cap-...In eukaryotic cells, initiation of protein translation is to recruit the ribosome to a specific mRNA, which is generally dependent on the 5＇ cap structure. However, protein translation can also be initiated in a cap-independent manner by using a cis-regulatory element termed the internal ribosome entry site （IRES）. The first experimentally validated IRES was reported in the poliovirus （Pelletier and Sonenberg, 1988）. Then eukaryotic cellular mRNAs were also validated to contain IRES elements.展开更多
Based on the method of reverberation ray matrix（MRRM）, a reverberation matrix for planar framed structures composed of anisotropic Timoshenko（T） beam members containing completely hinged joints is developed for st...Based on the method of reverberation ray matrix（MRRM）, a reverberation matrix for planar framed structures composed of anisotropic Timoshenko（T） beam members containing completely hinged joints is developed for static analysis of such structures.In the MRRM for dynamic analysis, amplitudes of arriving and departing waves for joints are chosen as unknown quantities. However, for the present case of static analysis, displacements and rotational angles at the ends of each beam member are directly considered as unknown quantities. The expressions for stiffness matrices for anisotropic beam members are developed. A corresponding reverberation matrix is derived analytically for exact and unified determination on the displacements and internal forces at both ends of each member and arbitrary cross sectional locations in the structure. Numerical examples are given and compared with the finite element method（FEM） results to validate the present model. The characteristic parameter analysis is performed to demonstrate accuracy of the present model with the T beam theory in contrast with errors in the usual model based on the Euler-Bernoulli（EB） beam theory. The resulting reverberation matrix can be used for exact calculation of anisotropic framed structures as well as for parameter analysis of geometrical and material properties of the framed structures.展开更多
When the radio frequency identification(RFID)system inventories multiple tags,the recognition rate will be seriously affected due to collisions.Based on the existing dynamic frame slotted Aloha(DFSA)algorithm,a sub-fr...When the radio frequency identification(RFID)system inventories multiple tags,the recognition rate will be seriously affected due to collisions.Based on the existing dynamic frame slotted Aloha(DFSA)algorithm,a sub-frame observation and cyclic redundancy check(CRC)grouping combined dynamic framed slotted Aloha(SUBF-CGDFSA)algorithm is proposed.The algorithm combines the precise estimation method of the quantity of large-scale tags,the large-scale tags grouping mechanism based on CRC pseudo-randomcharacteristics,and the Aloha anti-collision optimization mechanism based on sub-frame observation.By grouping tags and sequentially identifying themwithin subframes,it accurately estimates the number of remaining tags and optimizes frame length accordingly to improve efficiency in large-scale RFID systems.Simulation outcomes demonstrate that this proposed algorithmcan effectively break through the system throughput bottleneck of 36.8%,which is up to 30%higher than the existing DFSA standard scheme,and has more significant advantages,which is suitable for application in largescale RFID tags scenarios.展开更多
Bushfire-related building losses cause adverse economic impacts to countries prone to bushfires.Building materials and components play a vital role in reducing these impacts.However,due to high costs of experimental s...Bushfire-related building losses cause adverse economic impacts to countries prone to bushfires.Building materials and components play a vital role in reducing these impacts.However,due to high costs of experimental studies and lack of numerical studies,the heat transfer behavior of building’s external components in bushfire-prone areas has not been adequately investigated.Often large-scale heat transfer models are developed using Computational Fluid Dynamics(CFD)tools,and the availability of CFD models for heat transfer in building components improves the understanding of the behavior of systems and systems of systems.Therefore,this paper uses a numerical modeling approach to investigate the bushfire/wildfire resistance of external Light gauge Steel Framed(LSF)wall systems.Both full-scale and small-scale heat transfer models were developed for the LSF wall systems.Experimental results of six internal and external LSF wall systems with varying plasterboard thickness and cladding material were used to validate the developed models.The study was then extended to investigate the bushfire resistance of seven external wall systems under two different bushfire flame zone conditions.The results illustrate the significant effects of fire curves,LSF wall components and configuration on the heat transfer across the walls.They have shown 1)the favorable performance of steel cladding and Autoclaved Aerated Concrete(AAC)panels when used on the external side of wall systems and 2)the adequacy of thin-walled steel studs’load-bearing capacity during bushfire exposures.This study has shown that most of the investigated external LSF walls could be reused with cost-effective retrofitting such as replacing the Fire Side(FS)steel cladding after bushfire exposures.Overall,this study has advanced the understanding of the behavior of external light steel framed walls under bushfire flame zone conditions.展开更多
In this paper,we define the evolute and focal surface of a spacelike framed curve with lightlike components in Minkowski 3-space.It is a generalization of the previous results of regular spacelike curves,since singula...In this paper,we define the evolute and focal surface of a spacelike framed curve with lightlike components in Minkowski 3-space.It is a generalization of the previous results of regular spacelike curves,since singularities are allowed in the original spacelike curves studied by spacelike framed curves with lightlike components.Meanwhile,we show a new geometric invariant to characterise singularities of the focal surface.Then,the classification theorem and recognition theorem for the singularities of the focal surface in generic are also given.展开更多
This paper presents a bi-level hybrid local search(BHLS)algorithm for the three-dimensional loading problem with balancing constraints(3DLP-B),where several rectangular boxes with even densities but different sizes ar...This paper presents a bi-level hybrid local search(BHLS)algorithm for the three-dimensional loading problem with balancing constraints(3DLP-B),where several rectangular boxes with even densities but different sizes are loaded into a single cubic bin to meet the requirements of the space or capacity utilization and the balance of the center of gravity.The proposed algorithm hybridizes a novel framed-layout procedure in which the concept of the core block and its generation strategy are introduced.Once the block-loading sequence has been determined,we can load one block at a time by the designed construction heuristic.Then,the double-search is introduced;its external search procedure generates a list of compact packing patterns while its internal search procedure is used to search the core-block frames and their best distribution locations.The approach is extensively tested on weakly to strongly heterogeneous benchmark data.The results show that it has better performance in improving space utilization rate and balanced condition of the placement than existed techniques:the overall averages from 79.85%to 86.45%were obtained for the balanced cases and relatively high space-usage rate of 89.44%was achieved for the unbalanced ones.展开更多
The non-uniform beam components are commonly used in engineering,while the method to analyze such component is not too satisfactory yet. A new non-uniform beam element with high precision was developed based on the no...The non-uniform beam components are commonly used in engineering,while the method to analyze such component is not too satisfactory yet. A new non-uniform beam element with high precision was developed based on the non-linear analysis and the static condensation. Based on the interpolation theory, the displacement fields of the three-node non-uniform Euler-Bernoulli beam element were constructed at first: the quintic Hermite interpolation polynomial was used for the lateral displacement field and the quadratic Lagrange interpolation polynomial for the axial displacement field. Then,based on the basic assumptions of non-uniform Euler-Bernoulli beam whose section properties were continuously varying along its centroidal axis, the linear and geometric stiffness matrices of the three-node non-uniform beam element were derived according to the nonlinear finite element theory. Finally,the degrees of freedom ( DOFs) of the middle node of the element were eliminated using the static condensation method, and a new two-node non-uniform beam element including axial-force effect was obtained. The results indicate that each bar needs to be meshed with only one element could get a fairly accurate solution when it is applied to the stability analyses.展开更多
We prove that the n<sup>th</sup> framing bordism group of framed immersed submanifoldsin a manifold N,which is denoted by Δ<sub>n</sub>（N）,is canonically isomorphic to the normalbordism gro...We prove that the n<sup>th</sup> framing bordism group of framed immersed submanifoldsin a manifold N,which is denoted by Δ<sub>n</sub>（N）,is canonically isomorphic to the normalbordism group Ω<sub>n</sub>（N,-TN）.展开更多
Framed links in thickened torus are studied. We define the mod 2 Kauffman bracket skein module of thickened torus and give an expression of a framed link in this module. From this expression we propose a new ambient i...Framed links in thickened torus are studied. We define the mod 2 Kauffman bracket skein module of thickened torus and give an expression of a framed link in this module. From this expression we propose a new ambient isotopic invariant of framed links.展开更多
In this article, the analytical homogenization method of periodic discrete media（HPDM）and the numerical condensed wave finite element method（CWFEM） are employed to study the longitudinal and transverse vibrations ...In this article, the analytical homogenization method of periodic discrete media（HPDM）and the numerical condensed wave finite element method（CWFEM） are employed to study the longitudinal and transverse vibrations of framed structures. The valid frequency range of the HPDM is re-evaluated using the wave propagation feature identified by the CWFEM. The relative error of the wavenumber by the HPDM compared to that by the CWFEM is illustrated in functions of frequency and scale ratio. A parametric study on the thickness of the structure is carried out where the dispersion relation and the relative error are given for three different thicknesses. The dynamics of a finite structure such as natural frequency and forced response are also investigated using the HPDM and the CWFEM.展开更多
We determine a 2-codimensional para-CR structure on the slit tangent bundle T0 M of a Finsler manifold（M,F） by imposing a condition regarding the almost paracomplex structure P associated to F when restricted to the...We determine a 2-codimensional para-CR structure on the slit tangent bundle T0 M of a Finsler manifold（M,F） by imposing a condition regarding the almost paracomplex structure P associated to F when restricted to the structural distribution of a framed para-f-structure.This condition is satisfied when（M,F） is of scalar flag curvature（particularly constant） or if the Riemannian manifold（M,g） is of constant curvature.展开更多
The object of this study is to determine the seismic response of regular high-rise steel buildings with chevron-braced frames. Mechanics models of three buildings of 14, 18 and 20 stories are studied, all of them with...The object of this study is to determine the seismic response of regular high-rise steel buildings with chevron-braced frames. Mechanics models of three buildings of 14, 18 and 20 stories are studied, all of them with similar geometric characteristics in plant and elevation. These models are realized using prescriptions and parameters from venezuelan design codes. The seismic action is carry on through varius synthetic design spectrum compatible accelerograms defined by the seismic codes in this study, with three levels of intensity corresponding to three specific Limit States. Dynamic analysis is used to compute parameters of ductility, over strength and maximum displacements. From these results it can be concluded that chevron-braced frames presented a good overall performance and non V-braced frames show greater damage due to dynamic actions, validating non linear dynamic analysis as a very powerful tool to seismic-resistance design and chevron-braced frames as a very useful choice in improving the response of tall steel structures. since this lateral bracing system is absent from Venezuelan seismic codes.展开更多
In this paper,we present a categorical version of the first and second fundamental theorems of the invariant theory for the quantized symplectic groups.Our methods depend on the theory of braided strict monoidal categ...In this paper,we present a categorical version of the first and second fundamental theorems of the invariant theory for the quantized symplectic groups.Our methods depend on the theory of braided strict monoidal categories which are pivotal,more explicitly,the diagram category of framed tangles.展开更多
In this study,a finite element(FE)analysis of shallow tunnels exposed to a blast inside the tunnel,with soil as surrounding medium and a structure at ground level,was performed.The ConWep program,developed by the US A...In this study,a finite element(FE)analysis of shallow tunnels exposed to a blast inside the tunnel,with soil as surrounding medium and a structure at ground level,was performed.The ConWep program,developed by the US Army,was used to simulate blast loading using ABAQUS/Explicit■.Drucker-Prager(D-P)plasticity model,concrete damage plasticity(CDP),and Johnson-Cook(J-C)plasticity models were used to define the behavior of the soil,concrete,and reinforcement,respectively.FE analysis was carried out to compare the damages to the superstructure with variation in the cross-sectional shapes of the tunnel under internal blast loading.Three tunnel shapes(circular,rectangular,and horseshoe cross-sections)were considered in the FE analysis.An explosive of 100 kg TNT was located at the center of the cross-section of the tunnel.The response of the tunnel in terms of displacement and stress at critical locations was computed.The results showed that changes in the cross-section of the tunnel affect the stability of the tunnel,even when keeping all other factors constant.It was observed that the intensity of the stresses was the highest for a rectangular tunnel and lowest for a circular tunnel.Furthermore,it was also determined that the tunnel with a rectangular cross-section experienced the maximum displacement in the reinforced concrete(RC)lining compared with the horseshoe and circular tunnels.The displacement measured at critical structural members of the superstructure was found to be the highest for the tunnel with a rectangular cross-section and lowest for the tunnel with a circular cross-section.展开更多
An autonomous underwater vehicle (AUV) must use an algorithm to plan its path to distant, mobile offshore objects. Because of the uneven distribution of obstacles in the real world, the efficiency of the algorithm dec...An autonomous underwater vehicle (AUV) must use an algorithm to plan its path to distant, mobile offshore objects. Because of the uneven distribution of obstacles in the real world, the efficiency of the algorithm decreases if the global environment is represented by regular grids with all of them at the highest resolution. The framed quadtree data structure is able to more efficiently represent the environment. When planning the path, the dynamic object is expressed instead as several static objects which are used by the path planner to update the path. By taking account of the characteristics of the framed quadtree, objects can be projected on the frame nodes to increase the precision of the path. Analysis and simulations showed the proposed planner could increase efficiency while improving the ability of the AUV to follow an object.展开更多
基金supported by the grants from National Natural Science Foundation of China (Nos. 61571223 and 61171191)
文摘In eukaryotic cells, initiation of protein translation is to recruit the ribosome to a specific mRNA, which is generally dependent on the 5＇ cap structure. However, protein translation can also be initiated in a cap-independent manner by using a cis-regulatory element termed the internal ribosome entry site （IRES）. The first experimentally validated IRES was reported in the poliovirus （Pelletier and Sonenberg, 1988）. Then eukaryotic cellular mRNAs were also validated to contain IRES elements.
基金Project supported by the Program for New Century Excellent Talents in Universities(NCET)by the Ministry of Education of China(No.NCET-04-0373)
文摘Based on the method of reverberation ray matrix（MRRM）, a reverberation matrix for planar framed structures composed of anisotropic Timoshenko（T） beam members containing completely hinged joints is developed for static analysis of such structures.In the MRRM for dynamic analysis, amplitudes of arriving and departing waves for joints are chosen as unknown quantities. However, for the present case of static analysis, displacements and rotational angles at the ends of each beam member are directly considered as unknown quantities. The expressions for stiffness matrices for anisotropic beam members are developed. A corresponding reverberation matrix is derived analytically for exact and unified determination on the displacements and internal forces at both ends of each member and arbitrary cross sectional locations in the structure. Numerical examples are given and compared with the finite element method（FEM） results to validate the present model. The characteristic parameter analysis is performed to demonstrate accuracy of the present model with the T beam theory in contrast with errors in the usual model based on the Euler-Bernoulli（EB） beam theory. The resulting reverberation matrix can be used for exact calculation of anisotropic framed structures as well as for parameter analysis of geometrical and material properties of the framed structures.
基金supported in part by National Natural Science Foundation of China(U22B2004,62371106)in part by the Joint Project of China Mobile Research Institute&X-NET(Project Number:2022H002)+6 种基金in part by the Pre-Research Project(31513070501)in part by National Key R&D Program(2018AAA0103203)in part by Guangdong Provincial Research and Development Plan in Key Areas(2019B010141001)in part by Sichuan Provincial Science and Technology Planning Program of China(2022YFG0230,2023YFG0040)in part by the Fundamental Enhancement Program Technology Area Fund(2021-JCJQ-JJ-0667)in part by the Joint Fund of ZF and Ministry of Education(8091B022126)in part by Innovation Ability Construction Project for Sichuan Provincial Engineering Research Center of Communication Technology for Intelligent IoT(2303-510109-04-03-318020).
文摘When the radio frequency identification(RFID)system inventories multiple tags,the recognition rate will be seriously affected due to collisions.Based on the existing dynamic frame slotted Aloha(DFSA)algorithm,a sub-frame observation and cyclic redundancy check(CRC)grouping combined dynamic framed slotted Aloha(SUBF-CGDFSA)algorithm is proposed.The algorithm combines the precise estimation method of the quantity of large-scale tags,the large-scale tags grouping mechanism based on CRC pseudo-randomcharacteristics,and the Aloha anti-collision optimization mechanism based on sub-frame observation.By grouping tags and sequentially identifying themwithin subframes,it accurately estimates the number of remaining tags and optimizes frame length accordingly to improve efficiency in large-scale RFID systems.Simulation outcomes demonstrate that this proposed algorithmcan effectively break through the system throughput bottleneck of 36.8%,which is up to 30%higher than the existing DFSA standard scheme,and has more significant advantages,which is suitable for application in largescale RFID tags scenarios.
基金the Australian Research Council(ARC Grant Nos.DE180101598 and DP200102704)Queensland University of Technology(QUT)for providing financial support.
文摘Bushfire-related building losses cause adverse economic impacts to countries prone to bushfires.Building materials and components play a vital role in reducing these impacts.However,due to high costs of experimental studies and lack of numerical studies,the heat transfer behavior of building’s external components in bushfire-prone areas has not been adequately investigated.Often large-scale heat transfer models are developed using Computational Fluid Dynamics(CFD)tools,and the availability of CFD models for heat transfer in building components improves the understanding of the behavior of systems and systems of systems.Therefore,this paper uses a numerical modeling approach to investigate the bushfire/wildfire resistance of external Light gauge Steel Framed(LSF)wall systems.Both full-scale and small-scale heat transfer models were developed for the LSF wall systems.Experimental results of six internal and external LSF wall systems with varying plasterboard thickness and cladding material were used to validate the developed models.The study was then extended to investigate the bushfire resistance of seven external wall systems under two different bushfire flame zone conditions.The results illustrate the significant effects of fire curves,LSF wall components and configuration on the heat transfer across the walls.They have shown 1)the favorable performance of steel cladding and Autoclaved Aerated Concrete(AAC)panels when used on the external side of wall systems and 2)the adequacy of thin-walled steel studs’load-bearing capacity during bushfire exposures.This study has shown that most of the investigated external LSF walls could be reused with cost-effective retrofitting such as replacing the Fire Side(FS)steel cladding after bushfire exposures.Overall,this study has advanced the understanding of the behavior of external light steel framed walls under bushfire flame zone conditions.
基金Supported by National Natural Science Foundation of China(Grant No.11671070)。
文摘In this paper,we define the evolute and focal surface of a spacelike framed curve with lightlike components in Minkowski 3-space.It is a generalization of the previous results of regular spacelike curves,since singularities are allowed in the original spacelike curves studied by spacelike framed curves with lightlike components.Meanwhile,we show a new geometric invariant to characterise singularities of the focal surface.Then,the classification theorem and recognition theorem for the singularities of the focal surface in generic are also given.
基金Project(16B134)supported by Hunan Provincial Department of Education,China
文摘This paper presents a bi-level hybrid local search(BHLS)algorithm for the three-dimensional loading problem with balancing constraints(3DLP-B),where several rectangular boxes with even densities but different sizes are loaded into a single cubic bin to meet the requirements of the space or capacity utilization and the balance of the center of gravity.The proposed algorithm hybridizes a novel framed-layout procedure in which the concept of the core block and its generation strategy are introduced.Once the block-loading sequence has been determined,we can load one block at a time by the designed construction heuristic.Then,the double-search is introduced;its external search procedure generates a list of compact packing patterns while its internal search procedure is used to search the core-block frames and their best distribution locations.The approach is extensively tested on weakly to strongly heterogeneous benchmark data.The results show that it has better performance in improving space utilization rate and balanced condition of the placement than existed techniques:the overall averages from 79.85%to 86.45%were obtained for the balanced cases and relatively high space-usage rate of 89.44%was achieved for the unbalanced ones.
文摘The non-uniform beam components are commonly used in engineering,while the method to analyze such component is not too satisfactory yet. A new non-uniform beam element with high precision was developed based on the non-linear analysis and the static condensation. Based on the interpolation theory, the displacement fields of the three-node non-uniform Euler-Bernoulli beam element were constructed at first: the quintic Hermite interpolation polynomial was used for the lateral displacement field and the quadratic Lagrange interpolation polynomial for the axial displacement field. Then,based on the basic assumptions of non-uniform Euler-Bernoulli beam whose section properties were continuously varying along its centroidal axis, the linear and geometric stiffness matrices of the three-node non-uniform beam element were derived according to the nonlinear finite element theory. Finally,the degrees of freedom ( DOFs) of the middle node of the element were eliminated using the static condensation method, and a new two-node non-uniform beam element including axial-force effect was obtained. The results indicate that each bar needs to be meshed with only one element could get a fairly accurate solution when it is applied to the stability analyses.
文摘We prove that the n<sup>th</sup> framing bordism group of framed immersed submanifoldsin a manifold N,which is denoted by Δ<sub>n</sub>（N）,is canonically isomorphic to the normalbordism group Ω<sub>n</sub>（N,-TN）.
基金Guangdong Province Innovation Talent Project (2015KQNCX107) for YouthsGuangdong University of Education special fund (2016ARF06) for doctoral research
文摘Framed links in thickened torus are studied. We define the mod 2 Kauffman bracket skein module of thickened torus and give an expression of a framed link in this module. From this expression we propose a new ambient isotopic invariant of framed links.
文摘In this article, the analytical homogenization method of periodic discrete media（HPDM）and the numerical condensed wave finite element method（CWFEM） are employed to study the longitudinal and transverse vibrations of framed structures. The valid frequency range of the HPDM is re-evaluated using the wave propagation feature identified by the CWFEM. The relative error of the wavenumber by the HPDM compared to that by the CWFEM is illustrated in functions of frequency and scale ratio. A parametric study on the thickness of the structure is carried out where the dispersion relation and the relative error are given for three different thicknesses. The dynamics of a finite structure such as natural frequency and forced response are also investigated using the HPDM and the CWFEM.
文摘We determine a 2-codimensional para-CR structure on the slit tangent bundle T0 M of a Finsler manifold（M,F） by imposing a condition regarding the almost paracomplex structure P associated to F when restricted to the structural distribution of a framed para-f-structure.This condition is satisfied when（M,F） is of scalar flag curvature（particularly constant） or if the Riemannian manifold（M,g） is of constant curvature.
文摘The object of this study is to determine the seismic response of regular high-rise steel buildings with chevron-braced frames. Mechanics models of three buildings of 14, 18 and 20 stories are studied, all of them with similar geometric characteristics in plant and elevation. These models are realized using prescriptions and parameters from venezuelan design codes. The seismic action is carry on through varius synthetic design spectrum compatible accelerograms defined by the seismic codes in this study, with three levels of intensity corresponding to three specific Limit States. Dynamic analysis is used to compute parameters of ductility, over strength and maximum displacements. From these results it can be concluded that chevron-braced frames presented a good overall performance and non V-braced frames show greater damage due to dynamic actions, validating non linear dynamic analysis as a very powerful tool to seismic-resistance design and chevron-braced frames as a very useful choice in improving the response of tall steel structures. since this lateral bracing system is absent from Venezuelan seismic codes.
基金supported by National Natural Science Foundation of China(Grant No.11301195)China Scholarship Council and a research foundation of Huaqiao University(Grant No.2014KJTD14)。
文摘In this paper,we present a categorical version of the first and second fundamental theorems of the invariant theory for the quantized symplectic groups.Our methods depend on the theory of braided strict monoidal categories which are pivotal,more explicitly,the diagram category of framed tangles.
文摘In this study,a finite element(FE)analysis of shallow tunnels exposed to a blast inside the tunnel,with soil as surrounding medium and a structure at ground level,was performed.The ConWep program,developed by the US Army,was used to simulate blast loading using ABAQUS/Explicit■.Drucker-Prager(D-P)plasticity model,concrete damage plasticity(CDP),and Johnson-Cook(J-C)plasticity models were used to define the behavior of the soil,concrete,and reinforcement,respectively.FE analysis was carried out to compare the damages to the superstructure with variation in the cross-sectional shapes of the tunnel under internal blast loading.Three tunnel shapes(circular,rectangular,and horseshoe cross-sections)were considered in the FE analysis.An explosive of 100 kg TNT was located at the center of the cross-section of the tunnel.The response of the tunnel in terms of displacement and stress at critical locations was computed.The results showed that changes in the cross-section of the tunnel affect the stability of the tunnel,even when keeping all other factors constant.It was observed that the intensity of the stresses was the highest for a rectangular tunnel and lowest for a circular tunnel.Furthermore,it was also determined that the tunnel with a rectangular cross-section experienced the maximum displacement in the reinforced concrete(RC)lining compared with the horseshoe and circular tunnels.The displacement measured at critical structural members of the superstructure was found to be the highest for the tunnel with a rectangular cross-section and lowest for the tunnel with a circular cross-section.
基金Supported by the National Natural Science Foundation of China under Grant No. 60875071
文摘An autonomous underwater vehicle (AUV) must use an algorithm to plan its path to distant, mobile offshore objects. Because of the uneven distribution of obstacles in the real world, the efficiency of the algorithm decreases if the global environment is represented by regular grids with all of them at the highest resolution. The framed quadtree data structure is able to more efficiently represent the environment. When planning the path, the dynamic object is expressed instead as several static objects which are used by the path planner to update the path. By taking account of the characteristics of the framed quadtree, objects can be projected on the frame nodes to increase the precision of the path. Analysis and simulations showed the proposed planner could increase efficiency while improving the ability of the AUV to follow an object.
