|
|
|
题名
|
作者
|
年代
|
出处
|
被引量
|
| 1 | Application of A* Algorithm for Real-time Path Re-planning of an Unmanned Surface Vehicle Avoiding Underwater Obstacles显示文摘This paper describes path re-planning techniques and underwater obstacle avoidance for unmanned surface vehicle(USV) based on multi-beam forward looking sonar(FLS). Near-optimal paths in static and dynamic environments with underwater obstacles are computed using a numerical solution procedure based on an A* algorithm. The USV is modeled with a circular shape in 2 degrees of freedom(surge and yaw). In this paper, two-dimensional(2-D) underwater obstacle avoidance and the robust real-time path re-planning technique for actual USV using multi-beam FLS are developed. Our real-time path re-planning algorithm has been tested to regenerate the optimal path for several updated frames in the field of view of the sonar with a proper update frequency of the FLS. The performance of the proposed method was verified through simulations, and sea experiments. For simulations, the USV model can avoid both a single stationary obstacle, multiple stationary obstacles and moving obstacles with the near-optimal trajectory that are performed both in the vehicle and the world reference frame. For sea experiments, the proposed method for an underwater obstacle avoidance system is implemented with a USV test platform. The actual USV is automatically controlled and succeeded in its real-time avoidance against the stationary undersea obstacle in the field of view of the FLS together with the Global Positioning System(GPS) of the USV. | Thanapong Phanthong Toshihiro Maki Tamaki Ura Takashi Sakamaki Pattara Aiyarak | 2014 | Journal of Marine Science and Application2014，13，1： | 8 |
| 2 | Role of adiponectin in insulin-resistant hypertension and atherosclerosis显示文摘 | Murakami H Ura N Furuhashi M Higashiura K | 2003 | Hypertens Res2003，26，9： | 2 |
| 3 | Blockade of the renin-angiotensin system increases adiponectin concentrations in patients with essential hypertension显示文摘 | Furuhashi M Ura N Higashiura K | 2003 | Hypertension2003，42，1： | 2 |
| 4 | 绝缘膜负带电时的表面局部电场与二次电子返回特性显示文摘为分析 IC多层版图扫描电镜 (SEM)对准检测所利用的负带电成像原理 ,采用 Mott弹性散射截面和修正的Bethe非弹性碰撞公式 ,对点照射入射电子在绝缘膜中的散射过程进行了 Monte Carlo模拟 ,得到负带电绝缘物表面的局部电位分布 .在此基础上计算了二次电子从表面出射后在局部场作用下的运动轨迹 ,获得了 SEM像的二次电子信号电流 .结果表明 ,在弱负带电条件下 ,照射点处表面电位越低 ,返回表面的二次电子就越多 ,对应的二次电子信号电流越弱 .此结果与 | 冯仁剑 张海波 王顺勇 Katsumi URA | 2004 | Journal of Semiconductors2004，25，1： | 2 |
| 5 | Lack of Survival Benefit of Extended Lymph Node Dissection for Ductal Adenocarcinoma of the Head of the Pancreas: Retrospective Multi-institutional Analysis in Japan显示文摘 | Mitsuhiro Mukaiya Koichi Hirata Takashi Satoh Masami Kimura Kazuhiro Yamashiro Hideki Ura Ikuo Oikawa Ryuichi Denno | 1998 | World Journal of Surgery1998，，3： | 2 |
| 6 | Strain Rate Imaging for Noninvasive Functional Quantification of the Left Atrium: Comparative Studies in Controls and Patients With Atrial Fibrillation显示文摘 | Yoshie Inaba Satoshi Yuda Naoko Kobayashi Akiyoshi Hashimoto Kikuya Uno Tomoaki Nakata Kazufumi Tsuchihashi Tetsuji Miura Nobuyuki Ura Kazuaki Shimamoto | 2005 | Journal of the American Society of Echocardiography2005，，7： | 2 |
| 7 | Design of a novel oral fluoropyrimidine carbamate, capecitabine, which generates 5-fluorouracil selectively in tumours by enzymes concentrated in human liver and cancer tissue显示文摘 | M Miwa M Ura M Nishida N Sawada T Ishikawa K Mori N Shimma I Umeda H Ishitsuka | 1998 | European Journal of Cancer1998，，8： | 2 |
| 8 | Design of a novel oral fluoropyrimidine carbamate, capecitabine,which generates 5-fluorouracil selectively in tumours by enzymes concentrated in human liver and cancertissue显示文摘 | Miwa M Ura M Nishida M | 1998 | Eur J Cancer1998，34，8： | 1 |
| 9 | The significance of nm 23 protein expression in human gastric carcinoma 显示文摘 | Denno R Hirata K | 1996 | Surg Today1996，26，12： | 1 |
| 10 | Bayesian estimation of hypocenter with origin time eliminated显示文摘 | MATSU'URA M | 1984 | Journal of Physics of the Earth1984，32，6： | 1 |
| 11 | Integrated-optic grating-scale-displacement sensor using linearly focusing grating couplers 显示文摘 | Ura S Shinohara M Suhara T | 1994 | Photonics Technology Letters1994，6，2： | 1 |
| 12 | Design of a noval oral fluropyridine carbamate, capecitabine, which generates 5-fluorouracil selectively in tumors by enzymes concentration in human liver and cancer tissue显示文摘 | Miwa M Ura M Nishida M | 1998 | Eur J Cancer1998，34，2： | 1 |
| 13 | Blockade of the renin-angiotensin system increase adiponectin concentrations in patients with essential hypertension显示文摘 | Furuhashi M Ura N Higashiura K | 2003 | Hypertension2003，42，： | 1 |
| 14 | Dislocation model for aseismic crustal deformation at Hollister, California显示文摘 | MATSU'URA M JACKSON D CHENG A | 1986 | J Geophys Res1986，91，12： | 1 |
| 15 | Dislocation Model for Aseismic Crustal Deformation,at Hollister,California显示文摘 | Matsu'ura M Jackson D D Cheng A | 1986 | J Geophys Res1986，91，12： | 1 |
| 16 | Computational Earthquake Physics PART II: Introduction显示文摘 | Xiang-chu Yin Peter Mora Andrea Donnellan Mitsuhiro Matsu’ura | 2006 | Pure and Applied Geophysics2006，，11： | 1 |
| 17 | Novel polymer-supported organocatalyst via ion exchange reaction:facile im mobilizationof chiral im idazolidin本one and its application to D iels-A lder reaction显示文摘 | Haraguchi N Takem ura Y Itsu n o S | 2010 | Tetrahedron L e tt2010，51，： | 1 |
| 18 | Cycleave polymerase chain reaction method is practically ap- plicable for V- Ki -ras2 Kirsten rat sarcoma viral oncogene homo- log (KRAS)/V-raf murine sarcoma viral oncogene homolog B1 (BRAF) genotyping in colorectal cancer 显示文摘 | Yokota T Shibata N Ura T Takahari D Shitara K Muro K | 2010 | Transl Res2010，，： | 1 |
| 19 | Blockade of the rennin angiotensin system increase adiponectin concentrations in patients with essential hypertension显示文摘 | Furuhashi M Ura N Higashiura K | 2003 | Hypertension2003，42，7： | 1 |
| 20 | So-Called Carcinosarcoma of the Gallbladder; Spindle Cell Carcinoma of the Gallbladder: Report of a Case显示文摘 | Tsukasa Hotta Hiroshi Tanimura Shozo Yokoyama Kimiko Ura Hiroki Yamaue | 2002 | Surgery Today2002，，5： | 1 |
您所在的机构暂未开通此部分的功能，请联系管理员