Showing papers on "Guidance system published in 2022"

Towards a First-Person Perspective Mixed Reality Guidance System for Needle Interventions

Abstract: While ultrasound (US) guidance has been used during central venous catheterization to reduce complications, including the puncturing of arteries, the rate of such problems remains non-negligible. To further reduce complication rates, mixed-reality systems have been proposed as part of the user interface for such procedures. We demonstrate the use of a surgical navigation system that renders a calibrated US image, and the needle and its trajectory, in a common frame of reference. We compare the effectiveness of this system, whereby images are rendered on a planar monitor and within a head-mounted display (HMD), to the standard-of-care US-only approach, via a phantom-based user study that recruited 31 expert clinicians and 20 medical students. These users performed needle-insertions into a phantom under the three modes of visualization. The success rates were significantly improved under HMD-guidance as compared to US-guidance, for both expert clinicians (94% vs. 70%) and medical students (70% vs. 25%). Users more consistently positioned their needle closer to the center of the vessel’s lumen under HMD-guidance compared to US-guidance. The performance of the clinicians when interacting with this monitor system was comparable to using US-only guidance, with no significant difference being observed across any metrics. The results suggest that the use of an HMD to align the clinician’s visual and motor fields promotes successful needle guidance, highlighting the importance of continued HMD-guidance research.

Intelligent Guidance and Control Methods for Missile Swarm

Abstract: High-speed unmanned aerial vehicles (UAVs) are more and more widely used in both military and civil fields at present, especially the missile swarm attack, and will play an irreplaceable key role in the future war as a special combat mode. This study summarizes the guidance and control methods of missile swarm attack operation. First, the traditional design ideas of the guidance and control system are introduced; then, the typical swarm attack guidance and control methods are analyzed by taking their respective characteristics into considering, and the limitations of the traditional design methods are given. On this basis, the study focuses on the advantages of intelligent integrated guidance and control design over traditional design ideas, summarizes the commonly used integrated guidance and control design methods and their applications, and explores the cooperative attack strategy of missile swarm suitable for the integrated guidance and control system. Finally, the challenges of missile swarm guidance and control are described, and the problems worthy of further research in the future are prospected. Summarizing the guidance and control methods of missile will contribute to the innovative research in this field, so as to promote the rapid development of unmanned swarm attack technology.

Cooperative Circular Guidance with Nonuniform Field-of-View Constraints

Abstract: A cooperative guidance law for a group of missiles with different field-of-view (FOV) constraints is proposed based on the circular guidance. The guidance law consists of a circular guidance term to obtain an exact analytical time-to-go, and a biased term to cooperate different time-to-go values of missiles to reach consensus such that salvo attack can be achieved. The guidance of an individual missile reduces to the circular guidance when the impact time error approaches zero. The convergence of impact time errors among missiles with nonuniform FOV constraints under the proposed cooperative guidance law is proved. Impact time cooperation accuracy is guaranteed owing to the accurate time-to-go calculation of the circular guidance. Based on the same principle of time-to-go cooperation, three similar cooperative guidance laws are also developed with the same structure as the cooperative circular guidance law: a cooperative proportional navigation guidance (PNG) law, a PNG-based sliding mode cooperative guidance law, and a circular guidance-based sliding mode cooperative guidance law. The inherent relationships among these guidance laws are analyzed. Their performances are verified and compared through numerical simulations.

Midcourse Iterative Guidance Method for the Impact Time and Angle Control of Two-Pulse Interceptors

Abstract: To address the need for flexible energy management and impact angle control in the midcourse guidance of modern long-range antiballistic interceptors, an impact time and angle guidance law is designed for the exoatmospheric midcourse flight of antiballistic interceptors, which covers two pulse sections and two coast sections. The problem is described as an optimal control model with discontinuities in the system equations at interior points, and an iterative guidance method is used to efficiently solve the two-point boundary value problem. Simulation results demonstrate the effectiveness of the proposed guidance law; the obtained miss distance accuracy has an order of magnitude of 1 m, and the impact angle accuracy has a 1° order of magnitude while the angle can be achieved.

Stochastic Predictor-Corrector Guidance

Abstract: Many guidance algorithms are built on a predictor-corrector algorithm for adjust- ing guidance parameters to meet terminal trajectory constraints. However these methods classically ignore the fact that the system is actually stochastic as they solve for the guidance solution. In this paper, we discuss recent developments in a robust predictor-corrector methodology for addressing the stochastic nature of guidance problems. This uncertainty is due to the imperfect navigation solution, as well as the presence of uncertainty in the dynamic models and vehicle performance parameters. We demonstrate the guidance algorithms on entry, descent and landing problems as well as for orbital guidance around small bodies.

Social Media As Support Career Guidance Services

Abstract: Guidance and counselling teachers need to understand and be skilled in technology, especially understanding and implementing social media in the current era of disruption. Social media as a means of supporting the implementation of career guidance services. This article is to obtain the stages of career guidance with social media as a service support media. The research method uses literature studies to design social media models in career guidance, using national and international journals and scientific articles. Career guidance in schools has the function of introducing, knowing interests, helping make decisions, and adjusting to the world of work. Interactive media in career guidance services is a multimedia-based service. The function of social media for students is to expand social interaction as an unlimited information field and as a means of directed information. Career guidance needs an active role from guidance and counselling teachers for students. The critical part of school career guidance is to establish themselves and realize meaningful career decisions. Guidance and counselling teachers can apply social media as interactive media in school career guidance services.

Inverse Optimal Zero Effort Miss Guidance Based on Disturbance Observer

Abstract: To intercept a maneuvering target in a two-dimensional plane, the inverse optimal guidance law based on zero effort miss (ZEM) and disturbance observer (DO) is studied in this paper. Firstly, the relative kinematics equation is simplified to obtain the missile-target ZEM and its dynamics. In order to enhance the robustness of the inverse optimal guidance law, the integral of the ZEM is introduced as a new state to form an augmented system with the original system based on the idea of proportional integral (PI) control. Then, the target maneuver acceleration is assumed as the unknown external disturbance of the guidance augmented system, which is estimated by the DO. Based on the estimated value of DO and the backstepping method, the inverse optimal guidance law is designed to reduce the adverse effect of the disturbance on the guidance system. Finally, simulations are designed to verify the effectiveness of the inverse optimal guidance method based on DO.

Kalman Filter and Proportional Navigation Based Missile Guidance System

Abstract: Missile Guidance involves guiding the missile to its target. The target's accuracy has a huge impact on its effectiveness. In this paper, the Kalman Filter and the Proportional Navigation (PN) algorithm are used for missile guidance. It is a guidance, navigation, and control (GNC) system for a missile. A fully adaptive Kalman filter that processes a measurement every n milli-second is designed. The Kalman filter estimates the guidance signals for an augmented PN, the rate of the line of sight (LOS), and the target's normal acceleration. A comparative study for missile guidance was done by using different navigation algorithms and filters.

Effective and Acceptable Eco-Driving Guidance for Human-Driving Vehicles: A Review

Abstract: Ecodriving guidance includes courses or suggestions for human drivers to improve driving behaviour, reducing energy use and emissions. This paper presents a systematic review of existing eco-driving guidance studies and identifies challenges to tackle in the future. A standard agreement on the guidance design has not been reached, leading to difficulties in designing and implementing eco-driving guidance for human drivers. Both static and dynamic guidance systems have a great variety of guidance results. In addition, the influencing factors, such as the suggestion content, the displaying methods, and drivers socio-demographic characteristics, have opposite effects on the guidance result across studies, while the reason has not been revealed. Drivers motivation to practice eco behaviour, especially long-term, is overlooked. Besides, the relationship between users acceptance and system effectiveness is still unclear. Adaptive driving suggestions based on drivers habits can improve the effectiveness, while this field is under investigation.

High-Precision Aircraft Guidance System with Axial Acceleration Self-Tuning

Abstract: Creation of aircraft control systems that provide high quality guidance is an urgent task associated with increasing efficiency of the modern missile systems. Classical autonomous guidance systems without integration with any other external correction systems are making it impossible to ensure high-precision target engagement. An approach based on the use of adaptive guidance system is proposed. Besides, an approach to synthesis and analysis of the self-tuning aircraft control system that implements terminal homing is illustrated. A technique for forming the control system structure is presented ensuring the control quality constant level in all operating modes due to self-tuning of the constituent elements variable coefficients. Structural schemes and control equations were determined to correct the aircraft flight. Implementation of the developed technique on board the aircraft is proposed determining relationship between the aircraft control system parameters and the apparent acceleration. Adaptive system operation is demonstrated on a typical model of the aircraft flying in the atmosphere with guidance at the stationary target. Results of numerical simulation are presented, and high efficiency of the developed technique is revealed

Design and Analysis of Guidance Function of Permanent Magnet Electrodynamic Suspension

Abstract: Inspired by the guidance principle in the electromagnetic levitation system, a new permanent magnet electrodynamic suspension (PM EDS) structure with ferromagnetic guidance track is proposed and analyzed in this paper. Considering the lack of effective guidance ability for the PM EDS system, we adopted the ferromagnetic guidance track as being mounted under the conductor plate. The guidance principle is studied and the implementation of the guidance function is also introduced, and the finite element method (FEM) is employed and its accuracy is confirmed via the PM EDS high-speed rotating experimental platform fabricated in our laboratory. The influence of longitudinal speed on the guidance force is taken into account, which shows that the guidance performance is enhanced more obviously at low speeds. Moreover, the influence of the guidance track parameters on the guidance performance is also analyzed, including the geometric parameters, section shape, installation position and material. The equivalent small-scale PM EDS system experimental prototype is carried out to validate the effectiveness of the ferromagnetic guidance. The proposed ferromagnetic guidance structure is demonstrated to improve the guidance performance of the PM EDS system effectively, which will offer a technical reference for the practical engineering application of the PM EDS system.

Robust nonlinear guidance strategies for survival of cooperating unmanned aerial vehicles against pursuing attackers

Abstract: In this paper, cooperative guidance strategies for the survival of cooperating team of two unmanned aerial vehicles (UAVs) against two attackers are proposed. The guidance schemes are designed under the assumptions that each UAV is being pursued by one attacker without cooperation with other attacker. The guidance schemes are designed to combat attackers guided either by proportional navigation (PN) or augmented PN guidance methodologies. The attackers are lured onto a collision course with each other such that intra-attacker interception is achieved before the target UAVs are captured. Sliding mode control techniques are employed to satisfy the sufficiency conditions for the survival within a finite time. Due to the nonlinear framework used for guidance design, the proposed strategies remain effective even for the engagements with large heading angle errors. Numerical simulations are presented to demonstrate the effectiveness of the proposed guidance strategies under various engagement geometries.

A Three Dimensional Guidance and Control Method for Suicide UAV and the Flight Test Verification

Abstract: Suicide UAV has the characteristics of long-term cruise for reconnaissance as an aircraft, and high-speed penetration attack as a missile. In order to give full play to its combat advantages, it is necessary to study the guidance and control method suitable for its dynamic characteristics in the process of terminal attack. A Three Dimensional (3D) guidance and control method for suicide UAV is proposed in this paper. The dynamics of the UAV in 3D space is decoupled into the movement in two orthogonal planes, and the proportional navigation (PN) law is applied to the longitudinal channel and the lateral channel, respectively. The guidance loop, outer loop and inner loop controllers are designed based on the idea of successive loop closure. A series of flight tests are carried out to verify the algorithm. It shows that the control commands of each loop are correctly tracked in the whole process of the attack. Different diving angles as well as the introduction of large yaw angles do not affect the miss-distance of target striking. The UAV hit the target accurately in all of the tests, and the miss distance was less than 0.5m. The control system of the aircraft can track the guidance command quickly and accurately, which indicates that the coordination between guidance and control loop is very well.

Automated Driving Systems: Impact of Haptic Guidance on Driving Performance after a Take Over Request

Abstract: In conditional automation, a response from the driver is expected when a take over request is issued due to unexpected events, emergencies, or reaching the operational design domain boundaries. Cooperation between the automated driving system and the driver can help to guarantee a safe and pleasant transfer if the driver is guided through a haptic guidance system that applies a slight counter-steering force to the steering wheel. We examine in this work the impact of haptic guidance systems on driving performance after a take over request was triggered to avoid sudden obstacles on the road. We studied different driver conditions that involved Non-Driving Related Tasks (NRDT). Results showed that haptic guidance systems increased road safety by reducing the lateral error, the distance and reaction time to a sudden obstacle and the number of collisions.

Design of Guidance Law for Automatic Landing Meeting the CAT III Standard

Abstract: The automatic landing guidance technology which meets the CAT III standard is the key technology to realize all-weather accurate landing, and it is an effective measure to reduce the accident rate in approach and landing stage. This paper proposed a generation of guidance errors and guidance instructions for automatic landing based on GPS-Aided ILS. Firstly, the glide path was defined by key points, and the mathematical description of the glide path was given in the form of vector. Then, a landing guidance errors calculation algorithm based on the spatial geometric relationship and a variable gain guidance instructions generation method based on the distance strategy were proposed. Finally, five hundred times stochastic simulations were conducted to evaluate the proposed guidance law under the condition of wind and sensors error disturbance, with the flight technical error, angle of localizer deviation and angle of glide slope deviation as indexes. It can be drawn from the results that the landing accuracy of the aircraft guided by the guidance algorithm given in this paper can meet the CAT III standard.

Design of parking guidance path in parking lot based on Dijkstra algorithm

Abstract: In recent years, with the rapid growth of the number of cars, the problem of "difficult parking" has become increasingly prominent, especially in the parking lot. It often takes a long time for drivers to find a free parking space. Low parking efficiency seriously affects the driver's parking feeling, which is an urgent problem to be solved. In view of this phenomenon, based on the analysis of the internal structure of the parking lot, this paper abstractly establishes the parking guidance data model, comprehensively considers the restrictive factors affecting the driver's parking psychology, then uses the improved Dijkstra algorithm to optimize the guidance data model, and finally finds out the optimal parking path, which greatly improves the parking efficiency and parking feeling.

Experience of career guidance work in the implementation of the federal project "university shifts 2022"

Abstract: The article deals with the issues of organization and implementation of vocational guidance work with students of secondary schools and educational institutions of secondary vocational education system in the conditions of digitalization of education. The authors have analyzed an innovative approach to conducting career guidance activities through immersion of participants of the federal project "University shifts 2022" in the educational process of Russian State Vocational Pedagogical University. The article considers the features of this approach and presents designing the content of interactive events as an effective method of organizing career guidance work. The article states that the use of interactive methods of conducting career guidance events makes it possible to clearly demonstrate the content of future professional activity, introduce the features of the university training system and contribute to self-determination of applicants. The article identifies that the presented innovative practice of conducting career guidance work can also be used by other educational institutions and training centers to promote their educational programs, increase motivation to educational and cognitive activity and conscious choice of a professional path.

Research on the Monitoring and Guidance of Internet Public Opinion by Big Data Mining Technology from the Perspective of the Internet

Abstract: Based on the Internet technology, this article proposes a leader guidance model to intervene and guide the public opinion super network, and conducts model simulation to explore the influence mechanism of the model and the influence of model parameter changes on the guidance effect. The simulation results show that the use of the leader guidance model for public opinion guidance and intervention can not only quantify the guidance strategy, but also obtain the role and feedback law of the guidance strategy through the changes and linkage mechanisms of various elements in the hypernetwork, providing a new way for guiding network public opinion Quantitative methods.

Leveraging career guidance for adults to build back better

Abstract: The recovery from the COVID‑19 pandemic is likely to trigger job reallocation between sectors and occupations and, with it, a need to provide career guidance and advice to adults in need of upskilling and reskilling. But the crisis has also resulted in a sudden shift in much of the delivery of career guidance from in-person to remote. This policy brief describes the impact of the pandemic on the demand for and the delivery of career guidance, documents countries’ efforts to maintain provision of career guidance services during lockdowns, and explores the need to scale up career guidance going forward. Given the importance of career guidance in keeping workers’ skills relevant and improving the match between the demand and supply of skills, this brief also offers policy directions to improve its coverage, use and quality.

Effects of different types of guidance on students’ motivation and learning in a remote laboratory in computer science

Abstract: Background and Context During online learning, it is essential to provide instructional guidance to support learning. However, guidance can be given in different forms and quantities. Thus, one important challenge is to provide the right amount and type of instructional guidance.Objective The aim of the study is to investigate types of guidance which are effective for students with heterogenous programming knowledge and skills solving programming tasks in a remote laboratory.Method We carried out two studies with a single factor pre-post-design with guidance (basic/enhanced) as a between-subjects factor.Findings In study 1, we implemented enhanced guidance in the form of prompts in the introduction to the tasks. Whereas we found no differences in learning outcome or extraneous cognitive load, students in the enhanced guidance group reported less intrinsic motivation, and logfiles revealed a lower programming performance. In study 2, we implemented enhanced guidance in the form of adaptive just-in-time explanations for error streaks. Enhanced guidance led to a lower extraneous cognitive load, and this way increased learning outcome.Implications The type and timing of instructional guidance for students in computer science matters. More guidance is not better in each case. Instructional guidance should be tailored to students’ needs.

Safety-Critical Path Following Guidance of Intelligent Surface Vehicles for Automatic Docking Subject to Static and Dynamic Obstacles

Abstract: This paper addresses safety-critical path following guidance of intelligent surface vehicles (ISV) moving in confined water regions subject to static and dynamic obstacles. A nominal guidance vector of desired linear speed and yaw rate is designed to achieve the path following task. With the aid of control barrier functions, the collision avoidance requirements are converted into the velocity constraint on the velocity guidance vector. The optimal guidance signals are obtained by solving a quadratic programming problem such that collision avoidance will not violate. By using the proposed safety-critical path following guidance law, the ISV is capable of achieving path following task with safety guarantees moving in the confined water region and stopping at the path terminal point. The proposed guidance scheme is applied to the automatic docking mission. Simulation results are provided to illustrate the effectiveness of the proposed optimal safety-critical path following guidance law.

An Optical Guidance Method for Robotic Intramuscular Injection System

Abstract: Intramuscular (IM) injection is mainly performed manually at present. Large-scale COVID-19 vaccination has exposed various problems of manual IM injection. In addition, the clinical success rate of manual IM injection is also unsatisfactory. Using robotic intramuscular injection system (RIMIS) is expected to realize automated vaccination and improve the success rate of IM injection. The existing robotic needle insertion system based on image guidance is not a practical option for IM injection because of the time-consuming medical imaging process. In this paper, an optical guidance method for RIMIS is proposed, which uses near-infrared optical tracking system and retro-reflective patch to achieve rapid acquisition of surface normal vector. A closed loop formed by six coordinate systems is used to realize the accurate control of the injection angle and depth. Experimental results show that the RIMIS based on the proposed method can complete the simulated IM injection operation without image guidance and possess accurate control of the injection angle and depth.

Multi-Scale and Multi-Reference Longitudinal Guidance Logic for UAS

Abstract: As uncrewed aerial systems (UAS) employment slowly creeps toward urban airspace, it becomes evident that current guidance logics traditionally used become insufficient to provide the proper tracking required. Especially true of this are current longitudinal guidance logics, which focus more on altitude regulation rather than trajectory tracking. While altitude regulation may have sufficed for open airspaces this is not the case for dense urban areas which require as much maneuverability as possible. This paper presents and compares four methods of aircraft longitudinal guidance logic: L1-Guidance, which regulates the proportional altitude error through pitch changes, $h$-Guidance which incorporates error rate regulation into the proportional error, γ-Guidance, which focuses on commanding aircraft longitudinal flight path angle rather rather than aircraft pitch angle, and γ-$h$-Guidance, which combines a flight path angle command with the error rate feed forward. Additionally, the guidance logic can be expanded through LN-guidance methods to improve performance by tracking a reference area on the desired altitude rather than the single point, as seen in traditional L1 guidance logics. Flight path guidance is compared with traditional altitude error longitudinal guidance; flight path guidance is shown to have superior tracking, while altitude error guidance is shown to have superior maneuverability. Combining the two guidance logics produces a longitudinal guidance logic that provides excellent tracking with no steady state error and maneuverability that far exceeds the original flight path guidance logic.

Analytic and Computational Guidance Strategies for the Second-Stage Mars Ascent Vehicle

Abstract: This paper analyzes the potential second stage guidance strategies and ignition triggers for the Mars Ascent Vehicle (MAV) that can improve the orbit insertion accuracy, increase the payload capacity, and reduce the fuel cost. Three guidance laws are analyzed in this work – (i) Q-guidance (NASA's current choice), (ii) Local Vertical Local Horizontal (LVLH)- guidance (a variant of the Powered Explicit Guidance), and (iii) Second Order Cone Program (SOCP)-guidance. The proposed SOCP-guidance law is computational and based on the developments in the field of lossless convexification. The paper evaluates and compares the performance of the above guidance schemes together with the appropriate ignition triggers in both nominal and Monte Carlo settings.

Preliminary Definition of Navigation System Performance for SA CAT I Approaches Based on GNSS Guidance

Abstract: The Synthetic Vision Guidance System (SVGS) allows Category I (CAT I) operations to be improved into Special Authorization Category I (SA CAT I) operations towards a CAT I runway end, with Decision Heights below 60 m (200 ft), down to 45 m (150 ft). The SVGS combines a Synthetic Vision System (SVS), which allows faster acquisition of visual references, and additional on-board monitoring of the navigation signal used during the instruments phase. These on-board monitors enable lower minima to be targeted, and to decrease the Runway Visual Range (RVR), as the CAT I lighting elements provide closer visual references at reduced decision height (DH). The SVGS concept has already been developed and validated to support SA CAT I operations down to 150 feet, when a CAT I ILS provides the navigation signal used during the instrument phase of the approach. Within the framework of the PJ02-W2 AART ‘Airport airside and runway throughput’ of the SESAR 2020 programmei, the objective of solution PJ.02-W2-17.4c ‘Synthetic Vision Guidance System (SVGS) for approach operation on LPV or GLS CAT I guidance’ is to extend the SVGS assistance concept to support precision approach on CAT I runways with minima lower than 200ft when using GNSS/SBAS guidance. The main technical challenges for the extension of the SVGS with SBAS CAT I guidance supporting LPV200 approaches are related to the use of a navigation signal during the instrument phase, ensuring the airworthiness of the landing or go-around phase. They include: - The definition of a set of high-level navigation performance requirements in terms of accuracy and integrity, supporting the intended operations; - The definition of the airborne monitors providing improvement of the SBAS CAT I navigation performance to support the airworthiness of the targeted operations. The paper describes how the set of high-level navigation performance requirements characterizing the vertical positioning error has been defined to support SA CAT I operations with SVGS using a GPS/SBAS navigation signal for guidance during the instrument phase of the approach.

Path planning of automatic valet parking under mixed traffic scenarios in parking lot

Abstract: As a key technology for intelligent vehicles, autonomous valet parking is becoming increasingly popular in the area of research. Autonomous valet parking technology is available for safe and quick parking operations without a driver, and improving the driving convenience while greatly reducing the probability of parking accidents. A path planning method of autonomous valet parking in parking lots mixed traffic scenarios is proposed in this paper to resolve the following issues presented in the existing autonomous valet parking systems, that is, low efficiency of global path planning and low success rates of local obstacle avoidance. First, the parking lot traffic scenario model is established and analyzed. Secondly, a global path planning method based on Floyd algorithm is proposed and optimized. Then, the obstacle avoidance path is decoupled laterally and longitudinally based on the fifth-order polynomial in the Frenet coordinate system, and the optimal local path is screened out through the coupling loss function and defined constraints. Finally, a simulation scenario was built to verify the path planning method studied in this article. The results show that the autonomous valet parking path planning method studied in this paper can achieve good results and has strong robustness.