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- 저자 : Lifei Sun (검색결과 2 건)
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Interference intention classification of moving obstacles used for USV collision avoidance
Song Lifei,Sun Hao,Xu Kaikai,Huang Liang,Chen Houjing 대한조선학회 2022 International Journal of Naval Architecture and Oc Vol.14 No.1
Unmanned Surface Vessels (USV) may interfere with ships in the same lane during navigation and may be affected by ships that actively collide or intercept the USV. Evidently, the latter poses a greater threat than the former. This paper proposes the concept of active and inactive interference. It is necessary for the USV to accurately classify the vessels’ intentions to conduct a suitable collision avoidance strategy. However, the existing research on collision avoidance of USV focuses on avoiding moving obstacles and rarely considers the interference intention of dynamic obstacles for USV when choosing collision avoidance strategies. This paper proposes an algorithm to recognize the interference intention of ships by combining visual classification with a Support Vector Machine (SVM). First, a Convolutional Neural Network (CNN) is proposed to distinguish the merchant ship from a high-performance ship that actively interferes with the USV with high probability. A high-dimensional feature dataset was designed to illustrate the navigation characteristics of an obstacle, and Principal Component Analysis (PCA) was then employed to reduce the dimensionality of the dataset for obstacle classification. A modified SVM is presented to classify obstacles into active and inactive interference intention categories. Moreover, an escape algorithm based on an improved artificial potential field method is proposed for vessels with active interference. The simulation and experimental results clearly show that the USV can successfully identify the interference intention of obstacles and adopt a specific collision avoidance strategy for obstacles with active interference intentions. Using this algorithm, the USV can safely avoid obstacles with different interference intentions.
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Yi Luo,Lifei Sun,Zhen Zhu,Wei Ran,Qirong Shen 한국미생물학회 2013 The journal of microbiology Vol.51 No.3
A newly discovered alkaline antifungal protease named P6 from Bacillus subtilis N7 was purified and partially characterized. B. subtilis N7 culture filtrates were purified by 30–60% (NH4)2SO4 precipitation, anion-exchange chromatography and gel filtration chromatography. Sodium dodecyl sulfatepolyacrylamide gel electrophoresis (SDS-PAGE) revealed a single band of 41.38 kDa. Peptide sequence of protease P6 was determined using a 4800 Plus MALDI TOF/TOFTM Analyzer System. Self-Formed Adaptor PCR (SEFA-PCR) was used to amplify the 1,149 bp open read frame of P6. Dimensional structure prediction using Automatic Modeling Mode software showed that the protease P6 consisted of two β-barrel domains. Purified P6 strongly inhibited spore and mycelium growth of Fusarium oxysporum f. sp. cucumerium (FOC) by causing hypha lysis when the concentration was 25 μg/ml. Characterization of the purified protease indicated that it had substrate specificity for gelatin and was highly active at pH 8.0–10.6 and 70°C. The P6 protease was inhibited by EDTA (2 mmol/L), phenyl methyl sulfonyl fluoride (PMSF, 1 mmol/L), Na+, Fe3+, Cu2+, Mg2+ (5 mmol/L each) and H2O2 (2%, v/v). However, protease activity was activated by Ca2+, K+, Mn2+ (5 mmol/L each), mercaptoethanol (2%, v/v) and Tween 80 (1%, v/v). In additon, activity was also affected by organic solvents such as acetone, normal butanol and ethanol, but not hexane (25%, v/v each).
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