Bo Yang^1,2, Yu Zhou³, Jiawei Tian^4,*, Xiang Zhang², Fupei Guo², Shan Liu^5,*

CMES-Computer Modeling in Engineering & Sciences, Vol.145, No.2, pp. 2253-2276, 2025, DOI:10.32604/cmes.2025.072031 - 26 November 2025

Abstract Accurate calibration of surgical instruments and ultrasound probes is essential for achieving high precision in image guided minimally invasive procedures. However, existing methods typically treat the calibration of the needle tip and the ultrasound probe as two independent processes, lacking an integrated calibration mechanism, which often leads to cumulative errors and reduced spatial consistency. To address this challenge, we propose a joint calibration model that unifies the calibration of the surgical needle tip and the ultrasound probe within a single coordinate system. The method formulates the calibration process through a series of mathematical models and… More >

Shitong Ye¹, Bo Yang^2,*, Hao Quan³, Shan Liu⁴, Minyi Tang⁵, Jiawei Tian^6,*

CMES-Computer Modeling in Engineering & Sciences, Vol.144, No.2, pp. 2287-2306, 2025, DOI:10.32604/cmes.2025.066195 - 31 August 2025

Abstract Computer-aided surgical navigation technology helps and guides doctors to complete the operation smoothly, which simulates the whole surgical environment with computer technology, and then visualizes the whole operation link in three dimensions. At present, common image-guided surgical techniques such as computed tomography (CT) and X-ray imaging (X-ray) will cause radiation damage to the human body during the imaging process. To address this, we propose a novel Extended Kalman filter-based model that tracks the puncture needle-point using an ultrasound probe. To address the limitations of Kalman filtering methods based on position and velocity, our method of More >

Ghulam E Mustafa Abro^1,*, Ayman M Abdallah^1,2, Faizan Zahid³, Saleem Ahmed⁴

Intelligent Automation & Soft Computing, Vol.40, pp. 99-123, 2025, DOI:10.32604/iasc.2025.060364 - 23 January 2025

Abstract This review synthesises and assesses the most recent developments in Unmanned Aerial Vehicles (UAVs) and swarm robotics, with a specific emphasis on optimisation strategies, path planning, and formation control. The study identifies key methodologies that are driving progress in the field by conducting a comprehensive analysis of seven critical publications. The following are included: sensor-based platforms that facilitate effective obstacle avoidance, cluster-based hierarchical path planning for efficient navigation, and adaptive hybrid controllers for dynamic environments. The review emphasises the substantial contribution of optimisation techniques, including Max-Min Ant Colony Optimisation (MMACO), to the improvement of convergence… More >

Qianshuo Liu, Jun Zhao^*

Phyton-International Journal of Experimental Botany, Vol.93, No.10, pp. 2663-2681, 2024, DOI:10.32604/phyton.2024.056054 - 30 October 2024

Abstract Traditional machine vision algorithms have difficulty handling the interference of light and shadow changes, broken rows, and weeds in the complex growth circumstances of soybean fields, which leads to erroneous navigation route segmentation. There are additional shortcomings in the feature extractFion capabilities of the conventional U-Net network. Our suggestion is to utilize an improved U-Net-based method to tackle these difficulties. First, we use ResNet’s powerful feature extraction capabilities to replace the original U-Net encoder. To enhance the concentration on characteristics unique to soybeans, we integrate a multi-scale high-performance attention mechanism. Furthermore, to do multi-scale feature… More >

Yan Wang^*, You Lu, Yuqing Zhou, Zhijian Zhao

CMES-Computer Modeling in Engineering & Sciences, Vol.139, No.3, pp. 2673-2703, 2024, DOI:10.32604/cmes.2023.046743 - 11 March 2024

Abstract Indoor positioning is a key technology in today’s intelligent environments, and it plays a crucial role in many application areas. This paper proposed an unscented Kalman filter (UKF) based on the maximum correntropy criterion (MCC) instead of the minimum mean square error criterion (MMSE). This innovative approach is applied to the loose coupling of the Inertial Navigation System (INS) and Ultra-Wideband (UWB). By introducing the maximum correntropy criterion, the MCCUKF algorithm dynamically adjusts the covariance matrices of the system noise and the measurement noise, thus enhancing its adaptability to diverse environmental localization requirements. Particularly in… More >

Siyu Lu¹, Jun Yang¹, Bo Yang¹, Zhengtong Yin², Mingzhe Liu^3,*, Lirong Yin⁴, Wenfeng Zheng^1,*

CMES-Computer Modeling in Engineering & Sciences, Vol.137, No.1, pp. 669-685, 2023, DOI:10.32604/cmes.2023.027417 - 23 April 2023

Abstract With the help of surgical navigation system, doctors can operate on patients more intuitively and accurately. The positioning accuracy and real-time performance of surgical instruments are very important to the whole system. In this paper, we analyze and design the detection algorithm of surgical instrument location mark, and estimate the posture of surgical instrument. In addition, we optimized the pose by remapping. Finally, the algorithm of location mark detection proposed in this paper and the posture analysis data of surgical instruments are verified and analyzed through experiments. The final result shows a high accuracy. More >

Qi Wang^1,2,3,*, Changsong Yang^2,3,5, Yuxiang Wang^1,2,3, Shao-en Wu⁴

Intelligent Automation & Soft Computing, Vol.26, No.6, pp. 1433-1442, 2020, DOI:10.32604/iasc.2020.012759 - 24 December 2020

Abstract To improve the positioning accuracy of farming vehicle in precision agriculture, an integrated positioning system is proposed based on Global Navigation Satellite System (GNSS)/Strapdown Inertial Navigation System (SINS)/Wireless Sensor Networks (WSN) with low cost and high reliability. The principles of commonly used localization technologies in vehicle positioning are compared and the Received Signal Strength Indication (RSSI) based measurement method is chosen as the integrated positioning system for information fusion considering the complexity of the algorithm, positioning accuracy and hardware requirements in the application scenario. The research of wireless signal propagation loss model of farmland environment More >

Jin Sun¹, Dengyin Zhang^{1, *}, Xiaoye Shi¹, Fei Ding^{1, 2}

CMC-Computers, Materials & Continua, Vol.65, No.2, pp. 1349-1360, 2020, DOI:10.32604/cmc.2020.011459 - 20 August 2020

Abstract Initial alignment is the precondition for strapdown inertial navigation system (SINS) to navigate. Its two important indexes are accuracy and rapidity, the accuracy of the initial alignment is directly related to the working accuracy of SINS, but in selfalignment, the two indexes are often contradictory. In view of the limitations of conventional data processing algorithms, a novel method of compass alignment based on stored data and repeated navigation calculation for SINS is proposed. By means of data storage, the same data is used in different stages of the initial alignment, which is beneficial to shorten More >

Qi Wang^{1, 2, *}, Changsong Yang^{2, 3}, Shao’en Wu⁴

CMC-Computers, Materials & Continua, Vol.64, No.2, pp. 973-986, 2020, DOI:10.32604/cmc.2020.07575 - 10 June 2020

Abstract Strapdown non-exchangeable error compensation technology in high dynamic environment is one of the key technologies of strapdown inertial navigation system. Mathematical platform is used in strapdown inertial navigation system instead of physical platform in traditional platform inertial navigation system, which improves reliability and reduces cost and volume of system. The maximum error source of attitude matrix solution is the non-exchangeable error of rotation due to the non-exchangeable of finite rotation of rigid bodies. The rotation non-exchangeable error reaches the maximum in coning motion, although it can be reduced by shortening the correction period and increasing More >

Lihua Zhu¹, Yu Wang¹, Lei Wang², Zhiqiang Wu^1,*

CMC-Computers, Materials & Continua, Vol.59, No.3, pp. 1015-1026, 2019, DOI:10.32604/cmc.2019.05656

Abstract The performance of the transfer alignment has great impact on inertial navigation systems. As the transfer alignment is generally implemented using a filter to compensate the errors, its accuracy, rapidity and anti-disturbance capability are key properties to evaluate the filtering process. In terms of the superiority in dealing with the noise, H∞ filtering has been used to improve the anti-disturbance capability of the transfer alignment. However, there is still a need to incorporate system uncertainty due to various dynamic conditions. Based on the structural value theory, a robustness stability analysis method has been proposed for More >