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Substation is an important part of power system, and regular inspection is very important to ensure the safe operation of substation. Patrol robot can patrol power equipment in few or unattended substations. In order to obtain the global optimal path of the robot, this paper proposes a navigation path planning based on improved wolf pack algorithm (IWPA). Firstly, the path optimization in discrete domain is studied by introducing position-order coding in initialization stage. Secondly, improve the moving step of the attack behavior and improve the efficiency of the running behavior. Finally, the updating rules of IWPA increase the diversity of wolves to enhance the global optimization ability of the algorithm. Finally, both IWPA and Wolf Pack Algorithm (WPA) are simulated, and the results show that the improved algorithm is more effective in solving the navigation path planning problem of inspection robot.

Cardiovascular diseases account for a major cause of deaths in many developed countries. To treat cardiovascular diseases, cardiac minimally intervention is widely used as an effective yet complicated solution. Training of cardiac intervention is thus playing a crucial role. This paper addresses the use of Virtual Reality (VR) technology for the simulated training of cardiac intervention. In particular, the paper describes the architecture of a VR simulation system for cardiac intervention focusing on VR hardware, software and methodology is used in As an enabling technology, Graphics Processing Unit (GPU) is applied in this work to enhance cardiac modeling, cardiac visualization, and cardiac interactive simulation with the VR simulation environment.