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span{letter-spacing:inherit}.et-db #et-boc .et-l .et_pb_tab *,.et-db #et-boc .et-l .et_pb_tabs_controls a{letter-spacing:inherit;text-decoration:inherit!important}.et-db #et-boc .et-l .et_pb_testimonial:before{visibility:visible;width:auto;height:auto}.et-db #et-boc .et-l button.et_pb_button{text-shadow:none!important;box-shadow:none!important;background-color:transparent!important;white-space:inherit}.et-db #et-boc .et-l button.et_pb_button:after{width:auto;left:auto;top:auto;background-color:transparent}.et-db #et-boc .et-l button.et_pb_button:hover{background-color:rgba(0,0,0,.05)!important}.et-db #et-boc .et-l a.et_pb_button{padding-bottom:.3em}.et-db #et-boc .et-l .et_pb_button:before{content:""}.et-db #et-boc .et-l .et_pb_contact p input{height:auto}.et-db #et-boc .et-l .et_pb_contact p input[type=text]{width:100%}.et-db #et-boc .et-l .et_pb_contact p input,.et-db #et-boc .et-l .et_pb_contact p textarea{border:none!important;border-radius:0!important;color:#999!important;padding:16px!important;max-width:100%;outline:none!important;box-shadow:none;background-color:#eee!important}.et-db #et-boc .et-l .et_pb_contact .et_pb_contact_submit{vertical-align:top}.et-db #et-boc .et-l .et_pb_contact input.et_pb_contact_captcha{display:inline-block;max-width:50px!important}.et-db #et-boc .et-l .et_pb_contact form span{width:auto}.et-db #et-boc .et-l .et_pb_contact_left p{margin:0 3% 3% 0!important;display:block}.et-db #et-boc .et-l .et_pb_contact_left p:last-child{margin-right:0!important}.et-db #et-boc .et-l .et_pb_contact_right p{margin:0!important}.et-db #et-boc .et-l hr.et_pb_divider{width:100%}.et-db #et-boc .et-l .comment-form-author,.et-db #et-boc .et-l .comment-form-email,.et-db #et-boc .et-l .comment-form-url{width:auto;float:none;margin-right:0;padding-bottom:1em}.et-db #et-boc .et-l .comment_avatar:before{display:none}.et-db #et-boc .et-l .et_pb_comments_module a.et_pb_button{border-bottom-style:solid;border-bottom-width:2px}.et-db #et-boc .et-l .et_pb_comments_module button.et_pb_button{color:inherit}.et-db #et-boc .et-l .children .comment-body,.et-db #et-boc .et-l .comment-body{border:none}.et-db #et-boc .et-l .et_pb_gallery_grid .et_pb_gallery_image{font-size:100%}.et-db #et-boc .et-l .et_pb_gallery_image a{line-height:0}.et-db #et-boc .et-l .et_pb_wc_related_products .et_shop_image{display:block;position:relative;line-height:.8!important;margin-bottom:10px}
55@media (min-width:981px){.et-db #et-boc .et-l .et_pb_column_3_4 .et_pb_shop_grid .columns-0 ul.products li.product.last,.et-db #et-boc .et-l .et_pb_column_4_4 .et_pb_shop_grid .columns-0 ul.products li.product.last{margin-right:5.5%!important}.et-db #et-boc .et-l .et_pb_column_2_3 .et_pb_shop_grid .columns-0 ul.products li.product.last{margin-right:8.483%!important}.et-db #et-boc .et-l .et_pb_column_1_2 .et_pb_shop_grid .columns-0 ul.products li.product.last{margin-right:11.64%!important}.et-db #et-boc .et-l .et_pb_shop_grid .columns-0 ul.products li.product.first{clear:none!important}.et-db #et-boc .et-l .et_pb_column_1_2 .et_pb_shop_grid .columns-0 ul.products li.product:nth-child(2n),.et-db #et-boc .et-l .et_pb_column_2_3 .et_pb_shop_grid .columns-0 ul.products li.product:nth-child(2n),.et-db #et-boc .et-l .et_pb_column_3_4 .et_pb_shop_grid .columns-0 ul.products li.product:nth-child(3n),.et-db #et-boc .et-l .et_pb_column_4_4 .et_pb_shop_grid .columns-0 ul.products li.product:nth-child(4n){margin-right:0!important}.et-db #et-boc .et-l .et_pb_column_1_2 .et_pb_shop_grid .columns-0 ul.products li.product:nth-child(odd),.et-db #et-boc .et-l .et_pb_column_2_3 .et_pb_shop_grid .columns-0 ul.products li.product:nth-child(odd),.et-db #et-boc .et-l .et_pb_column_3_4 .et_pb_shop_grid .columns-0 ul.products li.product:nth-child(3n+1),.et-db #et-boc .et-l .et_pb_column_4_4 .et_pb_shop_grid .columns-0 ul.products li.product:nth-child(4n+1){clear:both!important}.et-db #et-boc .et-l .et_pb_specialty_column.et_pb_column_3_4 .et_pb_column_4_4 .et_pb_shop_grid .columns-0 ul.products li.product:nth-child(4n){margin-right:7.47%!important}.et-db #et-boc .et-l .et_pb_specialty_column.et_pb_column_3_4 .et_pb_column_4_4 .et_pb_shop_grid .columns-0 ul.products li.product:nth-child(3n){margin-right:0!important}.et-db #et-boc .et-l .et_pb_specialty_column.et_pb_column_3_4 .et_pb_column_4_4 .et_pb_shop_grid .columns-0 ul.products li.product:nth-child(4n+1){clear:none!important}.et-db #et-boc .et-l .woocommerce-page.columns-6 ul.products li.product,.et-db #et-boc .et-l .woocommerce.columns-6 ul.products li.product{width:13.5%!important;margin:0 3.8% 2.992em 0!important}.et-db #et-boc .et-l .woocommerce-page.columns-6 ul.products li.product.last,.et-db #et-boc .et-l .woocommerce.columns-6 ul.products li.product.last{margin-right:0!important}.et-db #et-boc .et-l .et_pb_shop .woocommerce.columns-6 ul.products li.product:nth-child(3n+1){clear:none}.et-db #et-boc .et-l .et_pb_shop .woocommerce.columns-6 ul.products li.product.first{clear:both}.et-db #et-boc .et-l .et_pb_column_4_4 .et_pb_shop_grid .woocommerce ul.products li.product{width:20.875%!important;margin:0 5.5% 5.5% 0!important}.et-db #et-boc .et-l .et_pb_column_3_4 .et_pb_shop_grid .woocommerce ul.products li.product{width:28.353%!important;margin:0 7.47% 5.5% 0!important}.et-db #et-boc .et-l .et_pb_column_2_3 .et_pb_shop_grid .woocommerce ul.products li.product{width:45.758%!important;margin:0 8.483% 5.5% 0!important}.et-db #et-boc .et-l .et_pb_column_1_2 .et_pb_shop_grid .woocommerce ul.products li.product{width:44.18%!important;margin:0 11.64% 5.5% 0!important}.et-db #et-boc .et-l .et_pb_column_1_3 .et_pb_shop_grid .woocommerce ul.products li.product,.et-db #et-boc .et-l .et_pb_column_1_4 .et_pb_shop_grid .woocommerce ul.products li.product{margin-left:0!important;margin-right:0!important}}@media only screen and (max-width:800px){.et-db #et-boc .et-l #main .et_pb_shop_grid .products li:nth-child(3n),.et-db #et-boc .et-l #main .et_pb_shop_grid .products li:nth-child(4n){float:left!important;margin:0 9.5% 9.5% 0!important}.et-db #et-boc .et-l #main .et_pb_shop_grid .products li:nth-child(2n){margin-right:0!important}}@media only screen and (min-width:768px) and (max-width:980px){.et-db #et-boc .et-l .et_pb_shop ul.products li.product:nth-child(odd){clear:none!important}.et-db #et-boc .et-l .et_pb_column .woocommerce ul.products li.product:nth-child(3n+1){clear:both!important}}.et-db #et-boc .et-l ul.products li.product .onsale{display:block}.et-db #et-boc .et-l ul.products li.product .star-rating{margin-top:5px}.et-db #et-boc .et-l ul.products li.product .price{position:relative;top:auto;right:auto;left:auto}.et-db #et-boc .et-l ul.products li.product .price:after{display:none}.et-db #et-boc .et-l ul.products li.product .price del{display:block;margin-bottom:10px}.et-db #et-boc .et-l ul.products li.product .price ins{margin-left:0}.et-db #et-boc .et-l ul.products li.product .price ins:before{content:""!important}.et-db #et-boc .et-l *{box-sizing:border-box}
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In this article, I would like to share a classical approach, graphic search, which is very interesting and has been applied in many fields. This article will introduce the family and braches of graph search and give an insight into how it works in collision avoidance.<span id="more-1362"></span></p> 303<p style="text-align: justify;">The most straightforward graph search algorithm is Breadth-First Search [1]. It simply checks all the possibilities from near and far until the first solution is found. As a brute-force algorithm, Breadth-First Search is simple but with typically low computational efficiency.
303</p> 304<p style="text-align: justify;">One well-known pathfinding algorithm was proposed by a Dutch programmer Edsger Dijkstra in 1956 [2], and named after him, which can be regarded as one of the earliest artificial intelligence (AI) methods, with another name, uniform cost search. It aims to find the shortest path between points a and b. Its execution process is simple: i) starting from the current point a, ii) calculating the cost/distance to all neighbors, iii) choosing the neighbor with minimum accumulated cost/distance, iv) starting from the current point and repeating until reaching the destination. Of course, the same point can be reached from different neighbors, but usually with different accumulated costs. We only choose the path with a smaller cost/distance. A typical graphic map is illustrated in Figure 1.</p> 305<p><img fetchpriority="high" decoding="async" class="aligncenter size-full wp-image-1360" src="https://etn-sas.eu/wp-content/uploads/2022/06/Dijkstra_Animation.gif" alt="" width="283" height="222" /></p> 306<p style="text-align: center;">Figure 1: Finding the best path from a to b on a graphic map [3] 307<p style="text-align: justify;">Compared to the Breadth-First Search which explores equally in all directions, Dijkstraâs Algorithm favors lower-cost paths. However, Dijkstraâs algorithm explores the map without any directional information, even if we already know a general direction that we want to go. For example, letâs image that we are in a forest and want to leave it. And now we see a signal showing the exit of the forest. Unfortunately, Dijkstraâs algorithm does not use this information. What can we do if we want to use this signal information? The straightforward idea is to move directly to the signal position regardless of other factors, which is Greedy Best First Search . We are following the default rule that the shortest distance between our current position and the signal is always prioritized. Of course, you can do that, but probably you have to cross rivers and climb over the mountains. Besides, what if the signalâs position is not exactly the position of the exit? Intuitively, a better way can be to use the signal as a reference to guide us while still using Dijkstraâs algorithm to explore the lower-cost path first. That is precisely how A* looks like.</p> 308<p><img loading="lazy" decoding="async" class="aligncenter size-full wp-image-1361" src="https://etn-sas.eu/wp-content/uploads/2022/06/algorithms.png" alt="" width="7494" height="1965" srcset="https://etn-sas.eu/wp-content/uploads/2022/06/algorithms.png 7494w, https://etn-sas.eu/wp-content/uploads/2022/06/algorithms-300x79.png 300w, https://etn-sas.eu/wp-content/uploads/2022/06/algorithms-1024x269.png 1024w, https://etn-sas.eu/wp-content/uploads/2022/06/algorithms-768x201.png 768w, https://etn-sas.eu/wp-content/uploads/2022/06/algorithms-1536x403.png 1536w, https://etn-sas.eu/wp-content/uploads/2022/06/algorithms-2048x537.png 2048w, https://etn-sas.eu/wp-content/uploads/2022/06/algorithms-1080x283.png 1080w" sizes="(max-width: 7494px) 100vw, 7494px" /></p> 309<p style="text-align: center;">Figure 2: Expansion demonstrations of different algorithms (some subfigures refer to Amit Patel [4])</p> 310<p style="text-align: justify;">Dijkstraâs algorithm works well to find the shortest path, but it wastes time exploring directions that arenât promising. Greedy Best First Search explores promising directions, but it may not find the shortest path. The A* algorithm uses both the actual distance from the start and the estimated distance to the goal. The total cost function, <img loading="lazy" decoding="async" src="https://etn-sas.eu/wp-content/ql-cache/quicklatex.com-9367678df57519865075cc6d7d8ef0d0_l3.png" class="ql-img-inline-formula quicklatex-auto-format" alt="f(n)" title="Rendered by QuickLaTeX.com" height="19" width="35" style="vertical-align: -5px;"/>, of A* consists of historical exact cost and heuristic cost:</p> 311<p style="text-align: center;"><img loading="lazy" decoding="async" src="https://etn-sas.eu/wp-content/ql-cache/quicklatex.com-ed4b70e6a5d60dcf9c03027bc9ce7192_l3.png" class="ql-img-inline-formula quicklatex-auto-format" alt="f(n) = g(n) + h(n)" title="Rendered by QuickLaTeX.com" height="19" width="148" style="vertical-align: -5px;"/></p> 312<p>Where <img loading="lazy" decoding="async" src="https://etn-sas.eu/wp-content/ql-cache/quicklatex.com-235d5eaebb5bc684bb7baf5f21c1e52a_l3.png" class="ql-img-inline-formula quicklatex-auto-format" alt="g(n)" title="Rendered by QuickLaTeX.com" height="19" width="33" style="vertical-align: -5px;"/> represents the exact cost of the path from the starting point to any point <img loading="lazy" decoding="async" src="https://etn-sas.eu/wp-content/ql-cache/quicklatex.com-b170995d512c659d8668b4e42e1fef6b_l3.png" class="ql-img-inline-formula quicklatex-auto-format" alt="n" title="Rendered by QuickLaTeX.com" height="8" width="11" style="vertical-align: 0px;"/>, and <img loading="lazy" decoding="async" src="https://etn-sas.eu/wp-content/ql-cache/quicklatex.com-38d5f6155aba15fea77d7d18e6575793_l3.png" class="ql-img-inline-formula quicklatex-auto-format" alt="h(n)" title="Rendered by QuickLaTeX.com" height="19" width="34" style="vertical-align: -5px;"/> represents the heuristic estimated cost from any point <img loading="lazy" decoding="async" src="https://etn-sas.eu/wp-content/ql-cache/quicklatex.com-b170995d512c659d8668b4e42e1fef6b_l3.png" class="ql-img-inline-formula quicklatex-auto-format" alt="n" title="Rendered by QuickLaTeX.com" height="8" width="11" style="vertical-align: 0px;"/> to the destination.</p> 313<p style="text-align: justify;">The proposition of A* inspired people with a new way for such pathfinding problems. Countless variants have been constantly proposed. The original A* defaults that the historic and heuristic components equally impact the search progress. However, that might not be the fact. Thus, one idea is to add weight factors to the two components, such as weighted A* and dynamic weighted A* [5][6]. From the following equation with weight factors, we can find the relationship between these algorithms:</p> 314<p style="text-align: center;"><img loading="lazy" decoding="async" src="https://etn-sas.eu/wp-content/ql-cache/quicklatex.com-9f677b871a9ccc7b8d12592299039cda_l3.png" class="ql-img-inline-formula quicklatex-auto-format" alt="f(n) = w_1 \cdot g(n) + w_2 \cdot h(n)" title="Rendered by QuickLaTeX.com" height="19" width="214" style="vertical-align: -5px;"/> or <img loading="lazy" decoding="async" src="https://etn-sas.eu/wp-content/ql-cache/quicklatex.com-18f4e3fbf42784cc6e388a7a385c019e_l3.png" class="ql-img-inline-formula quicklatex-auto-format" alt="f(n) = g(n) + w \cdot h(n)" title="Rendered by QuickLaTeX.com" height="19" width="174" style="vertical-align: -5px;"/></p> 315<p style="text-align: justify;">When the heuristic weight is higher, A* will search more toward the destination. In the situation that , <img loading="lazy" decoding="async" src="https://etn-sas.eu/wp-content/ql-cache/quicklatex.com-cc91cc7589b4f6058180e6660f8da1c6_l3.png" class="ql-img-inline-formula quicklatex-auto-format" alt="w_1 \neq 0" title="Rendered by QuickLaTeX.com" height="17" width="53" style="vertical-align: -4px;"/> , <img loading="lazy" decoding="async" src="https://etn-sas.eu/wp-content/ql-cache/quicklatex.com-128db5d0efc0f8331f78e7c314f878a1_l3.png" class="ql-img-inline-formula quicklatex-auto-format" alt="w_2 = 0" title="Rendered by QuickLaTeX.com" height="15" width="53" style="vertical-align: -3px;"/>, then A* is the same as  Greedy Best First Search. On the contrary, when , <img loading="lazy" decoding="async" src="https://etn-sas.eu/wp-content/ql-cache/quicklatex.com-2c6ed375f8cb88f04ad750a093e31462_l3.png" class="ql-img-inline-formula quicklatex-auto-format" alt="w_1 = 0" title="Rendered by QuickLaTeX.com" height="15" width="53" style="vertical-align: -3px;"/>, <img loading="lazy" decoding="async" src="https://etn-sas.eu/wp-content/ql-cache/quicklatex.com-777536b57eb175c2bd358172d992080f_l3.png" class="ql-img-inline-formula quicklatex-auto-format" alt="w_2 \neq 0" title="Rendered by QuickLaTeX.com" height="17" width="53" style="vertical-align: -4px;"/>, A* becomes Dijkstraâs algorithm. From a computational speed point of view, Dijkstraâs algorithm is slow but ensures the best solution, while the greedy search is fast but non-optimal. Thus, finding the proper weight factors becomes a problem in balancing the computational effectiveness and efficie
315ncy. More variants were proposed to ensure the computational speed with sufficient computational effectiveness, e.g., the bidirectional search and jump point search.</p> 316<p style="text-align: justify;">So far, the problem description is all about pathfinding, which is simple. However, in practice, usually, the map is dynamic, the environment is unknown, and the vehicle you are driving/controlling is underactuated. All these factors make it a complex collision avoidance case. Letâs take the maritime sailing scenario as an example. Our ship can meet multiple other vessels from different directions. And the map constraints can contain not only geometry limit (shore), but also the water depth and restricted areas. To solve all these practical problems, more variants have been proposed. Dynamic A* or D* was proposed to cope with changing environment [7]. Lifelong Planning A* and D* lite were further proposed using less search effort [8]. In order to cope with the motion constraints from the vehicle, one variant, Hybrid A* was proposed [9], that associates a continuous state with each cell. Another way is to modify the path with an additional path smoothing post-processing step taking the dynamic or kinematic into account. Furthermore, we also proposed a Hybrid A* based method with a floating-node map associated with the discretized control setpoints [10].</p> 317<p><img loading="lazy" decoding="async" class="aligncenter size-full wp-image-1359" src="https://etn-sas.eu/wp-content/uploads/2022/06/cells.png" alt="" width="1124" height="305" srcset="https://etn-sas.eu/wp-content/uploads/2022/06/cells.png 1124w, https://etn-sas.eu/wp-content/uploads/2022/06/cells-300x81.png 300w, https://etn-sas.eu/wp-content/uploads/2022/06/cells-1024x278.png 1024w, https://etn-sas.eu/wp-content/uploads/2022/06/cells-768x208.png 768w, https://etn-sas.eu/wp-content/uploads/2022/06/cells-1080x293.png 1080w" sizes="(max-width: 1124px) 100vw, 1124px" /></p> 318<p style="text-align: center;">Figure 3: Graphical comparison of search algorithms. Left: A* only visits grid center. Center: Hybrid A* associates a continuous state with each cell, so it can visit all the positions within a cell. Right: improved Hybrid A* searches in a node map. [10] 319<p style="text-align: justify;">In addition, although it is called the graph search algorithm, it can also be used in other places. The <em>a</em> and <em>b</em> in Figure 1 can be the âstate pointsâ in a system. For instance, if you are parking a car, you want to move your car from the current position onto the parking space. You can give different control actions, e.g., controlling the throttle or turning the wheel, and you know the consequence of each action. Regardless of other aspects, letâs say you want to finish the parking as soon as possible. You can set the time as an optimization goal. So graph search algorithms can be used to find the best action paths (combinations) to park the car. Of course, in practice, getting a cost map for each action is not easy. Here we only want to show the feasibility of using this graphic search method for different tasks.</p> 320<p><img loading="lazy" decoding="async" class="aligncenter size-full wp-image-1364" src="https://etn-sas.eu/wp-content/uploads/2022/06/Afbeelding1.png" alt="" width="3900" height="1452" srcset="https://etn-sas.eu/wp-content/uploads/2022/06/Afbeelding1.png 3900w, https://etn-sas.eu/wp-content/uploads/2022/06/Afbeelding1-300x112.png 300w, https://etn-sas.eu/wp-content/uploads/2022/06/Afbeelding1-1024x381.png 1024w, https://etn-sas.eu/wp-content/uploads/2022/06/Afbeelding1-768x286.png 768w, https://etn-sas.eu/wp-content/uploads/2022/06/Afbeelding1-1536x572.png 1536w, https://etn-sas.eu/wp-content/uploads/2022/06/Afbeelding1-2048x762.png 2048w, https://etn-sas.eu/wp-content/uploads/2022/06/Afbeelding1-1080x402.png 1080w" sizes="(max-width: 3900px) 100vw, 3900px" /></p> 321<p style="text-align: center;">Figure 4: A parking scenario</p> 322<h4>References</h4> 323[1] Lee, C.Y., 1961. An algorithm for path connections and its applications. <em>IRE transactions on electronic computers</em>, (3), pp.346-365.<br /> 324[2] Dijkstra, E.W., 1959. A note on two problems in connexion with graphs. <em>Numerische mathematik</em>, 1(1), pp.269-271.<br /> 325[3] Wikipedia Contributors (2019). Dijkstraâs algorithm. [online] Wikipedia. Available at: https://en.wikipedia.org/wiki/Dijkstra%27s_algorithm.<br /> 326[4] Redblobgames.com. (2014). Red Blob Games: Introduction to A*. [online] Available at: https://www.redblobgames.com/pathfinding/a-star/introduction.html.<br /> 327[5] Pohl, I. (1970). Heuristic search viewed as path finding in a graph. <em>Artificial Intelligence</em>, 1(3-4), pp.193â204. doi:10.1016/0004-3702(70)90007-x.<br /> 328[6] Chen, J. and Sturtevant, N.R., 2021, May. Necessary and Sufficient Conditions for Avoiding Reopenings in Best First Suboptimal Search with General Bounding Functions. In <em>AAAI Conference on Artificial Intelligence</em>.<br />
329[7] Stentz, A., 1997. Optimal and efficient path planning for partially known environments. In <em>Intelligent unmanned ground vehicles</em> (pp. 203-220). Springer, Boston, MA.<br /> 330[8] Koenig, S., Likhachev, M. and Furcy, D. (2004). Lifelong Planning Aâ. <em>Artificial Intelligence</em>, 155(1-2), pp.93â146. doi:10.1016/j.artint.2003.12.001.<br /> 331[9] Dolgov, D., Thrun, S., Montemerlo, M. and Diebel, J., 2008. Practical search techniques in path planning for autonomous driving. <em>Ann Arbor</em>, 1001(48105), pp.18-80.<br /> 332[10] Miao, T., El Amam, E., Slaets, P. and Pissoort, D., 2022. An improved real-time collision-avoidance algorithm based on Hybrid A* in a multi-object-encountering scenario for autonomous surface vessels. <em>Ocean Engineering</em>, 255, p.111406.</p> 333<p> </p> 334<p style="text-align: justify;">About the Author:Â <strong>Tianlei Miao</strong></p> 335<hr /> 336<p style="text-align: justify;"><span lang="en-US"><img loading="lazy" decoding="async" class="alignleft size-thumbnail wp-image-616" src="https://etn-sas.eu/wp-content/uploads/2019/11/TianLeiOther_Square-150x150.png" alt="" width="150" height="150" srcset="https://etn-sas.eu/wp-content/uploads/2019/11/TianLeiOther_Square-150x150.png 150w, https://etn-sas.eu/wp-content/uploads/2019/11/TianLeiOther_Square-300x300.png 300w, https://etn-sas.eu/wp-content/uploads/2019/11/TianLeiOther_Square-70x70.png 70w, https://etn-sas.eu/wp-content/uploads/2019/11/TianLeiOther_Square-400x402.png 400w, https://etn-sas.eu/wp-content/uploads/2019/11/TianLeiOther_Square.png 402w" sizes="(max-width: 150px) 100vw, 150px" />Tianlei has studied in Naval Architecture and Ocean Engineering at Zhejiang University, where he graduated with his bachelor’s degree in 2017. During his bachelorâs years, Tianlei was awarded several scholarships such as National Scholarship in China and has held different leadership positions, such as President of the Student Union of Ocean College at Zhejiang University. He also spent 6 months at the Technical University of Munich in Mechanical Engineering.</span></p> 337<p style="text-align: justify;"><span lang="en-US">In 2017, Tianlei started a dual M.Sc in Maritime Engineering at both Norwegian University of Science and Technology (NTNU), Norway, and the Royal Institute of Technology (KTH), Sweden. As part of the master’s program, he focused on the generation of the full-envelope hydrodynamic database of hydrostatic AUVs under the supervision of Prof. Dr. Ivan Stenius and Prof.Dr. Marilena Greco.</span></p> 338<p style="text-align: justify;"><a href="https://etn-sas.eu/2019/10/15/tianlei-miao-esr12-rh-marine/" target="_blank" rel="noopener noreferrer"><img loading="lazy" decoding="async" class="alignnone" src="https://pluripub.com/fet/assets/img/email.png" alt="" width="24" height="24" /></a></p> 339 340 341 </div><!-- .entry /--> 342 <span style="display:none" class="updated">2022-06-14</span> 343 <div style="display:none" class="vcard author" itemprop="author" itemscope itemtype="http://schema.org/Person"><strong class="fn" itemprop="name"><a href="https://etn-sas.eu/author/jensvkb/" title="Berichten van Jens Vankeirsbilck" rel="author">Jens Vankeirsbilck</a></strong></div> 344 345 346 </div><!-- .post-inner --> 347 </article><!-- .post-listing --> 348 349 350 351 352 353 354 355 <div id="comments"> 356 357 358 359 360</div><!-- #comments --> 361 362 </div><!-- .content --> 363</div> <!-- .content-wrap --> 364<aside class="sidebar"> 365 <div id="text-html-widget-6" class="text-html-box" > 366 <div align="center"><a href="https://ec.europa.eu/info/research-and-innovation_en" target="_blank"><img border="0" alt="project-EW-flag" src="https://etn-sas.eu/wp-content/uploads/2019/12/flag_yellow_low-1-e1475235522761.jpg" width="120" height="100" style='vertical-align: center; margin-bottom: 10px;' ></a> 367<div align="justify">This project has received funding from the European Union's EU Framework Programme for Research and Innovation Horizon 2020 under Grant Agreement No 812788</div><br /> </div> 368 <div id="categort-posts-widget-4" class="widget categort-posts"><div class="widget-top"><h4>Recent Posts </h4><div class="stripe-line"></div></div> 369 <div class="widget-container"> <ul> 370 <li> 371 <div class="post-thumbnail"> 372 <a href="https://etn-sas.eu/2022/11/16/a-series-of-wireless-communication-technology-in-agricultural-vehicles-part-iii-protocols-test/" title="Permalink to A series of wireless communication technology in agricultural vehicles. Part III: Protocol’s test" rel="bookmark"><img width="70" height="70" src="https://etn-sas.eu/wp-content/uploads/2022/11/Blog_II
372I_Fig_4_Used_model_for_a_combine_harvester-70x70.png" class="attachment-tie-small size-tie-small wp-post-image" alt="" decoding="async" loading="lazy" srcset="https://etn-sas.eu/wp-content/uploads/2022/11/Blog_III_Fig_4_Used_model_for_a_combine_harvester-70x70.png 70w, https://etn-sas.eu/wp-content/uploads/2022/11/Blog_III_Fig_4_Used_model_for_a_combine_harvester-150x150.png 150w, https://etn-sas.eu/wp-content/uploads/2022/11/Blog_III_Fig_4_Used_model_for_a_combine_harvester-100x100.png 100w, https://etn-sas.eu/wp-content/uploads/2022/11/Blog_III_Fig_4_Used_model_for_a_combine_harvester-250x250.png 250w, https://etn-sas.eu/wp-content/uploads/2022/11/Blog_III_Fig_4_Used_model_for_a_combine_harvester-320x320.png 320w" sizes="(max-width: 70px) 100vw, 70px" /></a> 373 </div><!-- post-thumbnail /--> 374 <h3><a href="https://etn-sas.eu/2022/11/16/a-series-of-wireless-communication-technology-in-agricultural-vehicles-part-iii-protocols-test/">A series of wireless communication technology in agricultural vehicles. Part III: Protocol’s test</a></h3> 375 <span class="date"><span class="tie-date">november 16, 2022</span></span> 376</li> 377<li> 378 <div class="post-thumbnail"> 379 <a href="https://etn-sas.eu/2022/11/08/a-series-of-wireless-communication-technology-in-agricultural-vehicles-part-ii-smartmesh-ip/" title="Permalink to A series of wireless communication technology in agricultural vehicles. Part II: SmartMesh IP" rel="bookmark"><img width="70" height="70" src="https://etn-sas.eu/wp-content/uploads/2022/11/Blog_II_Fig_1_SmartMesh_IP_topology-70x70.png" class="attachment-tie-small size-tie-small wp-post-image" alt="" decoding="async" loading="lazy" srcset="https://etn-sas.eu/wp-content/uploads/2022/11/Blog_II_Fig_1_SmartMesh_IP_topology-70x70.png 70w, https://etn-sas.eu/wp-content/uploads/2022/11/Blog_II_Fig_1_SmartMesh_IP_topology-150x150.png 150w, https://etn-sas.eu/wp-content/uploads/2022/11/Blog_II_Fig_1_SmartMesh_IP_topology-100x100.png 100w, https://etn-sas.eu/wp-content/uploads/2022/11/Blog_II_Fig_1_SmartMesh_IP_topology-250x250.png 250w, https://etn-sas.eu/wp-content/uploads/2022/11/Blog_II_Fig_1_SmartMesh_IP_topology-320x320.png 320w" sizes="(max-width: 70px) 100v
379w, 70px" /></a> 380 </div><!-- post-thumbnail /--> 381 <h3><a href="https://etn-sas.eu/2022/11/08/a-series-of-wireless-communication-technology-in-agricultural-vehicles-part-ii-smartmesh-ip/">A series of wireless communication technology in agricultural vehicles. Part II: SmartMesh IP</a></h3> 382 <span class="date"><span class="tie-date">november 8, 2022</span></span> 383</li> 384<li> 385 <div class="post-thumbnail"> 386 <a href="https://etn-sas.eu/2022/11/03/a-series-of-wireless-communication-technology-in-agricultural-vehicles-part-i-iolw/" title="Permalink to A series of wireless communication technology in agricultural vehicles. Part I: IOLW" rel="bookmark"><img width="70" height="70" src="https://etn-sas.eu/wp-content/uploads/2022/11/Cover-1-70x70.png" class="attachment-tie-small size-tie-small wp-post-image" alt="" decoding="async" loading="lazy" srcset="https://etn-sas.eu/wp-content/uploads/2022/11/Cover-1-70x70.png 70w, https://etn-sas.eu/wp-content/uploads/2022/11/Cover-1-150x150.png 150w, https://etn-sas.eu/wp-content/uploads/2022/11/Cover-1-100x100.png 100w, https://etn-sas.eu/wp-content/uploads/2022/11/Cover-1-250x250.png 250w, https://etn-sas.eu/wp-content/uploads/2022/11/Cover-1-320x320.png 320w" sizes="(max-width: 70px) 100v
386w, 70px" /></a> 387 </div><!-- post-thumbnail /--> 388 <h3><a href="https://etn-sas.eu/2022/11/03/a-series-of-wireless-communication-technology-in-agricultural-vehicles-part-i-iolw/">A series of wireless communication technology in agricultural vehicles. Part I: IOLW</a></h3> 389 <span class="date"><span class="tie-date">november 3, 2022</span></span> 390</li> 391<li> 392 <div class="post-thumbnail"> 393 <a href="https://etn-sas.eu/2022/06/14/graph-search-algorithms-in-pathfinding-and-collision-avoidance/" title="Permalink to Graph search algorithms in pathfinding and collision avoidance" rel="bookmark"><img width="70" height="70" src="https://etn-sas.eu/wp-content/uploads/2022/06/algorithms-70x70.png" class="attachment-tie-small size-tie-small wp-post-image" alt="" decoding="async" loading="lazy" srcset="https://etn-sas.eu/wp-content/uploads/2022/06/algorithms-70x70.png 70w, https://etn-sas.eu/wp-content/uploads/2022/06/algorithms-150x150.png 150w, https://etn-sas.eu/wp-content/uploads/2022/06/algorithms-100x100.png 100w, https://etn-sas.eu/wp-content/uploads/2022/06/algorithms-250x250.png 250w, https://etn-sas.eu/wp-content/uploads/2022/06/algorithms-320x320.png 320w" sizes="(max-width: 70px) 100v
393w, 70px" /></a> 394 </div><!-- post-thumbnail /--> 395 <h3><a href="https://etn-sas.eu/2022/06/14/graph-search-algorithms-in-pathfinding-and-collision-avoidance/">Graph search algorithms in pathfinding and collision avoidance</a></h3> 396 <span class="date"><span class="tie-date">juni 14, 2022</span></span> 397</li> 398<li> 399 <div class="post-thumbnail"> 400 <a href="https://etn-sas.eu/2022/05/25/introduction-of-the-collision-avoidance-methods-of-autonomous-ships/" title="Permalink to Introduction of the collision avoidance methods of autonomous ships" rel="bookmark"><img width="70" height="70" src="https://etn-sas.eu/wp-content/uploads/2022/05/Picture1-70x70.png" class="attachment-tie-small size-tie-small wp-post-image" alt="" decoding="async" loading="lazy" srcset="https://etn-sas.eu/wp-content/uploads/2022/05/Picture1-70x70.png 70w, https://etn-sas.eu/wp-content/uploads/2022/05/Picture1-150x150.png 150w, https://etn-sas.eu/wp-content/uploads/2022/05/Picture1-100x100.png 100w, https://etn-sas.eu/wp-content/uploads/2022/05/Picture1-250x250.png 250w" sizes="(max-width: 70px) 100v
400w, 70px" /></a> 401 </div><!-- post-thumbnail /--> 402 <h3><a href="https://etn-sas.eu/2022/05/25/introduction-of-the-collision-avoidance-methods-of-autonomous-ships/">Introduction of the collision avoidance methods of autonomous ships</a></h3> 403 <span class="date"><span class="tie-date">mei 25, 2022</span></span> 404</li> 405 </ul> 406 <div class="clear"></div> 407 </div></div><!-- .widget /--><div id="media_video-4" class="widget widget_media_video"><div class="widget-top"><h4>SAS Promo Video</h4><div class="stripe-line"></div></div> 408 <div class="widget-container"><div style="width: 100%;" class="wp-video"><!--[if lt IE 9]>
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424w, 70px" /></a> 425 </div><!-- post-thumbnail /--> 426 <h3><a href="https://etn-sas.eu/2020/02/11/luis-pedro-cobos-yelavives-esr14-horiba-mira/">Luis Pedro Cobos Yelavives, ESR14 (HORIBA MIRA)</a></h3> 427 <span class="date"><span class="tie-date">februari 11, 2020</span></span> 428</li> 429<li> 430 <div class="post-thumbnail"> 431 <a href="https://etn-sas.eu/2019/10/15/tianlei-miao-esr12-rh-marine/" title="Permalink to Tianlei Miao, ESR12 (RH Marine)" rel="bookmark"><img width="70" height="70" src="https://etn-sas.eu/wp-content/uploads/2019/11/TianLeiOther_Square-70x70.png" class="attachment-tie-small size-tie-small wp-post-image" alt="" decoding="async" loading="lazy" srcset="https://etn-sas.eu/wp-content/uploads/2019/11/TianLeiOther_Square-70x70.png 70w, https://etn-sas.eu/wp-content/uploads/2019/11/TianLeiOther_Square-150x150.png 150w, https://etn-sas.eu/wp-content/uploads/2019/11/TianLeiOther_Square-300x300.png 300w, https://etn-sas.eu/wp-content/uploads/2019/11/TianLeiOther_Square-400x402.png 400w, https://etn-sas.eu/wp-content/uploads/2019/11/TianLeiOther_Square.png 402w" sizes="(max-width: 70px) 100v
431w, 70px" /></a> 432 </div><!-- post-thumbnail /--> 433 <h3><a href="https://etn-sas.eu/2019/10/15/tianlei-miao-esr12-rh-marine/">Tianlei Miao, ESR12 (RH Marine)</a></h3> 434 <span class="date"><span class="tie-date">oktober 15, 2019</span></span> 435</li> 436<li> 437 <div class="post-thumbnail"> 438 <a href="https://etn-sas.eu/2019/07/24/orian-dheu-esr15-ku-leuven/" title="Permalink to Orian Dheu, ESR15 (KU Leuven)" rel="bookmark"><img width="70" height="70" src="https://etn-sas.eu/wp-content/uploads/2019/07/ESR15-Orian-Dheu-KU-Leuven-70x70.jpg" class="attachment-tie-small size-tie-small wp-post-image" alt="" decoding="async" loading="lazy" srcset="https://etn-sas.eu/wp-content/uploads/2019/07/ESR15-Orian-Dheu-KU-Leuven-70x70.jpg 70w, https://etn-sas.eu/wp-content/uploads/2019/07/ESR15-Orian-Dheu-KU-Leuven-150x150.jpg 150w, https://etn-sas.eu/wp-content/uploads/2019/07/ESR15-Orian-Dheu-KU-Leuven.jpg 225w" sizes="(max-width: 70px) 100vw, 70px" /></a> 439 </div><!-- post-thumbnail /--> 440 <h3><a href="https://etn-sas.eu/2019/07/24/orian-dheu-esr15-ku-leuven/">Orian Dheu, ESR15 (KU Leuven)</a></h3> 441 <span class="date"><span class="tie-date">juli 24, 2019</span></span> 442</li> 443<li> 444 <div class="post-thumbnail"> 445 <a href="https://etn-sas.eu/2019/07/24/haris-aftab-esr13-university-of-york/" title="Permalink to Haris Aftab, ESR13 (University of York)" rel="bookmark"><img width="70" height="70" src="https://etn-sas.eu/wp-content/uploads/2019/09/Haris-Aftab-70x70.png" class="attachment-tie-small size-tie-small wp-post-image" alt="" decoding="async" loading="lazy" srcset="https://etn-sas.eu/wp-content/uploads/2019/09/Haris-Aftab-70x70.png 70w, https://etn-sas.eu/wp-content/uploads/2019/09/Haris-Aftab-150x150.png 150w, https://etn-sas.eu/wp-content/uploads/2019/09/Haris-Aftab.png 236w" sizes="(max-width: 70px) 100v
445w, 70px" /></a> 446 </div><!-- post-thumbnail /--> 447 <h3><a href="https://etn-sas.eu/2019/07/24/haris-aftab-esr13-university-of-york/">Haris Aftab, ESR13 (University of York)</a></h3> 448 <span class="date"><span class="tie-date">juli 24, 2019</span></span> 449</li> 450<li> 451 <div class="post-thumbnail"> 452 <a href="https://etn-sas.eu/2019/07/24/hasan-bin-firoz-esr-11-university-of-york/" title="Permalink to Hasan Bin Firoz, ESR 11 (University of York)" rel="bookmark"><img width="70" height="70" src="https://etn-sas.eu/wp-content/uploads/2022/08/Passport-size-photo-Hasan_square-70x70.jpg" class="attachment-tie-small size-tie-small wp-post-image" alt="" decoding="async" loading="lazy" srcset="https://etn-sas.eu/wp-content/uploads/2022/08/Passport-size-photo-Hasan_square-70x70.jpg 70w, https://etn-sas.eu/wp-content/uploads/2022/08/Passport-size-photo-Hasan_square-300x300.jpg 300w, https://etn-sas.eu/wp-content/uploads/2022/08/Passport-size-photo-Hasan_square-1024x1024.jpg 1024w, https://etn-sas.eu/wp-content/uploads/2022/08/Passport-size-photo-Hasan_square-150x150.jpg 150w, https://etn-sas.eu/wp-content/uploads/2022/08/Passport-size-photo-Hasan_square-768x768.jpg 768w, https://etn-sas.eu/wp-content/uploads/2022/08/Passport-size-photo-Hasan_square-100x100.jpg 100w, https://etn-sas.eu/wp-content/uploads/2022/08/Passport-size-photo-Hasan_square-250x250.jpg 250w, https://etn-sas.eu/wp-content/uploads/2022/08/Passport-size-photo-Hasan_square-320x320.jpg 320w, https://etn-sas.eu/wp-content/uploads/2022/08/Passport-size-photo-Hasan_square-1080x1080.jpg 1080w, https://etn-sas.eu/wp-content/uploads/2022/08/Passport-size-photo-Hasan_square.jpg 1262w" sizes="(max-width: 70px) 100v
452w, 70px" /></a> 453 </div><!-- post-thumbnail /--> 454 <h3><a href="https://etn-sas.eu/2019/07/24/hasan-bin-firoz-esr-11-university-of-york/">Hasan Bin Firoz, ESR 11 (University of York)</a></h3> 455 <span class="date"><span class="tie-date">juli 24, 2019</span></span> 456</li> 457<li> 458 <div class="post-thumbnail"> 459 <a href="https://etn-sas.eu/2019/07/24/fang-yan-esr10-university-of-york/" title="Permalink to Fang Yan, ESR10 (University of York)" rel="bookmark"><img width="70" height="70" src="https://etn-sas.eu/wp-content/uploads/2019/07/ESR10-Fang-Yan-University-of-York-70x70.jpg" class="attachment-tie-small size-tie-small wp-post-image" alt="" decoding="async" loading="lazy" srcset="https://etn-sas.eu/wp-content/uploads/2019/07/ESR10-Fang-Yan-University-of-York-70x70.jpg 70w, https://etn-sas.eu/wp-content/uploads/2019/07/ESR10-Fang-Yan-University-of-York-150x150.jpg 150w, https://etn-sas.eu/wp-content/uploads/2019/07/ESR10-Fang-Yan-University-of-York.jpg 225w" sizes="(max-width: 70px) 100vw, 70px" /></a> 460 </div><!-- post-thumbnail /--> 461 <h3><a href="https://etn-sas.eu/2019/07/24/fang-yan-esr10-university-of-york/">Fang Yan, ESR10 (University of York)</a></h3> 462 <span class="date"><span class="tie-date">juli 24, 2019</span></span> 463</li> 464<li> 465 <div class="post-thumbnail"> 466 <a href="https://etn-sas.eu/2019/07/24/hassan-tirmizi-esr-9-ku-leuven/" title="Permalink to Hassan Tirmizi, ESR9 (KU Leuven)" rel="bookmark"><img width="70" height="70" src="https://etn-sas.eu/wp-content/uploads/2019/07/ESR9-Hassan-Tirmizi-KU-Leuven-70x70.jpg" class="attachment-tie-small size-tie-small wp-post-image" alt="" decoding="async" loading="lazy" srcset="https://etn-sas.eu/wp-content/uploads/2019/07/ESR9-Hassan-Tirmizi-KU-Leuven-70x70.jpg 70w, https://etn-sas.eu/wp-content/uploads/2019/07/ESR9-Hassan-Tirmizi-KU-Leuven-150x150.jpg 150w, https://etn-sas.eu/wp-content/uploads/2019/07/ESR9-Hassan-Tirmizi-KU-Leuven.jpg 225w" sizes="(max-width: 70px) 100v
466w, 70px" /></a> 467 </div><!-- post-thumbnail /--> 468 <h3><a href="https://etn-sas.eu/2019/07/24/hassan-tirmizi-esr-9-ku-leuven/">Hassan Tirmizi, ESR9 (KU Leuven)</a></h3> 469 <span class="date"><span class="tie-date">juli 24, 2019</span></span> 470</li> 471<li> 472 <div class="post-thumbnail"> 473 <a href="https://etn-sas.eu/2019/07/24/ahmad-adee-esr8-bosch/" title="Permalink to Ahmad Adee, ESR8 (Bosch)" rel="bookmark"><img width="70" height="70" src="https://etn-sas.eu/wp-content/uploads/2019/10/ESR8-Ahmad-Adee-1Bosch-70x70.jpg" class="attachment-tie-small size-tie-small wp-post-image" alt="" decoding="async" loading="lazy" srcset="https://etn-sas.eu/wp-content/uploads/2019/10/ESR8-Ahmad-Adee-1Bosch-70x70.jpg 70w, https://etn-sas.eu/wp-content/uploads/2019/10/ESR8-Ahmad-Adee-1Bosch-150x150.jpg 150w, https://etn-sas.eu/wp-content/uploads/2019/10/ESR8-Ahmad-Adee-1Bosch-300x300.jpg 300w, https://etn-sas.eu/wp-content/uploads/2019/10/ESR8-Ahmad-Adee-1Bosch.jpg 400w" sizes="(max-width: 70px) 100vw, 70px" /></a> 474 </div><!-- post-thumbnail /--> 475 <h3><a href="https://etn-sas.eu/2019/07/24/ahmad-adee-esr8-bosch/">Ahmad Adee, ESR8 (Bosch)</a></h3> 476 <span class="date"><span class="tie-date">juli 24, 2019</span></span> 477</li> 478<li> 479 <div class="post-thumbnail"> 480 <a href="https://etn-sas.eu/2019/07/24/nawshin-mannan-proma-etn-sas/" title="Permalink to Nawshin Mannan Proma , ESR7 (University of York)" rel="bookmark"><img width="70" height="70" src="https://etn-sas.eu/wp-content/uploads/2022/08/Nawshin-Mannan-Proma_square-70x70.jpg" class="attachment-tie-small size-tie-small wp-post-image" alt="" decoding="async" loading="lazy" srcset="https://etn-sas.eu/wp-content/uploads/2022/08/Nawshin-Mannan-Proma_square-70x70.jpg 70w, https://etn-sas.eu/wp-content/uploads/2022/08/Nawshin-Mannan-Proma_square-300x300.jpg 300w, https://etn-sas.eu/wp-content/uploads/2022/08/Nawshin-Mannan-Proma_square-1024x1024.jpg 1024w, https://etn-sas.eu/wp-content/uploads/2022/08/Nawshin-Mannan-Proma_square-150x150.jpg 150w, https://etn-sas.eu/wp-content/uploads/2022/08/Nawshin-Mannan-Proma_square-768x768.jpg 768w, https://etn-sas.eu/wp-content/uploads/2022/08/Nawshin-Mannan-Proma_square-100x100.jpg 100w, https://etn-sas.eu/wp-content/uploads/2022/08/Nawshin-Mannan-Proma_square-250x250.jpg 250w, https://etn-sas.eu/wp-content/uploads/2022/08/Nawshin-Mannan-Proma_square-320x320.jpg 320w, https://etn-sas.eu/wp-content/uploads/2022/08/Nawshin-Mannan-Proma_square-1536x1536.jpg 1536w, https://etn-sas.eu/wp-content/uploads/2022/08/Nawshin-Mannan-Proma_square-1080x1080.jpg 1080w, https://etn-sas.eu/wp-content/uploads/2022/08/Nawshin-Mannan-Proma_square.jpg 2015w" sizes="(max-width: 70px) 100v
480w, 70px" /></a> 481 </div><!-- post-thumbnail /--> 482 <h3><a href="https://etn-sas.eu/2019/07/24/nawshin-mannan-proma-etn-sas/">Nawshin Mannan Proma , ESR7 (University of York)</a></h3> 483 <span class="date"><span class="tie-date">juli 24, 2019</span></span> 484</li> 485<li> 486 <div class="post-thumbnail"> 487 <a href="https://etn-sas.eu/2019/07/24/luca-vittorio-sartori-esr6-laas-cnrs/" title="Permalink to Luca Vittorio Sartori, ESR6 (LAAS-CNRS)" rel="bookmark"><img width="70" height="70" src="https://etn-sas.eu/wp-content/uploads/2019/10/ESR6-Luca-Vittorio-Sartori-1LAAS-70x70.jpg" class="attachment-tie-small size-tie-small wp-post-image" alt="" decoding="async" loading="lazy" srcset="https://etn-sas.eu/wp-content/uploads/2019/10/ESR6-Luca-Vittorio-Sartori-1LAAS-70x70.jpg 70w, https://etn-sas.eu/wp-content/uploads/2019/10/ESR6-Luca-Vittorio-Sartori-1LAAS-150x150.jpg 150w, https://etn-sas.eu/wp-content/uploads/2019/10/ESR6-Luca-Vittorio-Sartori-1LAAS-300x300.jpg 300w, https://etn-sas.eu/wp-content/uploads/2019/10/ESR6-Luca-Vittorio-Sartori-1LAAS.jpg 410w" sizes="(max-width: 70px) 100v
487w, 70px" /></a> 488 </div><!-- post-thumbnail /--> 489 <h3><a href="https://etn-sas.eu/2019/07/24/luca-vittorio-sartori-esr6-laas-cnrs/">Luca Vittorio Sartori, ESR6 (LAAS-CNRS)</a></h3> 490 <span class="date"><span class="tie-date">juli 24, 2019</span></span> 491</li> 492<li> 493 <div class="post-thumbnail"> 494 <a href="https://etn-sas.eu/2019/07/24/aleksandr-ovechkin-esr5-ku-leuven/" title="Permalink to Aleksandr Ovechkin, ESR5 (KU Leuven)" rel="bookmark"><img width="70" height="70" src="https://etn-sas.eu/wp-content/uploads/2019/10/ESR5-Aleksandr-Ovechkin-1-KU-Leuven-70x70.jpg" class="attachment-tie-small size-tie-small wp-post-image" alt="" decoding="async" loading="lazy" srcset="https://etn-sas.eu/wp-content/uploads/2019/10/ESR5-Aleksandr-Ovechkin-1-KU-Leuven-70x70.jpg 70w, https://etn-sas.eu/wp-content/uploads/2019/10/ESR5-Aleksandr-Ovechkin-1-KU-Leuven-150x150.jpg 150w, https://etn-sas.eu/wp-content/uploads/2019/10/ESR5-Aleksandr-Ovechkin-1-KU-Leuven-300x300.jpg 300w, https://etn-sas.eu/wp-content/uploads/2019/10/ESR5-Aleksandr-Ovechkin-1-KU-Leuven-768x768.jpg 768w, https://etn-sas.eu/wp-content/uploads/2019/10/ESR5-Aleksandr-Ovechkin-1-KU-Leuven.jpg 800w" sizes="(max-width: 70px) 100v
494w, 70px" /></a> 495 </div><!-- post-thumbnail /--> 496 <h3><a href="https://etn-sas.eu/2019/07/24/aleksandr-ovechkin-esr5-ku-leuven/">Aleksandr Ovechkin, ESR5 (KU Leuven)</a></h3> 497 <span class="date"><span class="tie-date">juli 24, 2019</span></span> 498</li> 499<li> 500 <div class="post-thumbnail"> 501 <a href="https://etn-sas.eu/2019/07/24/mohaddaseh-nikseresht-esr4-ku-leuven/" title="Permalink to Mohaddaseh Nikseresht, ESR4 (KU Leuven)" rel="bookmark"><img width="70" height="70" src="https://etn-sas.eu/wp-content/uploads/2022/01/ESR4-70x70.jpg" class="attachment-tie-small size-tie-small wp-post-image" alt="" decoding="async" loading="lazy" srcset="https://etn-sas.eu/wp-content/uploads/2022/01/ESR4-70x70.jpg 70w, https://etn-sas.eu/wp-content/uploads/2022/01/ESR4-150x150.jpg 150w, https://etn-sas.eu/wp-content/uploads/2022/01/ESR4-100x100.jpg 100w, https://etn-sas.eu/wp-content/uploads/2022/01/ESR4-250x250.jpg 250w, https://etn-sas.eu/wp-content/uploads/2022/01/ESR4-320x320.jpg 320w" sizes="(max-width: 70px) 100vw, 70px" /></a> 502 </div><!-- post-thumbnail /--> 503 <h3><a href="https://etn-sas.eu/2019/07/24/mohaddaseh-nikseresht-esr4-ku-leuven/">Mohaddaseh Nikseresht, ESR4 (KU Leuven)</a></h3> 504 <span class="date"><span class="tie-date">juli 24, 2019</span></span> 505</li> 506<li> 507 <div class="post-thumbnail"> 508 <a href="https://etn-sas.eu/2019/07/24/joao-vitor-zacchi-esr3-fraunhofer-esk/" title="Permalink to João Vitor Zacchi, ESR3 (Fraunhofer)" rel="bookmark"><img width="70" height="70" src="https://etn-sas.eu/wp-content/uploads/2019/10/ESR3-Joao-Vitor-Zacchi-Fraunhofer1-70x70.jpg" class="attachment-tie-small size-tie-small wp-post-image" alt="" decoding="async" loading="lazy" srcset="https://etn-sas.eu/wp-content/uploads/2019/10/ESR3-Joao-Vitor-Zacchi-Fraunhofer1-70x70.jpg 70w, https://etn-sas.eu/wp-content/uploads/2019/10/ESR3-Joao-Vitor-Zacchi-Fraunhofer1-150x150.jpg 150w, https://etn-sas.eu/wp-content/uploads/2019/10/ESR3-Joao-Vitor-Zacchi-Fraunhofer1-300x300.jpg 300w, https://etn-sas.eu/wp-content/uploads/2019/10/ESR3-Joao-Vitor-Zacchi-Fraunhofer1.jpg 350w" sizes="(max-width: 70px) 100v
508w, 70px" /></a> 509 </div><!-- post-thumbnail /--> 510 <h3><a href="https://etn-sas.eu/2019/07/24/joao-vitor-zacchi-esr3-fraunhofer-esk/">João Vitor Zacchi, ESR3 (Fraunhofer)</a></h3> 511 <span class="date"><span class="tie-date">juli 24, 2019</span></span> 512</li> 513<li> 514 <div class="post-thumbnail"> 515 <a href="https://etn-sas.eu/2019/07/24/yuan-liao-esr2/" title="Permalink to Yuan Liao, ESR2 (Fraunhofer)" rel="bookmark"><img width="70" height="70" src="https://etn-sas.eu/wp-content/uploads/2019/10/ESR2-Yuan-Liao-Fraunhofer1-70x70.jpg" class="attachment-tie-small size-tie-small wp-post-image" alt="" decoding="async" loading="lazy" srcset="https://etn-sas.eu/wp-content/uploads/2019/10/ESR2-Yuan-Liao-Fraunhofer1-70x70.jpg 70w, https://etn-sas.eu/wp-content/uploads/2019/10/ESR2-Yuan-Liao-Fraunhofer1-150x150.jpg 150w, https://etn-sas.eu/wp-content/uploads/2019/10/ESR2-Yuan-Liao-Fraunhofer1-300x300.jpg 300w, https://etn-sas.eu/wp-content/uploads/2019/10/ESR2-Yuan-Liao-Fraunhofer1.jpg 413w" sizes="(max-width: 70px) 100vw, 70px" /></a> 516 </div><!-- post-thumbnail /--> 517 <h3><a href="https://etn-sas.eu/2019/07/24/yuan-liao-esr2/">Yuan Liao, ESR2 (Fraunhofer)</a></h3> 518 <span class="date"><span class="tie-date">juli 24, 2019</span></span> 519</li> 520<li> 521 <div class="post-thumbnail"> 522 <a href="https://etn-sas.eu/2019/07/24/raul-sena-ferreira-esr1-laas-cnrs/" title="Permalink to Raul Sena Ferreira, ESR1 (LAAS-CNRS)" rel="bookmark"><img width="70" height="70" src="https://etn-sas.eu/wp-content/uploads/2019/07/ESR1-Raul-Sena-Ferreira-UPDATE-LAAS-70x70.jpg" class="attachment-tie-small size-tie-small wp-post-image" alt="" decoding="async" loading="lazy" srcset="https://etn-sas.eu/wp-content/uploads/2019/07/ESR1-Raul-Sena-Ferreira-UPDATE-LAAS-70x70.jpg 70w, https://etn-sas.eu/wp-content/uploads/2019/07/ESR1-Raul-Sena-Ferreira-UPDATE-LAAS-150x150.jpg 150w, https://etn-sas.eu/wp-content/uploads/2019/07/ESR1-Raul-Sena-Ferreira-UPDATE-LAAS.jpg 225w" sizes="(max-width: 70px) 100v
522w, 70px" /></a> 523 </div><!-- post-thumbnail /--> 524 <h3><a href="https://etn-sas.eu/2019/07/24/raul-sena-ferreira-esr1-laas-cnrs/">Raul Sena Ferreira, ESR1 (LAAS-CNRS)</a></h3> 525 <span class="date"><span class="tie-date">juli 24, 2019</span></span> 526</li> 527 </ul> 528 <div class="clear"></div> 529 </div></div><!-- .widget /--></aside> 530<div class="clear"></div> <div class="clear"></div> 531 </div><!-- .container /--> 532 533 </div><!-- .container --> 534 535 <footer id="theme-footer" class="fade-in animated4"> 536 <div id="footer-widget-area" class="footer-1c container"> 537 538 <div id="footer-first" class="footer-widgets-box"> 539 <div id="text-html-widget-8" class="text-html-box" > 540 <center><a href="https://ec.europa.eu/info/research-and-innovation_en" target="_blank"><img border="0" alt="project-EW-flag" src="https://h2020-nemo.eu/wp-content/uploads/2018/03/flag_yellow_low-1-e1475235522761.jpg" width="120" height="100" style="vertical-align: center; margin-bottom: 10px;"></a><br /> 541This project has received funding from the European Union's EU Framework Programme for Research and Innovation Horizon 2020 under Grant Agreement No # 812788</center> </div> 542 </div> 543 544 545 546 547 548 </div><!-- #footer-widget-area --> 549 <div class="clear"></div> 550</footer><!-- .Footer /--> 551 <div class="clear"></div> 552 <div class="footer-bottom fade-in animated4"> 553 <div class="container"> 554 <div class="alignleft"> 555 </div> 556 </div><!-- .Container --> 557 </div><!-- .Footer bottom --> 558 559</div><!-- .Wrapper --> 560<div id="fb-root"></div>
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