Obstacle avoidance by ultrasonic sensor is a normal instrument, but phantom target may influence robot.
超声传感器是移动机器人避障常用的传感器．但存在幻影的干扰。
Methods Using a homogeneity water equivalent rectangular phantom, the dose gradients at the interface of target volume and normal tissue was evaluated under different scatter radii.
方法采用均质水等效矩形体模，在不同散射半径条件下观察靶区和正常组织界面上的剂量梯度随散射半径的变化。
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