Semi-analytical solution for drained expansion analysis of a hollow cylinder of critical state soils

The expansion of a thick-walled hollow cylinder in soil is of non-self-similar nature that the stress/deformation paths are not the same for different soil material points.As a result,this problem cannot be solved by the common self-similar-based similarity techniques.This paper proposes a novel,exact solution for rigorous drained expansion analysis of a hollow cylinder of critical state soils.Considering stress-dependent elastic moduli of soils,new analytical stress and displacement solutions for the nonself-similar problem are developed taking the small strain assumption in the elastic zone.In the plastic zone,the cavity expansion response is formulated into a set of first-order partial differential equations(PDEs)with the combination use of Eulerian and Lagrangian descriptions,and a novel solution algorithm is developed to efficiently solve this complex boundary value problem.The solution is presented in a general form and thus can be useful for a wide range of soils.With the new solution,the non-self-similar nature induced by the finite outer boundary is clearly demonstrated and highlighted,which is found to be greatly different to the behaviour of cavity expansion in infinite soil mass.The present solution may serve as a benchmark for verifying the performance of advanced numerical techniques with critical state soil models and be used to capture the finite boundary effect for pressuremeter tests in small-sized calibration chambers.

Rheological properties and concentration evolution of thickened tailings under the coupling effect of compression and shear

Cemented paste backfill(CPB)is a key technology for green mining in metal mines,in which tailings thickening comprises the primary link of CPB technology.However,difficult flocculation and substandard concentrations of thickened tailings often occur.The rheological properties and concentration evolution in the thickened tailings remain unclear.Moreover,traditional indoor thickening experiments have yet to quantitatively characterize their rheological properties.An experiment of flocculation condition optimization based on the Box-Behnken design(BBD)was performed in the study,and the two response values were investigated:concentration and the mean weighted chord length(MWCL)of flocs.Thus,optimal flocculation conditions were obtained.In addition,the rheological properties and concentration evolution of different flocculant dosages and ultrafine tailing contents under shear,compression,and compression-shear coupling experimental conditions were tested and compared.The results show that the shear yield stress under compression and compression-shear coupling increases with the growth of compressive yield stress,while the shear yield stress increases slightly under shear.The order of shear yield stress from low to high under different thickening conditions is shear,compression,and compression-shear coupling.Under compression and compression-shear coupling,the concentration first rapidly increases with the growth of compressive yield stress and then slowly increases,while concentration increases slightly under shear.The order of concentration from low to high under different thickening conditions is shear,compression,and compression-shear coupling.Finally,the evolution mechanism of the flocs and drainage channels during the thickening of the thickened tailings under different experimental conditions was revealed.

Swelling pressure evolution characterization of strong expansive soil considering the influence of reserved expansion deformation

Numerous engineering cases have demonstrated that the expansive soil channel slope remains susceptible to damage with the implementation of a rigid or closed protective structure. It is common for the protective structure to experience bulging failure due to excessive swelling pressure. To investigate the swelling pressure properties of expansive soil, the constant volume test was employed to study the influence of water content and reserved expansion deformation on the characteristics of swelling pressure in strong expansive soils, and also to explore the evolution mechanism of the swelling pressure. The findings demonstrate that the swelling pressure-time curve can be classified into swelling pressure-time softening and swelling pressure-time stability type. The swelling pressuretime curve of the specimen with low water content is the swelling pressure-time softening type, and the softening level will be weakened with increasing reserved expansion deformation. Besides, the maximum swelling pressure Psmax decreases with increasing water content and reserved expansion deformation, especially for expansion ratio η from 24% to 37%. The reserved deformation has little effect on reducing Psmax when it is beyond 7% of the expansion rate. The specimen with low water content has a more homogeneous structure due to the significant expansion-filling effect, and the fracture and reorganization of the aggregates in the specimens with low water content cause the swelling pressure-time softening behavior. In addition, the proposed swelling pressure-time curve prediction model has a good prediction on the test results. If necessary, a deformation space of about 7% expansion rate is recommended to be reserved in the engineering to reduce the swelling pressure except for keeping a stable water content.

Color Image Compression and Encryption Algorithm Based on 2D Compressed Sensing and Hyperchaotic System

With the advent of the information security era,it is necessary to guarantee the privacy,accuracy,and dependable transfer of pictures.This study presents a new approach to the encryption and compression of color images.It is predicated on 2D compressed sensing(CS)and the hyperchaotic system.First,an optimized Arnold scrambling algorithm is applied to the initial color images to ensure strong security.Then,the processed images are con-currently encrypted and compressed using 2D CS.Among them,chaotic sequences replace traditional random measurement matrices to increase the system’s security.Third,the processed images are re-encrypted using a combination of permutation and diffusion algorithms.In addition,the 2D projected gradient with an embedding decryption(2DPG-ED)algorithm is used to reconstruct images.Compared with the traditional reconstruction algorithm,the 2DPG-ED algorithm can improve security and reduce computational complexity.Furthermore,it has better robustness.The experimental outcome and the performance analysis indicate that this algorithm can withstand malicious attacks and prove the method is effective.

Expansion of human umbilical cord derived mesenchymal stem cells in regenerative medicine

BACKGROUND Stem cells are undifferentiated cells that possess the potential for self-renewal with the capacity to differentiate into multiple lineages.In humans,their limited numbers pose a challenge in fulfilling the necessary demands for the regeneration and repair of damaged tissues or organs.Studies suggested that mesenchymal stem cells(MSCs),necessary for repair and regeneration via transplantation,require doses ranging from 10 to 400 million cells.Furthermore,the limited expansion of MSCs restricts their therapeutic application.AIM To optimize a novel protocol to achieve qualitative and quantitative expansion of MSCs to reach the targeted number of cells for cellular transplantation and minimize the limitations in stem cell therapy protocols.METHODS Human umbilical cord(hUC)tissue derived MSCs were obtained and re-cultured.These cultured cells were subjected to the following evaluation pro-cedures:Immunophenotyping,immunocytochemical staining,trilineage differentiation,population doubling time and number,gene expression markers for proliferation,cell cycle progression,senescence-associatedβ-galactosidase assay,human telomerase reverse transcriptase(hTERT)expression,mycoplasma,cytomegalovirus and endotoxin detection.RESULTS Analysis of pluripotent gene markers Oct4,Sox2,and Nanog in recultured hUC-MSC revealed no significant differences.The immunophenotypic markers CD90,CD73,CD105,CD44,vimentin,CD29,Stro-1,and Lin28 were positively expressed by these recultured expanded MSCs,and were found negative for CD34,CD11b,CD19,CD45,and HLA-DR.The recultured hUC-MSC population continued to expand through passage 15.Proliferative gene expression of Pax6,BMP2,and TGFb1 showed no significant variation between recultured hUC-MSC groups.Nevertheless,a significant increase(P<0.001)in the mitotic phase of the cell cycle was observed in recultured hUC-MSCs.Cellular senescence markers(hTERT expression andβ-galactosidase activity)did not show any negative effect on recultured hUC-MSCs.Additionally,quality control assessments consistently confirmed the absence of mycoplasma,cytomegalovirus,and endotoxin contamination.CONCLUSION This study proposes the development of a novel protocol for efficiently expanding stem cell population.This would address the growing demand for larger stem cell doses needed for cellular transplantation and will significantly improve the feasibility of stem cell based therapies.

Significant lake expansion has accelerated permafrost degradation on the Qinghai-Tibet Plateau

In recent years, lakes on the Qinghai-Tibet Plateau have become more responsive to climate change. In September 2011, Zonag Lake in Hoh Xil experienced sudden drainage, the water eventually flowed into Yanhu Lake, which caused Yanhu Lake to continue to expand. The potential collapse of Yanhu Lake could directly threaten the operational safety of the adjacent Qinghai-Tibet Highway, Qinghai-Tibet Railway. To explore the implications of expanding lakes on the surrounding permafrost, we selected Hoh Xil Yanhu Lake on the Qinghai-Tibet Plateau to study the effect of lake expansion on permafrost degradation. The permafrost degradation in the Yanhu Lake basin from October 2017 to December 2022 was inverted using Sentinel-1 satellite image data and small baseline subset interferometry synthetic aperture radar(SBAS-In SAR) technology. Additionally, permafrost degradation from February 2007 and February 2010 was analyzed using advanced land observing satellite phased array-type L-band synthetic aperture radar(ALOS PALSAR) satellite images and differential interferometric synthetic aperture radar(D-In SAR) technique. The results showed that the permafrost around Yanhu Lake experienced accelerated degradation. Prior to the expansion of Yanhu Lake, the average annual deformation rate along the line of sight(LOS) direction was 6.7 mm/yr. After the expansion, the rate increased to 20.9 mm/yr. The integration of spatial-temporal distribution maps of surface subsidence, Wudaoliang borehole geothermal data, meteorological data, Yanhu Lake surface area changes, and water level changes supports the assertion that the intensified permafrost degradation could be attributed to lake expansion rather than the rising air temperature. Furthermore, permafrost degradation around Yanhu Lake could impact vital infrastructure such as the adjacent Qinghai-Tibet Highway and Qinghai-Tibet Railway.

Information-Theoretic Limits on Compression of Semantic Information

As conventional communication systems based on classic information theory have closely approached Shannon capacity,semantic communication is emerging as a key enabling technology for the further improvement of communication performance.However,it is still unsettled on how to represent semantic information and characterise the theoretical limits of semantic-oriented compression and transmission.In this paper,we consider a semantic source which is characterised by a set of correlated random variables whose joint probabilistic distribution can be described by a Bayesian network.We give the information-theoretic limit on the lossless compression of the semantic source and introduce a low complexity encoding method by exploiting the conditional independence.We further characterise the limits on lossy compression of the semantic source and the upper and lower bounds of the rate-distortion function.We also investigate the lossy compression of the semantic source with two-sided information at the encoder and decoder,and obtain the corresponding rate distortion function.We prove that the optimal code of the semantic source is the combination of the optimal codes of each conditional independent set given the side information.

Research on the Generation Mechanism and Suppression Method of Aerodynamic Noise in Expansion Cavity Based on Hybrid Method

The expansion chamber serves as the primary silencing structure within the exhaust pipeline.However,it can also act as a sound-emitting structure when subjected to airflow.This article presents a hybrid method for numerically simulating and analyzing the unsteady flow and aerodynamic noise in an expansion chamber under the influence of airflow.A fluid simulation model is established,utilizing the Large Eddy Simulation(LES)method to calculate the unsteady flow within the expansion chamber.The simulation results effectively capture the development and changes of the unsteady flow and vorticity inside the cavity,exhibiting a high level of consistency with experimental observations.To calculate the aerodynamic noise sources within the cavity,the flow field results are integrated using the method of integral interpolation and inserted into the acoustic grid.The acoustic analogy method is then employed to determine the aerodynamic noise sources.An acoustic simulation model is established,and the flow noise source is imported into the sound field grid to calculate the sound pressure at the far-field response point.The calculated sound pressure levels and resonance frequencies show good agreement with the experimental results.To address the issue of airflow regeneration noise within the cavity,perforated tubes are selected as a means of noise suppression.An experimental platformfor airflow regeneration noise is constructed,and experimental samples are processed to analyze and verify the noise suppression effect of perforated tube expansion cavities under different airflow velocities.The research findings indicate that the perforated tube expansion cavity can effectively suppress low-frequency aerodynamic noise within the cavity by impeding the formation of strong shear layers.Moreover,the semi-perforated tube expansion cavity demonstrates the most effective suppression of aerodynamic noise.

Stochastic programming based coordinated expansion planning of generation,transmission,demand side resources,and energy storage considering the DC transmission system

With the increasing penetration of wind and solar energies,the accompanying uncertainty that propagates in the system places higher requirements on the expansion planning of power systems.A source-grid-load-storage coordinated expansion planning model based on stochastic programming was proposed to suppress the impact of wind and solar energy fluctuations.Multiple types of system components,including demand response service entities,converter stations,DC transmission systems,cascade hydropower stations,and other traditional components,have been extensively modeled.Moreover,energy storage systems are considered to improve the accommodation level of renewable energy and alleviate the influence of intermittence.Demand-response service entities from the load side are used to reduce and move the demand during peak load periods.The uncertainties in wind,solar energy,and loads were simulated using stochastic programming.Finally,the effectiveness of the proposed model is verified through numerical simulations.

The Negative Thermal Expansion Property of NdMnO_(3) Based on Pores Effect and Phase Transition

A novel negative thermal expansion(NTE) material NdMnO_(3) was synthesized by solid-state method at 1 523 K. The crystal structure, phase transition, pores effect and negative expansion properties of NdMnO_(3) were investigated by variable temperature X-ray diffraction(XRD), scanning electron microscope(SEM) and variable temperature Raman spectra. The compound exhibits NTE properties in the orderly O' phase crystal structure. When the temperature is from 293 to 759 K, the ceramic NdMnO_(3) shows negative thermal expansion of-4.7×10^(-6)/K. As temperature increases, the ceramic NdMnO_(3) presents NTE property range from 759 to 1 007 K. The average linear expansion coefficient is-18.88×10^(-6)/K. The physical mechanism of NTE is discussed and clarified through experiments.

A Novel Quantization and Model Compression Approach for Hardware Accelerators in Edge Computing

Massive computational complexity and memory requirement of artificial intelligence models impede their deploy-ability on edge computing devices of the Internet of Things(IoT).While Power-of-Two(PoT)quantization is pro-posed to improve the efficiency for edge inference of Deep Neural Networks(DNNs),existing PoT schemes require a huge amount of bit-wise manipulation and have large memory overhead,and their efficiency is bounded by the bottleneck of computation latency and memory footprint.To tackle this challenge,we present an efficient inference approach on the basis of PoT quantization and model compression.An integer-only scalar PoT quantization(IOS-PoT)is designed jointly with a distribution loss regularizer,wherein the regularizer minimizes quantization errors and training disturbances.Additionally,two-stage model compression is developed to effectively reduce memory requirement,and alleviate bandwidth usage in communications of networked heterogenous learning systems.The product look-up table(P-LUT)inference scheme is leveraged to replace bit-shifting with only indexing and addition operations for achieving low-latency computation and implementing efficient edge accelerators.Finally,comprehensive experiments on Residual Networks(ResNets)and efficient architectures with Canadian Institute for Advanced Research(CIFAR),ImageNet,and Real-world Affective Faces Database(RAF-DB)datasets,indicate that our approach achieves 2×∼10×improvement in the reduction of both weight size and computation cost in comparison to state-of-the-art methods.A P-LUT accelerator prototype is implemented on the Xilinx KV260 Field Programmable Gate Array(FPGA)platform for accelerating convolution operations,with performance results showing that P-LUT reduces memory footprint by 1.45×,achieves more than 3×power efficiency and 2×resource efficiency,compared to the conventional bit-shifting scheme.

An Interpolation Method for Karhunen-Loève Expansion of Random Field Discretization

In the context of global mean square error concerning the number of random variables in the representation,the Karhunen–Loève(KL)expansion is the optimal series expansion method for random field discretization.The computational efficiency and accuracy of the KL expansion are contingent upon the accurate resolution of the Fredholm integral eigenvalue problem(IEVP).The paper proposes an interpolation method based on different interpolation basis functions such as moving least squares(MLS),least squares(LS),and finite element method(FEM)to solve the IEVP.Compared with the Galerkin method based on finite element or Legendre polynomials,the main advantage of the interpolation method is that,in the calculation of eigenvalues and eigenfunctions in one-dimensional random fields,the integral matrix containing covariance function only requires a single integral,which is less than a two-folded integral by the Galerkin method.The effectiveness and computational efficiency of the proposed interpolation method are verified through various one-dimensional examples.Furthermore,based on theKL expansion and polynomial chaos expansion,the stochastic analysis of two-dimensional regular and irregular domains is conducted,and the basis function of the extended finite element method(XFEM)is introduced as the interpolation basis function in two-dimensional irregular domains to solve the IEVP.

A whole process damage constitutive model for layered sandstone under uniaxial compression based on Logistic function

Bedding structural planes significantly influence the mechanical properties and stability of engineering rock masses.This study conducts uniaxial compression tests on layered sandstone with various bedding angles(0°,15°,30°,45°,60°,75°and 90°)to explore the impact of bedding angle on the deformational mechanical response,failure mode,and damage evolution processes of rocks.It develops a damage model based on the Logistic equation derived from the modulus’s degradation considering the combined effect of the sandstone bedding dip angle and load.This model is employed to study the damage accumulation state and its evolution within the layered rock mass.This research also introduces a piecewise constitutive model that considers the initial compaction characteristics to simulate the whole deformation process of layered sandstone under uniaxial compression.The results revealed that as the bedding angle increases from 0°to 90°,the uniaxial compressive strength and elastic modulus of layered sandstone significantly decrease,slightly increase,and then decline again.The corresponding failure modes transition from splitting tensile failure to slipping shear failure and back to splitting tensile failure.As indicated by the modulus’s degradation,the damage characteristics can be categorized into four stages:initial no damage,damage initiation,damage acceleration,and damage deceleration termination.The theoretical damage model based on the Logistic equation effectively simulates and predicts the entire damage evolution process.Moreover,the theoretical constitutive model curves closely align with the actual stress−strain curves of layered sandstone under uniaxial compression.The introduced constitutive model is concise,with fewer parameters,a straightforward parameter determination process,and a clear physical interpretation.This study offers valuable insights into the theory of layered rock mechanics and holds implications for ensuring the safety of rock engineering.

An agent-based model of agricultural land expansion in the mountain forest of Timor Island,Indonesia

The Mutis-Timau Forest Complex,located on Timor Island,Indonesia,is a mountainous tropical forest area that gradually decreases due to deforestation and forest degradation.Previous modelling studies based on patterns indicate that deforestation primarily occurs at lower elevations and near the boundaries of forests and settlements,often associated with shifting cultivation by local farmers.This study adopts a process-based modelling approach,specifically the agent-based model,to simulate land changes,particularly farmers'expansion of agricultural land around the Mutis mountain forest.The underlying concept of this agent-based approach is the interaction between the human and environmental systems.Farmers,representing the human system,interact with the land,which represents the environmental system,through land use decision-making mechanisms.The research was conducted in the Community Forest of the Timor Tengah Utara District,one of the sites within the Mutis-Timau Forest Complex with the highest deforestation rate.Land use change simulations were performed using agent-based modelling from 1999 to 2030,considering the socio-economic conditions of farmers,spatial preferences,land use decisions,and natural transitions.The results revealed that the agricultural area increased by 14%under the Business as Usual scenario and 5%under the Reducing Emission from Deforestation and Forest Degradation scenario,compared to the initial agricultural area of 245 hectares.The probability of farmers deciding to extend agricultural activities was positively associated with the number of livestock maintained by farmers and the size of the village area.Conversely,the likelihood of farmers opting for agricultural extensification decreased with an increase in the area of private land and the farmer's age.These findings are crucial for the managers of the Mutis-Timau Forest Complex and other relevant stakeholders,as they aid in arranging actions to combat deforestation,designing proper forest-related policies,and providing support for initiatives such as reducing emissions from deforestation and forest degradation programs or further incentive schemes.

Atomistic evaluation of tension–compression asymmetry in nanoscale body-centered-cubic AlCrFeCoNi high-entropy alloy

The tension and compression of face-centered-cubic high-entropy alloy(HEA) nanowires are significantly asymmetric, but the tension–compression asymmetry in nanoscale body-centered-cubic(BCC) HEAs is still unclear. In this study,the tension–compression asymmetry of the BCC Al Cr Fe Co Ni HEA nanowire is investigated using molecular dynamics simulations. The results show a significant asymmetry in both the yield and flow stresses, with BCC HEA nanowire stronger under compression than under tension. The strength asymmetry originates from the completely different deformation mechanisms in tension and compression. In compression, atomic amorphization dominates plastic deformation and contributes to the strengthening, while in tension, deformation twinning prevails and weakens the HEA nanowire.The tension–compression asymmetry exhibits a clear trend of increasing with the increasing nanowire cross-sectional edge length and decreasing temperature. In particular, the compressive strengths along the [001] and [111] crystallographic orientations are stronger than the tensile counterparts, while the [110] crystallographic orientation shows the exactly opposite trend. The dependences of tension–compression asymmetry on the cross-sectional edge length, crystallographic orientation,and temperature are explained in terms of the deformation behavior of HEA nanowire as well as its variations caused by the change in these influential factors. These findings may deepen our understanding of the tension–compression asymmetry of the BCC HEA nanowires.

Higher-order expansions of powered extremes of logarithmic general error distribution

In this paper,Let M_(n)denote the maximum of logarithmic general error distribution with parameter v≥1.Higher-order expansions for distributions of powered extremes M_(n)^(p)are derived under an optimal choice of normalizing constants.It is shown that M_(n)^(p),when v=1,converges to the Frechet extreme value distribution at the rate of 1/n,and if v>1 then M_(n)^(p)converges to the Gumbel extreme value distribution at the rate of(loglogn)^(2)=(log n)^(1-1/v).

Optimizing Deep Learning for Computer-Aided Diagnosis of Lung Diseases: An Automated Method Combining Evolutionary Algorithm, Transfer Learning, and Model Compression

Recent developments in Computer Vision have presented novel opportunities to tackle complex healthcare issues,particularly in the field of lung disease diagnosis.One promising avenue involves the use of chest X-Rays,which are commonly utilized in radiology.To fully exploit their potential,researchers have suggested utilizing deep learning methods to construct computer-aided diagnostic systems.However,constructing and compressing these systems presents a significant challenge,as it relies heavily on the expertise of data scientists.To tackle this issue,we propose an automated approach that utilizes an evolutionary algorithm(EA)to optimize the design and compression of a convolutional neural network(CNN)for X-Ray image classification.Our approach accurately classifies radiography images and detects potential chest abnormalities and infections,including COVID-19.Furthermore,our approach incorporates transfer learning,where a pre-trainedCNNmodel on a vast dataset of chest X-Ray images is fine-tuned for the specific task of detecting COVID-19.This method can help reduce the amount of labeled data required for the task and enhance the overall performance of the model.We have validated our method via a series of experiments against state-of-the-art architectures.

Can Industrial Structure Upgrading Restrain Industrial Land Expansion?Evidence from China

China has made great achievements in industrial development and is transforming into a powerful manufacturing country.Meanwhile,the industrial land scale is also expanding.However,whether industrial structure upgrading achieves the purpose of restraining industrial land expansion remains unanswered.By calculating the industrial land structure index(ILSI)and industrial land expansion scale(ILES),this study analyzed their temporal and spatial distribution characteristics at both regional and city levels from 2007to 2020 in China.Results show that industrial land expansion presents a different trend in the four regions,the ILES in the eastern region is the largest,and the speed of industrial land expansion has declined since 2013,but it has gradually increased since 2016.The ILSI of the eastern and central regions is higher than that of the western and northeastern regions.Furthermore,a spatial Durbin model(SDM)has been established to estimate the spatial effect of industrial structure upgrading on industrial land expansion from 2007 to2020.Notably,industrial structure upgrading has not slowed industrial land expansion.The eastern and western regions require a greater amount of industrial land while upgrading the industrial structure.The improvement of the infrastructure level and international trade level has promoted industrial land expansion.

A numerical survey of parameters to reach ignition condition for axial compression of a large-sized field reversed configuration

Field reversed configuration(FRC)is widely considered as an ideal target plasma for magnetoinertial fusion.However,its confinement and stability,both proportional to the radius,will deteriorate inevitably during radial compression.Hence,we propose a new fusion approach based on axial compression of a large-sized FRC.The axial compression can be made by plasma jets or plasmoids converging onto the axial ends of the FRC.The parameter space that can reach the ignition condition while preserving the FRC's overall quality is studied using a numerical model based on different FRC confinement scalings.It is found that ignition is possible for a large FRC that can be achieved with the current FRC formation techniques if compression ratio is greater than 50.A more realistic compression is to combine axial with moderate radial compression,which is also presented and calculated in this work.

Adaptive Space Expansion for Fast Motion Planning

The sampling process is very inefficient for sam-pling-based motion planning algorithms that excess random sam-ples are generated in the planning space.In this paper,we pro-pose an adaptive space expansion(ASE)approach which belongs to the informed sampling category to improve the sampling effi-ciency for quickly finding a feasible path.The ASE method enlarges the search space gradually and restrains the sampling process in a sequence of small hyper-ellipsoid ring subsets to avoid exploring the unnecessary space.Specifically,for a con-structed small hyper-ellipsoid ring subset,if the algorithm cannot find a feasible path in it,then the subset is expanded.Thus,the ASE method successively does space exploring and space expan-sion until the final path has been found.Besides,we present a particular construction method of the hyper-ellipsoid ring that uniform random samples can be directly generated in it.At last,we present a feasible motion planner BiASE and an asymptoti-cally optimal motion planner BiASE*using the bidirectional exploring method and the ASE strategy.Simulations demon-strate that the computation speed is much faster than that of the state-of-the-art algorithms.The source codes are available at https://github.com/shshlei/ompl.