A New Dynamic Self-Organizing Method for Mobile Robot Environment Mapping

To solve the mapping problem for the mobile robots in the unknown environment, a dynamic growing self-organizing map with growing-threshold tuning automatically algorithm (DGSOMGT) based on Self-organizing Map is proposed. It introduces a value of spread factor to describe the changing process of the growing threshold dynamically. The method realizes the network structure growing by training through mobile robot movement constantly in the unknown environment. The proposed algorithm is based on self-organizing map and can adjust the growing-threshold value by the number of network neurons increasing. It avoids tuning the parameters repeatedly by human. The experimental results show that the proposed method detects the complex environment quickly, effectively and correctly. The robot can realize environment mapping automatically. Compared with the other methods the proposed mapping strategy has better topological properties and time property.

Controlling the dynamic behavior of decentralized cluster through centralized approaches

How to control the dynamic behavior of large-scale artificial active matter is a critical concern in experimental research on soft matter, particularly regarding the emergence of collective behaviors and the formation of group patterns. Centralized systems excel in precise control over individual behavior within a group, ensuring high accuracy and controllability in task execution. Nevertheless, their sensitivity to group size may limit their adaptability to diverse tasks. In contrast, decentralized systems empower individuals with autonomous decision-making, enhancing adaptability and system robustness. Yet, this flexibility comes at the cost of reduced accuracy and efficiency in task execution. In this work, we present a unique method for regulating the centralized dynamic behavior of self-organizing clusters based on environmental interactions. Within this environment-coupled robot system, each robot possesses similar dynamic characteristics, and their internal programs are entirely identical. However, their behaviors can be guided by the centralized control of the environment, facilitating the accomplishment of diverse cluster tasks. This approach aims to balance the accuracy and flexibility of centralized control with the robustness and task adaptability of decentralized control. The proactive regulation of dynamic behavioral characteristics in active matter groups, demonstrated in this work through environmental interactions, holds the potential to introduce a novel technological approach and provide experimental references for studying the dynamic behavior control of large-scale artificial active matter systems.

Dynamics and genetic regulation of macronutrient concentrations during grain development in maize

Nitrogen(N), phosphorus(P), and potassium(K) are essential macronutrients that are crucial not only for maize growth and development, but also for crop yield and quality. The genetic basis of macronutrient dynamics and accumulation during grain filling in maize remains largely unknown. In this study, we evaluated grain N, P, and K concentrations in 206 recombinant inbred lines generated from a cross of DH1M and T877 at six time points after pollination. We then calculated conditional phenotypic values at different time intervals to explore the dynamic characteristics of the N, P, and K concentrations. Abundant phenotypic variations were observed in the concentrations and net changes of these nutrients. Unconditional quantitative trait locus(QTL) mapping revealed 41 non-redundant QTLs, including 17, 16, and 14 for the N, P, and K concentrations, respectively. Conditional QTL mapping uncovered 39 non-redundant QTLs related to net changes in the N, P, and K concentrations. By combining QTL, gene expression, co-expression analysis, and comparative genomic data, we identified 44, 36, and 44 candidate genes for the N, P, and K concentrations, respectively, including GRMZM2G371058 encoding a Doftype zinc finger DNA-binding family protein, which was associated with the N concentration, and GRMZM2G113967encoding a CBL-interacting protein kinase, which was related to the K concentration. The results deepen our understanding of the genetic factors controlling N, P, and K accumulation during maize grain development and provide valuable genes for the genetic improvement of nutrient concentrations in maize.

Analysis of morphological characteristics of gravels based on digital image processing technology and self-organizing map

A comprehensive understanding of spatial distribution and clustering patterns of gravels is of great significance for ecological restoration and monitoring.However,traditional methods for studying gravels are low-efficiency and have many errors.This study researched the spatial distribution and cluster characteristics of gravels based on digital image processing technology combined with a self-organizing map(SOM)and multivariate statistical methods in the grassland of northern Tibetan Plateau.Moreover,the correlation of morphological parameters of gravels between different cluster groups and the environmental factors affecting gravel distribution were analyzed.The results showed that the morphological characteristics of gravels in northern region(cluster C)and southern region(cluster B)of the Tibetan Plateau were similar,with a low gravel coverage,small gravel diameter,and elongated shape.These regions were mainly distributed in high mountainous areas with large topographic relief.The central region(cluster A)has high coverage of gravels with a larger diameter,mainly distributed in high-altitude plains with smaller undulation.Principal component analysis(PCA)results showed that the gravel distribution of cluster A may be mainly affected by vegetation,while those in clusters B and C could be mainly affected by topography,climate,and soil.The study confirmed that the combination of digital image processing technology and SOM could effectively analyzed the spatial distribution characteristics of gravels,providing a new mode for gravel research.

Processing map and dynamic recrystallization behaviours of 316LN-Mn austenitic stainless steel

The hot deformation behaviours of 316LN-Mn austenitic stainless steel were investigated by uniaxial isothermal compression tests at different temperatures and strain rates.The microstructural evolutions were also studied using electron backscatter diffraction.The flow stress decreases with the increasing temperature and decreasing strain rate.A constitutive equation was established to characterize the relationship among the deformation parameters,and the deformation activation energy was calculated to be 497.92 k J/mol.Processing maps were constructed to describe the appropriate processing window,and the optimum processing parameters were determined at a temperature of 1107-1160℃ and a strain rate of 0.005-0.026 s^(-1).Experimental results showed that the main nucleation mechanism is discontinuous dynamic recrystallization(DDRX),followed by continuous dynamic recrystallization(CDRX).In addition,the formation of twin boundaries facilitated the nucleation of dynamic recrystallization.

A New Dynamics Analysis Model for Five-Axis Machining of Curved Surface Based on Dimension Reduction and Mapping

The equipment used in various fields contains an increasing number of parts with curved surfaces of increasing size.Five-axis computer numerical control(CNC)milling is the main parts machining method,while dynamics analysis has always been a research hotspot.The cutting conditions determined by the cutter axis,tool path,and workpiece geometry are complex and changeable,which has made dynamics research a major challenge.For this reason,this paper introduces the innovative idea of applying dimension reduction and mapping to the five-axis machining of curved surfaces,and proposes an efficient dynamics analysis model.To simplify the research object,the cutter position points along the tool path were discretized into inclined plane five-axis machining.The cutter dip angle and feed deflection angle were used to define the spatial position relationship in five-axis machining.These were then taken as the new base variables to construct an abstract two-dimensional space and establish the mapping relationship between the cutter position point and space point sets to further simplify the dimensions of the research object.Based on the in-cut cutting edge solved by the space limitation method,the dynamics of the inclined plane five-axis machining unit were studied,and the results were uniformly stored in the abstract space to produce a database.Finally,the prediction of the milling force and vibration state along the tool path became a data extraction process that significantly improved efficiency.Two experiments were also conducted which proved the accuracy and efficiency of the proposed dynamics analysis model.This study has great potential for the online synchronization of intelligent machining of large surfaces.

Dynamic Event-Triggered Fixed-Time Consensus Control and Its Applications to Magnetic Map Construction

This article deals with the consensus problem of multi-agent systems by developing a fixed-time consensus control approach with a dynamic event-triggered rule. First, a new fixedtime stability condition is obtained where the less conservative settling time is given such that the theoretical settling time can well reflect the real consensus time. Second, a dynamic event-triggered rule is designed to decrease the use of chip and network resources where Zeno behaviors can be avoided after consensus is achieved, especially for finite/fixed-time consensus control approaches. Third, in terms of the developed dynamic event-triggered rule, a fixed-time consensus control approach by introducing a new item is proposed to coordinate the multi-agent system to reach consensus. The corresponding stability of the multi-agent system with the proposed control approach and dynamic eventtriggered rule is analyzed based on Lyapunov theory and the fixed-time stability theorem. At last, the effectiveness of the dynamic event-triggered fixed-time consensus control approach is verified by simulations and experiments for the problem of magnetic map construction based on multiple mobile robots.

Implementation and Evaluation of Local Dynamic Map in Safety Driving Systems

Cooperative safety driving systems using vehicle-to-vehicle and vehicle-to infrastructure communication are developed. Sensor data of vehicles and infrastructures are communicated in the cooperative safety driving system. LDM (Local Dynamic Map) is standardized by ETSI (European Telecommunications Standards Institute) to manage the vehicle sensor data and the map data. Implementations of LDM are reported on documents of ETSI, but there are no numerical results. The implementations of LDM are deployed the database management system. We think that the response time of the database becomes higher as the number of vehicles grows. In this paper, we have implemented and evaluated the LDM with the collision detection application.

Data-Driven Microstructure and Microhardness Design in Additive Manufacturing Using a Self-Organizing Map

To design microstructure and microhardness in the additive manufacturing(AM)of nickel(Ni)-based superalloys,the present work develops a novel data-driven approach that combines physics-based models,experimental measurements,and a data-mining method.The simulation is based on a computational thermal-fluid dynamics(CtFD)model,which can obtain thermal behavior,solidification parameters such as cooling rate,and the dilution of solidified clad.Based on the computed thermal information,dendrite arm spacing and microhardness are estimated using well-tested mechanistic models.Experimental microstructure and microhardness are determined and compared with the simulated values for validation.To visualize process-structure-properties(PSPs)linkages,the simulation and experimental datasets are input to a data-mining model-a self-organizing map(SOM).The design windows of the process parameters under multiple objectives can be obtained from the visualized maps.The proposed approaches can be utilized in AM and other data-intensive processes.Data-driven linkages between process,structure,and properties have the potential to benefit online process monitoring control in order to derive an ideal microstructure and mechanical properties.

Patterns of upper layer circulation variability in the South China Sea from satellite altimetry using the self-organizing map

Patterns of the South China Sea (SCS) circulation variability are extracted from merged satellite altimetry data from October 1992 through August 2004 by using the self-organizing map (SOM). The annual cycle, seasonal and inter-annual variations of the SCS surface circulation are identified through the evolution of the characteristic circulation patterns.The annual cycle of the SCS general circulation patterns is described as a change between two opposite basin-scale SW-NE oriented gyres embedded with eddies: low sea surface height anomaly (SSHA) (cyclonic) in winter and high SSHA (anticyclonic) in summer half year. The transition starts from July—August (January—February) with a high (low) SSHA tongue east of Vietnam around 12°~14° N, which develops into a big anticyclonic (cyclonic) gyre while moving eastward to the deep basin. During the transitions, a dipole structure, cyclonic (anticyclonic) in the north and anticyclonic (cyclonic) in the south, may be formed southeast off Vietnam with a strong zonal jet around 10°~12° N. The seasonal variation is modulated by the interannual variations. Besides the strong 1997/1998 event in response to the peak Pacific El Nio in 1997, the overall SCS sea level is found to have a significant rise during 1999~2001, however, in summer 2004 the overall SCS sea level is lower and the basin-wide anticyclonic gyre becomes weaker than the other years.

Mapping equivalent approach to analysis and realization of memristor-based dynamical circuit

A novel mapping equivalent approach is proposed in this paper, which can be used for analyzing and realizing a memristor-based dynamical circuit equivalently by a nonlinear dynamical circuit with the same topologies and circuit parameters. A memristor-based chaotic circuit and the corresponding Chua＇s chaotic circuit with two output differentiators are taken as examples to illustrate this approach. Equivalent dynamical analysis and realization of the memristor-based chaotic circuit are performed by using Chua＇s chaotic circuit. The results indicate that the outputs of memristor-based chaotic circuit and the corresponding outputs of Chua＇s chaotic circuit have identical dynamics. The proposed approach verified by numerical simulations and experimental observations is useful in designing and analyzing memristor-based dynamical circuits.

Hydrogeochemical characterization and quality assessment of groundwater using self-organizing maps in the Hangjinqi gasfield area,Ordos Basin,NW China

Water resources are scarce in arid or semiarid areas,which not only limits economic development,but also threatens the survival of mankind.The local communities around the Hangjinqi gasfield depend on groundwater sources for water supply.A clear understanding of the groundwater hydrogeochemical characteristics and the groundwater quality and its seasonal cycle is invaluable and indispensable for groundwater protection and management.In this study,self-organizing maps were used in combination with the quantization and topographic errors and K-means clustering method to investigate groundwater chemistry datasets.The Piper and Gibbs diagrams and saturation index were systematically applied to investigate the hydrogeochemical characteristics of groundwater from both rainy and dry seasons.Further,the entropy-weighted theory was used to characterize groundwater quality and assess its seasonal variability and suitability for drinking purposes.Our hydrochemical groundwater dataset,consisting of 10 parameters measured during both dry and rainy seasons,was classified into 6 clusters,and the Piper diagram revealed three hydrochemical facies:Cl-Na type(clusters 1,2 and 3),mixed type(clusters 4 and 5),and HCO3-Ca type(cluster 6).The Gibbs diagram and saturation index suggested thatweathering of rock-forming mineralswere the primary process controlling groundwater chemical composition and validated the credibility and practicality of the clustering results.Two-thirds of 45 groundwater samples were categorized as excellent-or good-quality and were suitable as drinking water.Cluster changes within the same and different clusters from the dry season to the rainy season were detected in approximately 78%of the collected samples.The main factors affecting the groundwater quality were hydrogeochemical characteristics,and dry season groundwater quality was better than rainy season groundwater quality.Based on this work,such results can be used to investigate the seasonal variation of hydrogeochemical characteristics and assess water quality accurately in the others similar area.

Application of Self-Organizing Feature Map Neural Network Based on K-means Clustering in Network Intrusion Detection

Due to the widespread use of the Internet,customer information is vulnerable to computer systems attack,which brings urgent need for the intrusion detection technology.Recently,network intrusion detection has been one of the most important technologies in network security detection.The accuracy of network intrusion detection has reached higher accuracy so far.However,these methods have very low efficiency in network intrusion detection,even the most popular SOM neural network method.In this paper,an efficient and fast network intrusion detection method was proposed.Firstly,the fundamental of the two different methods are introduced respectively.Then,the selforganizing feature map neural network based on K-means clustering(KSOM)algorithms was presented to improve the efficiency of network intrusion detection.Finally,the NSLKDD is used as network intrusion data set to demonstrate that the KSOM method can significantly reduce the number of clustering iteration than SOM method without substantially affecting the clustering results and the accuracy is much higher than Kmeans method.The Experimental results show that our method can relatively improve the accuracy of network intrusion and significantly reduce the number of clustering iteration.

CLUSTERING PROPERTIES OF FUZZY KOHONEN'S SELF-ORGANIZING FEATURE MAPS

A new clustering algorithm called fuzzy self-organizing feature maps is introduced. It can process not only the exact digital inputs, but also the inexact or fuzzy non-digital inputs, such as natural language inputs. Simulation results show that the new algorithm is superior to original Kohonen’s algorithm in clustering performance and learning rate.

Statistical Approaches to Mapping QTL of Dynamic Traits

Quantitative traits whose phenotypic values change with time or other quantitative factor are called dynamic quantitative traits. Genetic analyses of dynamic traits are usually conducted in one of two ways. One is to treat phenotypic values collected at different time points as repeated measurements of the same trait, which are analyzed in the framework of multivariate theory. Alternatively, a growth curve may be fit to the phenotypes at multiple time points and inference can be made through the parameters of the growth trajectories. The latter has been used in QTL mapping for developmental traits and resulted in an appearance of the functional mapping strategy. Aiming at the disadvantages of functional mapping strategy, we propose to replace the nonlinear and non-additive model biological meaningful by the orthogonal polynomial or B-Spline model to fit dynamic curves with arbitrary shape and analyze arbitrary complicated data, and the constant residual covariance matrix by the alterable one calculated by using auto-correlation function to deal with discrepancies in measurement schedule of phenotype among progenies. A novel RRM mapping strategy was developed for mapping QTL of dynamic traits, which performs higher detecting efficiency than functional mapping, especially for detection of multiple QTL, has been proved by our simulations and data analysis. Finally, a simplified and effective mapping strategy was further discussed by integrating functional mapping and RRM mapping strategies.

Dimensionality Reduction Using Optimized Self-Organized Map Technique for Hyperspectral Image Classification

The high dimensionalhyperspectral image classification is a challenging task due to the spectral feature vectors.The high correlation between these features and the noises greatly affects the classification performances.To overcome this,dimensionality reduction techniques are widely used.Traditional image processing applications recently propose numerous deep learning models.However,in hyperspectral image classification,the features of deep learning models are less explored.Thus,for efficient hyperspectral image classification,a depth-wise convolutional neural network is presented in this research work.To handle the dimensionality issue in the classification process,an optimized self-organized map model is employed using a water strider optimization algorithm.The network parameters of the self-organized map are optimized by the water strider optimization which reduces the dimensionality issues and enhances the classification performances.Standard datasets such as Indian Pines and the University of Pavia(UP)are considered for experimental analysis.Existing dimensionality reduction methods like Enhanced Hybrid-Graph Discriminant Learning(EHGDL),local geometric structure Fisher analysis(LGSFA),Discriminant Hyper-Laplacian projection(DHLP),Group-based tensor model(GBTM),and Lower rank tensor approximation(LRTA)methods are compared with proposed optimized SOM model.Results confirm the superior performance of the proposed model of 98.22%accuracy for the Indian pines dataset and 98.21%accuracy for the University of Pavia dataset over the existing maximum likelihood classifier,and Support vector machine(SVM).

Adaptive Surrogate Model Based Optimization (ASMBO) for Unknown Groundwater Contaminant Source Characterizations Using Self-Organizing Maps

Characterization of unknown groundwater contaminant sources in terms of location, magnitude and duration of source activity is a complex problem. In this study, to increase the efficiency and accuracy of source characterization an alternative methodology to the methodologies proposed earlier is developed. This methodology, Adaptive Surrogate Modeling Based Optimization (ASMBO) uses the capabilities of Self Organizing Map (SOM) algorithm to design the surrogate models and adaptive surrogate models for source characterization. The most important advantage of this methodology is its direct utilization for groundwater contaminant characterization without the necessity of utilizing a linked simulation optimization model. The validation of the SOM based surrogate models and SOM based adaptive surrogate models demonstrates that the quantity and quality of initial sample sizes have crucial role on the accuracy of solutions as the designed monitoring locations. The performance evaluation results of the proposed methodology are obtained using error free and erroneous concentration measurement data. These results demonstrate that the developed methodology could approximate groundwater flow and transport simulation models, and substitute the optimization model for characterization of unknown groundwater contaminant sources in terms of location, magnitude and duration of source activity.

Intrusion Detection Method Based on Improved Growing Hierarchical Self-Organizing Map

Considering that growing hierarchical self-organizing map(GHSOM) ignores the influence of individual component in sample vector analysis, and its accurate rate in detecting unknown network attacks is relatively lower, an improved GHSOM method combined with mutual information is proposed. After theoretical analysis, experiments are conducted to illustrate the effectiveness of the proposed method by accurately clustering the input data. Based on different clusters, the complex relationship within the data can be revealed effectively.

Waterlogging risk assessment based on self-organizing map(SOM)artificial neural networks:a case study of an urban storm in Beijing

Due to rapid urbanization, waterlogging induced by torrential rainfall has become a global concern and a potential risk affecting urban habitant's safety. Widespread waterlogging disasters haveoccurred almost annuallyinthe urban area of Beijing, the capital of China. Based on a selforganizing map(SOM) artificial neural network(ANN), a graded waterlogging risk assessment was conducted on 56 low-lying points in Beijing, China. Social risk factors, such as Gross domestic product(GDP), population density, and traffic congestion, were utilized as input datasets in this study. The results indicate that SOM-ANNis suitable for automatically and quantitatively assessing risks associated with waterlogging. The greatest advantage of SOM-ANN in the assessment of waterlogging risk is that a priori knowledge about classification categories and assessment indicator weights is not needed. As a result, SOM-ANN can effectively overcome interference from subjective factors,producing classification results that are more objective and accurate. In this paper, the risk level of waterlogging in Beijing was divided into five grades. The points that were assigned risk grades of IV or Vwere located mainly in the districts of Chaoyang, Haidian, Xicheng, and Dongcheng.

A survey: which features are required for dynamic visual simultaneous localization and mapping?

In recent years,simultaneous localization and mapping in dynamic environments(dynamic SLAM)has attracted significant attention from both academia and industry.Some pioneering work on this technique has expanded the potential of robotic applications.Compared to standard SLAM under the static world assumption,dynamic SLAM divides features into static and dynamic categories and leverages each type of feature properly.Therefore,dynamic SLAM can provide more robust localization for intelligent robots that operate in complex dynamic environments.Additionally,to meet the demands of some high-level tasks,dynamic SLAM can be integrated with multiple object tracking.This article presents a survey on dynamic SLAM from the perspective of feature choices.A discussion of the advantages and disadvantages of different visual features is provided in this article.