Fast UAV path planning in urban environments based on three-step experience buffer sampling DDPG

The path planning of Unmanned Aerial Vehicle(UAV)is a critical issue in emergency communication and rescue operations,especially in adversarial urban environments.Due to the continuity of the flying space,complex building obstacles,and the aircraft's high dynamics,traditional algorithms cannot find the optimal collision-free flying path between the UAV station and the destination.Accordingly,in this paper,we study the fast UAV path planning problem in a 3D urban environment from a source point to a target point and propose a Three-Step Experience Buffer Deep Deterministic Policy Gradient(TSEB-DDPG)algorithm.We first build the 3D model of a complex urban environment with buildings and project the 3D building surface into many 2D geometric shapes.After transformation,we propose the Hierarchical Learning Particle Swarm Optimization(HL-PSO)to obtain the empirical path.Then,to ensure the accuracy of the obtained paths,the empirical path,the collision information and fast transition information are stored in the three experience buffers of the TSEB-DDPG algorithm as dynamic guidance information.The sampling ratio of each buffer is dynamically adapted to the training stages.Moreover,we designed a reward mechanism to improve the convergence speed of the DDPG algorithm for UAV path planning.The proposed TSEB-DDPG algorithm has also been compared to three widely used competitors experimentally,and the results show that the TSEB-DDPG algorithm can archive the fastest convergence speed and the highest accuracy.We also conduct experiments in real scenarios and compare the real path planning obtained by the HL-PSO algorithm,DDPG algorithm,and TSEB-DDPG algorithm.The results show that the TSEBDDPG algorithm can archive almost the best in terms of accuracy,the average time of actual path planning,and the success rate.

Enhancing corrosion resistance of 7150 Al alloy using novel three-step aging process

The effects of a novel three-step aging process （T76＋T6） on the electrochemical corrosion behavior of 7150 extruded aluminum alloy were evaluated and compared with those of the conventional retrogression and re-aging process （T77）. The open circuit potential （OCP）, cyclic polarization and electrochemical impedance spectra （EIS） of the A1 alloys were measured after treatment in three solutions （3.5% NaCl （mass fraction）; 10 mmol/L NaCl ＋ 0.1 mol/L Na2SO4; 4 mol/L NaCl ＋ 0.5 mol/L KNO3 ＋ 0.1 mol/L HNO3）. The parameters including the corrosion potential, pitting potential, pit transition potential and steepness, and potential differences were extensively discussed to evaluate the corrosion behavior of the Al alloys. The electrochemical and scanning electron microscopy （SEM） data show that compared with the 7150-T77 Al alloy, the T76 ＋ T6 aged 7150 A1 alloy exhibits better resistance to pitting corrosion, inter-granular corrosion （IGC） and exfoliation corrosion, which is attributed to further coarsening and inter-spacing of the grain boundary particles （GBPs） as revealed by transmission electron microscopy. Furthermore, the hardness tests indicate that an attractive combination of strength and corrosion resistance was obtained for the 7150 Al alloy with T76 ＋ T6 treatment.

Effect of three-step homogenization on microstructure and properties of 7N01 aluminum alloys

The effect of different homogenization treatments on the microstructure and properties of the 7N01 aluminum alloy was investigated using hardness measurements, electrical conductivity measurements, tensile and slow strain rate tests, electron probe microanalysis, optical microscopy, scanning electron microscopy, and transmission electron microscopy. The results revealed that three-step homogenization improved the uniformity of Zr distribution by eliminating segregation of the main alloying elements. During the second homogenization step at 350 °C for 10 h, coarse and strip-like equilibrium η phases formed which assisted the nucleation of Al3Zr dispersoids and reduced the width of the precipitate-free zone of A13Zr dispersoids. As a result, coarse recrystallization was greatly reduced after homogenization at 200 °C, 2 h ＋ 350 °C, 10 h ＋ 470 °C, 12 h, which contributed to improving the overall properties of the 7N01 aluminum alloys.

Effect of a novel three-step aging on strength, stress corrosion cracking and microstructure of AA7085

The influence of a novel three-step aging on strength, stress corrosion cracking(SCC) and microstructure of AA7085 was investigated by tensile testing and slow strain rate testing combined with transmission electron microscopy(TEM). The results indicate that with the increase of second-step aging time of two-step aging, the mechanical properties increase first and then decrease, while the SCC resistance increases. Compared with two-step aging, three-step aging treatment improves SCC resistance and the strength increases by about 5%. The effects of novel three-step aging on strength and SCC resistance are explained by the role of matrix precipitates and grain boundary precipitates, respectively.

Short-term efficacy of robotic and laparoscopic spleen-preserving splenic hilar lymphadenectomy via Huang’s three-step maneuver for advanced upper gastric cancer: Results from a propensity scorematched study

BACKGROUND Robotic surgery has been considered to be significantly better than laparoscopic surgery for complicated procedures.AIM To explore the short-term effect of robotic and laparoscopic spleen-preserving splenic hilar lymphadenectomy(SPSHL)for advanced gastric cancer(GC)by Huang’s three-step maneuver.METHODS A total of 643 patients who underwent SPSHL were recruited from April 2012 to July 2017,including 35 patients who underwent robotic SPSHL(RSPSHL)and 608 who underwent laparoscopic SPSHL(LSPSHL).One-to-four propensity score matching was used to analyze the differences in clinical data between patients who underwent robotic SPSHL and those who underwent laparoscopic SPSHL.RESULTS In all,175 patients were matched,including 35 patients who underwent RSPSHL and 140 who underwent LSPSHL.After matching,there were no significant differences detected in the baseline characteristics between the two groups.Significant differences in total operative time,estimated blood loss(EBL),splenic hilar blood loss(SHBL),splenic hilar dissection time(SHDT),and splenic trunk dissection time were evident between these groups(P<0.05).Furthermore,no significant differences were observed between the two groups in the overall noncompliance rate of lymph node(LN)dissection(62.9%vs 60%,P=0.757),number of retrieved No.10 LNs(3.1±1.4 vs 3.3±2.5,P=0.650),total number of examined LNs(37.8±13.1 vs 40.6±13.6,P=0.274),and postoperative complications(14.3%vs 17.9%,P=0.616).A stratified analysis that divided the patients receiving RSPSHL into an early group(EG)and a late group(LG)revealed that the LG experienced obvious improvements in SHDT and length of stay compared with the EG(P<0.05).Logistic regression showed that robotic surgery was a significantly protective factor against both SHBL and SHDT(P<0.05).CONCLUSION RSPSHL is safe and feasible,especially after overcoming the early learning curve,as this procedure results in a radical curative effect equivalent to that of LSPSHL.

Auxiliary principle and three-step iterative algorithms for generalized set-valued strongly nonlinear mixed variational-like inequalities

An auxiliary principle technique to study a class of generalized set-valued strongly nonlinear mixed variational-like inequalities is extended. The existence and uniqueness of the solution of the auxiliary problem for the generalized set-valued strongly nonlinear mixed variational-like inequalities are proved, a novel and innovative three-step iterative algorithm to compute approximate solution is constructed, and the existence of the solution of the generalized set-valued strongly nonlinear mixed variational-like inequality is shown using the auxiliary principle iterative sequences generated by the algorithm technique. The convergence of three-step is also proved.

ZnO micro-nano composite hydrophobic film prepared by the three-step method

The hydrophobicity of the lotus leaf is mainly due to its surface micro-nano composite structure. In order to mimic the lotus structure, ZnO micro-nano composite hydrophobic films were prepared via the three-step method. On thin buffer films of SiO2, which were first fabricated on glass substrates by the so,gel dip-coating method, a ZnO seed layer was deposited via RF magnetron sputtering. Then two different ZnO films, micro-nano and micro-only flowerlike structures, were grown by the hydrothermal method. The prepared films have different hydrophobic properties after surface modification. The structures of the obtained ZnO films were characterized using x-ray diffraction and field-emission scanning electron microscopy. A conclusion that a micro-nano composite structure is more beneficial to hydrophobicity than a micro-only structure was obtained through research into the effect of structure on hydrophobic properties.

Three-step acupuncture and cupping therapy:an effective approach to treat cervicogenic headache

As early as 1983,Sjaastad proposed the concept of cervicogenic headache(CH)in the World Headache Conference,that is,the pain from upper cervical joints and muscles can be referred to the head.CH is a group of syndromes mainly caused by dysfunction of the upper cervical spine and its component muscles,ligaments,bony,vertebral arteries and/or soft tissue elements,usually not accompanied by neck pain.Therefore,the treatment strategy of CH focuses on pain relief and repair cervical lesions.Patients with painful disorders of upper cervical zygapophysial joints showed significant headache relief after directly treated at disordered cervical joints[1].

Three-Step Difference Scheme for Solving Nonlinear Time-Evolution Partial Differential Equations

In this paper, a special three-step difference scheme is applied to the solution of nonlinear time-evolution equations, whose coefficients are determined according to accuracy constraints, necessary conditions of square conservation, and historical observation information under the linear supposition. As in the linear case, the schemes also have obvious superiority in overall performance in the nonlinear case compared with traditional finite difference schemes, e.g., the leapfrog(LF) scheme and the complete square conservation difference(CSCD) scheme that do not use historical observations in determining their coefficients, and the retrospective time integration(RTI) scheme that does not consider compatibility and square conservation. Ideal numerical experiments using the one-dimensional nonlinear advection equation with an exact solution show that this three-step scheme minimizes its root mean square error(RMSE) during the first 2500 integration steps when no shock waves occur in the exact solution, while the RTI scheme outperforms the LF scheme and CSCD scheme only in the first 1000 steps and then becomes the worst in terms of RMSE up to the 2500th step. It is concluded that reasonable consideration of accuracy, square conservation, and historical observations is also critical for good performance of a finite difference scheme for solving nonlinear equations.

JOINT RANDOM OPTIMIZED THREE-STEP SEARCH ALGORITHM BASED-ON GRAY AND CHROMATIC INFORMATION

In this letter, an improved three-step search algorithm is presented, which uses both gray and chromatic information to boost the performance with random optimization and converge the motion vectors to global optima. Experimental results show that this algorithm can efficiently improve the PSNR after motion compensation.

General Convergence Analysis for Three-step Projection Methods and Applications to Variational Problems

First a general model for a three-step projection method is introduced, and second it has been applied to the approximation solvability of a system of nonlinear variational inequality problems in a Hilbert space setting. Let H be a real Hilbert space and K be a nonempty closed convex subset of H. For arbitrarily chosen initial points x0, y0, z0 ∈ K, compute sequences xn, yn, zn such thatT ： K→ H is a nonlinear mapping onto K. At last three-step models are applied to some variational inequality problems.

A new three-step procedure for pancreatic head carcinoma with invasion of superior mesenteric artery

Pancreatic head carcinoma is characterized by high malignancy and a low survival rate and its mortality ranks fourth for malignant tumors with a 5-year survival rate of only 5%[1].Treatment of this cancer relies on surgical resection.However,the resection rate is only about 20%,because majority of the patients are classified as unresectable when diagnosed due to distant metastasis or

HEVC快速帧内模式决策算法

在高效视频编码(HEVC)标准中,为降低编码单元和预测单元算法的计算复杂度,提出一种基于编码单元纹理和预测单元模式决策的快速帧内预测算法。通过统计编码单元的纹理复杂度,分析编码单元纹理的相关性,设定合理的纹理阈值,快速地决策当前编码单元的大小。改进预测单元模式决策算法,利用三步搜索方法,减少候选模式数量和帧内模式预测时间。算法结合了编码单元和预测单元的特点,仿真结果表明,与HEVC参考软件HM8.0相比,在增加较少码率,降低较少峰值信噪比的情况下,该算法的编码时间平均缩减40.9%,降低了编码复杂度。

多电网调峰负荷分配问题的目标函数选取与求解

大电网平台下,利用优质电源协调多个省级电网间差异负荷对缓解中国电力系统日益严重的调峰压力具有非常突出作用。针对现有网际协调方式和优化方法调峰效果不理想尤其局部时段范围内余荷频繁波动问题,提出一种基于电网理想余荷过程(简称理想解)的调峰建模方法。该方法采用N近邻平滑和分段平滑两种方式均化多个相邻时段余荷以构造理想解,并将计算余荷与理想解偏差最小作为优化目标,以尽可能平滑各电网局部负荷波动。采用邻域搜索算法进行模型求解,通过可变步长动态改变可行搜索区域,以改善收敛速度和结果质量。华东电网直调水火电系统的仿真调度实例表明,所提模型与算法能切实协调上海、江苏、浙江、安徽四省(市)的峰值负荷差异,得到较以往优化建模方法更合理的日调度运行结果。

面向低碳的切削参数与调度集成优化

为更好地降低制造过程碳排放,克服以往研究将切削参数与调度分开优化而忽略了他们之间复杂关联关系的局限性,提出一个以制造过程碳排放和完工时间最小为优化目标的切削参数与调度集成优化模型,考虑切削参数对加工时间、刀具磨损、机床能耗的影响,继而影响到以完工时间和制造过程碳排放为优化目标的调度结果。针对集成优化模型中切削参数优化是连续优化问题而调度是离散优化问题的特点,改进了多目标万有引力搜索算法,在标准的万有引力搜索算法中加入交叉变异操作,使得切削参数在迭代的同时也能找出最优的调度排序。通过对实例结果的比较与分析,验证了所提集成优化模型在降低制造过程碳排放方面的有效性。

光伏并网发电系统参数协调优化方法研究

光伏并网发电系统的参数设计对其稳定运行具有重要意义,为此,提出了一种光伏并网发电系统参数的协调优化方法.该方法通过建立包含光伏电池、并网逆变器、变压器和电网的光伏发电系统小信号数学模型,利用特征值分析(根轨迹图)得到各个特征值稳定情况下的系统参数边界值;在此基础上,建立了计及小干扰稳定性、阻尼比和稳定裕度的协调优化目标函数,并采用回溯搜索算法(backtracking search algorithm,BSA)对系统参数进行优化;通过仿真测试,对比分析了参数优化前后系统的动态响应.研究结果表明,在系统遭受到小扰动后,经过参数优化的光伏并网系统能够在0.1 s内达到新的平衡点稳定运行,比未优化参数的系统动态响应提高了50%.

一种改进的快速全景图像拼接算法

全景图拼接是将具有共同部分的多幅图像进行组合,实现一幅全景图的过程。针对基于传统SIFT(scaleinvariant feature transform)算法全景拼接中的特征点匹配计算消耗时间过长和存在冗余错误的不足提出了改进。其中,传统算法的特征点匹配计算是基于KD-tree算法的树结构,由近及远地逐个查找并计算特征点的匹配度;改进后的最近邻搜索算法(best-bin-first,BBF)是先根据每个特征点的多维度分量特性对其进行优先级排序,查询时总是从优先级高的开始,来提高匹配计算效率。冗余错误问题则是通过随机采样一致算法(RANSAC)的优化迭代计算错误概率,代替传统方法的阈值筛选法来减低错误匹配点的出现次数。实验中分别对简单纹理图像和复杂纹理图像进行了拼接实验并与原算法比较,证明本算法的拼接精度和时效性的提升。

基于禁忌搜索算法的直流融冰计划优化决策

鉴于输电线路在开展直流融冰工作时可能导致系统运行可靠性和输电能力降低的问题,提出一种电网直流融冰计划决策的优化模型。优化模型以全部待融冰线路的融冰时段组合为决策变量,以整个直流融冰周期内因直流融冰引起的系统期望缺供电量的增量最小为目标,采用禁忌搜索算法对待融冰线路的融冰时段进行优化,同时融冰紧急性指标以约束条件的形式能一定程度上保障线路得到及时融冰。通过实际算例验证所提出方法的可行性和有效性。

果蝇优化算法优化性能对比研究

针对群体智能优化算法自身的特点和优势,分析对比了果蝇优化算法、混合蛙跳算法、和声搜索算法和人工蜂群算法四种智能优化算法的优化性能。以最新提出的果蝇优化算法为基准,与其他三种智能优化算法进行优化性能的横向对比实验。实验结果表明,与其他三种算法相比,果蝇优化算法具有参数少、全局寻优能力强、收敛速度快等特点,在进化次数较低时,其收敛精度和速度最高,但是随着进化次数的增大,存在容易收敛到局部最优值,收敛速度慢,在求解部分单峰值和多峰值函数优化问题时优化效果不理想等缺陷。果蝇优化算法尚需加强其理论改进,以提高其搜索的质量和效率,为群体智能优化算法的融合和改进技术提供重要支持。

柔性流水车间调度模型与混合引力算法

针对柔性流水车间调度问题,利用机器特定事件点来描述工件的机器选择,再以最小化最大完工为目标,考虑工艺约束和时间约束构建了柔性流水车间调度的混合整数线性规划模型,用GAMS/Cplex找到小规模问题的全局最优解。为快速求解大规模问题的近优解,提出了结合瓶颈启发式的引力搜索算法,利用瓶颈移动技术和John Son方法的解码机制,寻找最小化最大完工时间的最优调度方案。实验结果表明,所提出的模型及算法能高效地求解以最小化最大完工时间为目标的柔性流水车间调度问题。