LSDA-APF:A Local Obstacle Avoidance Algorithm for Unmanned Surface Vehicles Based on 5G Communication Environment

In view of the complex marine environment of navigation,especially in the case of multiple static and dynamic obstacles,the traditional obstacle avoidance algorithms applied to unmanned surface vehicles(USV)are prone to fall into the trap of local optimization.Therefore,this paper proposes an improved artificial potential field(APF)algorithm,which uses 5G communication technology to communicate between the USV and the control center.The algorithm introduces the USV discrimination mechanism to avoid the USV falling into local optimization when the USV encounter different obstacles in different scenarios.Considering the various scenarios between the USV and other dynamic obstacles such as vessels in the process of performing tasks,the algorithm introduces the concept of dynamic artificial potential field.For the multiple obstacles encountered in the process of USV sailing,based on the International Regulations for Preventing Collisions at Sea(COLREGS),the USV determines whether the next step will fall into local optimization through the discriminationmechanism.The local potential field of the USV will dynamically adjust,and the reverse virtual gravitational potential field will be added to prevent it from falling into the local optimization and avoid collisions.The objective function and cost function are designed at the same time,so that the USV can smoothly switch between the global path and the local obstacle avoidance.The simulation results show that the improved APF algorithm proposed in this paper can successfully avoid various obstacles in the complex marine environment,and take navigation time and economic cost into account.

Research on Total Electric Field Prediction Method of Ultra-High Voltage Direct Current Transmission Line Based on Stacking Algorithm

Ultra-high voltage(UHV)transmission lines are an important part of China’s power grid and are often surrounded by a complex electromagnetic environment.The ground total electric field is considered a main electromagnetic environment indicator of UHV transmission lines and is currently employed for reliable long-term operation of the power grid.Yet,the accurate prediction of the ground total electric field remains a technical challenge.In this work,we collected the total electric field data from the Ningdong-Zhejiang±800 kV UHVDC transmission project,as of the Ling Shao line,and perform an outlier analysis of the total electric field data.We show that the Local Outlier Factor(LOF)elimination algorithm has a small average difference and overcomes the performance of Density-Based Spatial Clustering of Applications with Noise(DBSCAN)and Isolated Forest elimination algorithms.Moreover,the Stacking algorithm has been found to have superior prediction accuracy than a variety of similar prediction algorithms,including the traditional finite element.The low prediction error of the Stacking algorithm highlights the superior ability to accurately forecast the ground total electric field of UHVDC transmission lines.

A Lightweight UAV Visual Obstacle Avoidance Algorithm Based on Improved YOLOv8

The importance of unmanned aerial vehicle(UAV)obstacle avoidance algorithms lies in their ability to ensure flight safety and collision avoidance,thereby protecting people and property.We propose UAD-YOLOv8,a lightweight YOLOv8-based obstacle detection algorithm optimized for UAV obstacle avoidance.The algorithm enhances the detection capability for small and irregular obstacles by removing the P5 feature layer and introducing deformable convolution v2(DCNv2)to optimize the cross stage partial bottleneck with 2 convolutions and fusion(C2f)module.Additionally,it reduces the model’s parameter count and computational load by constructing the unite ghost and depth-wise separable convolution(UGDConv)series of lightweight convolutions and a lightweight detection head.Based on this,we designed a visual obstacle avoidance algorithm that can improve the obstacle avoidance performance of UAVs in different environments.In particular,we propose an adaptive distance detection algorithm based on obstacle attributes to solve the ranging problem for multiple types and irregular obstacles to further enhance the UAV’s obstacle avoidance capability.To verify the effectiveness of the algorithm,the UAV obstacle detection(UAD)dataset was created.The experimental results show that UAD-YOLOv8 improves mAP50 by 3.4%and reduces GFLOPs by 34.5%compared to YOLOv8n while reducing the number of parameters by 77.4%and the model size by 73%.These improvements significantly enhance the UAV’s obstacle avoidance performance in complex environments,demonstrating its wide range of applications.

Gaussian Distance Weighted Algorithm for Geometric Characteristics of Three-Dimensional Discrete Curves

Discrete curves are composed of a set of ordered discrete points distributed at the intersection of the scanning plane and the surface of the object. In order to accurately calculate the geometric characteristics of any point on the discrete curve, a distance-based Gaussian weighted algorithm is proposed to estimate the geometric characteristics of three-dimensional space discrete curves. According to the definition of discrete derivatives, the algorithm fully considers the relative position difference between a specific point and its neighboring points, introduces the distance weighting idea, and integrates the smoothing strategy. The experiment uses two spatial discrete curves for uniform and non-uniform sampling, and compares them with two commonly used estimation algorithms. The comparative analysis is carried out in terms of sampling density, neighborhood radius and noise resistance. The experimental results show that the Gaussian distance weighted algorithm is effective and provides an efficient algorithm for underground pipeline safety detection.

基于miR-155/JAK2/STAT3信号通路探讨仙茅苷减轻大鼠心肌缺血再灌注损伤作用机制

目的探讨仙茅苷对心肌缺血再灌注(I/R)大鼠心肌损伤的改善作用及对微小RNA(miR)-155/Janus蛋白酪氨酸激酶2/信号转导及转录激活蛋白3(JAK2/STAT3)信号通路的调节作用。方法将60只大鼠随机分为假手术组、模型组、仙茅苷组、miR-155过表达组和miR-155过表达+仙茅苷组。除假手术组外,其余组大鼠采用冠状动脉左前降支结扎法建立心肌I/R模型,仙茅苷组和miR-155过表达+仙茅苷组大鼠于建模前6 d腹腔注射仙茅苷50 mg/kg,1次/d;miR-155过表达组和miR-155过表达+仙茅苷组大鼠于建模前在左心室上取3个位点注射miR-155 mimic。再灌注24 h后超声心动图检测心功能,TTC染色检测心肌梗死面积,实时荧光定量PCR(qRT-PCR)检测心肌组织中miR-155表达水平,苏木精-伊红(HE)染色观察心肌损伤病理表现,ELISA检测血清中肌酸激酶同工酶MB(CK-MB)、心肌肌钙蛋白T(cTnT)和乳酸脱氢酶(LDH)水平,蛋白质免疫印迹法检测心肌组织中p-JAK2和p-STAT3蛋白相对表达量。结果与模型组比较,仙茅苷组心肌组织miR-155水平降低,心肌梗死面积减小,左室射血分数(LVEF)和左室缩短分数(LVFS)升高,左室舒张末期内径(LVESD)和左室收缩末期内径(LVEDD)减小,血清中CK-MB、cTnT、LDH水平下降,心肌组织中p-JAK2和p-STAT3蛋白相对表达量升高,而miR-155过表达组以上各指标变化趋势相反(均P<0.05);与miR-155过表达+仙茅苷组比较,miR-155过表达组miR-155水平升高,心肌梗死面积增大,LVEF和LVFS降低,LVESD和LVEDD增大,血清中CK-MB、cTnT、LDH水平上升,p-JAK2和p-STAT3蛋白相对表达量降低,而仙茅苷组以上各指标变化呈相反趋势(均P<0.05)。结论仙茅苷可减轻大鼠心肌I/R损伤,改善心功能,其可能通过抑制miR-155表达从而上调JAK2/STAT3信号通路发挥作用。

Stability prediction of hard rock pillar using support vector machine optimized by three metaheuristic algorithms

Hard rock pillar is one of the important structures in engineering design and excavation in underground mines.Accurate and convenient prediction of pillar stability is of great significance for underground space safety.This paper aims to develop hybrid support vector machine(SVM)models improved by three metaheuristic algorithms known as grey wolf optimizer(GWO),whale optimization algorithm(WOA)and sparrow search algorithm(SSA)for predicting the hard rock pillar stability.An integrated dataset containing 306 hard rock pillars was established to generate hybrid SVM models.Five parameters including pillar height,pillar width,ratio of pillar width to height,uniaxial compressive strength and pillar stress were set as input parameters.Two global indices,three local indices and the receiver operating characteristic(ROC)curve with the area under the ROC curve(AUC)were utilized to evaluate all hybrid models’performance.The results confirmed that the SSA-SVM model is the best prediction model with the highest values of all global indices and local indices.Nevertheless,the performance of the SSASVM model for predicting the unstable pillar(AUC:0.899)is not as good as those for stable(AUC:0.975)and failed pillars(AUC:0.990).To verify the effectiveness of the proposed models,5 field cases were investigated in a metal mine and other 5 cases were collected from several published works.The validation results indicated that the SSA-SVM model obtained a considerable accuracy,which means that the combination of SVM and metaheuristic algorithms is a feasible approach to predict the pillar stability.

基于改进Stanley算法的目标假车路径跟踪控制

为了满足智能汽车封闭场地测试的需求,开发了一种智能车场地测试用软目标车,能够有效地提高场地测试的安全性和效率。在封闭场地功能场景的测试中,软目标车应能够按照预设的GPS轨迹高精度行驶。为了提高目标车的路径跟踪精度,设计了基于偏差的比例、积分、微分和Stanley控制算法的横纵向控制器,基于遗传算法得到Stanley控制算法参数的最优知识库,利用模糊控制算法实现Stanley控制算法参数的自适应调节,基于Carsim和Matlab/Simulink联合建立了软目标车仿真模型,最后在封闭场地中进行实车验证。结果表明:提出的控制方法能够满足智能汽车封闭场地测试要求。

Optimizing slope safety factor prediction via stacking using sparrow search algorithm for multi-layer machine learning regression models

The safety factor is a crucial quantitative index for evaluating slope stability.However,the traditional calculation methods suffer from unreasonable assumptions,complex soil composition,and inadequate consideration of the influencing factors,leading to large errors in their calculations.Therefore,a stacking ensemble learning model(stacking-SSAOP)based on multi-layer regression algorithm fusion and optimized by the sparrow search algorithm is proposed for predicting the slope safety factor.In this method,the density,cohesion,friction angle,slope angle,slope height,and pore pressure ratio are selected as characteristic parameters from the 210 sets of established slope sample data.Random Forest,Extra Trees,AdaBoost,Bagging,and Support Vector regression are used as the base model(inner loop)to construct the first-level regression algorithm layer,and XGBoost is used as the meta-model(outer loop)to construct the second-level regression algorithm layer and complete the construction of the stacked learning model for improving the model prediction accuracy.The sparrow search algorithm is used to optimize the hyperparameters of the above six regression models and correct the over-and underfitting problems of the single regression model to further improve the prediction accuracy.The mean square error(MSE)of the predicted and true values and the fitting of the data are compared and analyzed.The MSE of the stacking-SSAOP model was found to be smaller than that of the single regression model(MSE=0.03917).Therefore,the former has a higher prediction accuracy and better data fitting.This study innovatively applies the sparrow search algorithm to predict the slope safety factor,showcasing its advantages over traditional methods.Additionally,our proposed stacking-SSAOP model integrates multiple regression algorithms to enhance prediction accuracy.This model not only refines the prediction accuracy of the slope safety factor but also offers a fresh approach to handling the intricate soil composition and other influencing factors,making it a precise and reliable method for slope stability evaluation.This research holds importance for the modernization and digitalization of slope safety assessments.

Substation clustering based on improved KFCM algorithm with adaptive optimal clustering number selection

The premise and basis of load modeling are substation load composition inquiries and cluster analyses.However,the traditional kernel fuzzy C-means(KFCM)algorithm is limited by artificial clustering number selection and its convergence to local optimal solutions.To overcome these limitations,an improved KFCM algorithm with adaptive optimal clustering number selection is proposed in this paper.This algorithm optimizes the KFCM algorithm by combining the powerful global search ability of genetic algorithm and the robust local search ability of simulated annealing algorithm.The improved KFCM algorithm adaptively determines the ideal number of clusters using the clustering evaluation index ratio.Compared with the traditional KFCM algorithm,the enhanced KFCM algorithm has robust clustering and comprehensive abilities,enabling the efficient convergence to the global optimal solution.

基于改进StackCNN网络和集成学习的脑电信号视觉分类算法

针对直接使用图像诱发的脑电信号进行视觉分类的现有研究少,并且视觉分类的平均准确率低等问题,设计了一种卷积神经网络(CNN)和集成学习相结合的方法,用于学习脑电信号相关的视觉特征表示。通过在StackCNN网络中加入K-max池化方法,解决在提取脑电特征时信息丢失的问题,并结合Bagging算法增强网络的泛化能力,该方法称为StackCNN-B。采用基于残差神经网络(ResNet)回归对图像进行分类,验证StackCNN-B方法在图像分类上的性能。消融实验及与现有研究对比实验的结果表明:所提方法识别准确率较高,在学习脑电信号的视觉特征表示上的平均准确率达到99.78%,在图像分类上的平均准确率达到96.45%,与Bi-LSTM-AttGW方法相比,平均提高了0.28百分点和2.97百分点。研究结果验证了脑电信号可以有效地解码与视觉识别相关的人类大脑活动,也表明所提出StackCNN-B模型的优越性。

Optimization of Charging/Battery-Swap Station Location of Electric Vehicles with an Improved Genetic Algorithm-Based Model

The joint location planning of charging/battery-swap facilities for electric vehicles is a complex problem.Considering the differences between these two modes of power replenishment,we constructed a joint location-planning model to minimize construction and operation costs,user costs,and user satisfaction-related penalty costs.We designed an improved genetic algorithm that changes the crossover rate using the fitness value,memorizes,and transfers excellent genes.In addition,the present model addresses the problem of“premature convergence”in conventional genetic algorithms.A simulated example revealed that our proposed model could provide a basis for optimized location planning of charging/battery-swapping facilities at different levels under different charging modes with an improved computing efficiency.The example also proved that meeting more demand for power supply of electric vehicles does not necessarily mean increasing the sites of charging/battery-swap stations.Instead,optimizing the level and location planning of charging/battery-swap stations can maximize the investment profit.The proposed model can provide a reference for the government and enterprises to better plan the location of charging/battery-swap facilities.Hence,it is of both theoretical and practical value.

Comparison of differential evolution, particle swarm optimization,quantum-behaved particle swarm optimization, and quantum evolutionary algorithm for preparation of quantum states

Four intelligent optimization algorithms are compared by searching for control pulses to achieve the preparation of target quantum states for closed and open quantum systems, which include differential evolution(DE), particle swarm optimization(PSO), quantum-behaved particle swarm optimization(QPSO), and quantum evolutionary algorithm(QEA).We compare their control performance and point out their differences. By sampling and learning for uncertain quantum systems, the robustness of control pulses found by these four algorithms is also demonstrated and compared. The resulting research shows that the QPSO nearly outperforms the other three algorithms for all the performance criteria considered.This conclusion provides an important reference for solving complex quantum control problems by optimization algorithms and makes the QPSO be a powerful optimization tool.

Improved Staggered Algorithm for Phase-Field Brittle Fracture with the Local Arc-Length Method

The local arc-length method is employed to control the incremental loading procedure for phase-field brittle fracture modeling.An improved staggered algorithm with energy and damage iterative tolerance convergence criteria is developed based on the residuals of displacement and phase-field.The improved staggered solution scheme is implemented in the commercial software ABAQUS with user-defined element subroutines.The layered system of finite elements is utilized to solve the coupled elastic displacement and phase-field fracture problem.A one-element benchmark test compared with the analytical solution was conducted to validate the feasibility and accuracy of the developed method.Our study shows that the result calculated with the developed method does not depend on the selected size of loading increments.The results of several numerical experiments show that the improved staggered algorithm is efficient for solving the more complex brittle fracture problems.

Tourism Route Recommendation Based on A Multi-Objective Evolutionary Algorithm Using Two-Stage Decomposition and Pareto Layering

Tourism route planning is widely applied in the smart tourism field.The Pareto-optimal front obtained by the traditional multi-objective evolutionary algorithm exhibits long tails,sharp peaks and disconnected regions problems,which leads to uneven distribution and weak diversity of optimization solutions of tourism routes.Inspired by these limitations,we propose a multi-objective evolutionary algorithm for tourism route recommendation(MOTRR)with two-stage and Pareto layering based on decomposition.The method decomposes the multiobjective problem into several subproblems,and improves the distribution of solutions through a two-stage method.The crowding degree mechanism between extreme and intermediate populations is used in the two-stage method.The neighborhood is determined according to the weight of the subproblem for crossover mutation.Finally,Pareto layering is used to improve the updating efficiency and population diversity of the solution.The two-stage method is combined with the Pareto layering structure,which not only maintains the distribution and diversity of the algorithm,but also avoids the same solutions.Compared with several classical benchmark algorithms,the experimental results demonstrate competitive advantages on five test functions,hypervolume(HV)and inverted generational distance(IGD)metrics.Using the experimental results of real scenic spot datasets from two famous tourism social networking sites with vast amounts of users and large-scale online comments in Beijing,our proposed algorithm shows better distribution.It proves that the tourism routes recommended by our proposed algorithm have better distribution and diversity,so that the recommended routes can better meet the personalized needs of tourists.

Genetic algorithm-optimized backpropagation neural network establishes a diagnostic prediction model for diabetic nephropathy:Combined machine learning and experimental validation in mice

Background:Diabetic nephropathy(DN)is the most common complication of type 2 diabetes mellitus and the main cause of end-stage renal disease worldwide.Diagnostic biomarkers may allow early diagnosis and treatment of DN to reduce the prevalence and delay the development of DN.Kidney biopsy is the gold standard for diagnosing DN;however,its invasive character is its primary limitation.The machine learning approach provides a non-invasive and specific criterion for diagnosing DN,although traditional machine learning algorithms need to be improved to enhance diagnostic performance.Methods:We applied high-throughput RNA sequencing to obtain the genes related to DN tubular tissues and normal tubular tissues of mice.Then machine learning algorithms,random forest,LASSO logistic regression,and principal component analysis were used to identify key genes(CES1G,CYP4A14,NDUFA4,ABCC4,ACE).Then,the genetic algorithm-optimized backpropagation neural network(GA-BPNN)was used to improve the DN diagnostic model.Results:The AUC value of the GA-BPNN model in the training dataset was 0.83,and the AUC value of the model in the validation dataset was 0.81,while the AUC values of the SVM model in the training dataset and external validation dataset were 0.756 and 0.650,respectively.Thus,this GA-BPNN gave better values than the traditional SVM model.This diagnosis model may aim for personalized diagnosis and treatment of patients with DN.Immunohistochemical staining further confirmed that the tissue and cell expression of NADH dehydrogenase(ubiquinone)1 alpha subcomplex,4-like 2(NDUFA4L2)in tubular tissue in DN mice were decreased.Conclusion:The GA-BPNN model has better accuracy than the traditional SVM model and may provide an effective tool for diagnosing DN.

Multi-source coordinated stochastic restoration for SOP in distribution networks with a two-stage algorithm

After suffering from a grid blackout, distributed energy resources(DERs), such as local renewable energy and controllable distributed generators and energy storage can be used to restore loads enhancing the system’s resilience. In this study, a multi-source coordinated load restoration strategy was investigated for a distribution network with soft open points(SOPs). Here, the flexible regulation ability of the SOPs is fully utilized to improve the load restoration level while mitigating voltage deviations. Owing to the uncertainty, a scenario-based stochastic optimization approach was employed,and the load restoration problem was formulated as a mixed-integer nonlinear programming model. A computationally efficient solution algorithm was developed for the model using convex relaxation and linearization methods. The algorithm is organized into a two-stage structure, in which the energy storage system is dispatched in the first stage by solving a relaxed convex problem. In the second stage, an integer programming problem is calculated to acquire the outputs of both SOPs and power resources. A numerical test was conducted on both IEEE 33-bus and IEEE 123-bus systems to validate the effectiveness of the proposed strategy.

基于PIB-RRTstar的荔枝采摘机械臂运动规划方法

为解决非结构环境下,采摘机械臂路径规划时存在的效率低、采摘成功率不高的问题,提出一种结合人工势场法的四向搜索RRTstar算法。首先通过人工势场法对空间进行分割,获取空间分割点x_(split),进行四向搜索;其次结合人工势场法引导随机采样,提高采样节点质量;然后基于节点历史扩展信息,添加信息因子,实现自适应动态步长扩展。最后通过贪婪回溯对生成路径进行优化。通过二维模拟实验、6自由度机械臂下的仿真实验与采摘实验验证提出算法的有效性。二维仿真对比实验表明:相比于RRTstar算法,改进算法路径成本缩短2.01%,时间代价降低98.81%,迭代次数减少92.49%。在机器人操作系统(Robot operating system,ROS)中进行6自由度机械臂下的仿真实验,相比于RRTstar算法,规划时间减少93.17%,路径成本降低36.62%,扩展节点数减少97.00%。最后使用6自由度机械臂进行采摘实验,实验结果表明本文算法有效提升采摘成功率,采摘成功率达85%,并在结合姿态约束方法后,采摘成功率达95%。所提出的路径规划方法在路径规划时间上存在一定优势,采摘实验证明本文算法可提高荔枝采摘成功率。

Estimation of state of health based on charging characteristics and back-propagation neural networks with improved atom search optimization algorithm

With the rapid development of new energy technologies, lithium batteries are widely used in the field of energy storage systems and electric vehicles. The accurate prediction for the state of health(SOH) has an important role in maintaining a safe and stable operation of lithium-ion batteries. To address the problems of uncertain battery discharge conditions and low SOH estimation accuracy in practical applications, this paper proposes a SOH estimation method based on constant-current battery charging section characteristics with a back-propagation neural network with an improved atom search optimization algorithm. A temperature characteristic, equal-time temperature variation(Dt_DT), is proposed by analyzing the temperature data of the battery charging section with the incremental capacity(IC) characteristics obtained from an IC analysis as an input to the data-driven prediction model. Testing and analysis of the proposed prediction model are carried out using publicly available datasets. Experimental results show that the maximum error of SOH estimation results for the proposed method in this paper is below 1.5%.

基于Stacking集成算法的抛石护岸水毁破坏预测研究

抛石护岸在顶冲等极端情况下易发生水毁破坏,给人民的生命财产带来威胁。通过水槽试验获取496组样本数据,利用互信息(MI)筛选出6个关键特征属性,并采用支持向量机(SVR)、广义回归神经网络(GRNN)和随机森林(RF)等机器学习算法构建多个预测模型。然后,将这些模型作为基学习器,结合BP神经网络(BPNN)作为元学习器,采用Stacking集成学习方法构建抛石护岸破坏程度预测模型。最后,通过决定系数(R^(2))、均方根误差(R_(RMSE))及平均绝对误差(M_(MAE))等评价指标对模型性能进行评估。结果表明,Stacking模型在抛石护岸破坏高度、长度、范围上的平均R^(2)为0.98、RRMSE为0.02、M_(MAE)为0.03,相较于单一模型(SVR、GRNN、RF),Stacking模型的R_(RMSE)、M_(MAE)皆为最小,R2最高。在抛石护岸水毁破坏程度的预测中,融合的Stacking模型展现出更高的准确性与稳定性。

An Algorithm for the Inverse Problem of Matrix Processing: DNA Chains, Their Distance Matrices and Reconstructing

We continue to consider one of the cybernetic methods in biology related to the study of DNA chains. Exactly, we are considering the problem of reconstructing the distance matrix for DNA chains. Such a matrix is formed on the basis of any of the possible algorithms for determining the distances between DNA chains, as well as any specific object of study. At the same time, for example, the practical programming results show that on an average modern computer, it takes about a day to build such a 30 × 30 matrix for mnDNAs using the Needleman-Wunsch algorithm;therefore, for such a 300 × 300 matrix, about 3 months of continuous computer operation is expected. Thus, even for a relatively small number of species, calculating the distance matrix on conventional computers is hardly feasible and the supercomputers are usually not available. Therefore, we started publishing our variants of the algorithms for calculating the distance between two DNA chains, then we publish algorithms for restoring partially filled matrices, i.e., the inverse problem of matrix processing. Previously, we used the method of branches and boundaries, but in this paper we propose to use another new algorithm for restoring the distance matrix for DNA chains. Our recent work has shown that even greater improvement in the quality of the algorithm can often be achieved without improving the auxiliary heuristics of the branches and boundaries method. Thus, we are improving the algorithms that formulate the greedy function of this method only. .