Three-dimensional multi-constraint route planning of unmanned aerial vehicle low-altitude penetration based on coevolutionary multi-agent genetic algorithm

To address the issue of premature convergence and slow convergence rate in three-dimensional (3D) route planning of unmanned aerial vehicle (UAV) low-altitude penetration,a novel route planning method was proposed.First and foremost,a coevolutionary multi-agent genetic algorithm (CE-MAGA) was formed by introducing coevolutionary mechanism to multi-agent genetic algorithm (MAGA),an efficient global optimization algorithm.A dynamic route representation form was also adopted to improve the flight route accuracy.Moreover,an efficient constraint handling method was used to simplify the treatment of multi-constraint and reduce the time-cost of planning computation.Simulation and corresponding analysis show that the planning results of CE-MAGA have better performance on terrain following,terrain avoidance,threat avoidance (TF/TA2) and lower route costs than other existing algorithms.In addition,feasible flight routes can be acquired within 2 s,and the convergence rate of the whole evolutionary process is very fast.

Three-dimensional(3D)parametric measurements of individual gravels in the Gobi region using point cloud technique

Gobi spans a large area of China,surpassing the combined expanse of mobile dunes and semi-fixed dunes.Its presence significantly influences the movement of sand and dust.However,the complex origins and diverse materials constituting the Gobi result in notable differences in saltation processes across various Gobi surfaces.It is challenging to describe these processes according to a uniform morphology.Therefore,it becomes imperative to articulate surface characteristics through parameters such as the three-dimensional(3D)size and shape of gravel.Collecting morphology information for Gobi gravels is essential for studying its genesis and sand saltation.To enhance the efficiency and information yield of gravel parameter measurements,this study conducted field experiments in the Gobi region across Dunhuang City,Guazhou County,and Yumen City(administrated by Jiuquan City),Gansu Province,China in March 2023.A research framework and methodology for measuring 3D parameters of gravel using point cloud were developed,alongside improved calculation formulas for 3D parameters including gravel grain size,volume,flatness,roundness,sphericity,and equivalent grain size.Leveraging multi-view geometry technology for 3D reconstruction allowed for establishing an optimal data acquisition scheme characterized by high point cloud reconstruction efficiency and clear quality.Additionally,the proposed methodology incorporated point cloud clustering,segmentation,and filtering techniques to isolate individual gravel point clouds.Advanced point cloud algorithms,including the Oriented Bounding Box(OBB),point cloud slicing method,and point cloud triangulation,were then deployed to calculate the 3D parameters of individual gravels.These systematic processes allow precise and detailed characterization of individual gravels.For gravel grain size and volume,the correlation coefficients between point cloud and manual measurements all exceeded 0.9000,confirming the feasibility of the proposed methodology for measuring 3D parameters of individual gravels.The proposed workflow yields accurate calculations of relevant parameters for Gobi gravels,providing essential data support for subsequent studies on Gobi environments.

Asymmetric image encryption algorithm based on a new three-dimensional improved logistic chaotic map

Based on some analyses of existing chaotic image encryption frameworks and a new designed three-dimensional improved logistic chaotic map(3D-ILM),an asymmetric image encryption algorithm using public-key Rivest–Shamir–Adleman(RSA)is presented in this paper.In the first stage,a new 3D-ILM is proposed to enhance the chaotic behavior considering analysis of time sequence,Lyapunov exponent,and Shannon entropy.In the second stage,combined with the public key RSA algorithm,a new key acquisition mathematical model(MKA)is constructed to obtain the initial keys for the 3D-ILM.Consequently,the key stream can be produced depending on the plain image for a higher security.Moreover,a novel process model(NPM)for the input of the 3D-ILM is built,which is built to improve the distribution uniformity of the chaotic sequence.In the third stage,to encrypt the plain image,a pre-process by exclusive OR(XOR)operation with a random matrix is applied.Then,the pre-processed image is performed by a permutation for rows,a downward modulo function for adjacent pixels,a permutation for columns,a forward direction XOR addition-modulo diffusion,and a backward direction XOR addition-modulo diffusion to achieve the final cipher image.Moreover,experiments show that the the proposed algorithm has a better performance.Especially,the number of pixels change rate(NPCR)is close to ideal case 99.6094%,with the unified average changing intensity(UACI)close to 33.4634%,and the information entropy(IE)close to 8.

Multi-objective strategy to optimize dithering technique for high-quality three-dimensional shape measurement

Dithering optimization techniques can be divided into the phase-optimized technique and the intensity-optimized technique. The problem with the former is the poor sensitivity to various defocusing amounts, and the problem with the latter is that it cannot enhance phase quality directly nor efficiently. In this paper, we present a multi-objective optimization framework for three-dimensional(3D) measurement by utilizing binary defocusing technique. Moreover, a binary patch optimization technique is used to solve the time-consuming issue of genetic algorithm. It is demonstrated that the presented technique consistently obtains significant phase performance improvement under various defocusing amounts.

A novel trilinear decomposition algorithm:Three-dimension non-negative matrix factorization

Non-negative matrix factorization （NMF） is a technique for dimensionality reduction by placing non-negativity constraints on the matrix. Based on the PARAFAC model, NMF was extended for three-dimension data decomposition. The three-dimension nonnegative matrix factorization （NMF3） algorithm, which was concise and easy to implement, was given in this paper. The NMF3 algorithm implementation was based on elements but not on vectors. It could decompose a data array directly without unfolding, which was not similar to that the traditional algorithms do, It has been applied to the simulated data array decomposition and obtained reasonable results. It showed that NMF3 could be introduced for curve resolution in chemometrics.

Three-Dimensional Space Interpolation of Grey / Depth Image Sequence-A New Technique of Computer Graphics Synthesis

This paper advances a three-dimensional space interpolation method of grey / depth image sequence, which breaks free from the limit of original practical photographing route. Pictures can cruise at will in space. By using space sparse sampling, great memorial capacity can be saved and reproduced scenes can be controlled. To solve time consuming and complex computations in three-dimensional interpolation algorithm, we have studied a fast and practical algorithm of scattered space lattice and that of 'Warp' algorithm with proper depth. By several simple aspects of three dimensional space interpolation, we succeed in developing some simple and practical algorithms. Some results of simulated experiments with computers have shown that the new method is absolutely feasible.

Three-Dimensional Scenes Restore Using Digital Image

Encryption and decryption method of three-dimensional objects uses holograms computer-generated and suggests encoding stage. Information obtained amplitude and phase of a three-dimensional object using mathematically stage transforms overlap stored on a digital computer. Different three-dimensional images restore and develop the system for the expansion of the three-dimensional scenes and camera movement parameters. This article talks about these kinds of digital image processing algorithms as the reconstruction of three-dimensional model of the scene. In the present state, many such algorithms need to be improved in this paper proposing one of the options to improve the accuracy of such reconstruction.

Prediction of Salinity Variations in a Tidal Estuary Using Artificial Neural Network and Three-Dimensional Hydrodynamic Models

The simulation of salinity at different locations of a tidal river using physically-based hydrodynamic models is quite cumbersome because it requires many types of data, such as hydrological and hydraulic time series at boundaries, river geometry, and adjusted coefficients. Therefore, an artificial neural network (ANN) technique using a back-propagation neural network (BPNN) and a radial basis function neural network (RBFNN) is adopted as an effective alternative in salinity simulation studies. The present study focuses on comparing the performance of BPNN, RBFNN, and three-dimensional hydrodynamic models as applied to a tidal estuarine system. The observed salinity data sets collected from 18 to 22 May, 16 to 22 October, and 26 to 30 October 2002 (totaling 4320 data points) were used for BPNN and RBFNN model training and for hydrodynamic model calibration. The data sets collected from 30 May to 2 June and 11 to 15 November 2002 (totaling 2592 data points) were adopted for BPNN and RBFNN model verification and for hydrodynamic model verification. The results revealed that the ANN (BPNN and RBFNN) models were capable of predicting the nonlinear time series behavior of salinity to the multiple forcing signals of water stages at different stations and freshwater input at upstream boundaries. The salinity predicted by the ANN models was better than that predicted by the physically based hydrodynamic model. This study suggests that BPNN and RBFNN models are easy-to-use modeling tools for simulating the salinity variation in a tidal estuarine system.

Circular SAR processing using an improved omega-k type algorithm

An improved circular synthetic aperture radar（CSAR） imaging algorithm of omega-k（ω-k） type mainly for reconstructing an image on a cylindrical surface is proposed.In the typical CSAR ω-k algorithm,the rage trajectory is approximated by Taylor series expansion to the quadratic terms,which limits the valid synthetic aperture length and the angular reconstruction range severely.Based on the model of the CSAR echo signal,the proposed algorithm directly transforms the signal to the two-dimensional（2D） wavenumber domain,not using approximation processing to the range trajectory.Based on form of the signal spectrum in the wavenumber domain,the formula for the wavenumber domain interpolation of the w-k algorithm is deduced,and the wavenumber spectrum of the reference point used for bulk compression is obtained from numerical method.The improved CSAR ω-k imaging algorithm increases the valid synthetic aperture length and the angular area greatly and hence improves the angular resolution of the cylindrical imaging.Additionally,the proposed algorithm can be repeated on different cylindrical surfaces to achieve three dimensional（3D） image reconstruction.The 3D spatial resolution of the CSAR system is discussed,and the simulation results validate the correctness of the analysis and the feasibility of the algorithm.

NON-INTERIOR SMOOTHING ALGORITHM FOR FRICTIONAL CONTACT PROBLEMS

A new algorithm for solving the three-dimensional elastic contact problem with friction is presented. The algorithm is a non-interior smoothing algorithm based on an NCP-function. The parametric variational principle and parametric quadratic programming method were applied to the analysis of three-dimensional frictional contact problem. The solution of the contact problem was finally reduced to a linear complementarity problem, which was reformulated as a system of nonsmooth equations via an NCP-function. A smoothing approximation to the nonsmooth equations was given by the aggregate function. A Newton method was used to solve the resulting smoothing nonlinear equations. The algorithm presented is easy to understand and implement. The reliability and efficiency of this algorithm are demonstrated both by the numerical experiments of LCP in mathematical way and the examples of contact problems in mechanics.

Adaptive tracking algorithm based on 3D variable turn model

Satisfactory results cannot be obtained when three-dimensional (3D) targets with complex maneuvering characteristics are tracked by the commonly used two-dimensional coordinated turn (2DCT) model. To address the problem of 3D target tracking with strong maneuverability, on the basis of the modified three-dimensional variable turn (3DVT) model, an adaptive tracking algorithm is proposed by combining with the cubature Kalman filter (CKF) in this paper. Through ideology of real-time identification, the parameters of the model are changed to adjust the state transition matrix and the state noise covariance matrix. Therefore, states of the target are matched in real-time to achieve the purpose of adaptive tracking. Finally, four simulations are analyzed in different settings by the Monte Carlo method. All results show that the proposed algorithm can update parameters of the model and identify motion characteristics in real-time when targets tracking also has a better tracking accuracy.

Heuristic Quasi-physical Algorithm for Protein Structure Prediction

A three-dimensional off-lattice protein model with two species of monomers, hydrophobic and hydrophilic, is studied. Enligh- tened by the law of reciprocity among things in the physical world, a heuristic quasi-physical algorithm for protein structure prediction problem is put forward. First, by elaborately simulating the movement of the smooth elastic balls in the physical world, the algorithm finds low energy configurations for a given monomer chain. An ＂off-trap＂ strategy is then proposed to get out of local minima. Experimental results show promising performance. For all chains with lengths 13≤n ≤55, the proposed algorithm finds states with lower energy than the putative ground states reported in literatures. Furthermore, for chain lengths n = 21, 34, and 55, the algorithm finds new low energy configurations different from those given in literatures.

An improved micro-expression recognition algorithm of 3D convolutional neural network

The micro-expression lasts for a very short time and the intensity is very subtle.Aiming at the problem of its low recognition rate,this paper proposes a new micro-expression recognition algorithm based on a three-dimensional convolutional neural network(3D-CNN),which can extract two-di-mensional features in spatial domain and one-dimensional features in time domain,simultaneously.The network structure design is based on the deep learning framework Keras,and the discarding method and batch normalization(BN)algorithm are effectively combined with three-dimensional vis-ual geometry group block(3D-VGG-Block)to reduce the risk of overfitting while improving training speed.Aiming at the problem of the lack of samples in the data set,two methods of image flipping and small amplitude flipping are used for data amplification.Finally,the recognition rate on the data set is as high as 69.11%.Compared with the current international average micro-expression recog-nition rate of about 67%,the proposed algorithm has obvious advantages in recognition rate.

A novel mapping algorithm for three-dimensional network on chip based on quantum-behaved particle swarm optimization

Mapping of three-dimensional network on chip is a key problem in the research of three-dimensional network on chip. The quality of the mapping algorithm used di- rectly affects the communication efficiency between IP cores and plays an important role in the optimization of power consumption and throughput of the whole chip. In this paper, ba- sic concepts and related work of three-dimensional network on chip are introduced. Quantum-behaved particle swarm op- timization algorithm is applied to the mapping problem of three-dimensional network on chip for the first time. Sim- ulation results show that the mapping algorithm based on quantum-behaved particle swarm algorithm has faster con- vergence speed with much better optimization performance compared with the mapping algorithm based on particle swarm algorithm. It also can effectively reduce the power consumption of mapping of three-dimensional network on chip.

Synthetic aperture radar tomography sampling criteria and three-dimensional range migration algorithm with elevation digital spotlighting

Based on the general geometric model of multi-baseline Synthetic Aperture Radar Tomography （TomoSAR）, the three-dimensional （3-D） sampling criteria, the analytic expression of the 3-D Point Spread Function （PSF） and the 3-D resolution are derived in the 3-D wavenumber domain in this paper. Considering the relationship between the observation geometry and the size of illuminated scenario, a 3-D Range Migration Algorithm with Elevation Digital Spotlighting （RMA-EDS） is proposed. With this algorithm 3-D images of the area of interest can be directly and accurately reconstructed in the 3-D space avoiding the complex operations of 3-D geometric correction. Finally, theoretical analyses and simulation results are presented to demonstrate the shift-varying property of the 3-D PSF and the spatialvarying property of the 3-D resolution and to demonstrate the validity of the 3-D RMA-EDS.

3D simultaneous seismic data reconstruction and noise suppression based on the curvelet transform

Seismic data contain random noise interference and are affected by irregular subsampling. Presently, most of the data reconstruction methods are carried out separately from noise suppression. Moreover, most data reconstruction methods are not ideal for noisy data. In this paper, we choose the multiscale and multidirectional 2D curvelet transform to perform simultaneous data reconstruction and noise suppression of 3D seismic data. We introduce the POCS algorithm, the exponentially decreasing square root threshold, and soft threshold operator to interpolate the data at each time slice. A weighing strategy was introduced to reduce the reconstructed data noise. A 3D simultaneous data reconstruction and noise suppression method based on the curvelet transform was proposed. When compared with data reconstruction followed by denoizing and the Fourier transform, the proposed method is more robust and effective. The proposed method has important implications for data acquisition in complex areas and reconstructing missing traces.

Three-dimensional cooperative guidance laws against stationary and maneuvering targets

This paper presents the cooperative strategies for salvo attack of multiple missiles based on the classical proportional navigation（PN） algorithm.The three-dimensional（3-D） guidance laws are developed in a quite simple formulation that consists of a PN component for target capture and a coordination component for simultaneous arrival.The centralized algorithms come into effect when the global information of time-to-go estimation is obtained, whereas the decentralized algorithms have better performance when each missile can only collect information from neighbors.Numerical simulations demonstrate that the proposed coordination algorithms are feasible to perform the cooperative engagement of multiple missiles against both stationary and maneuvering targets.The effectiveness of the 3-D guidance laws is also discussed.

An improved three-dimensional spherical DDA model for simulating rock failure

In this paper, a discontinuous numerical model, namely SDDARF3D(three-dimensional spherical discontinuous deformation analysis for rock failure), is proposed for simulating the whole process of rock failure. Firstly, within the framework of the classical discontinuous deformation analysis(DDA) method, the formulation of three-dimensional spherical DDA(3D SDDA) is deduced; secondly, a bonding and cracking algorithm is constructed and the SDDARF3 D model is proposed; thirdly, corresponding VC++ calculation code is developed and some verification examples are calculated. The simulated results can intuitively reproduce the failure phenomena of rock mass, indicating that the proposed SDDARF3 D numerical model is correct and effective.

Distributed three-dimensional cooperative guidance via receding horizon control

The paper presents a new three-dimensional (3D) cooperative guidance approach by the receding horizon control (RHC) technique. The objective is to coordinate the impact time of a group of interceptor missiles against the stationary target. The framework of a distributed RHC scheme is developed, in which each interceptor missile is assigned its own finite-horizon optimal control problem (FHOCP) and only shares the information with its neighbors. The solution of the local FHOCP is obtained by the constrained particle swarm optimization (PSO) method that is integrated into the distributed RHC framework with enhanced equality and inequality constraints. The numerical simulations show that the proposed guidance approach is feasible to implement the cooperative engagement with satisfied accuracy of target capture. Finally, the computation efficiency of the distributed RHC scheme is discussed in consideration of the PSO parameters, control update period and prediction horizon. (C) 2016 Chinese Society of Aeronautics and Astronautics. Production and hosting by Elsevier Ltd. This is an open access article under the CC BY-NC-ND license.

Continuous-wave terahertz diffraction tomography for measuring three-dimensional refractive index maps

Three-dimensional(3D)refractive index(RI)distribution is important to reveal the object’s inner structure.We implemented terahertz(THz)diffraction tomography with a continuous-wave single-frequency THz source for measuring 3D RI maps.The off-axis holographic interference configuration was employed to obtain the quantitative scattered field of the object under each rotation angle.The 3D reconstruction algorithm adopted the filtered backpropagation method,which can theoretically calculate the exact scattering potential from the measured scattered field.Based on the Rytov approximation,the 3D RI distribution of polystyrene foam spheres was achieved with high fidelity,which verified the feasibility of the proposed method.