Search

Unmanned Aerial Vehicles are useful tools for many applications. However, autonomous path planning for Unmanned Aerial Vehicles in unfamiliar environments is a challenging problem when facing a series of problems such as poor consistency, high influence by the native controller of the Unmanned Aerial Vehicles. In this paper, we investigate reinforcement learning-based autonomous local path planning methods for Unmanned Aerial Vehicles with high autonomous decision-making capability and locally high portability. We propose an autonomous local path planning algorithm based on the TD3 strategy to solve the problem of local obstacle avoidance and path planning in unfamiliar environments using autonomous decision-making of Unmanned Aerial Vehicles. The simulation results on Gazebo show that our method can effectively realize the autonomous local path planning task for Unmanned Aerial Vehicles, the success rate of path planning with our method can reach 93% under the interference of no obstacles, and 92% in the environment with obstacles. Finally, our method can be used for autonomous path planning of Unmanned Aerial Vehicles in unfamiliar environments. [ABSTRACT FROM AUTHOR]

In industry, the task of defect classification and defect localization is an important part of defect detection system. However, existing studies only focus on one task and it is difficult to ensure the accuracy of both tasks. This paper proposes a defect detection system based on improved Yolo_v4, which greatly improves the detection ability of minor defects. For K_Means algorithm clustering prianchors question with strong subjectivity, the paper proposes the Density Based Spatial Clustering of Applications with Noise (DBSCAN) algorithm to determine the number of Anchors. To solve the problem of low detection rate of small targets caused by insufficient reuse rate of low-level features in CSPDarknet53 feature extraction network, this paper proposes an ECA-DenseNet-BC-121 feature extraction network to improve it. And the Dual Channel Feature Enhancement (DCFE) module is proposed to improve the local information loss and gradient propagation obstruction caused by quad chain convolution in PANet networks to improve the robustness of the model. The experimental results on the fabric surface defect detection datasets show that the mAP of the improved Yolo_v4 is 98.97%, which is 7.67% higher than SSD, 3.75% higher than Faster_RCNN, 10.82% higher than Yolo_v4 tiny, and 5.35% higher than Yolo_v4, and the detection speed reaches 39.4 fps. It can meet the real-time monitoring needs of industrial sites. [ABSTRACT FROM AUTHOR]

Remote Sensing Image Object Detection (RSIOD) faces the challenges of multi-scale objects, dense overlap of objects and uneven data distribution in practical applications. In order to solve these problems, this paper proposes a YOLO-ACPHD RSIOD algorithm. The algorithm adopts Adaptive Condition Awareness Technology (ACAT), which can dynamically adjust the parameters of the convolution kernel, so as to adapt to the objects of different scales and positions. Compared with the traditional fixed convolution kernel, this dynamic adjustment can better adapt to the diversity of scale, direction and shape of the object, thus improving the accuracy and robustness of Object Detection (OD). In addition, a High-Dimensional Decoupling Technology (HDDT) is used to reduce the amount of calculation to 1/N by performing deep convolution on the input data and then performing spatial convolution on each channel. When dealing with large-scale Remote Sensing Image (RSI) data, this reduction in computation can significantly improve the efficiency of the algorithm and accelerate the speed of OD, so as to better adapt to the needs of practical application scenarios. Through the experimental verification of the RSOD RSI data set, the YOLO-ACPHD model in this paper shows very satisfactory performance. The F1 value reaches 0.99, the Precision value reaches 1, the Precision-Recall value reaches 0.994, the Recall value reaches 1, and the mAP value reaches 99.36 % , which indicates that the model shows the highest level in the accuracy and comprehensiveness of OD. [ABSTRACT FROM AUTHOR]

The optimal operation of reservoir groups is a strongly constrained, multi-stage, and high-dimensional optimization problem. In response to this issue, this article couples the standard Pelican optimization algorithm with adaptive ε constraint methods, and further improves the optimization performance of the algorithm by initializing the population with a good point set, reverse differential evolution, and optimal individual t-distribution perturbation strategy. Based on this, an improved Pelican algorithm coupled with adaptive ε constraint method is proposed (ε-IPOA). The performance of the algorithm was tested through 24 constraint testing functions to find the optimal ability and solve constraint optimization problems. The results showed that the algorithm has strong optimization ability and stable performance. In this paper, we select Sanmenxia and Xiaolangdi reservoirs as the research objects, establish the maximum peak-cutting model of terrace reservoirs, apply the ε-IPOA algorithm to solve the model, and compare it with the ε-POA (Pelican algorithm coupled with adaptive ε constraint method) and ε-DE (Differential Evolution Algorithm) algorithms, the results indicate that ε. The peak flow rate of the Huayuankou control point solved by the IPOA algorithm is 12,319 m3/s, which is much lower than the safe overflow flow rate of 22,000 m3/s at the Huayuankou control point, with a peak shaving rate of 44%, and other algorithms do not find effective solutions meeting the constraint conditions. This paper provides a new idea for solving the problem of flood control optimal operation of cascade reservoirs. [ABSTRACT FROM AUTHOR]

In the field of intelligent manufacturing, robot grasping and sorting is important content. However, there are some disadvantages in the traditional single-view-based manipulator grasping methods by using a 2D camera, where the efficiency and the accuracy of grasping are both low when facing the scene of stacking and occlusion for the reason that there is information missing by single-view 2D camera-based methods while acquiring scene information, and the methods of grasping only can't change the difficult-to-grasp scene which is stack and occluded. Regarding the issue above, a pushing-grasping collaborative method based on the deep Q-network in dual viewpoints is proposed in this paper. This method in this paper adopts an improved deep Q-network algorithm, with an RGB-D camera to obtain the information of objects' RGB images and point clouds from two viewpoints, which solved the problem of lack of information missing. What's more, it combines the pushing and grasping actions with the deep Q-network, which make it have the ability of active exploration, so that the trained manipulator can make the scenes less stacking and occlusion, and with the help of that, it can perform well in more complicated grasping scenes. In addition, we improved the reward function of the deep Q-network and propose the piecewise reward function to speed up the convergence of the deep Q-network. We trained different models and tried different methods in the V-REP simulation environment, and it drew a conclusion that the method proposed in this paper converges quickly and the success rate of grasping objects in unstructured scenes raises up to 83.5%. Besides, it shows the generalization ability and well performance when novel objects appear in the scenes that the manipulator has never grasped before. [ABSTRACT FROM AUTHOR]

The Manta Ray Foraging Optimization Algorithm (MRFO) is a metaheuristic algorithm for solving real-world problems. However, MRFO suffers from slow convergence precision and is easily trapped in a local optimal. Hence, to overcome these deficiencies, this paper proposes an Improved MRFO algorithm (IMRFO) that employs Tent chaotic mapping, the bidirectional search strategy, and the Levy flight strategy. Among these strategies, Tent chaotic mapping distributes the manta ray more uniformly and improves the quality of the initial solution, while the bidirectional search strategy expands the search area. The Levy flight strategy strengthens the algorithm's ability to escape from local optimal. To verify IMRFO's performance, the algorithm is compared with 10 other algorithms on 23 benchmark functions, the CEC2017 and CEC2022 benchmark suites, and five engineering problems, with statistical analysis illustrating the superiority and significance of the difference between IMRFO and other algorithms. The results indicate that the IMRFO outperforms the competitor optimization algorithms. [ABSTRACT FROM AUTHOR]

Metaheuristic algorithms, widely applied across various domains due to their simplicity and strong optimization capabilities, play a crucial role in problem-solving. While the Aquila Optimizer is recognized for its effectiveness, it often exhibits slow convergence rates and susceptibility to local optima in certain scenarios. To address these concerns, this paper introduces an enhanced version, termed Tent-enhanced Aquila Optimizer (TEAO). TEAO incorporates the Tent chaotic map to initialize the Aquila population, promoting a more uniform distribution within the solution space. To balance exploration and exploitation, novel formulas are proposed, accelerating convergence while ensuring precision. The effectiveness of the TEAO algorithm is validated through a comprehensive comparison with 14 state-of-the-art algorithms using 23 classical benchmark test functions. Additionally, to assess the practical feasibility of the approach, TEAO is applied to six constrained engineering problems and benchmarked against the performance of the same 14 algorithms. All experimental results consistently demonstrate that TEAO outperforms other advanced algorithms in terms of solution quality and stability, establishing it as a more competitive choice for optimization tasks. [ABSTRACT FROM AUTHOR]

In complex networks, key nodes are important factors that directly affect network structure and functions. Therefore, accurate mining and identification of key nodes are crucial to achieving better control and a higher utilization rate of complex networks. To address this problem, this paper proposes an accurate and efficient algorithm for critical node mining. The influential nodes are determined using both global and local information (GLI) to solve the shortcoming of the existing key node identification methods that consider either local or global information. The proposed method considers two main factors, global and local influences. The global influence is determined using the K-shell hierarchical information of a node, and local influence is obtained considering the number of edges connected by the node and the given values of adjacent nodes. The given values of adjacent nodes are determined based on the degree and K-shell hierarchical information. Further, the similarity coefficient of neighbors is considered, which enhances the differentiation degree of the adjacent given values. The proposed method solves the problems of the high complexity of global information-based algorithms and the low accuracy of local information-based algorithms. The proposed method is verified by simulation experiments using the SIR and SI models as a reference, and twelve typical real-world networks are used for the comparison. The proposed GLI algorithm is compared with several common algorithms at different periods. The comparison results show that the GLI algorithm can effectively explore influential nodes in complex networks. [ABSTRACT FROM AUTHOR]

In this paper, a new stochastic optimization algorithm is introduced, called Driving Training-Based Optimization (DTBO), which mimics the human activity of driving training. The fundamental inspiration behind the DTBO design is the learning process to drive in the driving school and the training of the driving instructor. DTBO is mathematically modeled in three phases: (1) training by the driving instructor, (2) patterning of students from instructor skills, and (3) practice. The performance of DTBO in optimization is evaluated on a set of 53 standard objective functions of unimodal, high-dimensional multimodal, fixed-dimensional multimodal, and IEEE CEC2017 test functions types. The optimization results show that DTBO has been able to provide appropriate solutions to optimization problems by maintaining a proper balance between exploration and exploitation. The performance quality of DTBO is compared with the results of 11 well-known algorithms. The simulation results show that DTBO performs better compared to 11 competitor algorithms and is more efficient in optimization applications. [ABSTRACT FROM AUTHOR]

In this paper, we proposed a novel operation to reconstruction tetrahedrons within a certain region, which we call MFRC (Multi-face reconstruction). During the existing tetrahedral mesh improvement methods, the flip operation is one of the very important components. However, due to the limited area affected by the flip, the improvement of the mesh quality by the flip operation is also very limited. The proposed MFRC algorithm solves this problem. MFRC can reconstruct the local mesh in a larger range and can find the optimal tetrahedron division in the target area within acceptable time complexity. Therefore, based on the MFRC algorithm, we combined other operations including smoothing, edge removal, face removal, and vertex insertion/deletion to develop an effective mesh quality improvement method. Numerical experiments of dozens of meshes show that the algorithm can effectively improve the low-quality elements in the tetrahedral mesh, and can effectively reduce the running time, which has important significance for the quality improvement of large-scale mesh. [ABSTRACT FROM AUTHOR]

Predicting beneficial and valuable miRNA–disease associations (MDAs) by doing biological laboratory experiments is costly and time-consuming. Proposing a forceful and meaningful computational method for predicting MDAs is essential and captivated many computer scientists in recent years. In this paper, we proposed a new computational method to predict miRNA–disease associations using improved random walk with restart and integrating multiple similarities (RWRMMDA). We used a WKNKN algorithm as a pre-processing step to solve the problem of sparsity and incompletion of data to reduce the negative impact of a large number of missing associations. Two heterogeneous networks in disease and miRNA spaces were built by integrating multiple similarity networks, respectively, and different walk probabilities could be designated to each linked neighbor node of the disease or miRNA node in line with its degree in respective networks. Finally, an improve extended random walk with restart algorithm based on miRNA similarity-based and disease similarity-based heterogeneous networks was used to calculate miRNA–disease association prediction probabilities. The experiments showed that our proposed method achieved a momentous performance with Global LOOCV AUC (Area Under Roc Curve) and AUPR (Area Under Precision-Recall Curve) values of 0.9882 and 0.9066, respectively. And the best AUC and AUPR values under fivefold cross-validation of 0.9855 and 0.8642 which are proven by statistical tests, respectively. In comparison with other previous related methods, it outperformed than NTSHMDA, PMFMDA, IMCMDA and MCLPMDA methods in both AUC and AUPR values. In case studies of Breast Neoplasms, Carcinoma Hepatocellular and Stomach Neoplasms diseases, it inferred 1, 12 and 7 new associations out of top 40 predicted associated miRNAs for each disease, respectively. All of these new inferred associations have been confirmed in different databases or literatures. [ABSTRACT FROM AUTHOR]

Simultaneous optimization of several competing objectives requires increasing the capability of optimization algorithms. This paper proposes the multi-objective moth swarm algorithm, for the first time, to solve various multi-objective problems. In the proposed algorithm, a new definition for pathfinder moths and moonlight was proposed to enhance the synchronization capability as well as to maintain a good spread of non-dominated solutions. In addition, the crowding-distance mechanism was employed to select the most efficient solutions within the population. This mechanism indicates the distribution of non-dominated solutions around a particular non-dominated solution. Accordingly, a set of non-dominated solutions obtained by the proposed multi-objective algorithm is kept in an archive to be used later for improving its exploratory capability. The capability of the proposed MOMSA was investigated by a set of multi-objective benchmark problems having 7 to 30 dimensions. The results were compared with three well-known meta-heuristics of multi-objective evolutionary algorithm based on decomposition (MOEA/D), Pareto envelope-based selection algorithm II (PESA-II), and multi-objective ant lion optimizer (MOALO). Four metrics of generational distance (GD), spacing (S), spread (Δ), and maximum spread (MS) were employed for comparison purposes. The qualitative and quantitative results indicated the superior performance and the higher capability of the proposed MOMSA algorithm over the other algorithms. The MOMSA algorithm with the average values of CPU time = 2771 s, GD = 0.138, S = 0.063, Δ = 1.053, and MS = 0.878 proved to be a robust and reliable model for multi-objective optimization. [ABSTRACT FROM AUTHOR]

The limited capabilities of current quantum hardware significantly constrain the scale of experimental demonstrations of most quantum algorithmic primitives. This makes it challenging to perform benchmarking of the current hardware using useful quantum algorithms, i.e., application-oriented benchmarking. In particular, the Harrow-Hassidim-Lloyd (HHL) algorithm is a critical quantum linear algebra primitive, but the majority of the components of HHL are far out of the reach of noisy intermediate-scale quantum devices, which has led to the proposal of hybrid classical-quantum variants. The goal of this work is to further bridge the gap between proposed near-term friendly implementations of HHL and the kinds of quantum circuits that can be executed on noisy hardware. Our proposal adds to the existing literature of hybrid quantum algorithms for linear algebra that are more compatible with the current scale of quantum devices. Specifically, we propose two modifications to the Hybrid HHL algorithm proposed by Lee et al., leading to our algorithm Hybrid HHL + + : (1) propose a novel algorithm for determining a scaling factor for the linear system matrix that maximizes the utility of the amount of ancillary qubits allocated to the phase estimation component of HHL, and (2) introduce a heuristic for compressing the HHL circuit. We demonstrate the efficacy of our work by running our modified Hybrid HHL on Quantinuum System Model H-series trapped-ion quantum computers to solve different problem instances of small-scale portfolio optimization problems, leading to the largest experimental demonstrations of HHL for an application to date. [ABSTRACT FROM AUTHOR]

An algorithm that integrates the improved artificial fish swarm algorithm with continuous segmented Bézier curves is proposed, aiming at the path planning and smoothing of mobile robots. On the one hand, to overcome the low accuracy problems, more inflection points and relatively long planning paths in the traditional artificial fish swarm algorithm for path planning, feasible solutions and a range of step sizes are introduced based on Dijkstra's algorithm. To solve the problems of poor convergence and degradation that hinder the algorithm's ability to find the best in the later stage, a dynamic feedback horizon and an adaptive step size are introduced. On the other hand, to ensure that the planned paths are continuous in both orientation and curvature, the Bessel curve theory is introduced to smooth the planned paths. This is demonstrated through a simulation that shows the improved artificial fish swarm algorithm achieving 100% planning accuracy, while ensuring the shortest average path in the same grid environment. Additionally, the smoothed path is continuous in both orientation and curvature, which satisfies the kinematic characteristics of the mobile robot. [ABSTRACT FROM AUTHOR]

Quantum approximate optimization algorithm (QAOA) is a promising hybrid quantum-classical algorithm to solve combinatorial optimization problems in the era of noisy intermediate-scale quantum computers. Recently it has been revealed that warm-start approaches can improve the performance of QAOA, where approximate solutions are obtained by classical algorithms in advance and incorporated into the initial state and/or unitary ansatz. In this work, we study in detail how the accuracy of approximate solutions affects the performance of the warm-start QAOA (WS-QAOA). We numerically find that in typical MAX-CUT problems, WS-QAOA achieves higher fidelity (probability that exact solutions are observed) and approximation ratio than QAOA as the Hamming distance of approximate solutions to the exact ones becomes smaller. We reveal that this could be quantitatively attributed to the initial state of the ansatz. We also solve MAX-CUT problems by WS-QAOA with approximate solutions obtained via QAOA, having higher fidelity and approximation ratio than QAOA especially when the circuit is relatively shallow. We believe that our study may deepen understanding of the performance of WS-QAOA and also provide a guide as to the necessary quality of approximate solutions. [ABSTRACT FROM AUTHOR]

Betweenness centrality is one of the key measures of the node importance in a network. However, it is computationally intractable to calculate the exact betweenness centrality of nodes in large-scale networks. To solve this problem, we present an efficient CBCA (Centroids based Betweenness Centrality Approximation) algorithm based on progressive sampling and shortest paths approximation. Our algorithm firstly approximates the shortest paths by generating the network centroids according to the adjacency information entropy of the nodes; then constructs an efficient error estimator using the Monte Carlo Empirical Rademacher averages to determine the sample size which can achieve a balance with accuracy; finally, we present a novel centroid updating strategy based on network density and clustering coefficient, which can effectively reduce the computation burden of updating shortest paths in dynamic networks. The experimental results show that our CBCA algorithm can efficiently output high-quality approximations of the betweenness centrality of a node in large-scale complex networks. [ABSTRACT FROM AUTHOR]

It is of great theoretical significance and practical value to establish a fast and accurate detection method for particle size of rock fragmentation. This study introduces the Phansalkar binarization method, proposes the watershed seed point marking method based on the solidity of rock block contour, and forms an adaptive watershed segmentation algorithm for blasted rock piles images based on rock block shape, which is to better solve the problem of incorrect segmentation caused by adhesion, stacking and blurred edges in blasted rock images. The algorithm first obtains the binary image after image pre-processing and performs distance transformation; then by selecting the appropriate gray threshold, the adherent part of the distance transformation image, i.e., the adherent rock blocks in the blasted rock image, is segmented and the seed points are marked based on the solidity of the contour calculated by contour detection; finally, the watershed algorithm is used to segment. The area cumulative distribution curve of the segmentation result is highly consistent with the manual segmentation, and the segmentation accuracy was above 95.65% for both limestone and granite for rock blocks with area over 100 cm2, indicating that the algorithm can accurately perform seed point marking and watershed segmentation for blasted rock image, and effectively reduce the possibility of incorrect segmentation. The method provides a new idea for particle segmentation in other fields, which has good application and promotion value. [ABSTRACT FROM AUTHOR]

Recently, various advanced technologies have been employed to build smart cities. Smart cities aim at improving the quality of life through the delivery of better services. One of the current services that are essential for any smart city, is the availability of enough parking spaces to ensure smooth and easy traffic flow. This research proposes a new framework for solving the problem of parking lot allocation, which emphasizes the equitable allocation of people based on the overall count of people in each parking space. The allocation process is performed while considering the available parking lots in each parking space. To accomplish the desired goal, this research will develop a set of seven algorithms to reduce the gap in the number of people between parking spaces. Many experiments carried out on 2430 different cases to cover several aspects such as the execution time and the gap calculations, were used to explore the performance of the developed algorithm. Analyzing the obtained results indicates a good performance behavior of the developed algorithms. Also, it shows that the developed algorithms can solve the studied problem in terms of gap and time calculations. The MR algorithm gained excellent performance results compared to one of the best algorithms in the literature. The MR algorithm has a percentage of 96.1 %, an average gap of 0.02, and a good execution time of 0.007 s. [ABSTRACT FROM AUTHOR]

Many physics problems involve integration in multi-dimensional space whose analytic solution is not available. The integrals can be evaluated using numerical integration methods, but it requires a large computational cost in some cases, so an efficient algorithm plays an important role in solving the physics problems. We propose a novel numerical multi-dimensional integration algorithm using machine learning (ML). After training a ML regression model to mimic a target integrand, the regression model is used to evaluate an approximation of the integral. Then, the difference between the approximation and the true answer is calculated to correct the bias in the approximation of the integral induced by ML prediction errors. Because of the bias correction, the final estimate of the integral is unbiased and has a statistically correct error estimation. Three ML models of multi-layer perceptron, gradient boosting decision tree, and Gaussian process regression algorithms are investigated. The performance of the proposed algorithm is demonstrated on six different families of integrands that typically appear in physics problems at various dimensions and integrand difficulties. The results show that, for the same total number of integrand evaluations, the new algorithm provides integral estimates with more than an order of magnitude smaller uncertainties than those of the VEGAS algorithm in most of the test cases. [ABSTRACT FROM AUTHOR]