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Design of Consensus Algorithm for UAV Swarm Identity Authentication Based on Lightweight Blockchain 认领 引用
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作者 Yuji Sang Lijun Liu +2 位作者 Long Lv Husheng Wu Hemin Yin 《Computers, Materials & Continua》 SCIE EI 2026年第5期639-663,共25页
Aiming at the challenges of low throughput,excessive consensus latency and high communication complexity in the Practical Byzantine Fault Tolerance(PBFT)algorithm in blockchain networks,its application in identity ver... Aiming at the challenges of low throughput,excessive consensus latency and high communication complexity in the Practical Byzantine Fault Tolerance(PBFT)algorithm in blockchain networks,its application in identity verification for distributed networking of a drone cluster is limited.Therefore,a lightweight blockchainbased identity authentication model for UAV swarms is designed,and a Credit-score and Grouping-mechanism Practical Byzantine Fault Tolerance(CG-PBFT)algorithm is proposed.CG-PBFT introduces a reputation score evaluation mechanism,classifies the reputation levels of nodes in the network,and optimizes the consensus process based on grouping consensus and BLS aggregate signature technology.Experimental results demonstrate that under identical experimental conditions,compared with the PBFT algorithm,CG-PBFT achieves a 250%increase in average throughput,a 70%reduction in average latency,and simultaneous enhancement in security,thus making it more suitable for UAV swarm networks. 展开更多
关键词 UAV swarm network blockchain PBFT consensus algorithm credit score
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MH-Raft:an efficient and low-latency consensus algorithm for distributed systems viaMOEA/D and hybrid hierarchical clustering 认领 引用
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作者 Fei ZHAO Guilong PENG Tianyi ZANG 《ENGINEERING Information Technology & Electronic Engineering》 SCIE EI CSCD 2026年第5期34-48,共15页
Raft is a foundational consensus protocol for distributed systems,architected to ensure state machine replication and data consistency across machine clusters.However,traditional Raft faces significant performance bot... Raft is a foundational consensus protocol for distributed systems,architected to ensure state machine replication and data consistency across machine clusters.However,traditional Raft faces significant performance bottlenecks,particularly regarding suboptimal election efficiency and substantial consensus latency in large-scale deployments.To address these challenges,this study presents MH-Raft,an enhanced consensus variant designed for high efficiency and minimal latency.We propose a hierarchical node management and election framework to optimize network coordination.Specifically,a leader election methodology leveraging the multi-objective evolutionary algorithm based on decomposition(MOEA/D)is formulated to minimize election latency by evaluating multi-dimensional node attributes.To further refine the proposed hierarchical architecture,a rigorous tightness definition is devised for optimal mediator node selection,which is integrated into a hybrid clustering algorithm that adaptively partitions the network and optimizes the mapping between mediator nodes and follower nodes.Quantitative evaluations via comprehensive experiments demonstrate that MH-Raft significantly reduces overall election latency and lowers consensus latency by 14.87%–34.45%,while enhancing average throughput by 30.43%compared to the conventional Raft implementation. 展开更多
关键词 Consensus algorithm Blockchain Multi-objective evolutionary algorithm Distributed systems
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基于RANSAC与改进A*算法的果园移动机器人路径规划研究 认领 引用 被引量：2
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作者 王明之 吕强 +3 位作者 蒋杰 林刚 唐超 张皓杨 《西南大学学报（自然科学版）》 CAS CSCD 北大核心 2026年第1期216-228,共13页
针对果园移动机器人在全局路径规划中存在的搜索时间长、安全性低、冗余节点多、路径不平滑以及行间作业精度不高等问题,研究提出一种基于RANSAC(Random Sample Consensus)算法与改进A*算法的路径规划方案。该方案首先利用RANSAC算... 针对果园移动机器人在全局路径规划中存在的搜索时间长、安全性低、冗余节点多、路径不平滑以及行间作业精度不高等问题,研究提出一种基于RANSAC(Random Sample Consensus)算法与改进A*算法的路径规划方案。该方案首先利用RANSAC算法拟合树行直线并提取果树行间中线,为后续改进A*算法提供最优中线参考路径;然后,在A*算法中引入中线栅格缩减策略,引导A*算法优先将中线作为最终路径;接着,对预估函数进行优化以提高运算效率,加入排斥力场函数以提升路径安全性;最后,结合安全距离阈值剔除冗余节点方法以消除多余节点,并采用三次均匀B样条曲线对路径进行平滑处理。在A*算法仿真对比试验中,本文改进A*算法相对于其他算法计算效率更高,生成路径更为安全平滑;在果园仿真栅格地图算法对比试验中,本文算法对于其他算法能规划出更高质量的行间中线路径;在模拟果园路径跟踪试验中,本文算法横向偏差均小于其他算法,适用性更强。 展开更多
关键词 移动机器人 路径规划 A*算法 随机抽样一致算法 果园
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结合倒置残差模块和可微分RANSAC算法的点云配准模型 认领 引用
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作者 李维乾 葛文豪 陈金广 《计算机与现代化》 2026年第2期1-10,共10页
针对复杂和存在遮挡的点云数据整体和局部特征融合程度低,以及传统鲁棒估计算法无法集成到深度学习训练流程的问题,本文提出一种基于改进PointNet++和随机采样一致算法的点云配准网络模型。首先,使用融合倒置残差模块的PointNet++网络... 针对复杂和存在遮挡的点云数据整体和局部特征融合程度低,以及传统鲁棒估计算法无法集成到深度学习训练流程的问题,本文提出一种基于改进PointNet++和随机采样一致算法的点云配准网络模型。首先,使用融合倒置残差模块的PointNet++网络提取局部点云特征,生成融合全局和局部特征信息的特征描述符;其次,使用局部特征Transformer模块生成暂定的点对应和置信度分数;随后,引入神经采样器以保证RANSAC采样过程的可微分性,并使用可微分的几何求解器计算出点云对之间的刚性变换矩阵;最后,设计可训练质量函数以在每次迭代中优化评估指标,将鲁棒估计算法集成到训练流程中,最终完成点云配准。在3个公开的大规模点云数据集3DMatch、ETH和KITTI上的多次对比实验结果表明,本文方法在3DMatch上的特征匹配召回率达到98.4%,较SpinNet网络提高了0.8百分点;在ETH和KITTI上的特征匹配召回率和正确率分别达到98.5%和99.57%,较SpinNet网络分别提高了5.7百分点和0.5个百分点。在处理多个密度不均匀、存在遮挡的复杂点云数据集时,本文方法的表现优于现有先进方法,能有效提高配准精度。 展开更多
关键词 点云配准 鲁棒估计 特征描述符 PointNet++ 倒置残差 随机采样一致算法
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Tilt Measurement Method of Wooden Columns in Traditional Timber Buildings Based on Adaptive RANSAC and PCA Method 认领 引用
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作者 Minyan Zhan Wei Yang +2 位作者 Minghao Wu Hsin-Yi Wang Yu-Hsien Ho 《Structural Durability & Health Monitoring》 EI 2026年第3期395-414,共20页
The inclination of wooden columns is a key indicator for evaluating the structural safety of traditional timber buildings in China.However,accurate measurement is challenging because these columns typically exhibit na... The inclination of wooden columns is a key indicator for evaluating the structural safety of traditional timber buildings in China.However,accurate measurement is challenging because these columns typically exhibit natural tapering,with diameters decreasing from the base to the top,and surface irregularities such as artificial cuts,cracks,and knots.Both the intrinsic geometric characteristics and surface defects reduce the precision of coordinate acquisition and the reliability of inclination estimation.To overcome these limitations,this study proposes a novel inclination measurement method for wooden columns in traditional timber buildings based on multi-section measurement and spatial line fitting.An adaptive random sample consensus algorithm is employed to effectively remove outliers induced by surface damage and measurement noise.Subsequently,principal component analysis is used to fit a three-dimensional spatial line through the center points of multiple cross-sections,enabling accurate computation of the inclination angle while accounting for structural imperfections.Moreover,the effects of damage defects,the number of measuring points,the measurement range,and the number of selected cross-sections on measurement accuracy are systematically investigated through statistical analysis,and corresponding recommended values for engineering practice are provided.The proposed method offers an efficient and reliable solution for inclination measurement,supporting the inspection and structural safety assessment of traditional timber columns. 展开更多
关键词 Traditional timber building inclination measurement of wooden column adaptive random sample consensus algorithm principal component analysis
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基于改进RANSAC算法的滑板砖平整度在线检测研究 认领 引用
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作者 卢树鹏 邹光明 +2 位作者 魏晨彪 徐巍 刘源泂 《中南大学学报（自然科学版）》 EI CSCD 北大核心 2026年第4期1579-1589,共11页
为解决由系统安装误差、未加工支撑面引起的偏斜以及运行振动干扰导致的滑板砖平整度自动测量精度不足的问题,本文提出了一种改进的随机抽样一致性(random sample consensus,RANSAC)算法。该算法首先采用基于四分位距(IQR)全局滤波与空... 为解决由系统安装误差、未加工支撑面引起的偏斜以及运行振动干扰导致的滑板砖平整度自动测量精度不足的问题,本文提出了一种改进的随机抽样一致性(random sample consensus,RANSAC)算法。该算法首先采用基于四分位距(IQR)全局滤波与空间分层自适应滤波相结合的二级联合滤波策略,通过结合四分位距异常边界与空间自适应阈值机制,实现了对极端离群点的剔除及边缘反射、扫描抖动所致空间异质噪声的有效抑制;其次,通过阈值动态调整、特征分解和法向量归一化等优化方法实现了高稳健性平面拟合,并基于极差法计算了所有测量点至基准平面的高度极差,以此作为表面平整度的最终度量。采用线激光扫描系统对3种工业滑板砖样本进行重复测量,并与塞尺法测量结果进行对比分析。研究结果表明:本文提出的改进RANSAC算法显著提升了滑板砖表面平整度的测量重复性与准确性,测量精度较改进前约提升26%,且与塞尺法测量结果一致,表明本方法能够稳定满足0.03 mm的工业公差要求,为实现滑板砖平整度的在线高精度检测提供了有效解决方案。 展开更多
关键词 滑板砖 平整度 线激光扫描 在线检测 改进RANSAC算法
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基于改进RANSAC的强噪声隧道点云研究 认领 引用
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作者 潘昱颖 陈星宇 +2 位作者 王家勇 胡书濠 邓为权 《激光与红外》 CAS CSCD 北大核心 2026年第6期935-941,共7页
针对施工隧道安全监测中激光点云易受复杂环境噪声、设备安装偏差及断面不完整性干扰的问题,本文提出了一种强噪声情况下施工隧道点云的分阶段处理方法。首先通过地面基线拟合一阶多项式实现点云姿态矫正;其次提出约束采样RANSAC(随机... 针对施工隧道安全监测中激光点云易受复杂环境噪声、设备安装偏差及断面不完整性干扰的问题,本文提出了一种强噪声情况下施工隧道点云的分阶段处理方法。首先通过地面基线拟合一阶多项式实现点云姿态矫正;其次提出约束采样RANSAC(随机采样一致性)算法,通过约束拱顶采样、圆心深度约束与动态残差阈值(1.5~3倍标准差)调控机制,提升了噪声滤除精度;最终采用非线性最小二乘法完成完整圆拟合。实验验证表明,该方法在公路隧道中成功监测到了超过允许值0.17 mm的突变增量,所测所有数据半径偏差均满足设计规范容许阈值。该方法增强了在强噪声与数据缺失场景下的轮廓拟合鲁棒性,突破标准RANSAC在不完善隧道轮廓点云中的局限性,为隧道形变实时监测提供了新的解决思路。 展开更多
关键词 激光测量技术 去噪算法 改进RANSAC 隧道拱顶点云
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融合凸包和RANSAC算法的隧道点云去噪研究 认领 引用
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作者 赵昭明 何华 +2 位作者 李郭超 梁宝新 孟文宾 《工程勘察》 2026年第6期93-99,共7页
针对隧道点云去噪人工干预量大、正确率不高及稳健性低等问题,并顾及隧道呈圆柱形的特点,提出一种融合凸包和RANSAC算法的去噪方法。首先对点云进行预处理,剔除外部离群点并进行切片处理,然后使用凸包算法构建切片点云凸包,减少后续处... 针对隧道点云去噪人工干预量大、正确率不高及稳健性低等问题,并顾及隧道呈圆柱形的特点,提出一种融合凸包和RANSAC算法的去噪方法。首先对点云进行预处理,剔除外部离群点并进行切片处理,然后使用凸包算法构建切片点云凸包,减少后续处理的数据量,接着采用RANSAC算法对凸包顶点和经过初步去噪后的点云进行2次圆柱面拟合,提取隧道中轴线,最后根据点到中轴线的距离完成隧道点云去噪。试验结果表明,与传统RANSAC去噪算法相比,本文算法隧道壁点云提取正确率提升0.3%,错误率降低6.2%,漏检率降低0.3%,处理隧道壁附近点云噪声时效果更为突出。本文算法可以快速、自适应地去除隧道点云噪声,稳健性和适应性更强。 展开更多
关键词 点云去噪 K均值聚类 凸包 RANSAC算法
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GNSS/INS紧组合RANSAC周跳探测检验统计模型分析 认领 引用
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作者 李冰雁 张全 牛小骥 《导航定位学报》 CSCD 北大核心 2026年第2期89-97,共9页
针对城市复杂环境中载波相位观测值容易发生频繁周跳,从而影响全球卫星导航系统(GNSS)定位精度,而随机抽样一致性(RANSAC)算法中检验统计量的计算模型受参数阈值设定的影响易导致其应用场景适用性较弱等问题,对GNSS/惯性导航系统(INS)... 针对城市复杂环境中载波相位观测值容易发生频繁周跳,从而影响全球卫星导航系统(GNSS)定位精度,而随机抽样一致性(RANSAC)算法中检验统计量的计算模型受参数阈值设定的影响易导致其应用场景适用性较弱等问题,对GNSS/惯性导航系统(INS)紧组合RANSAC周跳探测检验统计模型进行分析:指出RANSAC算法在多异常观测值场景具备探测优势,逐渐被用于GNSS载波观测值的周跳探测;然后分析不同RANSAC检验统计模型在GNSS/惯性导航系统(INS)紧组合中的周跳探测效果;最后提出基于指数函数的鲁棒检验统计量计算模型。开阔环境周跳仿真实验结果表明,在异常卫星占比为30%~70%时,提出的周跳探测算法召回率可达到90%;复杂环境测试结果表明,提出的周跳探测算法使得水平和垂向位置误差分别减小约60%和25%。 展开更多
关键词 随机抽样一致性(RANSAC) 紧组合 周跳探测 故障检测 全球卫星导航系统(GNSS)
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基于RANSAC算法的结构面产状测量方法研究 认领 引用
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作者 杨海林 刘军 《测绘与空间地理信息》 2026年第3期7-10,共4页
岩体结构面的几何特征参数是影响岩体稳定性的主要因素。传统结构面测量方法作业效率低、危险性高,本文基于RANSAC算法的识别和迭代原理,提出了一种高精度的简便快捷提取结构面的方法。首先,通过主成分分析法选取局部点云进行参考平面... 岩体结构面的几何特征参数是影响岩体稳定性的主要因素。传统结构面测量方法作业效率低、危险性高,本文基于RANSAC算法的识别和迭代原理,提出了一种高精度的简便快捷提取结构面的方法。首先,通过主成分分析法选取局部点云进行参考平面的拟合;随后借助RANSAC算法进行迭代处理,识别并剔除噪声点,自动计算岩体结构面;最后,根据法向量坐标转换获取结构面的产状信息。运用该方法处理仿真数据和实测数据,能有效地剔除噪声点,并适应不同密度与规模的点云数据,具有较强的鲁棒性,自然岩体结构面倾向和倾角的计算结果与实际数据差值小于2°。结果表明,本方法可以高效、可靠地识别提取自然岩体的结构面信息,满足工程实际的应用。 展开更多
关键词 RANSAC算法 PCA算法 结构面产状 三维激光点云
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法向量约束的改进RANSAC点云平面提取方法 认领 引用
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作者 杨志坚 《北京测绘》 2026年第4期449-454,共6页
针对传统随机采样一致性算法(RANSAC)提取点云平面特征时存在的误识别率高、计算效率低问题,本文提出一种基于法向量约束的改进RANSAC点云平面提取方法。该方法通过在两个关键环节引入法向量夹角约束实现性能优化。在随机采样阶段,限定... 针对传统随机采样一致性算法(RANSAC)提取点云平面特征时存在的误识别率高、计算效率低问题,本文提出一种基于法向量约束的改进RANSAC点云平面提取方法。该方法通过在两个关键环节引入法向量夹角约束实现性能优化。在随机采样阶段,限定所选样本点间的法向量夹角小于设定阈值,保障初始样本集的有效性;在内点判断阶段,将点与样本点的法向量平行性作为附加约束,结合传统距离判定准则共同完成内点识别。实验结果表明,所提改进方法在保留传统RANSAC算法鲁棒性的基础上,显著提升了点云平面提取的准确性与计算效率,有效降低了特征匹配错误率,可适用于复杂场景下的点云平面处理相关任务。 展开更多
关键词 点云数据 平面点 随机采样一致性算法 法向量
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NI-HotStuff:A Reputation-Driven Committee Framework for Efficient and Robust BFT Consensus 认领 引用
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作者 Long Zheng 《Journal of Electronic Research and Application》 2026年第1期13-27,共15页
Consensus mechanisms are fundamental to blockchain systems,ensuring that distributed nodes agree on the validity of transactions and data.However,performance bottlenecks,particularly those related to throughput,latenc... Consensus mechanisms are fundamental to blockchain systems,ensuring that distributed nodes agree on the validity of transactions and data.However,performance bottlenecks,particularly those related to throughput,latency,and node selection,have increasingly constrained the scalability of modern blockchain deployments.To address these issues,this paper proposes NI-HotStuff,a reputation-driven committee-based BFT consensus framework built upon the HotStuff protocol.A CatBoost-based reputation model is introduced to learn and evaluate historical behavioral features of nodes,enabling quantitative reputation scoring.A hardware-aware bidding mechanism is further incorporated to dynamically compute each node’s bid value and integrate it with its reputation score,thereby prioritizing stable and high-performance nodes for consensus participation.Moreover,a committee mechanism is established in which a set of committee nodes were selected from the candidate pool,and only committee members participate in the consensus process,reducing redundant communication and mitigating the performance drag caused by weak nodes.On top of that,a leader-selection strategy based on reputation values and inter-view time intervals is designed to prevent low-reputation or potentially malicious nodes from frequently becoming leaders.Experimental results demonstrate that NI-HotStuff significantly outperforms traditional PBFT and HotStuff in terms of communication overhead,consensus latency,and system throughput,with particularly notable improvements in small-and medium-scale node environments. 展开更多
关键词 Blockchain Consensus algorithm HotStuff Reputation model Bidding mechanism
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基于改进RANSAC算法的电网数字孪生多帧图像配准 认领 引用
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作者 周鹏 肖学权 +2 位作者 苏岭东 张潇 滕松 《信息技术》 2026年第3期36-41,共6页
由于电网环境的复杂多变,如背景干扰、设备布局的动态变化以及图像质量差异等因素,导致在复杂的电网背景中无法有效地提取关键点。因此,提出了一种基于改进RANSAC算法的电网数字孪生多帧图像姿态配准方法。利用SIFT算法在电网数字孪生... 由于电网环境的复杂多变,如背景干扰、设备布局的动态变化以及图像质量差异等因素,导致在复杂的电网背景中无法有效地提取关键点。因此,提出了一种基于改进RANSAC算法的电网数字孪生多帧图像姿态配准方法。利用SIFT算法在电网数字孪生多帧图像中检测关键点,并通过相似性度量进行粗配准。采用空间一致性检测原理和PROSAC算法改进RANSAC算法,利用改进后的算法剔除初始关键匹配点集中的外点,实现电网数字孪生多帧图像姿态的精配准。实验结果表明,该方法的关键点检测精度高、图像姿态配准效果好。 展开更多
关键词 改进RANSAC算法 电网数字孪生多帧图像 图像姿态配准 SIFT算法
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Raft Consensus Algorithm Based on Credit Model in Consortium Blockchain 认领 引用 被引量：5
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作者 CHEN Yunfang LIU Ping ZHANG Wei 《Wuhan University Journal of Natural Sciences》 CAS CSCD 2020年第2期146-154,共9页
As one of the underlying technologies of the blockchain,the consensus algorithm plays a vital role in ensuring security and efficiency.As a consensus algorithm for the private blockchain,Raft has better performance th... As one of the underlying technologies of the blockchain,the consensus algorithm plays a vital role in ensuring security and efficiency.As a consensus algorithm for the private blockchain,Raft has better performance than the rest of the consensus algorithms,and it does not cause problems such as the concentrated hashing power,resource waste and fork.However,Raft can only be used in a non-byzantine environment with a small network size.In order to enable Raft to be used in a large-scale network with a certain number of byzantine nodes,this paper combines Raft and credit model to propose a Raft blockchain consensus algorithm based on credit model CRaft.In the node credit evaluation phase,RBF-based support vector machine is used as the anomaly detection method,and the node credit evaluation model is constructed.Then the Trust Nodes List(TNL)mechanism is introduced to make the consensus phase in a creditable network environment.Finally,the common node is synchronized to the consensus node to update the blockchain of the entire network.Experiments show that CRaft has better throughput and lower latency than the commonly used consortium blockchain consensus algorithm PBFT(Practical Byzantine Fault Tolerance). 展开更多
关键词 credit model consensus algorithm consortium blockchain P2P network
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Distributed consensus algorithm for networked Euler-Lagrange systems with self-delays and uncertainties 认领 引用 被引量：3
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作者 Xu Zhu dianguo Yan Yaohong Qu 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2012年第6期898-905,共8页
A distributed coordinated consensus problem for multiple networked Euler-Lagrange systems is studied.The communication between agents is subject to time delays,unknown parameters and nonlinear inputs,but only with the... A distributed coordinated consensus problem for multiple networked Euler-Lagrange systems is studied.The communication between agents is subject to time delays,unknown parameters and nonlinear inputs,but only with their states available for measurement.When the communication topology of the system is connected,an adaptive control algorithm with selfdelays and uncertainties is suggested to guarantee global full-state synchro-nization that the difference between the agent's positions and ve-locities asymptotically converges to zero.Moreover,the distributed sliding-mode law is given for chaotic systems with nonlinear inputs to compensate for the effects of nonlinearity.Finally,simulation results show the effectiveness of the proposed control algorithm. 展开更多
关键词 networked multi-agent system Euler-Lagrange(EL)system distributed consensus algorithm Lyapunov stability self-delay uncertainty.
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Distributed Saturated Impulsive Quasi-Consensus for Leader-Follower Multi-Agent Systems:An Open Topology Framework 认领 引用 被引量：2
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作者 Haitao Zhu Jianquan Lu +1 位作者 Yijun Lou Xinsong Yang 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2025年第9期1941-1943,共3页
Dear Editor,This letter studies a real-world issue in leader-follower multi-agent systems(MASs)named open topology,which permits the variations of agent set and network connections.Specially,a novel transition process... Dear Editor,This letter studies a real-world issue in leader-follower multi-agent systems(MASs)named open topology,which permits the variations of agent set and network connections.Specially,a novel transition process is developed to explain how the involved variation of network scale affects the dynamic behavior of the MASs.From a resource limited perspective,the distributed saturated impulsive control is then designed,under which some sufficient criteria are integrated into local quasi-consensus performance.We also provide a combined optimization algorithm for all agents to make the estimated domain of initial errors closer to the real one,thereby resulting in less conservativeness.Finally,a numerical example validates our results. 展开更多
关键词 distributed saturated impulsive control leader follower multi agent systems optimization algorithm agent set network open topology transition process open topologywhich quasi consensus
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Distributed Economic Dispatch Algorithms of Microgrids Integrating Grid-Connected and Isolated Modes 认领 引用 被引量：1
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作者 Zhongxin Liu Yanmeng Zhang +1 位作者 Yalin Zhang Fuyong Wang 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2025年第1期86-98,共13页
The economic dispatch problem(EDP) of microgrids operating in both grid-connected and isolated modes within an energy internet framework is addressed in this paper. The multi-agent leader-following consensus algorithm... The economic dispatch problem(EDP) of microgrids operating in both grid-connected and isolated modes within an energy internet framework is addressed in this paper. The multi-agent leader-following consensus algorithm is employed to address the EDP of microgrids in grid-connected mode, while the push-pull algorithm with a fixed step size is introduced for the isolated mode. The proposed algorithm of isolated mode is proven to converge to the optimum when the interaction digraph of microgrids is strongly connected. A unified algorithmic framework is proposed to handle the two modes of operation of microgrids simultaneously, enabling our algorithm to achieve optimal power allocation and maintain the balance between power supply and demand in any mode and any mode switching. Due to the push-pull structure of the algorithm and the use of fixed step size,the proposed algorithm can better handle the case of unbalanced graphs, and the convergence speed is improved. It is documented that when the transmission topology is strongly connected and there is bi-directional communication between the energy router and its neighbors, the proposed algorithm in composite mode achieves economic dispatch even with arbitrary mode switching.Finally, we demonstrate the effectiveness and superiority of our algorithm through numerical simulations. 展开更多
关键词 Consensus algorithm distributed optimization economic dispatch(ED) energy router(ER) multi-agent systems
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融合RANSAC的改进DBSCAN算法提取钢拱桥拱肋线形 认领 引用 被引量：1
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作者 潘国兵 赵雪妍 +2 位作者 吴畏 金晓东 虞洪兵 《科学技术与工程》 EI 北大核心 2025年第21期9148-9157,共10页
钢拱桥的线形监测是桥梁健康监测系统的重要组成部分。运用三维激光扫描技术,融合随机抽样一致(random sample consensus,RANSAC)算法对传统的具有噪声的基于密度的聚类方法(density-based spatial clustering of applications with noi... 钢拱桥的线形监测是桥梁健康监测系统的重要组成部分。运用三维激光扫描技术,融合随机抽样一致(random sample consensus,RANSAC)算法对传统的具有噪声的基于密度的聚类方法(density-based spatial clustering of applications with noise,DBSCAN)算法进行改进,对钢拱桥拱肋线形进行提取。三维激光点云数据具有全面性和细节体现的优势,能够完整地呈现桥梁结构的形状和变形信息,融合RANSAC的改进DBSCAN算法根据钢拱桥结构特征对聚类结果进行约束,能够很好地实现删除离散点及桥面、横撑、横联和腹杆部分的点云这一目的。根据融合RANSAC的改进DBSCAN算法提取出的点云进行关键点拟合,与人工提取结果进行对比,拱肋关键点提取误差均在毫米级,最大误差为9.2 mm,最小误差为0.1 mm,此提取方法能够更加准确有效地完成钢拱桥线形提取,使线形提取精度达到毫米级,大大降低了人力成本和时间成本,对钢拱桥的复杂结构有更好的鲁棒性,能很好地适应实际生产需求。 展开更多
关键词 三维激光 线形监测 RANSAC算法 改进DBSCAN算法
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基于Canny与RANSAC算法的边缘直线检测改进方法 认领 引用 被引量：2
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作者 苏伟君 江吉彬 吕鑫平 《福建理工大学学报》 CAS 2025年第1期64-70,共7页
为了提高触摸屏直线检测的精度和实时性,提出了基于Canny算法与RANSAC算法相结合的边缘直线检测方法。引入自适应Canny边缘检测算法,通过双边滤波、综合应用Sobel算子和Scharr算子计算图像梯度。利用最大类间方差法去除噪声、抑制伪边... 为了提高触摸屏直线检测的精度和实时性,提出了基于Canny算法与RANSAC算法相结合的边缘直线检测方法。引入自适应Canny边缘检测算法,通过双边滤波、综合应用Sobel算子和Scharr算子计算图像梯度。利用最大类间方差法去除噪声、抑制伪边缘并确定阈值,实现了高精度的触摸屏边缘检测并提取了最优的边缘直线。通过改进的RANSAC算法对触摸屏边缘点进行直线拟合,在保证直线检测精度的前提下,满足了系统的实时性要求。在触摸屏贴合系统实验平台上的测试结果表明,该方法的边缘直线检测准确性高、实时响应良好,可以满足预期检测要求。 展开更多
关键词 Canny算法 边缘直线检测 RANSAC算法 直线拟合
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基于MLKA与时序RANSAC融合的梨园导航线提取方法 认领 引用
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作者 周建军 刘泉乐 +2 位作者 曹磊 樊林 邱权 《农业机械学报》 EI CAS CSCD 北大核心 2025年第12期657-665,共9页
在复杂梨园环境中,传统视觉导航方法容易受到光照变化、杂草遮挡等因素的干扰。针对此问题,本文提出了一种基于改进YOLO v8模型的梨园导航线提取方法。该方法在YOLO v8模型中集成了多尺度大核注意力(Multi-scale large kernel attention... 在复杂梨园环境中,传统视觉导航方法容易受到光照变化、杂草遮挡等因素的干扰。针对此问题,本文提出了一种基于改进YOLO v8模型的梨园导航线提取方法。该方法在YOLO v8模型中集成了多尺度大核注意力(Multi-scale large kernel attention,MLKA)模块以增强对树干特征的感知。设计了多帧特征点融合机制,通过记录并利用连续5帧图像中检测到的特征点,有效弥补了单帧图像特征点不足的问题。此外,引入随机抽样一致性(Random sample consensus,RANSAC)算法,分别对左右两侧树行的特征点进行降噪处理,并使用最小二乘法进行树行线拟合。通过计算左右两侧树行线的角平分线生成果园导航线。实验结果表明:改进模型在复杂的果园环境中,树干检测的精确率(Precision)达到89.8%,召回率(Recall)达到79.9%,平均精度均值(mean average precision,mAP50-95)达到了55.1%。结合多帧特征点融合与RANSAC降噪生成的导航线与手动标注的参考导航线之间的角度偏差均值为1.17°,位置偏差均值为20.40像素,均方根偏差均值为0.27。本文方法为梨园环境中的视觉导航提供了一种低成本、高适应性的技术方案。 展开更多
关键词 梨园 自动导航 YOLO v8 MLKA RANSAC算法 多帧特征点融合
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