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Intelligent identification for discrete memristive neuron map:An adaptive chaos game optimization algorithm studied from the perspectives of different sample sizes and objective functions 认领 引用
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作者 Yuexi Peng Xinyi Luo +2 位作者 Zhijun Li Mengjiao Wang Minglin Ma 《Chinese Physics B》 SCIE EI CAS CSCD 2026年第6期276-291,共16页
Discrete memristive neuron systems have attracted considerable attention due to their nonlinear dynamical properties,low computational overhead,and ease of hardware implementation.For the practical engineering applica... Discrete memristive neuron systems have attracted considerable attention due to their nonlinear dynamical properties,low computational overhead,and ease of hardware implementation.For the practical engineering applications of discrete memristive neuron systems,effective control remains a key issue.Parameter identification using intelligent optimization algorithms is an important approach for controlling complex nonlinear systems.However,classical algorithms are prone to falling into local optima and often exhibit high computational complexity,resulting in slow convergence.Therefore,a new algorithm named adaptive chaos game optimization(ACGO)is proposed to address these issues.By introducing a differential evolution mutation strategy and a Cauchy adaptive parameter mechanism,the ACGO algorithm can effectively balance global exploration and local exploitation capabilities.To verify the effectiveness of the proposed algorithm,it is applied to parameter identification in five discrete memristive neuron maps(DMNMs)and compared with seven intelligent optimization algorithms.Simulation results demonstrate that the ACGO algorithm achieves higher accuracy and faster convergence.In addition,an in-depth investigation is conducted into the effects of sample size and objective function on identification performance.The results indicate that setting the sample size to 4 and selecting the mean squared error(MSE)as the objective function can achieve better identification performance and a high level of robustness. 展开更多
关键词 discrete memristive neuron map parameter identification chaos game optimization algorithm sample size
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Path Planning for Substation UAV Inspection Based on 3D Point Cloud Mapping 认领 引用
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作者 Yanping Chen Zhengxin Zhan +3 位作者 Xiaohui Yan Le Zou Yucheng Zhong Hailei Wang 《Computers, Materials & Continua》 SCIE EI 2026年第5期2138-2159,共22页
With the increasing complexity of substation inspection tasks,achieving efficient and safe path planning for Unmanned Aerial Vehicles in densely populated and structurally complex three-dimensional(3D)environments rem... With the increasing complexity of substation inspection tasks,achieving efficient and safe path planning for Unmanned Aerial Vehicles in densely populated and structurally complex three-dimensional(3D)environments remains a critical challenge.To address this problem,this paper proposes an improved path planning algorithm—Random Geometric Graph(RGG)-guided Rapidly-exploring Random Tree(R-RRT)—based on the classical Rapidly-exploring Random Tree(RRT)framework.First,a refined 3D occupancy grid map is constructed from Light Detection and Ranging point cloud data through ground filtering,noise removal,coordinate transformation,and obstacle inflation using spherical structuring elements.During the planning stage,a dynamic goal-biasing strategy is introduced to adaptively adjust the sampling direction,the sampling distribution is optimized using a pre-generated RGG,and collision detection is accelerated via a K-Dimensional Tree structure.After initial trajectory generation,redundant nodes are eliminated via greedy pruning,and a curvature-minimizing gradient-based optimizationmethod is applied to smooth the trajectory.Experimental results conducted in a simulated substation environment demonstrate that,compared with mainstream path planning algorithms,the proposed R-RRT achieves superior performance in terms of path length,planning time,and trajectory smoothness.Comprehensive analysis shows that the proposed method significantly enhances trajectory quality,planning efficiency,and operational safety,validating its applicability and advantages for high-precision 3D path planning in complex substation inspection scenarios. 展开更多
关键词 R-RRT algorithm unmanned aerial vehicles path planning random geometric graph 3D occupancy grid map substation inspection
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Power forecasting method of ultra-short-term wind power cluster based on the convergence cross mapping algorithm 认领 引用
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作者 Yuzhe Yang Weiye Song +5 位作者 Shuang Han Jie Yan Han Wang Qiangsheng Dai Xuesong Huo Yongqian Liu 《Global Energy Interconnection》 EI CSCD 2025年第1期28-42,共15页
The development of wind power clusters has scaled in terms of both scale and coverage,and the impact of weather fluctuations on cluster output changes has become increasingly complex.Accurately identifying the forward... The development of wind power clusters has scaled in terms of both scale and coverage,and the impact of weather fluctuations on cluster output changes has become increasingly complex.Accurately identifying the forward-looking information of key wind farms in a cluster under different weather conditions is an effective method to improve the accuracy of ultrashort-term cluster power forecasting.To this end,this paper proposes a refined modeling method for ultrashort-term wind power cluster forecasting based on a convergent cross-mapping algorithm.From the perspective of causality,key meteorological forecasting factors under different cluster power fluctuation processes were screened,and refined training modeling was performed for different fluctuation processes.First,a wind process description index system and classification model at the wind power cluster level are established to realize the classification of typical fluctuation processes.A meteorological-cluster power causal relationship evaluation model based on the convergent cross-mapping algorithm is pro-posed to screen meteorological forecasting factors under multiple types of typical fluctuation processes.Finally,a refined modeling meth-od for a variety of different typical fluctuation processes is proposed,and the strong causal meteorological forecasting factors of each scenario are used as inputs to realize high-precision modeling and forecasting of ultra-short-term wind cluster power.An example anal-ysis shows that the short-term wind power cluster power forecasting accuracy of the proposed method can reach 88.55%,which is 1.57-7.32%higher than that of traditional methods. 展开更多
关键词 Ultra-short-term wind power forecasting Wind power cluster Causality analysis Convergence cross mapping algorithm
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Immune evolutionary algorithms with domain knowledge for simultaneous localization and mapping 认领 引用 被引量：4
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作者 李枚毅 蔡自兴 《Journal of Central South University of Technology》 2006年第5期529-535,共7页
Immune evolutionary algorithms with domain knowledge were presented to solve the problem of simultaneous localization and mapping for a mobile robot in unknown environments. Two operators with domain knowledge were de... Immune evolutionary algorithms with domain knowledge were presented to solve the problem of simultaneous localization and mapping for a mobile robot in unknown environments. Two operators with domain knowledge were designed in algorithms, where the feature of parallel line segments without the problem of data association was used to construct a vaccination operator, and the characters of convex vertices in polygonal obstacle were extended to develop a pulling operator of key point grid. The experimental results of a real mobile robot show that the computational expensiveness of algorithms designed is less than other evolutionary algorithms for simultaneous localization and mapping and the maps obtained are very accurate. Because immune evolutionary algorithms with domain knowledge have some advantages, the convergence rate of designed algorithms is about 44% higher than those of other algorithms. 展开更多
关键词 immune evolutionary algorithms simultaneous localization and mapping domain knowledge
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Mapping relationship analysis of welding assembly properties for thin-walled parts with finite element and machine learning algorithm 认领 引用 被引量：1
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作者 Pan Minghui Liao Wenhe +1 位作者 Xing Yan Tang Wencheng 《Journal of Southeast University(English Edition)》 EI CAS 2022年第2期126-136,共11页
The finite element(FE)-based simulation of welding characteristics was carried out to explore the relationship among welding assembly properties for the parallel T-shaped thin-walled parts of an antenna structure.The ... The finite element(FE)-based simulation of welding characteristics was carried out to explore the relationship among welding assembly properties for the parallel T-shaped thin-walled parts of an antenna structure.The effects of welding direction,clamping,fixture release time,fixed constraints,and welding sequences on these properties were analyzed,and the mapping relationship among welding characteristics was thoroughly examined.Different machine learning algorithms,including the generalized regression neural network(GRNN),wavelet neural network(WNN),and fuzzy neural network(FNN),are used to predict the multiple welding properties of thin-walled parts to mirror their variation trend and verify the correctness of the mapping relationship.Compared with those from GRNN and WNN,the maximum mean relative errors for the predicted values of deformation,temperature,and residual stress with FNN were less than 4.8%,1.4%,and 4.4%,respectively.These results indicate that FNN generated the best predicted welding characteristics.Analysis under various welding conditions also shows a mapping relationship among welding deformation,temperature,and residual stress over a period of time.This finding further provides a paramount basis for the control of welding assembly errors of an antenna structure in the future. 展开更多
关键词 parallel T-shaped thin-walled parts welding assembly property finite element analysis mapping relationship machine learning algorithm
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An improved Gmapping algorithm based map construction method for indoor mobile robot 认领 引用 被引量：1
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作者 Tao yong Jiang Shan +2 位作者 Ren Fan Wang Tianmiao Gao He 《High Technology Letters》 EI CAS 2021年第3期227-237,共11页
With the rapid development in the service,medical,logistics and other industries,and the increasing demand for unmanned mobile devices,mobile robots with the ability of independent mapping,localization and navigation ... With the rapid development in the service,medical,logistics and other industries,and the increasing demand for unmanned mobile devices,mobile robots with the ability of independent mapping,localization and navigation capabilities have become one of the research hotspots.An accurate map construction is a prerequisite for a mobile robot to achieve autonomous localization and navigation.However,the problems of blurring and missing the borders of obstacles and map boundaries are often faced in the Gmapping algorithm when constructing maps in complex indoor environments.In this pursuit,the present work proposes the development of an improved Gmapping algorithm based on the sparse pose adjustment(SPA)optimizations.The improved Gmapping algorithm is then applied to construct the map of a mobile robot based on single-line Lidar.Experiments show that the improved algorithm could build a more accurate and complete map,reduce the number of particles required for Gmapping,and lower the hardware requirements of the platform,thereby saving and minimizing the computing resources. 展开更多
关键词 complex indoor environment single-line Lidar map construction improved Gmapping algorithm sparse pose adjustment(SPA)optimization
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Virtual network mapping algorithm for large-scale network environment 认领 引用
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作者 张顺利 邱雪松 孟洛明 《Journal of Harbin Institute of Technology(New Series)》 EI CAS 2012年第4期55-63,共9页
A major challenge of network virtualization is the virtual network resource allocation problem that deals with efficient mapping of virtual nodes and virtual links onto the substrate network resources. However, the ex... A major challenge of network virtualization is the virtual network resource allocation problem that deals with efficient mapping of virtual nodes and virtual links onto the substrate network resources. However, the existing algorithms are almost concentrated on the randomly small-scale network topology, which is not suitable for practical large-scale network environments, because more time is spent on traversing SN and VN, resulting in VN requests congestion. To address this problem, virtual network mapping algorithm is proposed for large-scale network based on small-world characteristic of complex network and network coordinate system. Compared our algorithm with algorithm D-ViNE, experimental results show that our algorithm improves the overall performance. 展开更多
关键词 network virtualization virtual network mapping complex network network coordinate system simulated annealing algorithm
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Graph Clustering Algorithm for RT Level ALU Technology Mapping 认领 引用
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作者 周海峰 林争辉 曹炜 《Journal of Semiconductors》 CAS 北大核心 2002年第11期1162-1167,共6页
Register transfer level mapping (RTLM) algorithm for technology mapping at RT level is presented,which supports current design methodologies using high level design and design reuse.The mapping rules implement a sourc... Register transfer level mapping (RTLM) algorithm for technology mapping at RT level is presented,which supports current design methodologies using high level design and design reuse.The mapping rules implement a source ALU using target ALU.The source ALUs and the target ALUs are all represented by the general ALUs and the mapping rules are applied in the algorithm.The mapping rules are described in a table fashion.The graph clustering algorithm is a branch and bound algorithm based on the graph formulation of the mapping algorithm.The mapping algorithm suits well mapping of regularly structured data path.Comparisons are made between the experimental results generated by 1 greedy algorithm and graphclustering algorithm,showing the feasibility of presented algorithm. 展开更多
关键词 high level synthesis technology mapping register transfer level arithmetic logic units graphclustering algorithm
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Differential Spatial Modulation Mapping Algorithms 认领 引用
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作者 WANG Chanfei CHAI Jianxin XU Yamei 《ZTE Communications》 2024年第3期116-122,共7页
Differential spatial modulation(DSM)is a multiple-input multiple-output(MIMO)transmission scheme.It has attracted extensive research interest due to its ability to transmit additional data without increasing any radio... Differential spatial modulation(DSM)is a multiple-input multiple-output(MIMO)transmission scheme.It has attracted extensive research interest due to its ability to transmit additional data without increasing any radio frequency chain.In this paper,DSM is investigated using two mapping algorithms:Look-Up Table Order(LUTO)and Permutation Method(PM).Then,the bit error rate(BER)performance and complexity of the two mapping algorithms in various antennas and modulation methods are verified by simulation experiments.The results show that PM has a lower BER than the LUTO mapping algorithm,and the latter has lower complexity than the former. 展开更多
关键词 spatial modulation(SM) multiple-input multiple-output(MIMO) Look-Up Table Order(LUTO) Permutation Method(PM) mapping algorithm
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基于Gmapping算法的智能车建图研究 认领 引用 被引量：3
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作者 刘慧敏 郑竹安 +1 位作者 谢双健 朱乃宣 《自动化与仪表》 2025年第9期51-55,60,共5页
该研究旨在解决智能车在室内环境中高效建图的问题,以提高车辆的自主导航能力。基于机器人操作系统(ROS)平台进行实现,对2种广泛使用的地图构建算法—Gmapping和Cartographer进行了实现与评估,并在相同的室内场景下进行了对比实验。通... 该研究旨在解决智能车在室内环境中高效建图的问题,以提高车辆的自主导航能力。基于机器人操作系统(ROS)平台进行实现,对2种广泛使用的地图构建算法—Gmapping和Cartographer进行了实现与评估,并在相同的室内场景下进行了对比实验。通过量化分析建图精度、地图完整性及算法稳定性等关键指标,全面评估了2种算法的性能。实验结果表明,Gmapping的测量误差为3%,优于Cartographer的4%误差;在室内环境中,Gmapping生成的地图与真实环境更为吻合,展现出更高的精度和稳定性;Gmapping在室内地图构建中具有更强的鲁棒性,为提升自主导航系统性能提供了重要参考。 展开更多
关键词 智能车 建图算法 ROS Gmapping Cartographer
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A multi-scale optimal interpolation method of high computational efficiency for mapping oceanic data 认领 引用
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作者 Ying Wen Zhijin Li +1 位作者 Wenlong Ma Xingliang Jiang 《Acta Oceanologica Sinica》 SCIE CAS CSCD 2025年第11期245-258,共14页
Ocean observations are inherently characterized by irregular temporal and spatial distributions,as well as heterogeneous spatial resolutions and error characteristics arising from the use of diverse observational plat... Ocean observations are inherently characterized by irregular temporal and spatial distributions,as well as heterogeneous spatial resolutions and error characteristics arising from the use of diverse observational platforms and techniques.To enable their application across a broad range of scientific and practical problems,it is essential to map these heterogeneous datasets into temporally and spatially consistent gridded products.Optimal Interpolation remains the most widely adopted algorithm for the mapping of oceanographic data.Two principal implementations of the optimal interpolation algorithm are commonly employed.The first,known as the basic optimal interpolation,is derived from the theory of optimal estimation and involves computationally intensive matrix operations,posing significant challenges when applied to high-dimensional problems.The second,referred to as the point-wise optimal interpolation,reduces computational complexity through point-wise estimation,thereby circumventing high-dimensional operations;however,this approach results in a substantially higher overall computational cost.In this study,a novel optimal interpolation algorithm is proposed that utilizes the Kronecker product to approximate the background error covariance matrix.This formulation enables the decomposition of high-dimensional matrix operations into smaller,computationally tractable sub-problems,thereby improving the scalability of optimal interpolation for large spatial domains with dense observational coverage.Building upon this framework,a multi-scale optimal interpolation method is further developed to enhance the integration of observational datasets with widely varying spatial resolutions,thereby improving the accuracy and applicability of the resulting gridded products. 展开更多
关键词 oceanic observation mapping optimal interpolation algorithm multi-scale algorithm background error covariance Kronecker product
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Proximal point algorithm for a new class of fuzzy set-valued variational inclusions with (H,η)-monotone mappings 认领 引用
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作者 李红刚 《Journal of Chongqing University》 2008年第1期79-84,共6页
We introduced a new class of fuzzy set-valued variational inclusions with (H,η)-monotone mappings. Using the resolvent operator method in Hilbert spaces, we suggested a new proximal point algorithm for finding approx... We introduced a new class of fuzzy set-valued variational inclusions with (H,η)-monotone mappings. Using the resolvent operator method in Hilbert spaces, we suggested a new proximal point algorithm for finding approximate solutions, which strongly converge to the exact solution of a fuzzy set-valued variational inclusion with (H,η)-monotone. The results improved and generalized the general quasi-variational inclusions with fuzzy set-valued mappings proposed by Jin and Tian Jin MM, Perturbed proximal point algorithm for general quasi-variational inclusions with fuzzy set-valued mappings, OR Transactions, 2005, 9(3): 31-38, (In Chinese); Tian YX, Generalized nonlinear implicit quasi-variational inclusions with fuzzy mappings, Computers & Mathematics with Applications, 2001, 42: 101-108. 展开更多
关键词 variational inclusion （H, η）-monotone mapping resolvent operator technique fuzzy set-valued mapping proximal point algorithm： convergence of numerical methods
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A New Hybrid Algorithm and Its Numerical Realization for a Quasi-nonexpansive Mapping 认领 引用 被引量：7
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作者 GAO XING-HUI MA LE-RONG Ji You-qing 《Communications in Mathematical Research》 CSCD 2017年第4期340-346,共7页
The purpose of this article is to propose a new hybrid projection method for a quasi-nonexpansive mapping. The strong convergence of the algorithm is proved in real Hilbert spaces. A numerical experiment is also inclu... The purpose of this article is to propose a new hybrid projection method for a quasi-nonexpansive mapping. The strong convergence of the algorithm is proved in real Hilbert spaces. A numerical experiment is also included to explain the effectiveness of the proposed methods. The results of this paper are interesting extensions of those known results. 展开更多
关键词 quasi-nonexpansive mapping hybrid algorithm strong convergence Hilbert space
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Self-Adaptive Algorithms for the Split Common Fixed Point Problem of the Demimetric Mappings 认领 引用 被引量：1
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作者 Xinhong Chen Yanlai Song +1 位作者 Jianying He Liping Gong 《Journal of Applied Mathematics and Physics》 2019年第10期2187-2199,共13页
The split common fixed point problem is an inverse problem that consists in finding an element in a fixed point set such that its image under a bounded linear operator belongs to another fixed-point set. In this paper... The split common fixed point problem is an inverse problem that consists in finding an element in a fixed point set such that its image under a bounded linear operator belongs to another fixed-point set. In this paper, we present new iterative algorithms for solving the split common fixed point problem of demimetric mappings in Hilbert spaces. Moreover, our algorithm does not need any prior information of the operator norm. Weak and strong convergence theorems are given under some mild assumptions. The results in this paper are the extension and improvement of the recent results in the literature. 展开更多
关键词 Hilbert Space Demimetric Mapping Split Common Fixed Point Problem Self-Adaptive Algorithm
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A Multi-Approach Hybrid Chaos-Based Image Encryption and Steganography Algorithm Using LSB Embedding 认领 引用
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作者 Islam T.Almalkawi Samer Khasawneh +3 位作者 Hamza M.Alkhatib Sabya Shtaiwi Rami Halloush Manel Guerrero Zapata 《Computers, Materials & Continua》 SCIE EI 2026年第10期1480-1513,共34页
Current image steganography methods often struggle to balance security,payload capacity,and computational efficiency,with many spatial-domain techniques vulnerable to statistical steganalysis and complex methods incur... Current image steganography methods often struggle to balance security,payload capacity,and computational efficiency,with many spatial-domain techniques vulnerable to statistical steganalysis and complex methods incurring high overhead.To address persistent challenges in secure data communication,this paper introduces a novel hybrid chaotic-based multi-layered image security and steganography scheme to enhance resistance against detection while offering adaptable performance.The proposed scheme first integrates Fisher-Yates permutation driven by a Logistic Map PRNG,followed by stream cipher encryption using a Hénon Map-generated keystream to secure the secret image.Embedding is then performed via a unique three-pass chaotic LSB approach that utilizes chaotic-pseudo-random block selection and optimizes embedding based on bit-matching scores to enhance imperceptibility.This modular process enables a user-defined balance between computational load and image security/fidelity.Comprehensive analysis validates the scheme’s effectiveness and resistance against steganalysis attacks,and performance results demonstrate that the proposed method achieves high payload capacity and superior imperceptibility,outperforming several contemporary methods.We additionally provide initial undetectability baselines using SRM and a lightweight CNN holdout detector. 展开更多
关键词 Image steganography image encryption chaos algorithms Hénon map logistic map fisher-yates data security
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An Algorithm to Classify the Asymptotic Set Associated to a Polynomial Mapping 认领 引用
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作者 Nguyen Thi Bich Thuy 《American Journal of Computational Mathematics》 2017年第1期109-126,共18页
We provide an algorithm to classify the asymptotic sets of the dominant polynomial mappingsof degree 2, using the definition of the so-called “fa?ons” in [2]. We obtain a classification theorem for the asymptotic se... We provide an algorithm to classify the asymptotic sets of the dominant polynomial mappingsof degree 2, using the definition of the so-called “fa?ons” in [2]. We obtain a classification theorem for the asymptotic sets of dominant polynomial mappingsof degree 2. This algorithm can be generalized for the dominant polynomial mappingsof degree d, with any (n,d)∈(N*)2. 展开更多
关键词 Algorithms Polynomial Mappings Asymptotic Sets Facons
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Is multi-hazard mapping effective in assessing natural hazards and integrated watershed management? 认领 引用 被引量：8
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作者 Hamid Reza Pourghasemi Amiya Gayen +2 位作者 Mohsen Edalat Mehrdad Zarafshar John P.Tiefenbacher 《Geoscience Frontiers》 SCIE CAS CSCD 2020年第4期1203-1217,共15页
Natural hazards are often studied in isolation.However,there is a great need to examine hazards holistically to better manage the complex of threats found in any region.Many regions of the world have complex hazard la... Natural hazards are often studied in isolation.However,there is a great need to examine hazards holistically to better manage the complex of threats found in any region.Many regions of the world have complex hazard landscapes wherein risk from individual and/or multiple extreme events is omnipresent.Extensive parts of Iran experience a complex array of natural hazards-floods,earthquakes,landslides,forest fires,subsidence,and drought.The effectiveness of risk mitigation is in part a function of whether the complex of hazards can be collectively considered,visualized,and evaluated.This study develops and tests individual and collective multihazard risk maps for floods,landslides,and forest fires to visualize the spatial distribution of risk in Fars Province,southern Iran.To do this,two well-known machine-learning algorithms-SVM and MARS-are used to predict the distribution of these events.Past floods,landslides,and forest fires were surveyed and mapped.The locations of occurrence of these events(individually and collectively) were randomly separated into training(70%) and testing(30%) data sets.The conditioning factors(for floods,landslides,and forest fires) employed to model the risk distributions are aspect,elevation,drainage density,distance from faults,geology,LULC,profile curvature,annual mean rainfall,plan curvature,distance from man-made residential structures,distance from nearest river,distance from nearest road,slope gradient,soil types,mean annual temperature,and TWI.The outputs of the two models were assessed using receiver-operating-characteristic(ROC) curves,true-skill statistics(TSS),and the correlation and deviance values from each models for each hazard.The areas-under-the-curves(AUC) for the MARS model prediction were 76.0%,91.2%,and 90.1% for floods,landslides,and forest fires,respectively.Similarly,the AUCs for the SVM model were 75.5%,89.0%,and 91.5%.The TSS reveals that the MARS model was better able to predict landslide risk,but was less able to predict flood-risk patterns and forest-fire risk.Finally,the combination of flood,forest fire,and landslide risk maps yielded a multi-hazard susceptibility map for the province.The better predictive model indicated that 52.3% of the province was at-risk for at least one of these hazards.This multi-hazard map may yield valuable insight for land-use planning,sustainable development of infrastructure,and also integrated watershed management in Fars Province. 展开更多
关键词 Multi-hazard risk mapping Considering flood Landside and forest fire jointly Machine-learning algorithms
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Improved lazy theta algorithm based on octree map for path planning of UAV 认领 引用 被引量：8
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作者 Meng-shun Yuan Tong-le Zhou Mou Chen 《Defence Technology（防务技术）》 SCIE EI CAS CSCD 2023年第5期8-18,共11页
This paper investigates the path planning method of unmanned aerial vehicle(UAV)in threedimensional map.Firstly,in order to keep a safe distance between UAV and obstacles,the obstacle grid in the map is expanded.By us... This paper investigates the path planning method of unmanned aerial vehicle(UAV)in threedimensional map.Firstly,in order to keep a safe distance between UAV and obstacles,the obstacle grid in the map is expanded.By using the data structure of octree,the octree map is constructed,and the search nodes is significantly reduced.Then,the lazy theta*algorithm,including neighbor node search,line-of-sight algorithm and heuristics weight adjustment is improved.In the process of node search,UAV constraint conditions are considered to ensure the planned path is actually flyable.The redundant nodes are reduced by the line-of-sight algorithm through judging whether visible between two nodes.Heuristic weight adjustment strategy is employed to control the precision and speed of search.Finally,the simulation results show that the improved lazy theta*algorithm is suitable for path planning of UAV in complex environment with multi-constraints.The effectiveness and flight ability of the algorithm are verified by comparing experiments and real flight. 展开更多
关键词 Unmanned aerial vehicle Path planning Lazy theta*algorithm Octree map Line-of-sight algorithm
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Localization and mapping in urban area based on 3D point cloud of autonomous vehicles 认领 引用 被引量：3
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作者 王美玲 李玉 +2 位作者 杨毅 朱昊 刘彤 《Journal of Beijing Institute of Technology》 EI CAS 2016年第4期473-482,共10页
In order to meet the application requirements of autonomous vehicles, this paper proposes a simultaneous localization and mapping （SLAM） algorithm, which uses a VoxelGrid filter to down sample the point cloud data, ... In order to meet the application requirements of autonomous vehicles, this paper proposes a simultaneous localization and mapping （SLAM） algorithm, which uses a VoxelGrid filter to down sample the point cloud data, with the combination of iterative closest points （ICP） algorithm and Gaussian model for particles updating, the matching between the local map and the global map to quantify particles＇ importance weight. The crude estimation by using ICP algorithm can find the high probability area of autonomous vehicles＇ poses, which would decrease particle numbers, increase algorithm speed and restrain particles＇ impoverishment. The calculation of particles＇ importance weight based on matching of attribute between grid maps is simple and practicable. Experiments carried out with the autonomous vehicle platform validate the effectiveness of our approaches. 展开更多
关键词 simultaneous localization and mapping （SLAM） Rao-Blackwellized particle filter （ RB-PF） VoxelGrid filter ICP algorithm Gaussian model urban area
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MR-CLOPE: A Map Reduce based transactional clustering algorithm for DNS query log analysis 认领 引用 被引量：2
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作者 李晔锋 乐嘉锦 +2 位作者 王梅 张滨 刘良旭 《Journal of Central South University》 SCIE EI CAS CSCD 2015年第9期3485-3494,共10页
DNS(domain name system) query log analysis has been a popular research topic in recent years. CLOPE, the represented transactional clustering algorithm, could be readily used for DNS query log mining. However, the alg... DNS(domain name system) query log analysis has been a popular research topic in recent years. CLOPE, the represented transactional clustering algorithm, could be readily used for DNS query log mining. However, the algorithm is inefficient when processing large scale data. The MR-CLOPE algorithm is proposed, which is an extension and improvement on CLOPE based on Map Reduce. Different from the previous parallel clustering method, a two-stage Map Reduce implementation framework is proposed. Each of the stage is implemented by one kind Map Reduce task. In the first stage, the DNS query logs are divided into multiple splits and the CLOPE algorithm is executed on each split. The second stage usually tends to iterate many times to merge the small clusters into bigger satisfactory ones. In these two stages, a novel partition process is designed to randomly spread out original sub clusters, which will be moved and merged in the map phrase of the second phase according to the defined merge criteria. In such way, the advantage of the original CLOPE algorithm is kept and its disadvantages are dealt with in the proposed framework to achieve more excellent clustering performance. The experiment results show that MR-CLOPE is not only faster but also has better clustering quality on DNS query logs compared with CLOPE. 展开更多
关键词 DNS data mining MR-CLOPE algorithm transactional clustering algorithm Map Reduce framework
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