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AUV Path Planning Based on the Flow Field Method and Dynamic Window Approach

IEEE Access 2025年 13卷 88484-88498页

作者： Gao, xiang Jia, Duowei Liu, xinghua Du, Jiaxuan Zhang, Haibo Xi’an University of Technology College of Electrical Engineering Xi’an710048 China Northwestern Polytechnical University College of Marine Science and Technology Xi’an710072 China

In order to improve the performance of Autonomous Underwater Vehicles (AUVs) in complex marine environments, efficient and reliable navigation strategies are deemed essential. Over the years, a variety of methods have been developed to solve the underwater vehicle path planning problem. A hybrid path planning method for AUVs operating near the water surface is proposed in this paper. The methodology combines the artificial potential field-based Flow Field Method (FFM) and the Dynamic Window Approach (DWA) to achieve efficient, collision-free navigation. Firstly, a global guidance field is generated by the FFM, which directs the AUV to move toward the goal and avoid static obstacles. The DWA is then integrated to handle real-time local dynamic obstacles, leveraging the AUV’s kinematic constraints. Simulation results demonstrate the effectiveness of this method in complex underwater environment. The adaptability and safety of AUV navigation are significantly improved by this hybrid approach, which is a promising solution in applications of marine exploration, environmental monitoring, and offshore operations. © 2013 IEEE.

关键词： Marine navigation

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Study of HCP→FCC phase transformation mechanism under different hot compression rates of AZ31 magnesium alloy

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Journal of Magnesium and Alloys 2024年第9期12卷 3685-3697页

作者： Chun Xue Tingzhuang Han Bo Gao Qianhua Yang Zhibing Chu Leifeng Tuo College of Material Science and Engineering Taiyuan University of Science and TechnologyTaiyuan030024China College of Material Science and Engineering Northwestern Polytechnical UniversityXi’an710060China Analytical Test Center Taiyuan University of Science and TechnologyTaiyuan030024China College of Material Science and Engineering Central south universityChangsha410083China

At present,there are few studies on the phase transition during the thermocompression plastic deformation of magnesium *** this study,the evolution model of thermal compression plastic of AZ31 magnesium alloy was constructed by molecular dynamics,and the phase transition relationship between HCP and FCC at different thermal compression rates was *** combining GLEEBLE thermal compression experiment with transmission electron microscopy experiment,high-resolution transmission electron microscopy images were taken to analyze the transition rules between HCP and FCC during plastic deformation at different thermal compression rates,and the accuracy of molecular dynamics analysis was *** is found that the slip of Shockley’s incomplete dislocation produces obvious HCP→FCC phase transition at low strain rate and base plane dislocation at high strain rate,which makes the amorphous phase transition of HCP→OTHER more obvious,which provides theoretical guidance for the formulation of forming mechanism and preparation process of magnesium alloy.

关键词： AZ31 magnesium alloy Compression ratio Phase transition MD simulation TEM analysis

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Classifying Multi-Lingual Reviews Sentiment Analysis in Arabic and English Languages Using the Stochastic Gradient Descent Model

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computers, Materials & Continua 2025年第4期83卷 1275-1290页

作者： Yasser Alharbi Sarwar Shah Khan College of Computer Science and Engineering University of HailHail55436Saudi Arabia Department of Computer Science University of Engineering&TechnologyMardan23200Pakistan

Sentiment analysis plays an important role in distilling and clarifying content from movie reviews,aiding the audience in understanding universal views towards the ***,the abundance of reviews and the risk of encountering spoilers pose challenges for efcient sentiment analysis,particularly in Arabic *** study proposed a Stochastic Gradient Descent(SGD)machine learning(ML)model tailored for sentiment analysis in Arabic and English movie *** allows for fexible model complexity adjustments,which can adapt well to the Involvement of Arabic language *** adaptability ensures that the model can capture the nuances and specifc local patterns of Arabic text,leading to better *** distinct language datasets were utilized,and extensive pre-processing steps were employed to optimize the datasets for *** proposed SGD model,designed to accommodate the nuances of each language,aims to surpass existing models in terms of accuracy and *** SGD model achieves an accuracy of 84.89 on the Arabic dataset and 87.44 on the English dataset,making it the top-performing model in terms of accuracy on both *** indicates that the SGD model consistently demonstrates high accuracy levels across Arabic and English *** study helps deepen the understanding of sentiments across various linguistic *** many studies that focus solely on movie reviews,the Arabic dataset utilized here includes hotel reviews,ofering a broader perspective.

关键词： Sentiment analysis stochastic gradient descent reviews English IMDb dataset Arabic dataset

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ED-Ged:Nighttime Image Semantic Segmentation Based on Enhanced Detail and Bidirectional Guidance

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computers, Materials & Continua 2024年第8期80卷 2443-2462页

作者： xiaoli Yuan Jianxun Zhang Xuejie Wang Zhuhong Chu College of Computer Science and Engineering Chongqing University of TechnologyChongqing400054China

Semantic segmentation of driving scene images is crucial for autonomous *** deep learning technology has significantly improved daytime image semantic segmentation,nighttime images pose challenges due to factors like poor lighting and overexposure,making it difficult to recognize small *** address this,we propose an Image Adaptive Enhancement(IAEN)module comprising a parameter predictor(Edip),multiple image processing filters(Mdif),and a Detail Processing Module(DPM).Edip combines image processing filters to predict parameters like exposure and hue,optimizing image *** adopt a novel image encoder to enhance parameter prediction accuracy by enabling Edip to handle features at different *** strengthens overlooked image details,extending the IAEN module’s *** the segmentation network,we integrate a Depth Guided Filter(DGF)to refine segmentation *** entire network is trained end-to-end,with segmentation results guiding parameter prediction optimization,promoting self-learning and network *** lightweight and efficient network architecture is particularly suitable for addressing challenges in nighttime image *** experiments validate significant performance improvements of our approach on the ACDC-night and Nightcity datasets.

关键词： Night driving semantic segmentation nighttime image processing adverse illumination differentiable filters

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NeurDB: an AI-powered autonomous data system

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science China(Information sciences) 2024年第10期67卷 129-150页

作者： Beng Chin OOI Shaofeng CAI Gang CHEN Yanyan SHEN Kian-Lee TAN Yuncheng WU xiaokui xiAO Naili xiNG Cong YUE Lingze ZENG Meihui ZHANG Zhanhao ZHAO School of Computing National University of Singapore College of Computer Science and Technology Zhejiang University Department of Computer Science and Engineering Shanghai Jiao Tong University School of Information Renmin University of China School of Computer Science and Technology Beijing Institute of Technology

In the wake of rapid advancements in artificial intelligence(AI), we stand on the brink of a transformative leap in data systems. The imminent fusion of AI and DB(AI×DB) promises a new generation of data systems, which will relieve the burden on end-users across all industry sectors by featuring AI-enhanced functionalities, such as personalized and automated in-database AI-powered analytics, and selfdriving capabilities for improved system performance. In this paper, we explore the evolution of data systems with a focus on deepening the fusion of AI and DB. We present NeurDB, an AI-powered autonomous data system designed to fully embrace AI design in each major system component and provide in-database AI-powered analytics. We outline the conceptual and architectural overview of NeurDB, discuss its design choices and key components, and report its current development and future plan.

关键词： AI$\times$DB in-database AI intelligent data system

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Bio-Based Waterborne Poly(Vanillin-Butyl Acrylate)/MXene Coatings for Leather with Desired Warmth Retention and Antibacterial Properties

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engineering 2024年第5期36卷 250-263页

作者： Jianzhong Ma Li Ma Lei Zhang Wenbo Zhang Qianqian Fan Buxing Han College of Bioresources Chemical and Materials Engineering Shaanxi University of Science and TechnologyXi’an 710021China Xi’an Key Laboratory of Green Chemicals and Functional Materials Xi’an 710021China College of Chemistry and Chemical Engineering Shaanxi University of Science and TechnologyXi’an 710021China Shaanxi Collaborative Innovation Center of Industrial Auxiliary Chemistry and Technology Shaanxi University of Science and TechnologyXi’an 710021China Institute of Chemistry Chinese Academy of SciencesBeijing 100190China

This study presents a solvent-free,facile synthesis of a bio-based green antibacterial agent and aromatic monomer methacrylated vanillin(MV)using *** resulting MV not only imparted antibacterial properties to coatings layered on leather,but could also be employed as a green alternative to petroleum-based carcinogen styrene(St).Herein,MV was copolymerized with butyl acrylate(BA)to obtain waterborne bio-based P(MV-BA)miniemulsion via miniemulsion ***,MXene nanosheets with excellent photothermal conversion performance and antibacterial properties,were introduced into the P(MV-BA)miniemulsion by ultrasonic *** the gradual solidification of P(MV-BA)/MXene nanocomposite miniemulsion on the leather surface,MXene gradually migrated to the surface of leather coatings due to the cavitation effect of ultrasonication and amphiphilicity of MXene,which prompted its full exposure to light and bacteria,exerting the maximum photothermal conversion efficiency and significant antibacterial *** particular,when the dosage of MXene nanosheets was 1.4 wt%,the surface temperature of P(MV-BA)/MXene nanocomposite miniemulsioncoated leather(PML)increased by about 15℃ in an outdoor environment during winter,and the antibacterial rate against Escherichia coli and Staphylococcus aureus was nearly 100%under the simulated sunlight treatment for 30 ***,the introduction of MXene nanosheets increased the air permeability,water vapor permeability,and thermal stability of these *** study provides a new insight into the preparation of novel,green,and waterborne bio-based nanocomposite coatings for leather,with desired warmth retention and antibacterial *** can not only realize zerocarbon heating based on sunlight in winter,reducing the use of fossil fuels and greenhouse gas emissions,but also improve ability to fight off invasion by harmful bacteria,viruses,and other microorganisms.

关键词： MXene nanosheets Vanillin Styrene substitute Leather coating Photothermal conversion Warmth retention Antibacterial properties

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Using the SCRM method to repair a damaged planning graph for service composition

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International Journal of Web engineering and technology 2024年第4期19卷 421-442页

作者： Gao, Zhihao Zhu, Ming Li, Jing Lu, Rui College of Computer Science and Technology Shandong University of Technology Zibo China College of Engineering and Computer Science The Australian National University Canberra Australia

Software, hardware, data, and computing power can be abstracted and encapsulated as services authorised to users in a paid or free manner for on demand deployment. Service composition combines multiple existing services in a certain logical order to solve complex tasks that a single service cannot complete. Many AI approaches have been proposed to solve service composition problems. However, the network environment is dynamic, and services in a composition may disappear or change. Furthermore, the composition requirement of a user may also vary. The composition plan should adjust accordingly. This paper proposes a repairing service composition approach based on a planning graph. We repair a solution from the last layer, then search backward for missing services. Return a repaired solution until a satisfactory result is obtained. To verify the effectiveness and efficiency of our approach, experiments are carried out compared with some repair methods and replanning approaches. Experimental results indicate that our approach has an average 5.05% higher chance of finding a solution compared to the original repair method. © 2024 Inderscience Enterprises Ltd.

关键词： Web services

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Remediation and resource utilization of Cr(Ⅲ),Al(Ⅲ)and Zr(Ⅳ)-containing tannery effluent based on chitosan-carboxymethyl cellulose aerogel

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Journal of Bioresources and Bioproducts 2025年第1期10卷 77-91页

作者： Shuang Liang Xuechuan Wang Chao Wei Long xie Zhongming Song Xugang Dang Institute of Biomass and Function Materials&National Demonstration Centre for Experimental Light Chemistry Engineering Education College of Bioresources Chemistry and Materials EngineeringShaanxi University of Science and TechnologyXi’an 710021China Xingye Leather Technology Co. Ltd.Jinjiang 362200China College of Chemistry and Chemical Engineering Shaanxi University of Science and TechnologyXi’an 710021China College of Bioresources Chemical and Materials Engineering National Demonstration Center for Experimental Light Chemistry Engineering EducationShaanxi University of Science and TechnologyXi’an 710021China

Composite aerogel based on sodium carboxymethyl cellulose(CMC-Na)and chitosan(CS),i.e.,CS/CMC-Na,was prepared through a sol-gel ***,CS/CMC-Na was used for simulating the adsorption of metal ions(Cr^(3+),Al^(3+)and Zr^(4+))produced by the tanning *** ad-sorption process is consistent with the Langmuir isotherm adsorption model and pseudo-second order *** maximum fitted adsorption capacities of Cr^(3+),Al^(3+),and Zr^(4+)could reach 250.0,111.1,and 100.0 mg/g,*** metal ion adsorption,the obtained composite materials(CS/CMC-Na-Cr^(3+),CS/CMC-Na-Al^(3+),and CS/CMC-Na-Zr^(4+))were used as re-tanning agents in the re-tanning process to *** re-tanning agent could increase the shrinkage temperature of leather by up to 5℃.Compared with the traditional method,the method utilized in this study achieved the integration of mental ions-containing wastewater treatment and waste adsorbent/adsorbates recycling.

关键词： Wastewater treatment Biomass resource Chitosan Sodium carboxymethyl cellulose Resource utilization

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A Local Differential Privacy Trajectory Protection Method Based on Temporal and Spatial Restrictions for Staying Detection

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Tsinghua science and technology 2024年第2期29卷 617-633页

作者： Weiqi Zhang Zhenzhen xie Akshita Maradapu Vera Venkata Sai Qasim Zia Zaobo He Guisheng Yin College of Computer Science and Technology Harbin Engineering UniversityHarbin 150001China School of Computer Science and Technology Shandong UniversityQingdao 266237China Department of Computer Science Georgia State UniversityAtlantaGA 30303USA College of Information Science and Technology Jinan UniversityGuangzhou 510632China

The widespread availability of GPS has opened up a whole new market that provides a plethora of location-based ***-based social networks have become very popular as they provide end users like us with several such services utilizing GPS through our ***,when users utilize these services,they inevitably expose personal information such as their ID and sensitive location to the *** to untrustworthy servers and malicious attackers with colossal background knowledge,users'personal information is at risk on these ***,many privacy-preserving solutions for protecting trajectories have significantly decreased utility after *** have come up with a new trajectory privacy protection solution that contraposes the area of interest for ***,Staying Points Detection Method based on Temporal-Spatial Restrictions(SPDM-TSR)is an interest area mining method based on temporal-spatial restrictions,which can clearly distinguish between staying and moving ***,our privacy protection mechanism focuses on the user's areas of interest rather than the entire ***,our proposed mechanism does not rely on third-party service providers and the attackers'background knowledge *** test our models on real datasets,and the results indicate that our proposed algorithm can provide a high standard privacy guarantee as well as data availability.

关键词： local-differential privacy stay points detection trajectory data areas of interest temporal-spatial clustering

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Tandemly promoting the sulfur redox kinetics through low concentration mixed organodiselenide and organoditelluride in Ah-level high-energydensity Li-S batteries

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science China Materials 2025年第1期68卷 207-216页

作者： Jiangqi Zhou Chengyong Shu Qianyu Zhang Wei Tang Yuping Wu School of Chemical Engineering and Technology Xi’an Jiaotong UniversityXi’an 710049China School of Energy and Environment Southeast UniversityNanjing 210096China College of Materials Science and Engineering Sichuan UniversityChengdu 610064China School of Chemical Engineering Kunming University of Science and TechnologyKunming 650500China

Homogeneous redox mediation is efficient in alleviating the shuttling effect and slow redox kinetics of lithium polysulfides in lithium-sulfur ***,their perfect performance is not fulfilled owning to the fact that the multi-step transformation of lithium polysulfides requests the multifunctional active positions for the tandem *** on the redox comediation principles,a promoter of mixing organodiselenide and organoditelluride(mixed-Se/Te)was raised to induce tandem catalysis and boost the effective electrochemical conversion of lithium *** specifically,diphenyl diselenide facilitated the liquid-liquid and solid-liquid transformation between lithium polysulfides and sulfur,while diphenyl ditelluride improved the solid-liquid transformation concerning lithium sulfide ***,even under high sulfur loading of 6.5 mg cm^(−2) and low electrolyte/sulfur ratio of 5.88μL mg^(−1),the 10 mM low concentration mixed-Se/Te promoter offered a high discharge capacity of 6.6 mAh cm^(−2) and high rate performance of 4.1 mAh cm^(−2) at 0.5 ***,the assembled 1.5 Ah-level lithium-sulfur pouch cells provide an energy density of 332 Wh kg^(−1) at 0.05 C and good cycling *** research demonstrates the applicability of propelling continuous sulfur conversion reactions with detached active positions and is anticipated to stimulate deep molecular design of kinetic promoter to targeted energy-associated redox reactions.

关键词： lithium-sulfur batteries redox kinetics tandem catalysis organodiselenide organoditelluride

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