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Mendel 2022年第2期28卷 97-107页

作者： Soustek, Petr Matousek, Radomil Dvorak, Jiri Manakova, Lenka Institute of Automation and Computer Science Brno University of Technology Czech Republic

Path planning or network route planning problems are an important issue in AI, robotics, or computer games. Appropriate implementation and knowledge of advanced and classical path-planning algorithms can be important for both autonomous navigation systems and computer games. In this paper, we compare advanced path planning algorithms implemented on a two-dimensional grid. Advanced path planning algorithms, including pseudocode, are introduced. The experiments were performed in the Python environment, thus with a significant performance margin over C++ or Rust implementations. The main focus is on the speedup of the algorithms compared to a baseline method, which was chosen to be the well-known Dijkstra’s algorithm. All experiments correspond to trajectories on a two-dimensional grid, with variously defined constraints. The motion from each node corresponds to a Moore neighborhood, i.e., it is possible in eight directions. In this paper, three well-known path planning algorithms are described and compared: the Dijkstra, A* and A* /w Bounding Box. And two advanced methods are included, namely Jump Point Search (JPS), incorporated with the Bounding Box variant (JPS+BB), and Simple Subgoal (SS). These advanced methods clearly show their advantage in the context of the speed up of solution time. © 2022, Brno University of technology. All rights reserved.

关键词： Motion planning

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Two Stages Segmentation Algorithm of Breast Tumor in DCE-MRI Based on Multi-Scale Feature and Boundary Attention Mechanism

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computers, Materials & Continua 2024年第7期80卷 1543-1561页

作者： Bing Li Liangyu Wang Xia Liu Hongbin Fan Bo Wang Shoudi Tong School of Automation Harbin University of Science and TechnologyHarbin150080China Heilongjiang Provincial Key Laboratory of Complex Intelligent System and Integration Harbin150080China School of Computer Engineering Technology Guangdong Institute of Science and TechnologyZhuhai519090China

Nuclearmagnetic resonance imaging of breasts often presents complex *** tumors exhibit varying sizes,uneven intensity,and indistinct *** characteristics can lead to challenges such as low accuracy and incorrect segmentation during tumor ***,we propose a two-stage breast tumor segmentation method leveraging multi-scale features and boundary attention ***,the breast region of interest is extracted to isolate the breast area from surrounding tissues and ***,we devise a fusion network incorporatingmulti-scale features and boundary attentionmechanisms for breast tumor *** incorporate multi-scale parallel dilated convolution modules into the network,enhancing its capability to segment tumors of various sizes through multi-scale convolution and novel fusion ***,attention and boundary detection modules are included to augment the network’s capacity to locate tumors by capturing nonlocal dependencies in both spatial and channel ***,a hybrid loss function with boundary weight is employed to address sample class imbalance issues and enhance the network’s boundary maintenance capability through additional *** was evaluated using breast data from 207 patients at RuijinHospital,resulting in a 6.64%increase in Dice similarity coefficient compared to the *** results demonstrate the superiority of the method over other segmentation techniques,with fewer model parameters.

关键词： Dynamic contrast-enhanced magnetic resonance imaging(DCE-MRI) breast tumor segmentation multi-scale dilated convolution boundary attention the hybrid loss function with boundary weight

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Intelligent Sampling of Anterior Human Nasal Swabs using a Collaborative Robotic Arm

Mendel

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Mendel 2022年第1期28卷 32-40页

作者： Parak, Roman Juricek, Martin Institute of Automation and Computer Science Brno University of Technology Czech Republic

Advanced robotics does not always have to be associated with Industry 4.0, but can also be applied, for example, in the Smart Hospital concept. Developments in this field have been driven by the coronavirus disease (COVID-19), and any improvement in the work of medical staff is welcome. In this paper, an experimental robotic platform was designed and implemented whose main function is the swabbing samples from the nasal vestibule. The robotic platform represents a complete integration of software and hardware, where the operator has access to a web-based application and can control a number of functions. The increased safety and collaborative approach cannot be overlooked. The result of this work is a functional prototype of the robotic platform that can be further extended, for example, by using alternative technologies, extending patient safety, or clinical tests and studies. Code is available at https://***/ Steigner/ Robo_ Medicinae_ I. © 2022, Brno University of technology. All rights reserved.

关键词： Robot Operating System

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A High-Quality Adaptive Video Reconstruction Optimization Method Based on Compressed Sensing

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computer Modeling in Engineering & sciences 2023年第10期137卷 363-383页

作者： Yanjun Zhang Yongqiang He Jingbo Zhang Yaru Zhao Zhihua Cui Wensheng Zhang School of Computer Science and Technology Taiyuan University of Science and TechnologyTaiyuan030024China Department of Big Data and Intelligent Engineering Shanxi Institute of TechnologyYangquan045000China School of Computer Science Beijing University of TechnologyBeijing100124China The Institute of Automation Chinese Academy of Sciences(CAS)Beijing100049China

The video compression sensing method based onmulti hypothesis has attracted extensive attention in the research of video codec with limited ***,the formation of high-quality prediction blocks in the multi hypothesis prediction stage is a challenging *** resolve this problem,this paper constructs a novel compressed sensing-based high-quality adaptive video reconstruction *** includes the optimization of prediction blocks(OPBS),the selection of searchwindows and the use of neighborhood ***,the OPBS consists of two parts:the selection of blocks and the optimization of prediction *** combine the high-quality optimization reconstruction of foreground block with the residual reconstruction of the background block to improve the overall reconstruction effect of the video *** addition,most of the existing methods based on predictive residual reconstruction ignore the impact of search windows and reference frames on ***,Block-level search window(BSW)is constructed to cover the position of the optimal hypothesis block as much as *** maximize the availability of reference frames,Nearby reference frame information(NRFI)is designed to reconstruct the current *** proposed method effectively suppresses the influence of the fluctuation of the prediction block on reconstruction and improves the reconstruction *** results showthat the proposed compressed sensing-based high-quality adaptive video reconstruction optimization method significantly improves the reconstruction performance in both objective and supervisor quality.

关键词： Compressed sensing OPBS block-level search window nearby reference frame information evolutionary algorithm

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Scheduling Bi-Objective Lot-Streaming Hybrid Flow Shops with Consistent Sublots via an Enhanced Artificial Bee Colony Algorithm

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Complex System Modeling and Simulation 2025年第1期5卷 46-67页

作者： Benxue Lu Kaizhou Gao Peiyong Duan Adam Slowik School of Computer Science Liaocheng UniversityLiaocheng 252000China Macao Institute of Systems Engineering Macao University of Science and TechnologyMacao 999078China School of Information and Automation Engineering Qilu University of TechnologyJinan 250353China Department of Electronics and Computer Science Koszalin University of TechnologyKoszalin 75-453Poland

This work addresses bi-objective hybrid flow shop scheduling problems considering consistent sublots(Bi-HFSP_CS).The objectives are to minimize the makespan and total energy ***,the Bi-HFSP_CS is formalized,followed by the establishment of a mathematical ***,enhanced version of the artificial bee colony(ABC)algorithms is proposed for tackling the Bi-HFSP_***,fourteen local search operators are employed to search for better *** different Q-learning tactics are developed to embed into the ABC algorithm to guide the selection of operators throughout the iteration ***,the proposed tactics are assessed for their efficacy through a comparison of the ABC algorithm,its three variants,and three effective algorithms in resolving 95 instances of 35 different *** experimental results and analysis showcase that the enhanced ABC algorithm combined with Q-learning(QABC1)demonstrates as the top performer for solving concerned *** study introduces a novel approach to solve the Bi-HFSP_CS and illustrates its efficacy and superior competitive strength,offering beneficial perspectives for exploration and research in relevant domains.

关键词： hybrid flow shop scheduling Q-learning lot streaming local search

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Improving Initial Aerofoil Geometry Using Aerofoil Particle Swarm Optimisation

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Mendel 2022年第1期28卷 63-67页

作者： Mülle, Jan Institute of Automation and Computer Science Brno University of Technology Czech Republic

Advanced optimisation of the aerofoil wing of a general aircraft is the main subject of this paper. Meta-heuristic optimisation techniques, especially swarm algorithms, were used. Subsequently, a new variant denoted as aerofoil particle swarm optimisation (aPSO) was developed from the original particle swarm optimisation (PSO). A parametric model based on B-spline was used to optimise the initial aerofoil. The simulation software Xfoil was calculating basic aerodynamic features (lift, drag, moment). © 2022, Brno University of technology. All rights reserved.

关键词： Particle swarm optimization (PSO)

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On Designs of Decentralized Reputation Management for Permissioned Blockchain Networks

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computer Modeling in Engineering & sciences 2024年第5期139卷 1755-1773页

作者： Jinyu Chen Long Shi Qisheng Huang Taotao Wang Daojing He School of Electronic and Optical Engineering Nanjing University of Science and TechnologyNanjing210094China School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen518055China College of Electronics and Information Engineering Shenzhen UniversityShenzhen518060China School of Computer Science and Technology Harbin Institute of TechnologyShenzhen518055China

In permissioned blockchain networks,the Proof of Authority(PoA)consensus,which uses the election of authorized nodes to validate transactions and blocks,has beenwidely advocated thanks to its high transaction throughput and fault ***,PoA suffers from the drawback of centralization dominated by a limited number of authorized nodes and the lack of anonymity due to the round-robin block proposal *** a result,traditional PoA is vulnerable to a single point of failure that compromises the security of the blockchain *** address these issues,we propose a novel decentralized reputation management mechanism for permissioned blockchain networks to enhance security,promote liveness,and mitigate centralization while retaining the same throughput as traditional *** paper aims to design an off-chain reputation evaluation and an on-chain reputation-aided ***,we evaluate the nodes’reputation in the context of the blockchain networks and make the reputation globally verifiable through smart ***,building upon traditional PoA,we propose a reputation-aided PoA(rPoA)consensus to enhance securitywithout sacrificing *** particular,rPoA can incentivize nodes to autonomously form committees based on reputation authority,which prevents block generation from being tracked through the randomness of reputation ***,we develop a reputation-aided fork-choice rule for rPoA to promote the network’s ***,experimental results show that the proposed rPoA achieves higher security performance while retaining transaction throughput compared to traditional PoA.

关键词： Blockchain reputation management PoA throughput security decentralization

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Multispectral point cloud superpoint segmentation

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science China(Technological sciences) 2024年第4期67卷 1270-1281页

作者： WANG QingWang WANG MingYe ZHANG ZiFeng SONG Jian ZENG Kai SHEN Tao GU YanFeng Faculty of Information Engineering and Automation Kunming University of Science and TechnologyKunming 650500China Yunnan Key Laboratory of Computer Technologies Application Kunming 650500China School of Electronics and Information Engineering Harbin Institute of TechnologyHarbin 150001China

The multitude of airborne point clouds limits the point cloud processing *** are grouped based on similar points,which can effectively alleviate the demand for computing resources and improve processing ***,existing superpoint segmentation methods focus only on local geometric structures,resulting in inconsistent spectral features of points within a *** feature inconsistencies degrade the performance of subsequent ***,this study proposes a novel Superpoint Segmentation method that jointly utilizes spatial Geometric and Spectral Information for multispectral point cloud superpoint segmentation(GSI-SS).Specifically,a similarity metric that combines spatial geometry and spectral information is proposed to facilitate the consistency of geometric structures and object attributes within segmented *** the formation of the primary superpoints,an intersuperpoint pointexchange mechanism that maximizes feature consistency within the final superpoints is *** are conducted on two real multispectral point cloud datasets,and the proposed method achieved higher recall,precision,F score,and lower global consistency and feature classification *** experimental results demonstrate the superiority of the proposed GSI-SS over several state-of-the-art methods.

关键词： multispectral point cloud superpoint segmentation over-segmentation spatial-spectral joint metric

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Semi-asynchronous personalized federated learning for short-term photovoltaic power forecasting

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Digital Communications and Networks 2023年第5期9卷 1221-1229页

作者： Weishan Zhang Xiao Chen Ke He Leiming Chen Liang Xu Xiao Wang Su Yang College of Computer Science and Technology China University of Petroleum(East China)China Sichuan Energy Internet Research Institute Tsinghua UniversityChina School of Computer and Communication Engineering Beijing University of Science and TechnologyChina State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijingChina School of Computer Science Fudan UniversityChina

Accurate forecasting for photovoltaic power generation is one of the key enablers for the integration of solar photovoltaic systems into power *** deep-learning-based methods can perform well if there are sufficient training data and enough computational ***,there are challenges in building models through centralized shared data due to data privacy concerns and industry *** learning is a new distributed machine learning approach which enables training models across edge devices while data reside *** this paper,we propose an efficient semi-asynchronous federated learning framework for short-term solar power forecasting and evaluate the framework performance using a CNN-LSTM *** design a personalization technique and a semi-asynchronous aggregation strategy to improve the efficiency of the proposed federated forecasting *** evaluations using a real-world dataset demonstrate that the federated models can achieve significantly higher forecasting performance than fully local models while protecting data privacy,and the proposed semi-asynchronous aggregation and the personalization technique can make the forecasting framework more robust in real-world scenarios.

关键词： Photovoltaic power forecasting Federated learning Edge computing CNN-LSTM

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Dynamic Event-Triggered Consensus Control for Input Constrained Multi-Agent Systems With a Designable Minimum Inter-Event Time

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IEEE/CAA Journal of Automatica Sinica 2024年第3期11卷 649-660页

作者： Meilin Li Yue Long Tieshan Li Hongjing Liang C.L.Philip Chen the School of Automation Engineering University of Electronic Science and Technology of ChinaChengdu 611731China IEEE the Yangtze Delta Region Institute University of Electronic Science and Technology of ChinaHuzhou 313000 the Laboratory of Electromagnetic Space Cognition and Intelligent Control Beijing 100089China the School of Computer Science and Engineering South China University of TechnologyGuangzhou 510006

This paper investigates the consensus control of multi-agent systems(MASs) with constrained input using the dynamic event-triggered mechanism(ETM).Consider the MASs with small-scale networks where a centralized dynamic ETM with global information of the MASs is first ***,a distributed dynamic ETM which only uses local information is developed for the MASs with large-scale *** is shown that the semi-global consensus of the MASs can be achieved by the designed bounded control protocol where the Zeno phenomenon is eliminated by a designable minimum inter-event *** addition,it is easier to find a trade-off between the convergence rate and the minimum inter-event time by an adjustable ***,the results are extended to regional consensus of the MASs with the bounded control *** simulations show the effectiveness of the proposed approach.

关键词： Constrained input designable minimum inter-event time directed communication topology dynamic event-triggered mechanism MASs consensus control

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