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Research on robot path planning based on multi-strategy genetic ant colony optimization algorithm

Information Sciences 2025年 718卷

作者： Zheng Li Mingyuan Du Jinlei Qin Xuechao Chen Department of Computer North China Electric Power University 071003 Baoding China Hebei Key Laboratory of Knowledge Computing for Energy & Power 071003 Baoding China Engineering Research Center of Intelligent Computing for Complex Energy Systems Ministry of Education 071003 Baoding China

The ant colony optimization (ACO) algorithm is commonly used for path planning but faces issues like slow convergence, a tendency to get trapped in local optima, and instability in performance. This paper presents the multi-strategy genetic ant colony optimization (MSGACO) algorithm, which enhances ACO through several innovations: adaptive pheromone distribution initialization, a three-level node selection mechanism, a direction heuristic function, a selective crossover mechanism, and an elitist selection strategy. The adaptive pheromone distribution initialization, combined with the three-level node selection mechanism and direction heuristic function, increases the selection probability for nodes nearer to the destination. Additionally, the selective crossover mechanism and elitist selection strategy optimize the searched paths, resulting in more high-quality solutions and allocating pheromones to them. The main parameters of these strategies are optimized, and their effectiveness is verified. To showcase the benefits of MSGACO, experiments are performed utilizing five exemplary environmental models, with comparisons made to existing methodologies. The results showed a reduction of approximately 60.7% in path length and 52% in convergence iterations compared to the traditional ant colony optimization algorithm.

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Neural architecture search based on the cartesian genetic programming

arXiv

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arXiv 2021年

作者： Wu, Xuan Zhang, Xiuyi Jia, Linhan Chen, Liang Liang, Yanchun Zhou, You Wu, Chunguo Key Laboratory of Symbolic Computation Knowledge Engineering of Ministry of Education College of Computer Science and Technology Jilin University Changchun130012 China College of Software Jilin University Changchun130012 China School of Computer Science Zhuhai College of Science and Technology Zhuhai519041 China

Neural architecture search (NAS) is a hot topic in the field of automated machine learning and outperforms humans in designing neural architectures on quite a few machine learning tasks. Motivated by the natural representation form of neural networks by Cartesian Genetic Programming (CGP), we propose an evolutionary approach of NAS based on CGP, called CGPNAS, to solve sentence classification task. To evolve the architectures under the framework of CGP, the operations such as convolution are identified as the types of function nodes of CGP, and the evolutionary operations are designed based on Evolutionary Strategy. The experimental results show that the searched architectures are comparable with the performance of human-designed architectures. We verify the ability of domain transfer of our evolved architectures and the transfer experimental results show that the accuracy deterioration is lower than 2-5%. Finally, the ablation study identifies the Attention function as the single key function node and the linear transformations along could keep the accuracy similar with the full evolved architectures, which is worthy of investigation in the future. Copyright © 2021, The Authors. All rights reserved.

关键词： Genetic algorithms

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Supervised topic models with weighted words:multi-label document classification

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Frontiers of Information Technology & Electronic engineering 2018年第4期19卷 513-523页

作者： Yue-peng ZOU Ji-hong OUYANG Xi-ming LI College of Computer Science and Technology Jilin University MOE Key Laboratory of Symbolic Computation and Knowledge Engineering Jilin University

Supervised topic modeling algorithms have been successfully applied to multi-label document classification *** models include labeled latent Dirichlet allocation(L-LDA)and ***,these models neglect the class frequency information of words(i.e.,the number of classes where a word has occurred in the training data),which is significant for *** address this,we propose a method,namely the class frequency weight(CF-weight),to weight words by considering the class frequency *** CF-weight is based on the intuition that a word with higher(lower)class frequency will be less(more)*** this study,the CF-weight is used to improve L-LDA and dependency-LDA.A number of experiments have been conducted on real-world multi-label *** results demonstrate that CF-weight based algorithms are competitive with the existing supervised topic models.

关键词： Supervised topic model Multi-label classification Class frequency Labeled latent Dirichlet allocation (L-LDA) Dependency-LDA

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Joint Task Offloading and Resource Allocation in Aerial-Terrestrial UAV Networks with Edge and Fog computing for Post-Disaster Rescue

arXiv

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arXiv 2023年

作者： Sun, Geng He, Long Sun, Zemin Wu, Qingqing Liang, Shuang Li, Jiahui Niyato, Dusit Leung, Victor C.M. The College of Computer Science and Technology Jilin University Changchun130012 China The Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education Jilin University Changchun130012 China The Department of Electronic Engineering Shanghai Jiao Tong University Shanghai China The School of Information Science and Technology Northeast Normal University Changchun130024 China Pillar of Engineering Systems and Design Singapore University of Technology and Design 487372 Singapore The School of Computer Science and Engineering Nanyang Technological University Singapore639798 Singapore The College of Computer Science and Software Engineering Shenzhen University Shenzhen518060 China The Department of Electrical and Computer Engineering University of British Columbia VancouverBCV6T 1Z4 Canada

Unmanned aerial vehicles (UAVs) play an increasingly important role in assisting fast-response post-disaster rescue due to their fast deployment, flexible mobility, and low cost. However, UAVs face the challenges of limited battery capacity and computing resources, which could shorten the expected flight endurance of UAVs and increase the rescue response delay during performing mission-critical tasks. To address this challenge, we first present a three-layer post-disaster rescue computing architecture by leveraging the aerial-terrestrial edge capabilities of mobile edge computing (MEC) and vehicle fog computing (VFC), which consists of a vehicle fog layer, a UAV client layer, and a UAV edge layer. Moreover, we formulate a joint task offloading and resource allocation optimization problem (JTRAOP) with the aim of maximizing the time-average system utility. Since the formulated JTRAOP is proved to be NP-hard, we propose an MEC-VFC-aided task offloading and resource allocation (MVTORA) approach, which consists of a game theoretic algorithm for task offloading decision, a convex optimization-based algorithm for MEC resource allocation, and an evolutionary computation-based hybrid algorithm for VFC resource allocation. Simulation results validate that the proposed approach can achieve superior system performance compared to the other benchmark schemes, especially under heavy system workloads. Copyright © 2023, The Authors. All rights reserved.

关键词： Fog computing

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Image retrieval algorithm based on response value center weighted convolution feature

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Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (engineering and Technology Edition) 2022年第11期52卷 2669-2675页

作者： Li, Xiao-Ning Zhao, Hong-Wei Zhang, Dan-Yang Zhang, Yuan College of Computer Science and Technology Jilin University Changchun130012 China College of Computer Science and Technology Changchun Normal University Changchun130032 China Key Laboratory of Symbolic Computation and Knowledge Engineering Ministry of Education Jilin University Changchun130012 China

A novel cross-entropy-based loss is proposed，which is applied to a classical convolutional neural network to obtain a better embedding space. A convolutional feature aggregation algorithm based on the weighting of the center of the response value is designed to process the three-dimensional convolutional features obtained by the neural network. The algorithm obtains the spatial weighting coefficient of the feature map by calculating the current position response value and the Gaussian center. The algorithm reduces the loss of information when the 3D convolution feature map is reduced to a 1D image feature descriptor and realizes the enhancement of the target area. Finally，the obtained image feature descriptors are used for retrieval tasks. On the CUB-200-2011 dataset，the effectiveness of the loss function and the response value center weighting algorithm are respectively verified by ablation experiments. Compared with the current retrieval methods，higher precision and recall rates have been obtained on the four datasets of Paris6k，Oxford5k，CUB-200-2011 and CARS196. © 2022 Editorial Board of Jilin University. All rights reserved.

关键词： Convolution

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An unmanned aerial vehicle pose estimation system guided by desired shot 2

An unmanned aerial vehicle pose estimation system guided by ...

引用

2nd IEEE International Conference on Automation, Electronics and Electrical engineering, AUTEEE 2019

作者： Dou, Xinglei Ding, Qijian Du, Qiao Yang, Min Huo, Yuzhou Wang, Xin College of Software Engineering Jilin University Changchun China Key Laboratory of Symbolic Computation and Knowledge Engineer Ministry of Education Jilin University Changchun China

ISBN: (纸本)9781728150291

Unmanned aerial vehicles (UAVs) are widely used in aerial photography nowadays for their strong maneuverability, good image quality and high cost performance, while they have limited battery capacity and difficulty in operation. It is difficult to reach the ideal pose and get the desired shot by manual manipulation in a short time. To solve these problems, an UAV pose estimation system guided by desired shot is constructed. Either a sequence of images or a video is taken as input. The user interacts with the system to express the desired shot. The 3D-reconstruction is done by Structure from Motion (SfM). Then the Perspective-n-Point (PnP) problem is solved to estimate the ideal pose of the UAV. The experimental results proves that the system is effective and valid. © 2019 IEEE.

关键词： Aerial photography

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Mandari: Multi-Modal Temporal knowledge Graph-aware Sub-graph Embedding for Next-POI Recommendation

Mandari: Multi-Modal Temporal Knowledge Graph-aware Sub-grap...

引用

IEEE International Conference on Multimedia and Expo (ICME)

作者： Xiaoqian Liu Xiuyun Li Yuan Cao Fan Zhang Xiongnan Jin Jinpeng Chen School of Computer Science (National Pilot Software Engineering School) Beijing University of Posts and Telecommunications Beijing China Key Laboratory of Trustworthy Distributed Computing and Service (BUPT) Ministry of Education Beijing China The Technology Innovation Center of Cultural Tourism Big Data of Hebei Province Chengde China Hebei Normal University for Nationalities Chengde China Knowledge Discovery and Data Mining Research Center Zhejiang Lab Hangzhou China

Next-POI recommendation aims to explore from user check-in sequence to predict the next possible location to be visited. Existing methods are often difficult to model the implicit association of multi-modal data with user choices. Moreover, traditional methods struggle to fully explore the variation of user preferences at variable time intervals. To tackle these limitations, we propose a Multi-Modal Temporal knowledge Graph-aware Sub-graph Embedding approach (Mandari). We first construct a novel Multi-Modal Temporal knowledge Graph. Based on the proposed knowledge graph, we integrate multi-modal information and leverage the graph attention network to calculate sub-graph prediction probability. Next, we implement a temporal knowledge mining method to model the segmentation and periodicity of user check-in and obtain temporal prediction probability. Finally, we fuse temporal prediction probability with the previous sub-graph prediction probability to obtain the final result. Extensive experiments demonstrate that our approach outperforms existing state-of-the-art methods.

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The Minority Matters: A Diversity-Promoting Collaborative Metric Learning Algorithm

arXiv

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arXiv 2022年

作者： Bao, Shilong Xu, Qianqian Yang, Zhiyong He, Yuan Cao, Xiaochun Huang, Qingming State Key Laboratory of Information Security Institute of Information Engineering CAS China School of Cyber Security University of Chinese Academy of Sciences China Key Lab. of Intelligent Information Processing Institute of Computing Technology CAS China School of Computer Science and Tech. University of Chinese Academy of Sciences China Alibaba Group China School of Cyber Science and Technology Shenzhen Campus Sun Yat-sen University China Key Laboratory of Big Data Mining and Knowledge Management CAS China Peng Cheng Laboratory China

Collaborative Metric Learning (CML) has recently emerged as a popular method in recommendation systems (RS), closing the gap between metric learning and Collaborative Filtering. Following the convention of RS, existing methods exploit unique user representation in their model design. This paper focuses on a challenging scenario where a user has multiple categories of interests. Under this setting, we argue that the unique user representation might induce preference bias, especially when the item category distribution is imbalanced. To address this issue, we propose a novel method called Diversity-Promoting Collaborative Metric Learning (DPCML), with the hope of considering the commonly ignored minority interest of the user. The key idea behind DPCML is to include a multiple set of representations for each user in the system. Based on this embedding paradigm, user preference toward an item is aggregated from different embeddings by taking the minimum item-user distance among the user embedding set. Furthermore, we observe that the diversity of the embeddings for the same user also plays an essential role in the model. To this end, we propose a diversity control regularization term to accommodate the multi-vector representation strategy better. Theoretically, we show that DPCML could generalize well to unseen test data by tackling the challenge of the annoying operation that comes from the minimum value. Experiments over a range of benchmark datasets speak to the efficacy of DPCML. © 2022, CC BY-NC-SA.

关键词： Embeddings

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CellMirror: Deciphering Cell Populations from Spatial Transcriptomics Data by Interpretable Contrastive Learning

CellMirror: Deciphering Cell Populations from Spatial Transc...

引用

Medical Artificial Intelligence (MedAI), IEEE International Conference on

作者： Junjie Xia Jiangnan Cui Zhenyu Huang Shuangquan Zhang Fang Yao Yijian Zhang Chunman Zuo Department of Applied Mathematics Institute of Artificial Intelligence Donghua University Shanghai China Institute of Artificial Institute Donghua University Shanghai China College of Computer Science and Technology Jilin University Changchun China School of Cyber Science and Engineering Nanjing University of Science and Technology Nanjing China Affiliated Shenzhen Maternity and Child Healthcare Hospital Institute of Maternal and Child Medicine Southern Medical University Shenzhen China Department of General Surgery Xinhua Hospital Affiliated to Shanghai Jiao Tong University of Medicine Shanghai China Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education Jilin University Changchun China

Spatial transcriptomics (ST) has enabled us elucidating tumor microenvironments, however, the technological limitations without single-cell resolution severely hinder its application. Here, we propose CellMirror, an interpretable contrastive learning model to decipher heterogeneous cell populations in ST data by single-cell RNA-sequencing (scRNA-seq) data. Specifically, CellMirror learns the disentangled shared (representing biological variations in both data) and salient features (specific to ST data) by two contrastive variational encoders, while constructing the relations between genes and features by a shared linear decoder. In various cancer samples, CellMirror outperforms other tools in learning common features for label transfer, and interpretation of features. Particularly, in breast cancer studies, CellMirror detects finer domains in ST data missed by other methods, and is robust to dissect cell populations in ST data using independent scRNA-seq data. These results demonstrate applications of CellMirror in interpreting the complex tumor structure in ST data by integrating scRNA-seq data.

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Warburg Effects in Cancer and Normal Proliferating Cells:Two Tales of the Same Name

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Genomics, Proteomics & Bioinformatics 2019年第3期17卷 273-286页

作者： Huiyan Sun Liang Chen Sha Cao Yanchun Liang Ying Xu The China-Japan Union Hospital Jilin UniversityChangchun 130033China MOE Key Laboratory of Symbolic Computation and Knowledge Engineering College of Computer Science and TechnologyJilin UniversityChangchun 130012China Computational Systems Biology Lab Department of Biochemistry and Molecular Biology and Institute of BioinformaticsUniversity of GeorgiaAthensGA 30602USA Faculty of Health Sciences University of MacaoTaipaMacao SAR 999078China Department of Biostatistics School of MedicineIndiana UniversityIndianapolisIN 46202USA Zhuhai Laboratory of MOE Key Laboratory of Symbolic Computation and Knowledge Engineering Zhuhai College of Jilin UniversityZhuhai 519041China

It has been observed that both cancer tissue cells and normal proliferating cells(NPCs)have the Warburg *** goal here is to demonstrate that they do this for different *** accomplish this,we have analyzed the transcriptomic data of over 7000 cancer and control tissues of 14 cancer types in TCGA and data of five NPC types in *** analyses reveal that NPCs accumulate large quantities of ATPs produced by the respiration process before starting the Warburg effect,to raise the intracellular pH from 6.8 to 7.2 and to prepare for cell division *** cell cycle starts,the cells start to rely on glycolysis for ATP generation followed by ATP hydrolysis and lactic acid release,to maintain the elevated intracellular pH as needed by cell division since together the three processes are pH *** cells go back to the normal respirationbased ATP production once the cell division phase *** comparison,cancer cells have reached their intracellular pH at 7.4 from top down as multiple acid-loading transporters are up-regulated and most acid-extruding ones except for lactic acid exporters are *** cells use continuous glycolysis for ATP production as way to acidify the intracellular space since the lactic acid secretion is decoupled from glycolysis-based ATP generation and is pH balanced by increased expressions of acid-loading ***-expression analyses suggest that lactic acid secretion is regulated by external,non-pH related ***,our data strongly suggest that the two cell types have the Warburg effect for very different reasons.

关键词： Cancer Warburg effect Fenton reaction Cell proliferation pH homeostasis

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