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Motion path planning method based on map reference points

Multimedia Tools and Applications 2024年 1-21页

作者： Yu, Wenbin Fan, Cheng Zhang, Chengjun Chen, Yadang Li, Yangsong Zhang, Yifan Yin, Na Cen, Xiaolin School of Software Nanjing University of Information Science and Technology Jiangsu Nanjing210044 China School of Computer Science Nanjing University of Information Science and Technology Jiangsu Nanjing210044 China Wuxi Institute of Technology Nanjing University of Information Science and Technology Jiangsu Wuxi214000 China Nanjing University of Information Science and Technology Jiangsu Nanjing210044 China School of Computer Science Northeastern University Boston02101 United States Computer Science and Engineering The University of New South Wales SydneyNSW02101 Australia

In recent years, significant progress has been made in the development of the Rapidly-exploring Random Trees (RRT) algorithm, a probabilistic sampling-based search approach. This algorithm effectively addresses complex challenges in path planning within high-dimensional spaces characterized by intricate constraints. However, the RRT algorithm faces certain limitations, including sluggish computational performance in handling intricate calculations, susceptibility to becoming trapped in confined path regions, and difficulties in generating randomized paths across a given map. To overcome these issues, this study introduces a motion path planning method based on map reference points. Initially, the algorithm selects strategic map reference points, followed by the utilization of an enhanced RRT algorithm for fundamental path selection. Real-world scenario data is collected to empirically evaluate the algorithm’s performance. The outcomes of the experiments reveal that, within the same experimental setting, the proposed method outperforms conventional motion path planning algorithms by effectively circumventing obstacles. Furthermore, it substantially reduces the resource wastage caused by global random sampling in the RRT algorithm, leading to expedited path planning and improved pathfinding success rates. Additionally, the proposed approach enhances the RRT algorithm’s adaptability to some extent, particularly in negotiating narrow passages and intricate environments. © The Author(s), under exclusive licence to Springer science+Business Media, LLC, part of Springer Nature 2024.

关键词： Decision trees

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Low-Quality Ultrasound Image Enhancement Using Spatially Variable Neural Implicit Network

Low-Quality Ultrasound Image Enhancement Using Spatially Var...

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2024 IEEE International Conference on Bioinformatics and Biomedicine, BIBM 2024

作者： Wang, Xiaojie Xia, Jing Wu, Mei Gao, Shanshan Zhou, Yuanfeng Shandong University School of Software Jinan China Nanyang Technological University School of Computer Science and Engineering Singapore Singapore The Second Hospital of Shandong University Ultrasound Department Jinan China Shandong University of Finance and Economics School of Computer Science and Technology Jinan China

ISBN: (纸本)9798350386226

Ultrasound images are widely used because they are easy to use and non-invasive. However, differences in acquisition equipment and frequency settings can result in varying image quality. To address this issue, we propose an ultrasound image enhancement method based on spatially variable neural implicit networks. Our approach consists of several steps: First, the encoder of an arbitrary-scale super-resolution network processes low-quality ultrasound images to generate a feature matrix. Concurrently, the parameter generation network decomposes the low-quality image into a parameter matrix. The pixel prediction module of the arbitrary-scale super-resolution network then uses the parameter matrix to map encoded features to pixel values. To further align the predicted pixel values with the distribution of high-quality ultrasound images and reduce interference from artifacts, we design a spectrum discriminator network based on the fast Fourier transform. This network is highly effective at capturing high-quality information and minimizing the impact of redundant information. In both qualitative and quantitative comparisons with current state-of-the-art image enhancement methods and arbitrary magnification techniques, our approach demonstrates superior performance. © 2024 IEEE.

关键词： Ultrasonic imaging

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Mathematical Modeling and Analysis of Patterns in Structured Collections of Big Data 13

Mathematical Modeling and Analysis of Patterns in Structured...

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13th International Conference on Advanced computer Information Technologies, ACIT 2023

作者： Syrotkina, Olena Kobti, Ziad Aleksieiev, Mykhailo Moroz, Borys Udovyk, Iryna Shvachych, Hennadii University of Windsor School of Computer Science Windsor Canada Dnipro University of Technology Department of Software Engineering Dnipro Ukraine

This paper addresses the issue of creating and applying mathematical models and methods for finding generalized solutions when working with structured collections of 'big data'. We reviewed the modern methodologies used to solve problems of this class. The mathematical model presented describes an ordered set of all subsets formed from a finite ordered base set of arbitrary size and data type. We explored a set of functional dependencies of five discrete input variables to work with this mathematical model. Some of these functional dependencies are derived for specific solutions with specified boundary conditions. The paper also presents examples of how the derived functional dependencies are applied in the implementation of mathematical methods using this model. This required us to conduct a comparative assessment of the search time for a solution with and without the use of these mathematical methods. Comparative graphs are demonstrated to show the rate of increase in the number of operations depending on the size of the original finite base set with and without the use of these mathematical methods. As a result of this, logical conclusions are drawn regarding the impact of mathematical methods for working with structured collections on minimizing time and computational resources. © 2023 IEEE.

关键词： Big data

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Optical encryption of gray image based on CS and CGH with double chaotic system 5

Optical encryption of gray image based on CS and CGH with do...

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5th World Conference on Mechanical engineering and Intelligent Manufacturing, WCMEIM 2022

作者： Zhao, Xueyan Zhang, Zhao Niu, Shuqi Tian, Xintong School of Computer Science and Software Engineering University of Science and Technology Liaoning Anshan China

ISBN: (纸本)9781665473699

In this paper, a novel image encryption algorithm is proposed by combining Logistic chaotic map, 4D NHS hyperchaotic system, compressed sensing (CS), computer generated hologram (CGH) and two-dimensional discrete cosine transform (DCT). Firstly, the gray image is sparse represented by two-dimensional discrete cosine transform (DCT). The sparse matrix obtained by index sort scrambling is scrambled. For further encryption, the pixel scrambling uses the Logistic chaotic system to generate the scrambling vector. Subsequently, CGH encryption was performed and the Logistic chaotic map and 4D NHS hyperchaotic system were used as double keys to obtain the final encrypted picture. © 2022 IEEE.

关键词： Compressed sensing

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Research on ship detection of optical remote sensing image based on Yolo V5

Research on ship detection of optical remote sensing image b...

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2021 International Conference on Intelligent Power and Systems, ICIPS 2021

作者： Sun, X.M. Zhang, Y.J. Wang, H. Du, Y.X. School of Computer Science and Software Engineering University of Science and Technology Liao Ning China

In order to achieve ship target detection based on remote sensing images in complex backgrounds, this paper proposes a ship target detection algorithm based on YOLO V5. First, the improved Kmeans is used to cluster the data set, DIOU_loss is used for the candidate frame selection strategy, and finally the channel attention mechanism is introduced. The experimental results show that under the same conditions, the improved network has a slight decrease in detection speed compared with the original YOLOv5 network, and the effect of images with densely distributed small targets is significantly improved. On the same test set, the accuracy rate is reduced by 3.84%, the recall rate is increased by 32.73%, and mAP is increased by 22.48%. © Published under licence by IOP Publishing Ltd.

关键词： Image enhancement

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Sentiment analysis in social internet of things using contextual representations and dilated convolution neural network

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Neural Computing and Applications 2024年第20期36卷 12357-12370页

作者： Abid, Fazeel Rasheed, Jawad Hamdi, Mohammed Alshahrani, Hani Al Reshan, Mana Saleh Shaikh, Asadullah Department of Information Systems Dr. Hassan Murad School of Management University of Management and Technology Lahore Pakistan Department of Computer Engineering Istanbul Sabahattin Zaim University Istanbul34303 Turkey Department of Software Engineering Istanbul Nisantasi University Istanbul34394 Turkey Department Computer Science College of Computer Science and Information Systems Najran University Najran61441 Saudi Arabia Department Information Systems College of Computer Science and Information Systems Najran University Najran61441 Saudi Arabia

The methodologies based on neural networks are substantial to accomplish sentiment analysis in the Social Internet of Things (SIoT). With social media sentiment analysis, significant insights can produce efficient and intelligent applications. Neural networks such as recurrent neural networks (RNNs) and convolution neural networks (CNNs) have been considered widely in many text classification tasks. However, RNNs are computationally expensive and require complex training to capture contextual information and long-term dependencies. Similarly, traditional CNNs must stack multiple convolutional layers, requiring massive computations and additional parameters. To address these problems, this work initialized the novel architecture, in which contextual representations (CRs) based on the textual framework are proposed at the initial step. In CRs, state-of-the-art word representation models, such as GloVe (global vectors) and FastText (subword information), collectively produce word representations upon the input sequence using a weight mechanism. Secondly, a unique way is introduced: a three-parallel layered dilated convolutional network with global mean pooling. The experimental results show that the proposed methods when compared with baseline methods, the dilation in CNNs following CRs significantly increases the accuracy from 72.45 to 98.98% and reduces computational resources. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2024.

关键词： Sentiment analysis

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Research and application of data-driven carbon emission analysis and prediction 2

Research and application of data-driven carbon emission anal...

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2nd International Conference on Cloud Computing, Big Data Application and software engineering, CBASE 2023

作者： Wei, Dongmei Meng, Dan Southwest University of Finance and Economics School of Management Science and Engineering Chengdu611130 China Xihua University School of Computer and Software Engineering Chengdu610039 China

ISBN: (纸本)9798350331448

The issue of carbon emissions has become an important policy direction for countries around the world to promote healthy socio-economic development and address climate change issues. This article conducts feature extraction and data analysis on various major energy data in China from 1997 to 2017, and constructs a model for verifying and predicting total carbon emissions. The model can not only accurately reflect China's carbon emissions over the past twenty years, but also predict future carbon emissions. This not only provides scientific basis for government decision-making, but also enriches the application of data-driven and artificial intelligence methods in this field. © 2023 IEEE.

关键词： Machine learning

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Improved Kernel Fuzzy C-Means Clustering Method Based on Smart Grid 5

Improved Kernel Fuzzy C-Means Clustering Method Based on Sma...

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5th World Conference on Mechanical engineering and Intelligent Manufacturing, WCMEIM 2022

作者： Niu, Shuqi Zhang, Zhao Tian, Xintong Zhao, Xueyan School of Computer Science and Software Engineering University of Science and Technology Liaoning Anshan China

ISBN: (纸本)9781665473699

The improved kernel fuzzy clustering method is used to classify the load data of the smart grid accurately. It lays a good foundation for the subsequent work of power load forecasting and provides a more efficient, safe, and reliable direction for the operation of the power system. Firstly, the collected power load data is preprocessed to reduce data redundancy and improve data quality. Secondly, the kernel fuzzy C-means clustering algorithm based on particle swarm optimization is used to cluster the load data with the same power consumption characteristics. Finally, the improved kernel fuzzy clustering method is compared with the fuzzy C-means clustering method through a simulation example to verify the effectiveness of this method. © 2022 IEEE.

关键词： Smart power grids

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EEG-EMG FAConformer: Frequency Aware Conv-Transformer for the fusion of EEG and EMG

EEG-EMG FAConformer: Frequency Aware Conv-Transformer for th...

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2024 IEEE International Conference on Bioinformatics and Biomedicine, BIBM 2024

作者： He, ZhengXiao Cai, Minghong Li, Letian Tian, Siyuan Dai, Ren-Jie Tongji University College of Electronic and Information Engineering Shanghai China Tongji University School of Software Engineering Shanghai China Shanghai Jiao Tong University Department of Computer Science and Engineering China

ISBN: (纸本)9798350386226

Motor pattern recognition paradigms are the main forms of Brain-computer Interfaces(BCI) aimed at motor function rehabilitation and are the most easily promoted applications. In recent years, many researchers have suggested encouraging patients to perform real motor control execution simultaneously in MI-based BCI rehabilitation training systems. Electromyography (EMG) signals are the most direct physiological signals that can assess the execution of movements. Multimodal signal fusion is practically significant for decoding motor patterns. Therefore, we introduce a multimodal motion pattern recognition algorithm for EEG and EMG signals: EEG-EMG FAConformer, a method with several attention modules correlated with temporal and frequency information for motor pattern recognition. We especially devise a frequency band attention module to encode EEG information accurately and efficiently. What's more, modules like Multi-Scale Fusion Module, Independent ChannelSpecific Convolution Module(ICSCM), and Fuse Module which can effectively eliminate irrelevant information in EEG and EMG signals and fully exploit hidden dynamics are developed and show great effects. Extensive experiments show that EEGEMG FAConformer surpasses existing methods on Jeong2020 dataset, showcasing outstanding performance, high robustness and impressive stability. © 2024 IEEE.

关键词： Electromyography

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Unconditional Generation of Scalable Chinese Characters as Bézier Curve Sequences 3

Unconditional Generation of Scalable Chinese Characters as B...

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3rd International Conference on Artificial Intelligence and Signal Processing, AISP 2023

作者： Lasrado, Rohan Nolan Vijayasherly, V. VIT University School of Computer Science and Engineering Vellore India VIT University Department of Software Systems Vellore India

ISBN: (纸本)9798350320749

Neural generative modelling of sketches has been an active research direction. SketchRNN set a milestone with their sequence-to-sequence variational autoencoder architecture being able to generate hand drawn sketches in various classes by modelling them as sequences of displacements between consecutive stroke points. The diversity and variety in the set of handwritten Chinese characters makes them a good candidate for such generative modelling enabling their unconditional generation. However, modelling them as sequences of points causes coarse looking strokes and much longer sequences, consequently requiring use of polygonal approximation algorithms to cut down on points. Instead, we propose and investigate the modelling of Chinese characters as sequences of Bézier curves using the SketchRNN architecture with a few modifications, to allow the model to directly generate smooth curves. This way the encoded representation is smaller while more of the stroke's characteristics are retained and the generated characters are truly scalable. We also suggest the appropriate preprocessing strategy for the KanjiVG dataset to make it suitable for this purpose. Qualitative evaluation of the results suggests the model demonstrates generation of characters with mostly well-structured and ordered strokes. This was substantiated by quantitative evaluation based on the FrFréchetchet Inception Distance score. © 2023 IEEE.

关键词： Learning systems

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