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Cheiloscopic Characteristics Detection And Pattern Classification By Machine Learning Technique, Dr Dominic Augustine, Sowmya Sv Feb 2024

Cheiloscopic Characteristics Detection And Pattern Classification By Machine Learning Technique, Dr Dominic Augustine, Sowmya Sv

Annual Research Symposium

Machine Learning (ML) is a field enhancing the rapid growth of technology. Though use of digital softwares for cheiloscopic investigations have been attempted with limited success, the use of ML based techniques are scarce and seldom have been employed in forensic odontology. The present study aimed to identify cheiloscopic patterns through machine learning based methods and to correlate the segmented patterns with age and gender of individuals.


Association Between Abo Blood Grouping And Odontometry: An Unexplored Evidence In Forensics, Dr Dominic Augustine, Sowmya Sv Feb 2024

Association Between Abo Blood Grouping And Odontometry: An Unexplored Evidence In Forensics, Dr Dominic Augustine, Sowmya Sv

Annual Research Symposium

Recent research has exhibited a strong association between ABO blood groups and susceptibility to diseases. Extraoral and intraoral hard tissue landmarks provide a stable and reliable record for odontological and anthropological analysis, forensic investigations and identification. The association between anthropometric indices and ABO blood grouping have been reported in the past, however, the association between ABO blood groups and odontometric indices is yet to be comprehensively explored. This study aimed to establish the correlation of ABO blood groups with odontometric indices and extraoral hard tissue landmarks for personnel identification.


Advanced Techniques For Tooth Pulp Rna Extraction In Forensic Investigations-A Systematic Review, Kuntala Mondal, Sv Sowmya, Dominic Augustine Feb 2024

Advanced Techniques For Tooth Pulp Rna Extraction In Forensic Investigations-A Systematic Review, Kuntala Mondal, Sv Sowmya, Dominic Augustine

Annual Research Symposium

Teeth are fundamental structures in a forensic context due to their high strength and specificity. It is challenging to obtain high quality RNA from pulpal tissues. It has been described that pulp RNA degradation could be an indicator of post-mortem interval. Researchers have been in the quest to develop optimal techniques for tooth RNA extraction. The systematic review aimed to determine the most reliable method of RNA extraction from dental tooth pulp for forensic investigations.


Assessment Of Micrometastasis In Lymph Nodes Of Oral Squamous Cell Carcinoma –Attaining Excellence Through Immunohistochemistry, Dr Dominic Augustine, Sowmya Sv, Kuntala Mondal Feb 2024

Assessment Of Micrometastasis In Lymph Nodes Of Oral Squamous Cell Carcinoma –Attaining Excellence Through Immunohistochemistry, Dr Dominic Augustine, Sowmya Sv, Kuntala Mondal

Annual Research Symposium

Cervical lymph node metastasis is the most important prognostic factor in Squamous Cell Carcinoma of Head and Neck (SCCHN). Lymph node prognostic determinants hold immense significance in influencing both patient’s survival outcomes and the propensity for recurrence. The current study aimed to evaluate the diagnostic accuracy of Cyclin D1 and Pan-CK for the detection of lymph node micrometastasis in oral squamous cell carcinoma tissue sections and re-evaluate the tumor staging.


Harm Reduction Measures In Substance Use Disorder (Sud), Kent Wood Feb 2024

Harm Reduction Measures In Substance Use Disorder (Sud), Kent Wood

Annual Research Symposium

This literature review aims to comprehensively analyze harm reduction strategies employed in addressing Substance Use Disorder (SUD). Focusing on key interventions such as fentanyl testing strips, naloxone distribution, syringe exchange programs, and methadone/buprenorphine clinics, the study seeks to evaluate the effectiveness of these approaches in reducing the associated harms of substance misuse.


Substance Use Disorder –The Role Of The Pharmacist, Mackenzie Cruzan Feb 2024

Substance Use Disorder –The Role Of The Pharmacist, Mackenzie Cruzan

Annual Research Symposium

The study illuminates the pivotal role of community pharmacists as accessible healthcare providers, offering medication management, patient education, and preventive care services. Simultaneously, it explores the intricate responsibilities of inpatient pharmacists, emphasizing their involvement in therapeutic monitoring and collaboration with healthcare teams.


Clinical, Radiographic And Biochemical Evaluation Of One-Piece Vs Two-Piece Single Implants After 5 Years Of Functional Loading, Ippolito Caputo Feb 2024

Clinical, Radiographic And Biochemical Evaluation Of One-Piece Vs Two-Piece Single Implants After 5 Years Of Functional Loading, Ippolito Caputo

Annual Research Symposium

The aim of this study was to compare the clinical and radiographic conditions and the expression of proinflammatory cytokines in peri-implant crevicular fluid (PICF) of two-piece/bone level (TP/BL) versus one-piece/tissue level (OP/TL) single implants with a laser-microgrooved collar after at least 5 years of functional loading.


Anti-Erosion Potential Of Fluoride Solutions Associated With Aminomethacrylate Copolymer: In Situ Randomized Crossover Study, Taiana Paola Prado, Karine Carvalho Dos Santos, Carlos Rocha Gomes Torres, Tais Scaramucci, Idalina Vieira Aoki, Alessandra Buhler Borges Feb 2024

Anti-Erosion Potential Of Fluoride Solutions Associated With Aminomethacrylate Copolymer: In Situ Randomized Crossover Study, Taiana Paola Prado, Karine Carvalho Dos Santos, Carlos Rocha Gomes Torres, Tais Scaramucci, Idalina Vieira Aoki, Alessandra Buhler Borges

Annual Research Symposium

The anti-erosion potential of fluoride solutions associated with aminomethacrylate (AMC) was evaluated in the presence of acquired pellicle on enamel and dentin. It is concluded that AMC was able to increase the anti-erosion potential of fluoride solutions in the presence of acquired pellicle.


Butterworth Filter To Reduce Reactivity Fluctuations, Daniel Suescún-Díaz, Geraldyne Ule-Duque, Luis E. Cardoso-Páez Feb 2024

Butterworth Filter To Reduce Reactivity Fluctuations, Daniel Suescún-Díaz, Geraldyne Ule-Duque, Luis E. Cardoso-Páez

Karbala International Journal of Modern Science

In this study, we introduce the calculation of reactivity in nuclear reactors. The proposed method uses the Euler-Maclaurin series to approximate the integral in the inverse equation of point kinetics. The approximation is done with the first three terms, the first term represents the approximation of a zero-order sum, the second term the trapezoidal rule and the third term the first Bernoulli number. These three terms improve the approximation, along with an estimate of the neutron density using the prompt jump approximation. To reduce neutron density fluctuations, a second-order Butterworth filter for the reactivity calculation was implemented, which offers the …


Strange New Universes: Proof Assistants And Synthetic Foundations, Michael Shulman Feb 2024

Strange New Universes: Proof Assistants And Synthetic Foundations, Michael Shulman

Mathematics: Faculty Scholarship

Existing computer programs called proof assistants can verify the correctness of mathematical proofs but their specialized proof languages present a barrier to entry for many mathematicians. Large language models have the potential to lower this barrier, enabling mathematicians to interact with proof assistants in a more familiar vernacular. Among other advantages, this may allow mathematicians to explore radically new kinds of mathematics using an LLM-powered proof assistant to train their intuitions as well as ensure their arguments are correct. Existing proof assistants have already played this role for fields such as homotopy type theory.


Integrating Multiscale Geospatial Analysis For Monitoring Crop Growth, Nutrient Distribution, And Hydrological Dynamics In Large-Scale Agricultural Systems, Olatunde D. Akanbi, Deepa C. Bhuvanagiri, Erika I. Barcelos, Arafath Nihar, Brian Gonzalez Hernandez, Jeffrey M. Yarus, Roger H. French Feb 2024

Integrating Multiscale Geospatial Analysis For Monitoring Crop Growth, Nutrient Distribution, And Hydrological Dynamics In Large-Scale Agricultural Systems, Olatunde D. Akanbi, Deepa C. Bhuvanagiri, Erika I. Barcelos, Arafath Nihar, Brian Gonzalez Hernandez, Jeffrey M. Yarus, Roger H. French

Faculty Scholarship

Monitoring crop growth, soil conditions, and hydrological dynamics are imperative for sustainable agriculture and reduced environmental impacts. This interdisciplinary study integrates remote sensing, digital soil mapping, and hydrological data to elucidate intricate connections between these factors in the state of Ohio, USA. Advanced spatiotemporal analysis techniques were applied to key datasets, including the MODIS sensor satellite imagery, USDA crop data, soil datasets, Aster GDEM, and USGS stream gauge measurements. Vegetation indices derived from MODIS characterized crop-specific phenology and productivity patterns. Exploratory spatial data analysis show relationships of vegetation dynamics and soil properties, uncovering links between plant vigor, edaphic fertility, and …


Diabetes And Covid-19 Outcomes: An Analysis Of Freeman Health System Patients, Timothy Wiant, Logan Schmidt, Saibhavana Srikakolapu, Nova Beyersdorfer, Mariam Akhtar, Kerry Johnson, Greg Stahl, Darrin S. Goade, Robert Arnce Feb 2024

Diabetes And Covid-19 Outcomes: An Analysis Of Freeman Health System Patients, Timothy Wiant, Logan Schmidt, Saibhavana Srikakolapu, Nova Beyersdorfer, Mariam Akhtar, Kerry Johnson, Greg Stahl, Darrin S. Goade, Robert Arnce

Faculty and Staff Publications

Background: As COVID-19 continues to affect millions of people around the world, it has become vital to understand how comorbidities such as diabetes affect the health outcomes of these patients. While earlier studies have focused on major metropolitan areas, rural settings have been comparatively understudied. The goal of this study is to understand the effect on mortality that these two diseases have in the inpatient setting of a rural population.

Methods: The electronic medical records of all adult patients admitted to Freeman Health System, Joplin, Missouri, United States, between April 1, 2020, and December 31, 2021, were reviewed for the …


The Minutes Of The Marshall University Staff Council Meeting, February 2024, Marshall University Staff Council Feb 2024

The Minutes Of The Marshall University Staff Council Meeting, February 2024, Marshall University Staff Council

Staff Council Minutes

No abstract provided.


Purification And Isolation Of Α-Chloro-Β-Lactone Precursor Molecules, Matthew Ellis Feb 2024

Purification And Isolation Of Α-Chloro-Β-Lactone Precursor Molecules, Matthew Ellis

ASPIRE 2024

This research investigates the synthesis of α-chloro-β-lactone molecules, focusing on the production, isolation, and purification of two precursor compounds from chloroacetic acid and substituted benzaldehydes. While multiple methods were explored, including EDC, DIC, and DCC catalysis, DCC proved to be most effective in producing higher yields. However, challenges in purification arose due to the formation of byproducts, particularly with DCC, prompting further investigation for efficient extraction and purification techniques. DCC, however, shows a promising route for α-chloro-β-lactone synthesis, despite purification complexities.


Essays On Cancer Patients, Quality Of Life, And Social Support: Evidence From Nepal, Muhammad Adnan Shahid Feb 2024

Essays On Cancer Patients, Quality Of Life, And Social Support: Evidence From Nepal, Muhammad Adnan Shahid

Economics ETDs

This dissertation is organized in five chapters. The first chapter provides a summary of the three research articles that are combined in this dissertation. It highlights the goals of each research paper, and outlines their contribution to the existing literature and the field of economics. Chapters 2 and 3 are based on a field study that I conducted on cancer and non-cancer patients in various cancer hospitals in Nepal. Chapter 4 uses data from field survey conducted by scholars of the Nepal Study Center, UNM, including me, in Sindhupalchok district of Nepal after the devastating earthquake of 2015. The final …


2024 Jsu Student Symposium Proceedings, Shannon Robertson Feb 2024

2024 Jsu Student Symposium Proceedings, Shannon Robertson

JSU Student Symposium 2024

No abstract provided.


Radiation From An Oscillating Dipole In The Presence Of Photon-Sector Cpt And Lorentz Violation, Joshua O'Connor, Brett Altschul Feb 2024

Radiation From An Oscillating Dipole In The Presence Of Photon-Sector Cpt And Lorentz Violation, Joshua O'Connor, Brett Altschul

Faculty Publications

We examine one of the standard loci for studying electromagnetic wave emission - the radiation from an oscillating electric dipole - in a model in which the electromagnetic sector is modified to include novel CPT- and Lorentz-violating propagation effects involving a preferred axial vector background. We evaluate the vacuum-birefringent radiation fields, including nonperturbative terms where appropriate. In general, the energy momentum carried by the fields in this model is known to have a complicated nonperturbative structure, which cannot be captured by naive power-series expansions in the components of the preferred background vector. However, we nevertheless find that at the lowest …


Efficiency Optimization Method For Data Sampling In Power Grid Topology Scheduling Simulation, Yingying Zhao, Pusen Dong, Tianchen Zhu, Fan Li, Yun Su, Zhenying Tai, Qingyun Sun, Hang Fan Feb 2024

Efficiency Optimization Method For Data Sampling In Power Grid Topology Scheduling Simulation, Yingying Zhao, Pusen Dong, Tianchen Zhu, Fan Li, Yun Su, Zhenying Tai, Qingyun Sun, Hang Fan

Journal of System Simulation

Abstract: To address the large simulation computational workload and low simulation speed caused by the scale and complexity of the new power system, a simulation acceleration method for topology scheduling based on the distributed and quantization mechanisms is proposed. The parallelization of topology scheduling models is used to increase the scale of data simulation sampling in unit time. The introduced quantization operators accelerate the computation speed of the topology scheduling model operators, reduces the time cost of the every single simulation. Case studies confirm the effectiveness of the topology simulation acceleration, in which the available transfer capacity of the simulated …


Runoff Intelligent Prediction Method Based On Broad-Deep Fusion Time-Frequency Analysis, Ying Han, Lehao Wang, Shumei Wang, Xiang Zhang, Xingxing Luo Feb 2024

Runoff Intelligent Prediction Method Based On Broad-Deep Fusion Time-Frequency Analysis, Ying Han, Lehao Wang, Shumei Wang, Xiang Zhang, Xingxing Luo

Journal of System Simulation

Abstract: Broad learning system(BLS) is introduced to tackle the existed disadvantage that LSTM-based runoff prediction model is easy to fall into local optimization. To reduce the influence of noise on the prediction results, the variational mode decomposition (VMD) is adopted to transform the onedimensional time-domain runoff signal to the two-dimensional time-frequency plane. The runoff prediction model based on VMD-LSTM-BLS is proposed. The simulation results demonstrate that the prediction accuracy of the new model is more significantly improved compared with the baseline model and the existing LSTM-based runoff prediction model.


Simulation Platform Of Agv System Scheduling Algorithms In Uncertain Environment, Zhihao Shi, Haihui Shen Feb 2024

Simulation Platform Of Agv System Scheduling Algorithms In Uncertain Environment, Zhihao Shi, Haihui Shen

Journal of System Simulation

Abstract: As a complete automated guided vehicle(AGV) system scheduling algorithm, it must include conflict-handling strategy, together with common dispatching strategy and routing algorithm. However, due to the uncertainty, characteristics of such scheduling algorithm are difficult to be analyzed theoretically, and the relevant study is lacking. An AGV system simulation platform based on the discreteevent simulation technique is designed and developed, which can flexibly set the scheduling problem, choose the dispatching strategy, routing algorithm, and conflict-handling strategy for the scheduling algorithm, to run the simulation. The platform has a visual interface, from which the running status of AGVs and the performance …


Research On Motion Planning Of Hexapod Robot Based On Drl And Free Gait, Xinpeng Wang, Huiqiao Fu, Guizhou Deng, Kaiqiang Tang, Chunlin Chen, Canghao Liu Feb 2024

Research On Motion Planning Of Hexapod Robot Based On Drl And Free Gait, Xinpeng Wang, Huiqiao Fu, Guizhou Deng, Kaiqiang Tang, Chunlin Chen, Canghao Liu

Journal of System Simulation

Abstract: To improve the passability and the motion performance of the hexapod robot in the unstructured environment, a multi-contact motion planning algorithm based on DRL and free gait planner is proposed. Firstly, the free gait planner obtains the reachable footholds under the target state and outputs the optimal gait sequence. The center of mass motion policy of the hexapod robot in the randomly generated plum blossom pile environment is obtained by using deep reinforcement learning training. To ensure the reachability between adjacent states of the robot in motion, the state transition feasibility model is used to judge the state transition …


Robust Predictive Control Of Nonplanar Fully-Actuated Uavs, Yun Ma, Yuan Wang, Meng Li, Peng Wang, Yanling Tang Feb 2024

Robust Predictive Control Of Nonplanar Fully-Actuated Uavs, Yun Ma, Yuan Wang, Meng Li, Peng Wang, Yanling Tang

Journal of System Simulation

Abstract: Targeting the problem that nonplanar fully-actuated unmanned aerial vehicles (UAVs) are susceptible to external winds and unmodeled dynamics, the predictive control system with good robustness is designed. A nonlinear motion model with six degrees of freedom is established through the Newton-Euler approach. A linear extended state observer is designed to estimate the state variables by transforming the system affected by matched and unmatched disturbances into an equivalent system only affected by the matched disturbances. A predictive controller is designed for the equivalent system to reduce the output oscillation and input surging and a disturbance compensator is also designed to …


Reconnaissance Mission Planning Method For Air-Ground Heterogeneous Unmanned Systems, Guohui Zhang, Ya'nan Zhang, Ang Gao, Aoyu Xu Feb 2024

Reconnaissance Mission Planning Method For Air-Ground Heterogeneous Unmanned Systems, Guohui Zhang, Ya'nan Zhang, Ang Gao, Aoyu Xu

Journal of System Simulation

Abstract: Compared with the air-based homogeneous unmanned system, the motion capabilities, resource payloads, and combat scenes in the air-ground heterogeneous unmanned system increase the number of constraint conditions and significantly increase the computational complexity of the solution model. The modeling of collaborative combat missions and the efficient solution of large-scale problems are the key issues. With the time, path cost, and reconnaissance benefit as the objective functions, considering the constraints such as the endurance of unmanned platforms, a multi-objective programming model for the reconnaissance missions of an air-ground heterogeneous unmanned system is constructed. Aiming at the urban combat environments with …


Improving Post-Secondary Credential Attainment: A Case Study Of Action Research In A Workforce Development Context, Peter James Selden Feb 2024

Improving Post-Secondary Credential Attainment: A Case Study Of Action Research In A Workforce Development Context, Peter James Selden

Theses and Dissertations

The purpose of this study was to understand what environmental, structural, group dynamic, programmatic, intermediate measure, or outcome measure factors influence the effectiveness of action research being used to improve postsecondary credential attainment for the Tulsa Talent Hub team. This case study focused on the perceptions of those team members that were involved in an action research or community-based participatory research project in Tulsa, Oklahoma, which was facilitated by a team of individuals from Impact Tulsa. The researcher examined how each member that was interviewed perceived overall impact and effectiveness of the action research process used. Through qualitative analysis, the …


Gaussian Rbf Kernels Via Fock Spaces: Quaternionic And Several Complex Variables Settings, Antonino De Martino, Kamal Diki Feb 2024

Gaussian Rbf Kernels Via Fock Spaces: Quaternionic And Several Complex Variables Settings, Antonino De Martino, Kamal Diki

Mathematics, Physics, and Computer Science Faculty Articles and Research

In this paper, we study two extensions of the complex-valued Gaussian radial basis function (RBF) kernel and discuss their connections with Fock spaces in two different settings. First, we introduce the quaternionic Gaussian RBF kernel constructed using the theory of slice hyperholomorphic functions. Then, we consider the case of Gaussian RBF kernels in several complex variables.


Blood Lead, Cadmium And Hair Mercury Concentrations And Association With Soil, Dust And Occupational Factors In E-Waste Recycling Workers In Bangladesh, Sarker Masud Parvez, Farjana Jahan, Jaynal Abedin, Mahbubur Rahman, Shaikh Sharif Hasan, Nafisa Islam, Nirupam Aich, Mohammad Moniruzzaman, Zahir Islam, Masatake Fujimura, Rubhana Raqib, Luke D. Knibbs, Peter D. Sly Feb 2024

Blood Lead, Cadmium And Hair Mercury Concentrations And Association With Soil, Dust And Occupational Factors In E-Waste Recycling Workers In Bangladesh, Sarker Masud Parvez, Farjana Jahan, Jaynal Abedin, Mahbubur Rahman, Shaikh Sharif Hasan, Nafisa Islam, Nirupam Aich, Mohammad Moniruzzaman, Zahir Islam, Masatake Fujimura, Rubhana Raqib, Luke D. Knibbs, Peter D. Sly

Department of Civil and Environmental Engineering: Faculty Publications

Background: Electronic waste (e-waste) recycling activities release toxic metals, which pose substantial hazard to the environment and human health. We evaluated metal concentrations in biological and environmental samples, and examined the associations between biological lead (Pb), cadmium (Cd), and mercury (Hg) with soil and dust metals, and other possible determinants, among populations exposed and non-exposed to e-waste in Bangladesh.

Methods: A total of 199 e-waste workers and 104 non-exposed individuals were recruited. We measured blood Pb (BPb) and Cd (BCd) concentrations and total Hg (THg) from hair samples. Data were collected on occupational, and behavioral factors. We fitted …


Euler’S Prime-Producing Polynomial Revisited, Robert Heffernan, Nick Lord, Des Machale Feb 2024

Euler’S Prime-Producing Polynomial Revisited, Robert Heffernan, Nick Lord, Des Machale

Department of Mathematics Publications

Euler’s polynomial f (n) = n2 + n + 41 is famous for producing 40 different prime numbers when the consecutive values 0, 1, …, 39 are substituted: see Table 1. Some authors, including Euler, prefer the polynomial f (n − 1) = n2 − n + 41 with prime values for n = 1, …, 40. Since f (−n) = f (n − 1), f (n) actually takes prime values (with each value repeated once) for n = −40, −39, …, 39; equivalently the polynomial f (n − 40) = n2 − 79n + 1601 takes (repeated) prime values …


A Simplification Method Of Large-Scale Unit Commitment Model Based On Boundary Method, Yanping Xu, Mingxin Zhao, Xiaohui Qin, Keyou He, Xiaohan Wu, Pei Zhang Feb 2024

A Simplification Method Of Large-Scale Unit Commitment Model Based On Boundary Method, Yanping Xu, Mingxin Zhao, Xiaohui Qin, Keyou He, Xiaohan Wu, Pei Zhang

Journal of System Simulation

Abstract: As the scale of power grid expands, in the market environment, the variables and constraints in the security-constrained unit commitment (SCUC) model considering power grid security constraints increase significantly and the solvability of the model reduces. When the model scale is too large, even the existing commercial solvers cannot solve it. Aiming at the model rapid solving, from the perspective of reducing the number of model constraints, a linear constraint simplification method based on the boundary method is proposed. The proposed method can effectively reduce the model's size by eliminating the redundant linear constraints. The IEEE-39, WECC 179 and …


Optimal Scheduling Strategy Of Virtual Power Plant With Carbon Emission And Carbon Penalty Considering Uncertainty Of Wind Power And Photovoltaic Power, Jijun Shui, Daogang Peng, Yankan Song, Qiang Zhou Feb 2024

Optimal Scheduling Strategy Of Virtual Power Plant With Carbon Emission And Carbon Penalty Considering Uncertainty Of Wind Power And Photovoltaic Power, Jijun Shui, Daogang Peng, Yankan Song, Qiang Zhou

Journal of System Simulation

Abstract: To better meet the development needs of China's new power system, an optimal scheduling strategy of virtual power plant(VPP) with carbon emission and carbon penalty considering the uncertainty of wind power and photovoltaic power is proposed. The mathematical description of photovoltaic(PV), wind turbine(WT), combined heat and power(CHP) unit and energy storage system (ESS) is carried out, and a wind-solar output model considering the uncertainty is established. The scenario generation and reduction method is used to generate the typical scenario. To maximize the overall operation benefit of VPP, considering carbon emission cost and carbon penalty, an optimal scheduling model of …


Flipper Control Method For Tracked Robot Based On Deep Reinforcement Learning, Hainan Pan, Bailiang Chen, Kaihong Huang, Junkai Ren, Chuang Cheng, Huimin Lu, Hui Zhang Feb 2024

Flipper Control Method For Tracked Robot Based On Deep Reinforcement Learning, Hainan Pan, Bailiang Chen, Kaihong Huang, Junkai Ren, Chuang Cheng, Huimin Lu, Hui Zhang

Journal of System Simulation

Abstract: Tracked robots with flippers have certain terrain adaptation capabilities. To improve the intelligent operation level of robots in complex environments, it is significant to realize the flipper autonomously control. Combining the expert experience in obstacle crossing and optimization indicators, Markov decision process(MDP) modeling of the robot's flipper control problem is carried out and a simulation training environment based on physics simulation engine Pymunk is built. A deep reinforcement learning control algorithm based on dueling double DQN(D3QN) network is proposed for controlling the flippers. With terrain information and robot state as the input and the four flippers' angle as the …