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Articles 22951 - 22980 of 294596

Full-Text Articles in Physical Sciences and Mathematics

Interaction Of Drill Type And Herbicide On Pasture Establishment In Semi-Arid Environments, W L. Lowther, R F. Horrell, P D. Johnstone, K D. Trainor Nov 2024

Interaction Of Drill Type And Herbicide On Pasture Establishment In Semi-Arid Environments, W L. Lowther, R F. Horrell, P D. Johnstone, K D. Trainor

IGC Proceedings (1977-2023)

Results are presented from an overdrilling experiment comparing a conventional triple-disc drill with an' experimental single-pass strip­seeder drill designed to remove competiting vegetation mechanically; Herbicide application markedly increased herbage mass of sown species in the triple-disc treatments. ,However, herbage mass was. higher from the strip-seeder drill than the .triple-disc in both ihe' nbsence and presence of herbicide. The results indicate the potential of the strip-seeder drill technology for cost-effective establishment of pasture species in difficult environments.


Alfalfa Cultivar Selection From 30 Years Of Records In The State Of Illinois, Usa, Don W. Graffis Nov 2024

Alfalfa Cultivar Selection From 30 Years Of Records In The State Of Illinois, Usa, Don W. Graffis

IGC Proceedings (1977-2023)

Data from alfalfa (Medicago sativa L.) cultivar trials in Illinois, USA from 1963 lo 1992 have been adapted to a computer software spreadsheet for storage and manipulation. The data recorded have been the percentage of check cultivar's yield. The average % of checks for a given cultivar is calculated after each year of recorded yield. The computer spreadsheet enables sorting of resultant yields. The sorting in descending order determines lhe top-performing cultivars. Criteria used lo determine cultivar suggestions for extension clienlele are: (a) a minimum of 3 harvest years in the region of cultivar suggestion, and (b) the cultivar …


Developing Eastern Gamagrass On A Conserved Forage, John A. Dickerson, Paul R. Salon Nov 2024

Developing Eastern Gamagrass On A Conserved Forage, John A. Dickerson, Paul R. Salon

IGC Proceedings (1977-2023)

Bastern gamagrass (Tripsacum dactyloides L.) is highly regarded as a native forage resource in the prairie region of North America. Recent discovery of a gynomonoecious plant in Kansas has raised expectations that efficient seed production will be possible with the species. A possible use for eastern gamagrass is as a perennial haylage crop for dairy farms, replacing erosion-prone silage corn. Compared with corn silage, eastern gamagrass forage has higher crude protein, slightly lower energy, and higher neutral detergent fibre and acid detergent fibre. Breeding work is underway to develop hardy, high volume forage-producing strains with good seed production capability. …


Rangelands In Dry Mountain Areas, T Boyadgiev Nov 2024

Rangelands In Dry Mountain Areas, T Boyadgiev

IGC Proceedings (1977-2023)

The extent and characteristics of temperate and mountainous climatic zones, steeply dissected and mountainous areas, permanent meadows and pasture lands, and the trend of land use evolution and aspects of land degradation are presented and discussed. The rangelands improvement strategy in Bulgaria is based on mineral fertilisation of mountainous grasslands leading to an increase in production of dry material, protein, phosphorus and cereals, This reduces sheet erosion. Overgrazing and prolonged dry periods, causing a decrease in the number of species, are also discussed, Measures to improve grassland practices are proposed.


Improvement Strategies In Winter Cold Temperate Rangeland Ecosystems With Particular Reference To Extensive Grazing Lands Of Iran, A Koocheki Nov 2024

Improvement Strategies In Winter Cold Temperate Rangeland Ecosystems With Particular Reference To Extensive Grazing Lands Of Iran, A Koocheki

IGC Proceedings (1977-2023)

Traditional land use systems in Iran have been divided between crop production and livestock grazing. Grazing land management in most parts is based on pastoral nomadism which operates between plains as winter grazing lands and mountains as summer grazing lands. Mountainous areas are an important source of food and feed production for nomads and their herds. In Iran two main ranges of mountains, Elburz and Zagros, are the summer territory of nomadic pastoralists. At present 1.5% of total population of the country are nomads. They contribute as much as 27% of value added in the animal industry of the country. …


Winter Cold Temperate Rangelands: Improvement Strategies For Intensive Rangeland Ecosystems, B E. Allan, D Scott Nov 2024

Winter Cold Temperate Rangelands: Improvement Strategies For Intensive Rangeland Ecosystems, B E. Allan, D Scott

IGC Proceedings (1977-2023)

Transfer of developed grassland technologies to rangelands is discussed in terms of environmental gradients and the options and constraints they impose. Winier feed limitation can be overcome through conserved feeds and various in situ systems involving special purpose pastures and feed banks. General animal nutrition can be improved through intensive development, low input systems, better control of range utilisation and, where appropriate, correction of mineral deficiencies. The emphasis in seeking quick and easy solutions to rangeland management problems is questioned, A more informed, environmentally sound and sustainable approach to rangeland fanning atlitudes and management is proposed. A stepwise process to …


Platform Path Optimization Method Based On Cumulative Detection Probability Of Sonar Search, Xiang Wei, Xingxuan Liu, Dianzheng Fu, Tianji Yang, Jiaxuan Yang Nov 2024

Platform Path Optimization Method Based On Cumulative Detection Probability Of Sonar Search, Xiang Wei, Xingxuan Liu, Dianzheng Fu, Tianji Yang, Jiaxuan Yang

Journal of System Simulation

Abstract: To address the lack of research on the optimal path of mobile search platform to search for moving targets, this paper proposes a path optimization method of mobile search platform based on cumulative search probability theory. Based on the cumulative detection probability (CDP), one of the important criteria of sensor performance evaluation, a single-peak CDP calculation formula is constructed by using a time series correlation model, namely the (λ, σ) process model. A set of target motion scenarios are constructed, and the trajectory probability of target scenarios and their CDP at different time are corrected by Bayesian posterior probability. …


Modeling For Decision Support Of Flight Ground Support Process, Zhiwei Xing, Ruiwen Yu, Biao Li, Zhaoxin Chen Nov 2024

Modeling For Decision Support Of Flight Ground Support Process, Zhiwei Xing, Ruiwen Yu, Biao Li, Zhaoxin Chen

Journal of System Simulation

Abstract: Aiming at the problems of insufficient decision-making ability and low operational efficiency of the flight ground support process, a decision support model of the flight ground support process based on the department of defense architecture framework (DoDAF) is proposed. Starting from the support operation, support resources, and the relationship between them, the quantitative description of the flight ground support process is performed. DoDAF and the model-based systems engineering (MBSE) modeling method are combined to establish a decision support model of the flight ground support process. The decision utility function is established to analyze the utility value of the comprehensive …


End-To-End Motion Planning Of Unmanned Vehicles Based On Multimodal Deep Reinforcement Learning, Kaiyuan Ding, Askar Hamdulla, Bin Zhu, Eksan Firkat, Zhengtang Ma Nov 2024

End-To-End Motion Planning Of Unmanned Vehicles Based On Multimodal Deep Reinforcement Learning, Kaiyuan Ding, Askar Hamdulla, Bin Zhu, Eksan Firkat, Zhengtang Ma

Journal of System Simulation

Abstract: Since the agent cannot sense the surrounding environment and cannot successfully avoid obstacles, reinforcement learning fails to be generalized to robot motion planning in difficult terrain. Therefore, a solution based on multimodal deep reinforcement learning, which learns to blend proprioceptive states with high-dimensional depth sensor inputs, is proposed for the motion planning of unmanned vehicles. To be specific, proprioceptive states offer contact measurement for immediate reaction, and the unmanned vehicle can learn and forecast environmental changes with its attached visual sensors, proactively navigating around obstacles and uneven terrains numerous time steps ahead. TransProAct (transformer-based proactive action), a unique end-to-end …


Flexible Job Shop Scheduling Method Based On Collaborative Agent Reinforcement Learning Algorithm, Jian Li, Huankun Li, Pengbo He, Huabei Wang, Liping Xu, Kui He Nov 2024

Flexible Job Shop Scheduling Method Based On Collaborative Agent Reinforcement Learning Algorithm, Jian Li, Huankun Li, Pengbo He, Huabei Wang, Liping Xu, Kui He

Journal of System Simulation

Abstract: To enhance the efficiency of flexible job shop scheduling, this paper develops a Markov decision process with specific constraints tailored to the scheduling problem. A cooperative agent reinforcement learning method is proposed to solve the problem of concurrent selection of workpieces and machines. During the construction of the Markov decision process, a disjunctive graph is introduced to represent the state characteristics. Two agents are introduced to select the workpieces and machines. The reward parameters governing the entire scheduling process are established by predicting variations in the minimum-maximum completion time across different time points. A GIN(graph isomorphic network) graph neural …


Dual-Resource Constrained Distributed Flexible Scheduling For Aerospace Structural Components, Yufang Wang, Dianqing Zhang, Xiaolin Hua, Binbin Yao, Fan Chen Nov 2024

Dual-Resource Constrained Distributed Flexible Scheduling For Aerospace Structural Components, Yufang Wang, Dianqing Zhang, Xiaolin Hua, Binbin Yao, Fan Chen

Journal of System Simulation

Abstract: A dual-resource constrained distributed flexible job-shop scheduling model was established by taking into account the worker constraints of the finishing process and the requirements of distributed multi-factory collaboration in the production of aerospace structural components. A hybrid grey wolf optimization algorithm based on the critical factory was proposed to solve this problem. The model contained four subproblems: factory selection, operation sequencing, machine selection, and worker selection. In view of these four sub-problems, a four-layer coding and a new decoding method were designed to avoid the use conflict of machines and workers. In addition, a new mechanism for hunting and …


Large-Scale Cosmic-Ray Anisotropies With 19 Yr Of Data From The Pierre Auger Observatory, A. Abdul Halim, P. Abreu, M. Aglietta, B. Fick, K. Nguyen, D. Nitz, Et Al. Nov 2024

Large-Scale Cosmic-Ray Anisotropies With 19 Yr Of Data From The Pierre Auger Observatory, A. Abdul Halim, P. Abreu, M. Aglietta, B. Fick, K. Nguyen, D. Nitz, Et Al.

Michigan Tech Publications

Results are presented for the measurement of large-scale anisotropies in the arrival directions of ultra–high-energy cosmic rays detected at the Pierre Auger Observatory during 19 yr of operation, prior to AugerPrime, the upgrade of the observatory. The 3D dipole amplitude and direction are reconstructed above 4 EeV in four energy bins. Besides the established dipolar anisotropy in R.A. above 8 EeV, the Fourier amplitude of the 8–16 EeV energy bin is now also above the 5σ discovery level. No time variation of the dipole moment above 8 EeV is found, setting an upper limit to the rate of change …


Misinformation, Fraud, And Stereotyping: Towards A Typology Of Harm Caused By Deepfakes, Paulina Trifonova , '25, Sukrit Venkatagiri Nov 2024

Misinformation, Fraud, And Stereotyping: Towards A Typology Of Harm Caused By Deepfakes, Paulina Trifonova , '25, Sukrit Venkatagiri

Computer Science Faculty Works

Scholars, politicians, and journalists have raised alarm over the potential for AI-generated photos, video, and audio—often referred to as deepfakes—to reduce trust in one another and our institutions. Despite these clarion calls, little empirical work exists on how deepfakes are being used to harm individuals outside of non-consensual intimate imagery (NCII). This research provides a preliminary analysis of 50 wide-ranging incidents of deepfake harm. We find that the most common types of harm are relational, systemic, financial, and emotional. Apart from AI-generated NCII, the most prevalent uses of deepfakes to cause harm were instances of mis- and disinformation, fraud, and …


Video Label Refinement And Temporal Localization Using Motion Signal Patterns, Jennifer Piane Nov 2024

Video Label Refinement And Temporal Localization Using Motion Signal Patterns, Jennifer Piane

College of Computing and Digital Media Dissertations

Performing video analysis for activity recognition presents challenges beyond classification, including obtaining class labels and performing temporal localization. One such challenge is precisely labeling a video with class labels having the exact start and end frames of an activity - a difficult task for a human to perform. Moreover, the task of annotating a video at any level of precision can quickly become tedious, impacting the attentiveness of the annotator and resulting in class label errors. Temporally localizing an activity within a video presents a second challenge. This dissertation investigates novel signal and image processing methods for motion features extracted …


Automatic Detection Algorithm For Typical Defects Of Substation Based On Improved Yolov5, Zhongkai Xu, Yanling Liu, Xiaojuan Sheng, Chao Wang, Wenjun Ke Nov 2024

Automatic Detection Algorithm For Typical Defects Of Substation Based On Improved Yolov5, Zhongkai Xu, Yanling Liu, Xiaojuan Sheng, Chao Wang, Wenjun Ke

Journal of System Simulation

Abstract: In response to the challenges present in the context of defect recognition in substations, such as complex substation defects and sample imbalance, an improved YOLOv5 algorithm was proposed. The Transformer model was introduced into the YOLOv5 network structure, leveraging the self-attention mechanism to capture long-range dependencies among features. A focal loss-based optimization was employed to improve the loss function, as well as the detection accuracy and robustness of defects of small sample substations. To meet the requirements of substation defect recognition, a dedicated dataset was constructed. A clustering algorithm was applied to the real annotation boxes to generate more …


Scalable Methods For Performant Control Of Hyperfine Qubits In Atoms And Ions, Matthew N. H. Chow Nov 2024

Scalable Methods For Performant Control Of Hyperfine Qubits In Atoms And Ions, Matthew N. H. Chow

Physics & Astronomy ETDs

Qubits encoded within internal energy levels of atoms and ions have been used to demonstrate high-performance primitives of quantum computing for small numbers of qubits. Yet, the path to achieving sufficient size and fidelity for useful fault-tolerant quantum computation remains daunting. In this dissertation, I present several techniques I developed as steps along this path. These results include high-fidelity, low-loss detection for alkali atoms in optical tweezers, crosstalk-mitigated parallel one-qubit gates, robust entangling gates on trapped ions, and leakage-to-erasure conversion for non-destructive detection of atom loss errors. Through this collection of techniques, I have sought to make full use of …


Analyzing And Extending Machine Learning Frameworks On High Risk Domains, Chengbin Hu Nov 2024

Analyzing And Extending Machine Learning Frameworks On High Risk Domains, Chengbin Hu

USF Tampa Graduate Theses and Dissertations

Machine learning (ML) has become a transformative force in high-risk domains such as genomics and cybersecurity, where accurate predictions and robust defenses are essential. This dissertation advances ML frameworks in these areas by developing methods to enhance predictive power in health applications and assess vulnerabilities in machine learning systems.

In the genomics field, the work addresses challenges in Non-Invasive Prenatal Testing (NIPT) of monogenic disorders by proposing a deep learning model that reconstructs the fetal genome using maternal plasma cell-free DNA (cfDNA) and parental whole-genome sequencing (WGS) data. This model achieves high accuracy in single nucleotide variation (SNV) prediction, surpassing …


Hacker, Their Actions, And Fear Appeal: A First Look Through The Lens Of Children, Rizu Paudel, Mahdi Nasrullah Al-Ameen Nov 2024

Hacker, Their Actions, And Fear Appeal: A First Look Through The Lens Of Children, Rizu Paudel, Mahdi Nasrullah Al-Ameen

Computer Science Student Research

With the increasing use of computers and smartphones by children, their online safety has become a major concern due to the lack of security awareness. Prior studies pointed to children's poor password habit and vague perceptions on the significance of passwords. While users must be sufficiently motivated to perform a target behavior, a little study to date, focused on understanding how we can encourage children towards strong password creation. As we begin to address this gap, we examined children's perceptions of adversary's actions that instill fear in the context of password compromise. Our semi-structured interviews with 20 children (aged between …


Flowgpt: Exploring Domains, Output Modalities, And Goals Of Community-Generated Ai Chatbots, Xian Li, Yuanning Han, Di Liu, Pengcheng An, Shuo Niu Nov 2024

Flowgpt: Exploring Domains, Output Modalities, And Goals Of Community-Generated Ai Chatbots, Xian Li, Yuanning Han, Di Liu, Pengcheng An, Shuo Niu

Computer Science

The advent of Generative AI and Large Language Models has not only enhanced the intelligence of interactive applications but also catalyzed the formation of communities passionate about customizing these AI capabilities. FlowGPT, an emerging platform for sharing AI prompts and use cases, exemplifies this trend, attracting many creators who develop and share chatbots with a broader community. Despite its growing popularity, there remains a significant gap in understanding the types and purposes of the AI tools created and shared by community members. In this study, we delve into FlowGPT and present our preliminary findings on the domain, output modality, and …


Harnessing Llms For Automated Video Content Analysis: An Exploratory Workflow Of Short Videos On Depression, Jiaying (Lizzy) Liu, Yunlong Wang, Yao Lyu, Yiheng Su, Shuo Niu, Orson Xuhai Xu, Yan Zheng Nov 2024

Harnessing Llms For Automated Video Content Analysis: An Exploratory Workflow Of Short Videos On Depression, Jiaying (Lizzy) Liu, Yunlong Wang, Yao Lyu, Yiheng Su, Shuo Niu, Orson Xuhai Xu, Yan Zheng

Computer Science

Despite the growing interest in leveraging Large Language Models (LLMs) for content analysis, current studies have primarily focused on text-based content. In the present work, we explored the potential of LLMs in assisting video content analysis by conducting a case study that followed a new workflow of LLM-assisted multimodal content analysis. The workflow encompasses codebook design, prompt engineering, LLM processing, and human evaluation. We strategically crafted annotation prompts to get LLM Annotations in structured form and explanation prompts to generate LLM Explanations for a better understanding of LLM reasoning and transparency. To test LLM's video annotation capabilities, we analyzed 203 …


Detecting Changes In Cancer-Related Cognitive Functioning Using Mixed-Effects Modeling And Study Design Simulations, Jonathan D. Clapp Nov 2024

Detecting Changes In Cancer-Related Cognitive Functioning Using Mixed-Effects Modeling And Study Design Simulations, Jonathan D. Clapp

USF Tampa Graduate Theses and Dissertations

The purpose of this dissertation is to utilize and compare two existing approaches for modeling nonlinear change in cognitive functioning in cancer patients over time and to assess alternative study designs to better capture chemotherapy-related cognitive impairment using simulation data. Using data from the Thinking and Living with Cancer study, trend analysis with orthogonal polynomials (OP) and piecewise (PW) regressions approaches used to analyze cognitive functioning trajectories. Simulated datasets tested the impact of study design parameters including measurement test-retest reliability (.6 or .8), sample size (100, 200, or 300), and the number of data collection time points (4 or 5) …


Object Detection Of Lightweight Transformer Based On Knowledge Distillation, Gaihua Wang, Kehong Li, Qian Long, Jingxuan Yao, Bolun Zhu, Zhengshu Zhou, Xuran Pan Nov 2024

Object Detection Of Lightweight Transformer Based On Knowledge Distillation, Gaihua Wang, Kehong Li, Qian Long, Jingxuan Yao, Bolun Zhu, Zhengshu Zhou, Xuran Pan

Journal of System Simulation

Abstract: In autonomous driving, the efficiency and accuracy of object detection are significant. Object detection based on Transformer structure has gradually become the mainstream method, eliminating the complex anchor generation and non-maximum suppression (NMS). It has problems of high computing cost and slow convergence. An object detection model of the based lightweight pooling transformer (LPT) is designed, which contains a pooling backbone network and dual pooling attention mechanism. A general knowledge distillation method is intended for the DETR (detection transformer) model, which transfers prediction results, query vector, and features extracted by the teacher as knowledge to the LPT model to …


A Hybrid Genetic Search Algorithm For Capacitated Electric Vehicle Routing Problem, Dongyao Jin, Mi Liu, Yena Zhu, Yijiang Zhao Nov 2024

A Hybrid Genetic Search Algorithm For Capacitated Electric Vehicle Routing Problem, Dongyao Jin, Mi Liu, Yena Zhu, Yijiang Zhao

Journal of System Simulation

Abstract: The capacitated electric vehicle routing problem (CEVRP) is an NP-hard combinatorial optimization problem in logistics distribution, aiming to minimize the total delivery distance of electric vehicles while satisfying carrying capacity and battery charge constraints. A hybrid genetic search algorithm is proposed to solve CEVRP by decomposing it into two subproblems: capacitated vehicle routing problem (CVRP) and fixed-route vehicle charging problem (FRVCP). A coding scheme with a two-layer chromosome structure is designed to represent the decision variables of these two subproblems. A Split operation is employed to generate vehicle routes for solving CVRP, and five neighborhood search operators, including Relocate, …


Traffic Sign Recognition Model With Long-Tail Distribution Based On Yolox-Tiny, Yunpeng Wu, Yingxiong Fu, Lijun Shen, Feng Cui Nov 2024

Traffic Sign Recognition Model With Long-Tail Distribution Based On Yolox-Tiny, Yunpeng Wu, Yingxiong Fu, Lijun Shen, Feng Cui

Journal of System Simulation

Abstract: Accurate recognition of traffic signs plays an important role in the field of intelligent driving. Traffic sign training datasets with long-tail distribution increase the difficulty of traffic sign recognition. A traffic sign recognition model with long-tail distribution based on YOLOX-Tiny was proposed to improve the poor performance of the model trained on long-tail distribution datasets. A long-tail traffic sign dataset was created based on the TT100K_2021 (tsinghua-tencent 100K 2021) dataset. YOLOX-Tiny was chosen as the underlying model by considering picture numbers in datasets, sample distribution, and model size. Equalization loss v2 (EQL v2) was used as classification loss to …


Real-Time Lidar Slam Algorithm Based On Distribution Optimal Registration, Weigang Li, Chuxiang Yu, Yongqiang Wang, Shaofeng Zou Nov 2024

Real-Time Lidar Slam Algorithm Based On Distribution Optimal Registration, Weigang Li, Chuxiang Yu, Yongqiang Wang, Shaofeng Zou

Journal of System Simulation

Abstract: When scanning the surrounding environment, a lidar will generate some cluttered and sparse point cloud, which will cause excessive distribution fitting errors and correlation distances in the registration process, thus affecting the accuracy of the registration algorithm and the effect of simultaneous localization and mapping (SLAM). To address this problem, a real-time lidar SLAM algorithm based on distribution optimal registration is proposed. An eigenspectrum filter is designed, which takes the normalized minimum eigenvalue as the filtering object to filter out the points that do not match the set distribution in order to reduce the distribution fitting error. Secondly, a …


Research On Green Job Shop Scheduling Based On Herd Immunity Optimizer, Xunde Ma, Li Bi, Junjie Wang Nov 2024

Research On Green Job Shop Scheduling Based On Herd Immunity Optimizer, Xunde Ma, Li Bi, Junjie Wang

Journal of System Simulation

Abstract: In view of the green flexible job shop scheduling problem where machines have multiple speeds, a green flexible job shop scheduling model under multiple speeds was constructed to minimize the makespan and total energy consumption under different speeds. A discrete coronavirus herd immunity optimizer (DCHIO) was proposed for a solution. A discrete individual updating method was introduced for the relatively large solution space of the multi-speed problem, based on which a population updating mechanism with multi-scale joint search was proposed to search the solution space quickly and uniformly. A dynamic mutation operation was designed to enhance the population diversity …


Global-Local Fusion For Efficient 3d Object Detection, Bin Lu, Minghan Wang, Yang Sun, Zhenyu Yang Nov 2024

Global-Local Fusion For Efficient 3d Object Detection, Bin Lu, Minghan Wang, Yang Sun, Zhenyu Yang

Journal of System Simulation

Abstract: As the 3D object detection based on point clouds shows an incapacity of feature extraction and incongruity between classification and regression, this research introduces a novel ResCST architecture based on the SECOND network. It incorporates residual connections into the 3D sparse convolutional layer, with the advantages of capturing long-distance dependent relation by SwinTransformer and obtaining local features by convolutional neural network integrated, proposing the CNN-SwinTransformer hybrid model for enhanced feature extraction. It introduces the RCIoU method for the joint optimization of classification and regression tasks. The experimental results show that the model achieves a 3D detection accuracy of 91.21%, …


Optimization Of Crucial Targets For Air Defense Based On Combined Weighting-Topsis Model, Peng Zhang, Ke Feng Nov 2024

Optimization Of Crucial Targets For Air Defense Based On Combined Weighting-Topsis Model, Peng Zhang, Ke Feng

Journal of System Simulation

Abstract: To optimize the selection of crucial defended targets in regional air defense operations and improve the selection accuracy, this paper constructs a factor model considering the importance of air defense targets from the perspectives of target value, defense urgency, target vulnerability, and target recovery. Under the optimization of the TOPSIS method through a combination of the ANP and entropy weight methods, tendentious opinions of commanders and the excessive reliance on objective data can be overcome to ensure the factor weighting is more reasonable and accurate; Super Decisions is used to calculate the weights of the ANP method, accelerating data …


Eecbs Multi-Robot Path Planning Based On Variable Suboptimal Factors Of Prioritizing Conflicts, Xingyu Yan, Niya Wang, Jianlin Mao, Zhigang He, Dayan Li Nov 2024

Eecbs Multi-Robot Path Planning Based On Variable Suboptimal Factors Of Prioritizing Conflicts, Xingyu Yan, Niya Wang, Jianlin Mao, Zhigang He, Dayan Li

Journal of System Simulation

Abstract: In the process of multi-robot path planning (MRPP), the unavoidable key conflicts between the optimal paths have a significant impact on the efficiency of path solving. To address this issue, an MRPP method based on variable suboptimal factors of prioritizing conflicts (PC) was proposed. Path search was performed at the lower layer of the explicit estimation conflict-based search (EECBS) algorithm; in the upper layer of the EECBS algorithm framework, the PC was determined, and the suboptimal factor of the robot with key conflicts was adaptively increased; by analyzing the distribution of obstacles in the surrounding neighborhoods of key conflicts, …


Slam Dynamic Algorithm Based On Improved Feature Description, Qiang Fu, Xianyun Teng, Yuanfa Ji, Fenghua Ren Nov 2024

Slam Dynamic Algorithm Based On Improved Feature Description, Qiang Fu, Xianyun Teng, Yuanfa Ji, Fenghua Ren

Journal of System Simulation

Abstract: The original ORB descriptor algorithm has a low matching accuracy and long matching time, the positioning accuracy and robustness of the SLAM(simultaneous localization and mapping) system are severely disturbed by moving objects in dynamic scenes, and the ORB-SLAM3 system is incapable of constructing dense maps. To address the above problems, this paper proposes an improved ORB-SLAM3 based on the BEBLID descriptor and object detection. A lightweight YOLOv5s dynamic object detection network and dynamic feature removal module are fused with the tracking thread to improve the system's positioning accuracy. Replacing the original feature description algorithm, an improved local image descriptor …