This paper investigates the path following control problem for a unmanned surface vehicle (USV) in the presence of unknown disturbances and system uncertainties. The simulation study combines two different types of sliding mode surface based control approaches due to its precise tracking and robustness against disturbances and uncertainty. Firstly, an adaptive linear sliding mode surface algorithm is applied, to keep the yaw error within the desired boundaries and then an adaptive integral non-linear sliding mode surface is explored to keep an account of the sliding mode condition. Additionally, a method to reconfigure the input parameters in order to keep settling time, yaw rate restriction and desired precision within boundary conditions is presented. The main strengths of proposed approach is simplicity, robustness with respect to external disturbances and high adaptability to static and dynamics reference courses without the need of parameter reconfiguration.

Unmanned Aerial Vehicle (UAV) technology has recently experienced increasing development, leading to the creation of a wide variety of autonomous solutions. In this paper a guidance strategy for straight and orbital path following of fixed-wing small UAV is presented. The proposed guidance algorithm is based on a reference Vector Field as desired 16course for the UAV to follow. A Sliding Mode approach is implemented to improve robustness and effectiveness andasymptotic convergence of the aircraft to the desired trajectory in presence of constant wind disturbances is proved according to Lyapunov. The algorithm exploits the banking dynamics and generates reference signals for the inner loop ailerons control. A MATLAB&Simulink® simulation environment is used to verify performance and robustness of the compared guidance algorithms. This high-fidelity model considers the six Degrees-of-Freedom (DoF) whole flight dynamics of the UAV and it is based on experimental flight test data to implement the aerodynamic behavior.

Path planning in 3D environment is a fundamental research area for robots and autonomous vehicles. Based on the principle ``the shortest path consists of tangents'', RimJump* is proposed as a tangent-based path planning method suitable for finding the shortest path (both off-ground and on-ground) in 3D space (e.g., octomap and point cloud) for mobile platform to follow. RimJump* searches the tangent graph in the form of a path tree and considers the geometrical properties of the locally shortest path. Therefore, the method can provide all of the locally shortest paths that connect the starting point and the target, including the globally shortest path. And the time cost of RimJump* is insensitive to map scale increases in comparison to methods that search the whole passable space rather than the surface of the obstacle, e.g., Dijkstra and A*. In the Results, RimJump* is compared with other methods in terms of path length and time cost.

A graph based path planning method consisting of off-line part and on-line part for multi-UAV system in windy condition is proposed. In the off-line part, the task area is divided into grids. When two nodes is close enough, they are connected and weighted by the cost, obtained by solving an optimization problem based on difference method, between them. In order to ensure the accuracy of the difference method, the adjacent radius is set to be small enough. In order to ensure the generated paths close to analytical solution, the grid size is set to be much smaller than the adjacent radius. The shortest path algorithm is used to update the adjacent matrix and path matrix. In the on-line part, the target position assignment and optimal velocity can be obtained by accessing the adjacent matrix and path matrix. At the end of this paper, some numerical examples are taken to illustrate the validity of our method and the influence of the parameters.

This paper introduces a novel algorithm for solving the point-to-point shortest path problem in a static regular 8-neighbor connectivity (G8) grid. This algorithm can be seen as a generalization of Hadlock algorithm to G8 grids, and is shown to be theoretically equivalent to the relaxed A* (RA*) algorithm in terms of the provided solution's path length, but with substantial time and memory savings, due to a completely different computation strategy, based on defining a set of lookup matrices. Through an experimental study on grid maps of various types and sizes (1290 runs on 43 maps), it is proven to be 2.25 times faster than RA* and 17 times faster than the original A*, in average. Moreover, it is more memory-efficient, since it does not need to store a G score matrix.

A number of decision support tools facilitating the use of Electric Vehicles (EVs) have been recently developed. Due to the EVs’ limited autonomy, routing and path planning are the main challenges treated in such tools. Specifically, determining at which Charging Stations (CSs) to stop, and how much the EV should charge at them is complex. This complexity is further compounded by the fact that charging times depend on the CS technology, the EV characteristics, and follow a nonlinear function. Considering these factors, we propose a path planning methodology for EVs with user preferences, where charging is performed at public CSs. To achieve this, we introduce the Electric Vehicle Shortest Path Problem with time windows and user preferences (EVSPPWP) and propose an efficient solution algorithm for it. Given an origin and a destination, the algorithm prioritizes CSs close to Points of Interest (POIs) that match user inputted preferences, and user-defined time windows are considered for activities such as lunch and spending the night at hotels. The algorithm produces flexible solutions by considering clusters of charging points (CPs) as separate CSs. Furthermore, the algorithm yields resilient paths by ensuring that recommended paths have a minimum number of CSs in their vicinity. The main contributions of our methodology are: modeling user-defined time windows, including user-defined weights for different POI categories, creating CSs based on clusters of CPs with sufficient proximity, using resilient paths, and proposing an efficient algorithm for solving the EVSPPWP. To facilitate the use of our methodology, the algorithm was integrated into a web interface. We illustrate the use of the web interface, giving usage examples and comparing different settings.

To solve the problem that sampling-based Rapidly-exploring Random Tree (RRT) method is difficult to guarantee optimality. This paper proposed the Post Triangular Processing of Midpoint Interpolation method minimized the planning time and shorter path length of the sampling-based algorithm. The proposed Post Triangular Processing of Midpoint Interpolation method makes a closer to the optimal path and somewhat solves the sharp path problem through the interpolation process. The experiments were conducted to verify the performance of the proposed method. Applying the method proposed in this paper to the RRT algorithm increases the efficiency of optimization compared to the planning time.

Autonomous Underwater Vehicles (AUVs) are emerging as pivotal tools in underwater applications such as seafloor exploration and the inspection of pipelines or cables. Traditional land-based avoidance methods prove insufficient when applied to the complex underwater environment, largely due to the unique constraints presented by marine environments and the specific dynamics of AUVs. In this study, we introduce an improved stream function-based obstacle avoidance algorithm specifically tailored for autonomous underwater vehicles. The proposed algorithm is based on a stream function that is derived from the stream function. The stream function is characterized by a radial histogram for the cost function. In addition, constraints related to the maximum path curvature are discussed to optimize the utility of the path. Our exhaustive simulation cases validate the robustness and adaptability of the proposed algorithm, demonstrating its ability to produce feasible and optimized avoidance paths in a variety of scenarios.

Recommender systems as an effective information filtering system can be used to obtain information through the user's explicit or implicit behavior. On the one hand finding items that may be of interest to the user. On the other hand, the recommendation facilitates the interaction between the user and the item to increase the revenue. Recommender systems have been widely used in various fields, such as e-commerce, travel recommendation, online books and movies, social networks, etc, which can satisfy the intrinsic implicit needs of users through personalized services. In recent years, the development of deep learning has further improved the performance of recommendation systems. Although these methods improve the performance of the recommendation system, when the number of users and products increases, the recommendation system may face sparsity and cold start problems, and thus cannot achieve personalized recommendations. Knowledge graphs, which are structured data, have become the choice of many algorithms due to the high quality and wide scale of the data, and therefore many recommendation algorithms combined with knowledge graphs have emerged as a popular new direction in recommendation systems. These algorithms are able to preserve the rich connections between different entities. Moreover, when constructing the features of an entity, the entities that are far away from the central entity can also be utilized. Entities are no longer only directly connected to each other. To address the shortcomings of existing recommendation algorithms, this paper designs the recommendation algorithm GPRE using graph neural networks. GPRE focuses on expressing the user's features. The graph neural network provides GPRE with a strong generalization capability for modeling, which can provide long-range semantics between users and entities, as well as selective entity selection in the auxiliary graph neural network. Explicit semantic links are established between remote and central nodes to reduce the introduction of noise. In this paper, experiments are conducted on real-world datasets and the results are compared with baselines. The experimental results show that GPRE performs well on the experimental dataset.

This manuscript proposes a novel tangent-graph-based method that provides all distinctive topology paths, as a set of trajectories that can not be transformed into each other by gradual bending and stretching without colliding with obstacles. As the global optimal trajectory (limited by dynamic constraints) may not correspond to the shortest path (almost without dynamic constraints), it is important to provide all distinctive topology paths rather than just the globally shortest one. One of the application is provide initial paths for trajectory planning methods, such as time elastic band (TEB) and dynamic window approach (DWA). Considering that a mobile platform is always working in a dynamic changing environment and that update the whole graph is time consuming, a dynamic rectify method is proposed to update tangents according to local map provided by sensor reading. Finally, results under real grid maps are presented.

Aiming at the APF algorithm in the collision-free path planning and LQR algorithm tracking process, there are problems such as unreachable target points, local optimization, low safety coefficient of autonomous lane change collision avoidance tracking control and poor stability, this paper proposes an optimized APF method, which solves the defects of the traditional artificial potential field method by adding the distance adjustment factor, the safety distance protection model and the sub-target virtual potential field, and at the same time generates the autonomous driving car collision-free path. The path tracking control system is designed based on feed-forward control and DLQR controller, in which the vehicle dynamics state space model is used as the basis, the model is linearized and discretized, and the corresponding constraint variables are set to minimize the control command objective cost function under the constraints, and the objective of the DLQR controller.The objective is to accurately determine the steering angle in order to achieve path tracking and eliminate the lateral error between the reference path and the actual path caused by external interference.Finally, the simulink model and CarSim parameter configuration joint simulation platform are built, and different obstacle scenarios and different speeds are selected for collision-free path planning and tracking motion simulation research and analysis, which verifies the accuracy and practicability of the algorithm, and shows more obvious advantages in obstacle avoidance ability, path smoothing degree, and collision avoidance safety stability. The ideas proposed in this paper are expected to be further extended and popularized to actual path planning problems, which has important practical significance and engineering value.

Robotic path planning is a field of research which is gaining traction given the broad domains of interest to which path planning is an important systemic requirement; the aim being to optimise the efficacy of robotic movements in a defined operational environment. For example, robots have been employed in many domains including: cleaning robots (such as vacuum cleaners), automated paint spraying robots, window cleaning robots, forest monitoring robots, agricultural robots (often driven using satellite and geostationary positional satellite data). Additionally, mobile robotic systems have been utilised in disaster areas and locations hazardous to humans (such as war zones in mine clearance). The coverage path planning problem describes an approach which is designed to determine the path that traverses all points in a defined operational environment while avoiding static and dynamic (moving) obstacles. In this paper we present our proposed Smooth-STC model, the aim of the model being to identify an optimal path, avoid all obstacles, prevent (or at least minimise) backtracking, and maximise the coverage in any defined operational environment. The experimental results in a simulation show that, in uncertain environments, our proposed smooth STC method achieves an almost absolute coverage rate and demonstrates improvement when measured against alternative conventional algorithms.

Several commerical quantum computers are now available that offer Hybrid Classical-Quantum computing. Application is made to a classical-quantum model of human neocortex, Statistical Mechanics of Neocortical Interactions (SMNI), which has had its applications published in many papers since 1981. However, this project only uses Classical (super-)computers. Since 2015, PATHINT, has been used as a numerical algorithm for folding path-integrals. Applications in several systems in several disciplines has generalized been from 1 dimension to N dimensions, and from classical to quantum systems, qPATHINT. Papers have applied qPATHINT to neocortical interactions and financial options. The classical space described by SMNI applies nonlinear nonequilibrium multivariate statistical mechanics to synaptic neuronal interactions, while the quantum space described by qPATHINT applies synaptic contributions from Ca2+ waves generated by astrocytes at tripartite neuron-astrocyte-neuron sites. Previous SMNI publications since 2013 have calculated the astrocyte Ca2+ wave synaptic interactions from a closed-form (analytic) expression derived by the author. However, more realistic random shocks to the Ca2+ waves from ions entering and leaving these wave packets should be included using qPATHINT between electroencephalographic (EEG) measurements which decohere the quantum wave packets. This current project extends calculations to multiple scales of interaction between classical events and expectations over the Ca2+ quantum processes to include these random shocks to fit EEG data to the SMNI model, with previous analytic forms for the quantum processes replaced by qPATHINT. The classical-quantum system is fit using the author's Adaptive Simulated Annealing (ASA) importance-sampling optimization code. Gaussian Quadratures are used for numerical calculation of momenta expectations of the astrocyte processes that contribute to SMNI synaptic interactions. This project demonstrates how some hybrid classical-quantum systems may be calculated using only classical (super-)computers. Recent calculations also are reported using the closed-form expression, with and without shocks.

Hybrid Classical-Quantum computing has already arrived at several commercial quantum computers, offered to researchers and businesses. Here, application is made to a classical-quantum model of human neocortex, Statistical Mechanics of Neocortical Interactions (SMNI), which has had its applications published in many papers since 1981. However, this project only uses Classical (super-)computers. Since 2015, a path-integral algorithm, PATHINT, used previously to accurately describe several systems in several disciplines, has been generalized from 1 dimension to N dimensions, and from classical to quantum systems, qPATHINT. Published papers have described the use of qPATHINT to neocortical interactions and financial options. The classical space described by SMNI applies nonlinear nonequilibrium multivariate statistical mechanics to synaptic neuronal interactions, while the quantum space described by qPATHINT applies synaptic contributions from Ca2+ waves generated by astrocytes at tripartite neuron-astrocyte-neuron sites. Previous SMNI publications since 2013 have calculated the astrocyte Ca2+ wave synaptic interactions from a closed-form (analytic) expression derived by the author. However, more realistic random shocks to the Ca2+ waves from ions entering and leaving these wave packets should be included using qPATHINT between electroencephalographic (EEG) measurements which decohere the quantum wave packets. This current project extends calculations to multiple scales of interaction between classical events and expectations over the Ca2+ quantum processes to include these random shocks in previous codes used to fit EEG data to the SMNI model, that included the analytic forms for the quantum processes but now replaced by qPATHINT. The author's Adaptive Simulated Annealing (ASA) importance-sampling optimization code is used for fitting the combined classical-quantum system. Gaussian Quadratures is used for numerical calculation of momenta expectations of the astrocyte processes that contribute to SMNI synaptic interactions. This project thereby demonstrates how some hybrid classical-quantum systems may be calculated quite well using only classical (super-)computers.

In this paper, we present a full coverage path planning (CPP) algorithm for the marine surveys conducted in the convex polygon shaped search area. The survey is supposed to carry out by torpedo-type AUVs (autonomous underwater vehicles). Due to their nonholonomic mechanical characteristics, these vehicles have nonzero minimum turning radius. For any given polygon shaped search area, it can always be partitioned into one or more convex polygons. With this in mind, this paper proposes a novel search algorithm called CbSPSA (Calculation based Shortest Path Search Algorithm) for full coverage of any given convex polygon shaped search area. By aligning the search inter-tracks alongside the edge with the minimum height, we can guarantee the minimum number of the vehicle’s turns. In addition, the proposed method can guarantee the planned path is strictly located inside the polygon area without overlapped or crossed path lines, and also has the total path length as short as possible. Considering the vehicle’s nonzero minimum turning radius, we also propose a sort of smoothing algorithm to smooth the waypoint path searched by CbSPSA so as for the vehicle to exactly follow it. The smoothed path is also guaranteed to be strictly located inside the polygon. Numerical simulation analyses are also carried out to verify the effectiveness of the proposed schemes.

This article addresses the problem of formation control of a quadrotor and one (or more) marine vehicles operating at the surface of the water with the end goal of encircling the boundary of a chemical spill, enabling such vehicles to carry and release chemical dispersants used during ocean cleanup missions to break-up oil molecules. Firstly, the mathematical models of the Medusa class of marine robots and quadrotor aircrafts are introduced, followed by the design of single vehicle motion controllers that allow these vehicles to follow a parameterized path individually using Lyapunov based techniques. At a second stage, a distributed controller using event triggered communications is introduced, enabling the vehicles to perform cooperative path following missions according to a pre-defined geometric formation. In the next step, a real time path planning algorithm is developed that makes use of a camera sensor, installed on-board the quadrotor. This sensor enables the detection in the image of which pixels encode parts of a chemical spill boundary and use them to generate and update in real time a set of smooth B-spline based paths for all the vehicles to follow cooperatively. The performance of the complete system is evaluated by resorting to 3-D simulation software, making it possible to simulate visually a chemical spill. Results from real water trials are also provided for parts of the system, where two Medusa vehicles are required to perform a static lawn-mowing path following mission cooperatively at the surface of the water.

Robotic path planning and navigation algorithms enable autonomous mobile robots to navigate complex environments. These algorithms allow robots to be deployed in search and rescue missions, where they can locate victims in hazardous areas inaccessible to humans. Additionally, autonomous driving algorithms hold the potential to revolutionize transportation by enabling self-driving cars to navigate roads safely and efficiently. This paper focuses on developing an algorithm for autonomous navigation of the mobile robot (Tortoise bot) using robot operating system (ROS), based on publish-subscribe communication facilitating seamless interaction between various nodes. Tortoise Bot is a differential wheeled robot whose movement is based on two separately driven wheels placed on either side of the robot body. The Raspberry Pi acts as the controller. A 360-degree LiDAR and RGB-D camera are used for creating a 3D map of the environment. Various state-of-the art software tools, such as Gazebo, Ubuntu, MATLAB and RPI imager are used. Initially, a simulation based on simple obstacle avoidance is done using gazebo and MATLAB. Another simulation based on trajectory tracking is implemented using MATLAB to study the kinematic model. Online navigation and path planning are executed with the help of teleoperation and Dynamic Window Approach algorithm. A novel Wander algorithm is created that avoids obstacles on its path. Object recognition is also implemented during autonomous navigation using YOLO.

Monitoring and maintenance of cracked structures are generally done using structural integrity assessments. The plastic zone (PZ) crack path (CP) criteria state that a crack grows in the direction when the radius of the plastic zone ahead of the crack tip reaches a minimum value. The PZ can be evaluated using Stress intensity factors (SIF). The SIFs under mixed-mode loading were extracted from literature from three samples: two SENT samples made from polycarbonate and one modified C(T) sample made from low-carbon steel. In addition, the CP angle was evaluated for the W and R-criteria. It was found that both can predict the CP for lateral cracks in both tested materials and monotonic and cyclic load when the mode-mixity does not change considerably from one crack length to the next one or goes beyond 0.2. Moreover, the R-criterion exhibited an error as high as 1.7%, whereas the W-criterion showed a 6% error on the last crack length for the low carbon steel sample under cyclic load, which had a 100% increase in mode-mixity. Finally, the applicability of LEFM is checked, while the CP is sought by finding the size of the PZ.

Calculating a minimum-time trajectory requires the solving of a boundary value problem resulting from invocation of necessary conditions of optimality to set up a set of ordinary differential equations to solve the trajectory between the initial position and desired ending position with set constraints on the path between the two. This manuscript expresses the minimum time optimum trajectory between a satellite in a geosynchronous orbit and a target set on earth’s surface utilizing a non-rotating earth centric coordinate system. Expressing motion in coordinates of rotating reference frames necessitates transformation between reference frames, and one such transformation is embodied in the Direction Cosine Matrices (DCM) formed by a sequence of three successive frame rotations. Rotation about the local wing of an aerospace vehicle is almost never the pitch angle, yet modern application of kinematics often assumes such (with accompanying angular error). The same assertion is usually true about the nature of roll and yaw angles. This manuscript evaluates which sequence is the most advantageous for an object starting in space and then travels through the atmosphere to a target on the Earth’s surface. Simulation precision (validated by the quaternion normalization condition) reveals the so-called 132 rotation is the most accurate with an average error of 0.14° and a computational time of 0.013 seconds: resulting in a 97.95% increase in accuracy over the ubiquitous 321 “aerospace” rotation sequence and a 99.84% increase over the so-called 313 “orbital” rotation sequence. Utilizing the proposed optimal trajectory candidate yields a total flight time of 2 hours, 34 minutes and 46 seconds, or an average velocity of 3.85 kilometers per second, while impacting the target with a velocity of 11.54 kilometers per second.

Background: Previous papers have developed a statistical mechanics of neocortical interactions (SMNI) fit to short-term memory and EEG data (Ingber, 2018). Adaptive Simulated Annealing (ASA) was used for all fits to data. A numerical path-integral for quantum systems, qPATHINT, was used. Objective: The quantum path-integral for Calcium ions was used to derive a closed-form analytic solution at arbitrary time. The quantum effects is parameterized here, whereas the previous 2018 paper applied a nominal ratio of 1/2 to these effects. Method: Methods of mathematical-physics for optimization and for path integrals in classical and quantum spaces are used. The quantum path-integral is used to derive a closed-form analytic solution at arbitrary time, and is used to calculate interactions with classical-physics SMNI interactions among scales. Results: The mathematical-physics and computer parts of the study are successful, in that three cases with Subjects (blind to this author) after 1,000,000 visits to the cost function gave: Subject-07 = 0.04, Subject-08 = 0.55, and Subject-09 = 1.00. All other 9 Subjects gave 0.

Magnesium (Mg) alloy is a widely used lightweight metal structural material due to its high specific strength and stiffness, excellent damping performance, and recyclability. Wrought Mg alloys are widely favored in fields such as aerospace, transportation, and biomedical stents. However, most wrought Mg alloys with a hexagonal close-packed (HCP) crystal structure lack sufficient independent slip systems to meet the von Mises criterion for uniform plastic deformation at room temperature. This can result in the formation of strong basal texture during plastic deformation and poor room temperature plastic forming ability. Improving the room temperature forming performance is a crucial challenge that must be addressed to broaden the application of Mg alloy sheets. Our research group has comprehensively summarized significant work and latest research progress in improving the room temperature forming of Mg alloy sheets via extrusion technology in recent years. Specifically, we have developed a new type of asymmetric extrusion technology that combines material structure evolution, mechanical property, and forming behavior analysis. We have elucidated the extrusion process characteristics, texture control mechanism, and forming properties of Mg alloy sheets through plastic deformation mechanisms, mold design, and finite element numerical simulation. Our findings provide a novel extrusion technology for the fabrication of highly formable Mg alloy sheets, which can be utilized in various applications.

The paper investigates experimentally the influence of the Fused Filament Fabrication (FFF) pre-processing strategy on the tribological properties of parts made of PEI (polyetherimide), investigating the difference in the weight loss of the samples caused by abrasive wear before and after the test. The samples were tested for abrasive wear resistance on a tribometer constructed according to ASTM G65/16 (dry sand). Two types of specimen printing orientation along X-axis (lengthwise) and along Z-axis (heightwise) were tested in the study. Three types of path generation strategies were used for manufacturing "X" and "Z" specimens and totally 18 samples were made and tested. Path deposition strategy was carried out with path deposition width of 0.5mm and parallel paths in all slicing layers. In order to reduce the voids in volume, deposition path axes in subsequent layers were shifted by 0.25mm offset. Garnet abrasive Fe3Al2(SiO4)3 was used for this test. The analysis of the experimental data shows the relationship between the samples building direction (X, Z), applied deposition strategies (1X - 3X and 1Z - 3Z) on the resulting resistance to abrasive wear.Keywords: PEI, FFF, path generation strategy, abrasive wear

Factory safety inspections are crucial for ensuring safe production. However, manual inspections present issues such as low efficiency and high workload. Inspection robots provide an efficient and reliable solution for completing patrol tasks. The development of robot localization and path planning technologies provides guarantees for factory inspection robots to autonomously complete inspection tasks in complex environments. This paper studies mapping and localization, as well as path planning methods for robots in order to meet the application requirements of factory inspections. Two SLAM application systems based on multiple-line laser radar and vision are designed for different scenarios in consideration of the limitations of cameras and laser sensors in terms of their own characteristics and applicability in different environments. To address the issue of low efficiency in inspection tasks, a hybrid path planning algorithm that integrates the A-star algorithm and time elasticity band algorithm is proposed. This algorithm effectively solves the problem of path planning in complex environments that is prone to falling into local optimal solutions, thereby improving the inspection efficiency of robots. Experimental tests show that the designed SLAM and path planning methods can meet the needs of robot inspection in complex scenes and have good reliability and stability. The code used in this article is open source and can be accessed at https://github.com/Mxiii99/RSPP_CS.git.

Background: Since circa 1980, a model of neocortical interactions, Statistical Mechanics of Neocortical Interactions (SMNI) has been successful in calculating many experimental phenomena, including fits to electroencephalographic (EEG) data in attention tasks, using an importance-sampling code Adaptive Simulated Annealing (ASA). The SMNI model is developed in the context of classical path-integrals, which affords intuitive insights as well as direct numerical benefits, e.g., using the effective Action as a a cost/objective function for parameter fits to data. Objective: Previous authors have fit affective EEG data to neural-network models. This project seeks to use models based on physics and biology to fit this same data. Previous work showed improvements in fits to EEG for attention states; this project extends these methods to affective states. Method: Path integrals are used in both classical and quantum contexts. Classical path integrals are used to define a cost/objective function to fit data, and quantum path integrals are used to derive a closed-form analytic expression for Ca-ion waves in the presence of a magnetic vector potential which is generated by highly synchronous neuronal firings which give rise to EEG. ASA is used to fit EEG data. Results: The mathematical-physics and computer parts of the study are successful, in that cost/objective functions used to fit EEG data using these models are consistent with previous work published by other authors. However, since the SMNI model includes these quantum effects, this is another reason to continue examining these issues. The results here are consistent, not better, than previous work using neural-network models, albeit only one parameter was used here, instead of multiple filters and kernels used previously on such data. Conclusion: Although these quantum effects are highly speculative, explicit calculations have shown them to be consistent with experimental data, at least to date. The current supercomputer project extends this model to affective/emotion data. Results from several authors using neural-network approaches at individual electrode sites show some predictive capabilities; the results given here are consistent with these other results. However, since the SMNI model includes these quantum effects, this is another reason to continue examining these issues.

Methods of path integrals are used to develop multi-factor probabilities of bid-ask variables for use in high-frequency trading (HFT). Adaptive Simulated Annealing (ASA) is used to fit the nonlinear forms so developed to a day of BitMEX tick data. Maxima algebraic code is used to develop the path integral codes into C codes, and sampling code is used for the fitting process. After these fits, the resultant C code is very fast and useful for forecasting upcoming ask, bid, midprice, etc., when narrow and wide windows of incoming data are used. A bonus is the availability of canonical momenta indicators (CMI) useful to forecast direction and strengths of these variables.

A general framework for inference in dynamical systems is described, based on the language of Bayesian probability theory and making use of the maximum entropy principle. Taking as fundamental the concept of a path, the continuity equation and Cauchy's equation for fluid dynamics arise naturally, while the specific information about the system can be included using the Maximum Caliber (or maximum path entropy) principle.

In this work we study the recently developed parametrized partition function formulation and show how we can infer the thermodynamic properties of fermions based on numerical simulation of bosons and distinguishable particles at various temperatures. In particular, we show that in the three dimensional space defined by energy, temperature and the parameter characterizing parametrized partition function, we can map the energies of bosons and distinguishable particles to fermionic energies through constant-energy contours. We apply this idea to both noninteracting and interacting Fermi systems and show it is possible to infer the fermionic energies at all temperatures, thus providing a practical and efficient approach to obtain thermodynamic properties of large fermion systems with numerical simulation. As an example, we present energies for up to 50 noninteracting fermions and up to 20 interacting fermions at all temperatures and show good agreement with the analytical result for noninteracting case.

In the past few years, the possibility to transfer power wirelessly has experienced growing interest from the research community. Since the wireless channel is subject to a large number of random phenomena, a crucial aspect is the statistical characterization of the energy that can be harvested by a given device. For this characterization to be reliable, a powerful model of the propagation channel is necessary. The recently proposed Generalized-K model has proven to be very useful, as it encompasses the effects of path-loss, shadowing and fast fading for a broad set of wireless scenarios, and it is analytically tractable. Accordingly, the purpose of this paper is to characterize, from a statistical point of view, the energy harvested by a static device from an unmodulated carrier signal generated by a dedicated source, assuming that the wireless channel obeys the Generalized-K propagation model. Specifically, using simulation-validated analytical methods, this paper provides exact closed-form expressions for the average and variance of the energy harvested over an arbitrary time period. The derived formulation can be used to determine a power transfer plan that allows multiple or even massive numbers of low-power devices to operate continuously, as expected from future network scenarios such as IoT or 5G/6G.

The aviation industry has proposed multiple solutions to reduce fuel consumption, air pollution and noise at airports, one of which involves deploying electric trucks for aircraft towing between the stand and the runway. However, the introduction of tow trucks results in increased surface traffic, posing challenges from the perspective of Air Traffic Controller's (ATCO). Various solutions involving automated planning and execution have been proposed, but many are constrained by their inability to manage multiple active runways simultaneously, and their failure to account for tow truck battery state-of-charge during assignments. This paper presents a novel system for taxi operations that employs autonomous tow trucks to enhance ground operations and address deficiencies in existing approaches. The system focuses on identifying conflict-free solutions that minimize taxi-related delays and route length while maximising the efficient use of the tow trucks. The algorithm operates at a strategic level and uses a centralised approach. It has the capacity to cater for multiple active runways and considers factors such as tow truck battery state-of-charge and availability of charging stations. Furthermore, the proposed algorithm is capable of scheduling and routing tow trucks for aircraft taxiing without generating traffic conflicts.

This paper is an extended version of a previously reported conference paper regarding low power design for NAND Flash. As the number of bits per NAND Flash die increases with cost scaling, IO datapath speed increases to minimize the page access time with scaled CMOS in IOs. The power supply for IO buffers, namely VDDQ, has decreased from 3V to 1.2V, accordingly. In this paper, how a reduction in VDDQ can contribute to power reduction in BL path is discussed and validated. Conventionally, BL voltage of about 0.5V has been supplied from a supply voltage source (VDD) of 3V. BL path power can be reduced by a factor of VDDQ to VDD when BL voltage is supplied from VDDQ. To maintain a sense margin at sense amplifiers, the supply source for BLs is switched from VDDQ to VDD before sensing. As a result, power reduction and equivalent sense margin can be realized at the same time. The overhead of implementing this operation is an increase in BL access time of about 2% for switching the power supply from VDDQ to VDD and an increase in die size of about 0.01% for adding the switching circuit, both of which are not significant in comparison with a significant power reduction in BL path power of NAND die of about 60%. The BL path was designed in 180nm CMOS to validate the design. When the cost for powering SSD becomes quite significant especially for data center, an additional lower voltage supply such as 0.8V dedicated to BL charging for read and program verify operations may be the best option for the future.

Amplitudes of quantum transitions containing time zigzags are considered. The discussion is carried out in the framework of the Minkowski metric and the standard quantum mechanics without adding new postulates. We argue that time zigzags are not suppressed at the quantum level, but their contribution to the amplitude is zero. The result is valid for a single particle and a non-interacting scalar field.

The high-quality development of the industrial software industry is of strategic significance to enhancing the core competitiveness of the manufacturing industry and promoting the high-quality development of China's industrial economy. By integrating the "capital- technology-environment-human" production factor theory and configuration perspective, this paper constructs a comprehensive analysis framework that drives the total factor productivity (TFP) of the industrial software industry. It uses 40 typical industrial software firms as case samples and uses fuzzy set Qualitative Comparative Analysis (fsQCA) was used to empirically explore the influencing factors and complex mechanisms that achieve high-quality development of the industrial software industry. It is found that: (1) a single industrial factor is hardly a necessary condition to drive industrial software industry; (2) there are four paths to achieve high TFP, which are summarized as "technology-human-environment" balanced driving type, "capital-human-environment" balanced driving type, "technology-capital" dual driving type, and "capital" single driving type. There are four driving mechanisms. There are also four not-high TFP configurations with asymmetric characteristics; (3) under certain conditions, the combination of capital factors, capital factors, environmental factors and human factors can drive TFP in a "all roads lead to Rome". In this process, the government's attention plays a more universal role. The study not only expands the application scenarios of fsQCA, but also provides decision guidelines for the practice of strategic emerging industrialization represented by industrial software industry.

Autonomous navigation of a mobile robot in dynamic environments presents a significant challenge in the field of robotics. The primary objective for mobile robot navigation is to ensure both smoothness and safety of movement. A path planning is applied to generate a trajectory that allows the robot to move smoothly while avoiding collisions with both stationary and moving obstacles. This study aims to introduce an Adaptive Neuro-Fuzzy Inference System (ANFIS)-based control strategy for a mobile robot navigating in dynamic environments, with a significant focus on ensuring collision-free path planning. The developed control strategy incorporates four ANFIS controllers, each regulating the robot's responsive behaviors. The experimental scene includes a mobile robot moving in an environment with static and dynamic obstacles without colliding with the obstacles. The experimental tests confirm the model's capability to facilitate collision-free motion, employing a path planning algorithm for determining the shortest route to the target destination. Simulations are conducted to show the effectiveness of the proposed algorithm, highlighting the mobile robot's efficiency in navigating without collisions while avoiding both stationary and moving obstacles using the integration of ultrasonic sensors.

In this essay, the new notion concerning longest path is introduced. Longest path has a close relation with the notion of diameter in graph. The classes of graph are studied in the terms of having the vertex with longest path. Valued number is the number of edges belong to the longest path in the matter of vertex. For every vertex, there’s a valued number and new notion of valued set is the generalization of valued number for the vertex when all vertices of the graphs are corresponded to a vertex which has the greater valued number. For any positive integer, there’s one graph in that, there’s vertex which its valued number is that. By deleting the vertices which don’t belong to valued set, new notion of new graph is up. It’s called valued graph. The comparison amid valued graph and initial graph is up, too.

Hybrid Classical-Quantum computing has already arrived at several commercial quantum computers, offered to researchers and businesses. Here, applications are made to a model of financial options, Statistical Mechanics of Financial Markets (SMFM). These applications were published in many papers since the 1980's. This project only uses Classical (super-)computers to include quantum features of these models. Since 1989, an optimization code, Adaptive Simulated Annealing (ASA), has been to fit parameters in such models. Since 2015, a path-integral algorithm, PATHINT, used previously to accurately describe several systems in several disciplines, has been generalized from 1 dimension to N dimensions, and from classical to quantum systems, qPATHINT. Published papers have described the use of qPATHINT to neocortical interactions and financial options. The classical space by SMFM applies nonlinear nonequilibrium multivariate statistical mechanics to fit parameters in conditional short-time probability distributions, while the quantum space described by qPATHINT deals specifically with quantum systems, e.g., quantum money. This project thereby demonstrates how some hybrid classical-quantum systems may be calculated quite well using only classical (super-)computers.

Background: Forecasting nonlinear stochastic systems most often is quite difficult, without giving in to temptations to simply simplify models for the sake of permitting simple computations. Objective: Here, two basic algorithms, Adaptive Simulated Annealing (ASA) and path-integral codes PATHINT/PATHTREE (and their quantum generalizations qPATHINT/qPATHTREE) are offered to detail such systems. Method: ASA and PATHINT/PATHTREE have been effective to forecast properties in three disparate disciplines in neuroscience, financial markets, and combat analysis. Applications are described for COVID-19. Results: Results of detailed calculations have led to new results and insights not previously obtained. Conclusion: These 3 applications give strong support to a quite generic application of these tools to stochastic nonlinear systems.

Background: Forecasting nonlinear stochastic systems most often is quite difficult, without giving in to temptations to simply simplify models for the sake of permitting simple computations. Objective: Here, two basic algorithms, Adaptive Simulated Annealing (ASA) and path-integral codes PATHINT/PATHTREE (and their quantum generalizations qPATHINT/qPATHTREE) are offered to detail such systems. Method: ASA and PATHINT/PATHTREE have been effective to forecast properties in three disparate disciplines in neuroscience, financial markets, and combat analysis. Applications are described for COVID-19. Results: Results of detailed calculations have led to new results and insights not previously obtained. Conclusion: These 3 applications give strong support to a quite generic application of these tools to stochastic nonlinear systems.

The paper presents models of path and control planning for parking, docking, and movement of autonomous vehicles at low speeds considering space constraints. Given the low speed of motion, and in order to test and approve the proposed algorithms, vehicle kinematic models are used. Recent works on the development of parking algorithms for autonomous vehicles are reviewed. Bicycle kinematic models for vehicle motion are considered for three basic types of vehicles: passenger car, long wheelbase truck, and articulated vehicles with and without steered semitrailer axes. Mathematical descriptions of systems of differential equations in matrix form and expressions for determining the linearization elements of nonlinear motion equations that increase the speed of finding the optimal solution are presented. Options are proposed for describing the interaction of vehicle overall dimensions with the space boundaries, within which a maneuver should be performed. An original algorithm that considers numerous constraints is developed for determining vehicle permissible positions within the closed boundaries of the parking area, which are directly used in the iterative process of searching for the optimal plan solution using nonlinear model predictive control (NMPC). The process of using NMPC to find the best trajectories and control laws while moving in a semi-limited space of constant curvature (turnabouts, roundabouts) are described. Simulation tests were used to validate the proposed models for both constrained and unconstrained conditions and the output (state-space) and control parameters' dependencies are shown. The proposed models represent an initial effort to model the movement of autonomous vehicles for parking and has the potential for other highway applications.

The RPL protocol is a routing protocol for low power and lossy networks. In such a network, energy is a very scarce resource; so many studies are focused on minimizing global energy consumption. End-to-end latency is another important performance indicator of the network, but existing research tends to focus more on energy consumption and ignore the end-to-end delay of data transmission. In this paper, we propose a kind of energy equalization routing protocol to maximize the surviving time of the restricted nodes so that the energy consumed by each node is close to each other. At the same time, a multi-path forwarding route is proposed based on the cache utilization. The data is sent to the sink node through different parent nodes at a certain probability, not only by selecting the preferred parent node, thus avoiding buffer overflow and reducing end-to-end delay. Finally, the two algorithms are combined to accommodate different application scenarios. The experimental results show that the proposed three improved schemes improve the reliability of the routing, extend the lifetime of the network, reduce the end-to-end delay, and reduce the number of DAG reconfiguration.

The organic material present at the same depth in the reservoir has the potential for conversion, as indicated by analyses conducted before and after combustion in the development of heavy oil. This paper examines the oxidation and pyrolysis reaction pathways of hydrocarbons, specifically benzaldehyde (C₇H₆O) and naphthalene (C₁₀H₈), before and after combustion using molecular dynamics simulations. The primary products formed under various temperature conditions include H₂O, HO₂, CO, and CO₂. The discussion includes the number of molecules, such as HO and H, as well as their temperature variations. The activating group functions as an electron donor, while the inactivating group serves as an electron acceptor. The oxidation and pyrolysis reactions of naphthalene and the synthesis pathway of benzaldehyde are also explored. The C-C dissociation pathway in the early stages of combustion and the process of C-C bond synthesis in the later stages of the reactions are investigated through dynamic simulations at different temperatures: 3000 K, 3500 K, and 4000 K, with a particular focus on the reaction network at 4000 K. The application of the molecular reaction dynamics method to heavy oil combustion research is the primary objective of this work. This study aims to provide a novel approach to investigating hydrocarbon conversion at high temperatures and offers recommendations for enhanced oil recovery.

The advancement of autonomous capabilities in maritime navigation has gained significant attention, with a trajectory moving from decision support systems to full autonomy. This push towards autonomy has led to extensive research focusing on collision avoidance, a critical aspect of safe navigation. Among the various possible approaches, Dynamic Programming is a promising tool for optimizing collision avoidance maneuvers. This paper presents a DP formulation for collision avoidance of autonomous vessels. We set up the problem framework, formulate it as a multi-stage decision process, define cost functions and constraints focusing on the actual requirements a marine maneuver must comply with, and propose a solution algorithm leveraging parallel computing. Additionally, we present a greedy approximation to reduce algorithm complexity. Through case studies, we demonstrate the effectiveness of the proposed approach in navigating complex scenarios, contributing to the future of autonomous maritime navigation. Through case studies, we show the efficacy of our approach in navigating complex scenarios.

This paper describes design of experimental methodology developed to measure the working properties of accuracy of the path traversed by a collaborative robot. The methodology proposed here uses a collaborative robot and a laser measuring system Gepard from Raytec. The main parts of the measuring chain and the ISO 9283 standard are described. The proposed experimental methodology should examine working properties of industrial robots, such as the properties of position and path. The focus of this paper lies on the path accuracy of robots. Currently, the interest in this topic is on the rise and the measuring systems capable of recording this parameter are too costly. This paper focuses on experimental measuring of the path properties, describing them in more detail. The measuring and results were processed in the software tool developed for Gepard.

Conceptual distance refers to the degree of proximity between two concepts within a conceptualization. It is closely linked with semantic similarity and relationship, but its computation relies entirely on the context of the given concepts. The DIS-C algorithm, which requires using search algorithms such as Breadth First Search, represents an advance in computing the semantic similarity/relation regardless of the type of knowledge structure and semantic relationships. The shortest path algorithm facilitates the determination of the semantic closeness between two indirectly connected concepts in an ontology by propagating local distances. This process is implemented for each concept pair to establish the most effective and efficient paths to connect these concepts. The algorithm identifies the shortest path between the concepts, allowing for the inference of the most relevant relationships between them. This approach contributes to developing a comprehensive understanding of the ontology and enhances the accuracy and precision of the semantic representation of the concepts. However, one of the critical issues is associated with the computational complexity due to the nature of the algorithm, which is errorn3. This paper studies alternatives to accelerate the DIS-C based on approximation and optimized algorithms, focusing on Dijkstra, pruned Dijkstra, and Sketched-based algorithms to compute conceptual distance. Based on the experiments, we discovered that the bottleneck can be avoided using the proposed 2-hop coverages, bringing DIS-C almost linearity.

The benefits of multi-robot systems are substantial, bringing gains in efficiency, quality, and cost, and are useful in a wide range of environments from warehouse automation, to agriculture, and even extend in part to entertainment. In multi-robot system research, the main focus is on ensuring efficient coordination in the operation of the robots, both in task allocation and navigation. However, much of this research seldom strays from theoretical bounds; there are many reasons for this, with the most prominent and impactful being resource limitations. This is especially true for research in areas such as multi-robot path planning (MRPP) and navigation coordination. This is a large issue in practice as many approaches are not designed with meaningful real-world implications in mind and are not scalable to large multi-robot systems. This survey aims to look into the coordination and path-planning issues and challenges faced when working with multi-robot systems, especially those using a prioritised planning approach and identify key areas which are not well-explored and the scope of applying existing MRPP approaches to real-world settings.

We propose a deep reinforcement learning based manipulator path tracking method to solve the computationally difficult and non-unique problem of manipulator path tracking methods based on inverse kinematics. By transforming the path tracking task into a sequence decision problem, our method adopts an end-to-end learning method for closed-loop control and avoids the process of finding the inverse solution. We first explored the feasibility of the deep reinforcement learning method in the path tracking of the manipulator. After verifying the feasibility, the path tracking of the multi-degree-of-freedom(multi-DOF) manipulator was realized by combining the maximum entropy deep reinforcement learning algorithm. The experimental results show that our method has a good effect on the path tracking of the manipulator, which not only avoids the process of finding the inverse kinematics solution, but also requires no dynamic model. Therefore, we believe that our method has great significance in the study of manipulator path tracking.

Transportation is a crucial component of supply chain management, responsible for delivering goods and services to customers. This paper explores the application of game theory concepts, precisely the Shapley value, to cost allocation in transportation operations involving drones and trucks. Our focus is on shortest-path games in which agents own nodes in a network and seek to transport items between nodes at the lowest possible cost. We provide a comprehensive literature review of the Shapley value and its use in shortest-path games, with particular emphasis on transportation networks. Our proposed model includes sets of customers, drones, and trucks and uses binary decision variables to indicate whether a drone or truck serves a given customer. The objective is to minimize the total cost of serving all customers while adhering to capacity and synchronization constraints. We use the Shapley value to determine the contribution and cost-sharing of each drone and truck in serving the customers. Through a combination of denitions, theorems, and examples, we explore the formal meaning of the Shapley value and its relationship to shortest-path games in transportation networks. We highlight exceptional cases and considerations that must be taken into account when applying the Shapley value in such scenarios.

This paper discusses a means of making an extremely bright path entangled source. An initial laser source is preferred but any source of light: LED, sub-critical laser, coherent or thermal can be used. The light is dimmed by a beam expander until the relative number of |1> or |2> photons increases compared to higher photon states. The expanded beam is then passed through a 1:1 beamsplitter to generate path entanglement on the |1> and |2> photons. A further stage of “purification” can remove the non-entangled higher states by passing the output beams from the beamsplitter through one another, such that the correlated entangled photon electrical fields cancel in some region. In the said region, the uncorrelated non-entangled fields can be Faraday rotated and then absorbed by a polariser. The entangled photons pass through the region without rotation and attenuation. The output from the device then has copious quantities of 1 and 2 photon path entangled suitable for use in telecommunications engineering, secure transmission of data and quantum metrology. The wide beams can be beam-contracted to a thin bright beam and will keep the path entanglement of individual photons, as photons are bosons and so don’t interact, furthermore, all operations are unitary and linear, as by Maxwell’s equations.

In this paper, a system of searching for optimal paths is developed and concreted on a FPGA. It is based on a memristive emulator, used as a delay element, by configuring the test graph as a memristor network. A parallel algorithm is applied to reduce computing time and increase efficiency. The operation of the algorithm in Matlab is checked beforehand and then exported to two different Intel FPGAs: a DE0-Nano board and an Arria 10 GX 220 FPGA. In both cases reliable results are obtained quickly and conveniently, even for the case of a 300x300 nodes maze.

Decision-making using evidence-based practice (EBP) is generally universally accepted by nurses. Such acceptance may affect the personnel’s behaviour towards patients, which is also demonstrated by taking into consideration the patient’s preferences, including the patient’s spiritual needs, in the care plan. The provision of such care requires the development of an attitude of approval and an adequate level of communicative competence, which will enable the actual implementation of the EBP. The purpose of our study was to assess the perception of spirituality and the nurse’s role in providing spiritual care, as well as the perception of the significance of communication skills in the approval of EBP in professional practice. A multi-centre cross-section study was conducted on a population of 1176 participants (459 undergraduate (Bachelor programme, BP) and 717 postgraduate students (Master programme, MP)) from 10 medical universities in Poland. Three tools were used in the study to evaluate the participants’ approach: Evidence-Based Practice Competence Questionnaire (EBP-COQ), The Spirituality and Spiritual Care Rating Scale (SSCRS), and Communication Skills Attitude Scale (CSAS). Structural equation modelling was used for the analysis. An analysis of structural equations revealed the presence of positive relationships of the attitude to spiritual care and the role of communicative competences with the approach to EBP regardless of the cohort. A significant difference was found related to the influence of age on the attitude toward learning communicative competences. The approval in this respect was observed to decrease with age in the MP group. Increasing approval of EBP requires strengthening the approach to activity-centred spiritual care, with the simultaneous development of a positive attitude towards learning communicative competences. The model reveals the need to integrate a humanistic approach with EBP, which can be achieved by planning different interventions in different groups of recipients: nurses, academic teachers and students.

With the depletion of shallow surface resources, the future mining work will develop towards the deep surface, and the objective conditions such as the mining environment will be more complex and dangerous than now, and the requirements for personnel and equipment will be higher and higher. The efficient exploitation of deep space cannot be separated from such mobile and flexible production and transportation equipment as scraper. In the new era, intelligence is the development trend of the LHD, and path tracking control technology is the key to the intelligent LHD, and it is also an urgent problem to be solved for its unmanned driving. This paper describes the realization of the automatic operation function of articulated LHD from two aspects of mathematical model and trajectory tracking control method, and focuses on the research of the path tracking control scheme in the field of unmanned driving, that is, LQR controller. On this basis, the parameters of the LQR controller are optimized by combining different intelligent cluster algorithms to find the optimal solution of the LQR controller.

To sample from complex, high-dimensional distributions, one may choose algorithms based on the Hybrid Monte Carlo (HMC) method. HMC-based algorithms generate nonlocal moves alleviating diffusive behavior. Here, I build on an already defined HMC framework, Hybrid Monte Carlo on Hilbert spaces [A. Beskos, F.J. Pinski, J.-M. Sanz-Serna and A.M. Stuart, Stoch. Proc. Applic. 121, 2201 - 2230 (2011); doi:10.1016/j.spa.2011.06.003] that provides finite-dimensional approximations of measures π which have density with respect to a Gaussian measure on an infinite-dimensional Hilbert (path) space. In all HMC algorithms, one has some freedom to choose the mass operator. The novel feature of the algorithm described in this article lies in the choice of this operator. This new choice defines a Markov Chain Monte Carlo (MCMC) method which is well defined on the Hilbert space itself. As before, the algorithm described herein uses an enlarged phase space Π having the target π as a marginal, together with a Hamiltonian flow that preserves Π. In the previous method, the phase space π was augmented with Brownian bridges. With the new choice for the mass operator, π is augmented with Ornstein-Uhlenbeck (OU) bridges. The covariance of Brownian bridges grows with its length, which has negative effects on the Metropolis-Hasting acceptance rate. This contrasts with the covariance of OU bridges which is independent of the path length. The ingredients of the new algorithm include the definition of the mass operator, the equations for the Hamiltonian flow, the (approximate) numerical integration of the evolution equations, and finally the Metropolis-Hastings acceptance rule. Taken together, these constitute a robust method for sampling the target distribution in an almost dimension-free manner. The behavior of this novel algorithm is demonstrated by computer experiments for a particle moving in two dimensions, between two free-energy basins separated by an entropic barrier.

This paper proposed a triangular inequality-based rewiring method for the Rapidly exploring Random Tree (RRT)-Connect robot path-planning algorithm that guarantees the planning time compared to the RRT algorithm, to bring it closer to the optimum. To check the proposed algorithm’s performance, this paper compared the RRT and RRT-Connect algorithms in various environments through simulation. From these experimental results, the proposed algorithm shows both quicker planning time and shorter path length than the RRT algorithm and shorter path length than the RRT-Connect algorithm with a similar number of samples and planning time.

This investigation explores a novel path-planning and optimization strategy for multiple cooperative robotic agents, applied in a fully observable and dynamically changing obstacle field. Current dynamic path planning strategies employ static algorithms operating over incremental time-steps. We propose a cooperative multi-agent (CMA) based algorithm, based on natural flocking of animals, using vector operations. It is preferred over more common graph search algorithms like A* as it can be easily applied for dynamic environments. CMA algorithm executes obstacle avoidance using static potential fields around obstacles, that scale based on relative motion. Optimization strategies including interpolation and Bezier curves are applied to the algorithm. To validate effectiveness, CMA algorithm is compared with A* using static obstacles due to lack of equivalent algorithms for dynamic environments. CMA performed comparably to A* with difference ranging from -0.2% to 1.3%. CMA algorithm is applied experimentally to achieve comparable performance, with an error range of -0.5% to 5.2%. These errors are attributed to the limitations of the Kinect V1 sensor used for obstacle detection. The algorithm was finally implemented in a 3D simulated space, indicating that it is possible to apply with drones. This algorithm shows promise for application in warehouse and inventory automation, especially when the workspace is observable.

Indoor Positioning Systems (IPSs) are designed to provide solutions for location-based services. Wireless local area network (WLAN)-based positioning systems are the most widespread around the globe and are commonly found to have a ready-to-use infrastructure composed mostly of access points (APs). They provide useful information on signal strength to be processed by adequate location algorithms, which are not always capable of achieving the desired localization error only by themselves. In this sense, this paper proposes a new method to improve the accuracy of IPSs by optimizing some of their most relevant infrastructure components. Included are the arrangement of APs over the environment, the number of reference points (RPs), and the number of samples per location estimation test. A simulation environment is also proposed, in which the impact of key influencing factors on system accuracy is analyzed. Finally, a case study is simulated to validate an optimal combination of design parameters and its compliance with the requirements of localization error and the limited number of access points. Our simulation results clearly show that the desired localization accuracy, which is set as a goal, can be achieved while maintaining the factors already mentioned at minimal levels, which decreases both system deployment costs and computational effort.

The article is focused on detailed framework process for hierarchized construction of periodic freight train paths (PFTPs) – allocation of pre-arranged railway capacity to freight rail operators. The framework process considers fluctuations in demand for capacity from freight rail opera-tors, so the quality of a freight train path is related with its construction priority. Introduced framework process aims to offer freight rail operators attractive train paths, with low number of scheduled stops, and this way enhance competitiveness and decrease energy consumption of freight railway as a factor for sustainable development. The proposed generic process is in-tended for all time horizons of capacity allocation. Correctness of the framework process is tested on the example of mainline Prague – Dresden, in the context of prospective (denser) mod-el passenger timetable.

In this paper, a complete tool for real-time detection of atypical energy behaviors of airplanes is presented. The methodology extends in real time an existing offline process using Dubins trajectories as a predictor of the remaining distance to the runway threshold. Two major contributions are presented in this paper. First, a real-time measure of the aircraft energy behaviour is defined, indicating whether the aircraft is in good condition to intercept the extended runway centreline from its current position. Secondly, a 2D trajectory suggestion is given, allowing safe management of the approach path according to atypical criteria of historical data. Finally, this document proposes a comprehensive tool for air traffic controllers, which is a major step forward in understanding, becoming aware of and resolving critical situations that could lead to accidents.

Path planning for robots based on reinforcement learning encounters challenges in integrating semantic information about environments into the training process. In those unseen or complex environmental information, agents often perform sub-optimally and require more training time. In response to these challenges, this manuscript pioneers a framework integrating zero-shot learning combined with hierarchical reinforcement learning to enhance agent decision-making in complex environments. Zero-shot learning enables agents to infer correct actions for previously unseen objects or situations based on learned semantic associations. Subsequently, the path planning component utilizes hierarchical reinforcement learning with adaptive replay buffer, directed by the insights gained from zero-shot learning, to make decisions effectively. Two parts are trained separately, so zero-shot learning is available in different and unseen environments. Through simulation experiments, the proposed method proves that this structure can make full use of environmental information to generalize across unseen environments and plan collision-free paths.

In recent years, the delivery of medical supplies has faced significant challenges due to natural disasters and recurrent public health emergencies. Addressing the need for improved logistics operations during such crises, this article presents an innovative approach integrating vehicle and Unmanned Aerial Vehicle (UAV) logistics to enhance the efficiency and resilience of medical supply chains. Our study introduces a dual-mode distribution framework that employs the Density-Based Spatial Clustering of Applications with Noise (DBSCAN) algorithm for efficiently clustering demand zones unreachable by conventional vehicles, thereby identifying areas requiring UAV delivery. Furthermore, we categorize the demand for medical supplies into two distinct sets based on vehicle accessibility, optimizing distribution routes via both UAVs and vehicles. Through comparative analysis, our findings reveal that the artificial bee colony (ABC) algorithm significantly outperforms the genetic algorithm in terms of solving efficiency, iteration counts, and delivery speed. However, the ABC algorithm's tendency towards early local optimization and rapid convergence leads to potential stagnation in local optima. To mitigate this issue, we incorporate a simulated annealing technique into the ABC framework, culminating in a refined optimization approach that successfully overcomes the limitations of premature local optima convergence. The experimental results validate the efficacy of our enhanced algorithm, demonstrating reduced iteration counts, shorter computation times, and substantially improved solution quality over traditional logistic models. The proposed method holds promise for significantly improving the operational efficiency and service quality of the healthcare system's logistics during critical situations.

Chelating gels may assist initially in root canal preparations to help establish a glide path. While irrigation surveys have investigated liquid chelators, and gels to a minor extent, no endodontic survey has focused on EDTA gels, and why clinicians use them. All 395 members of the Australian Society of Endodontology (ASE) were emailed an 11-question survey concerning chelation gel usage via Qualtrics. Paper copies were also distributed at ASE events. Descriptive statistics was performed for practitioner and chelating gel data. Cross-tabulations of practitioner type with case percentage usage of gels were analyzed with the chi square test (adjusted P value <0.0083). The overall response rate was 181/395 (46%). For 174 eligible responses, those who never/rarely used a gel was: endodontic residents 12/14 (86%), endodontists 53/71 (75%), general dentists 39/86 (45%), and other members 0% (0/3). Most gel users said that gels helped establish a glide path. Those who never/rarely used chelating gels commented that they held no benefits over liquid EDTA. Endodontists were less likely to use a chelation gel than general dentists (P <0.0083). Older members had higher gel usage than younger members (P <0.0083), indicating a possible trend to diminished gel usage over time amongst ASE members.

In this paper we present the exploration of indoor positioning technologies for UAVs, and navigation techniques for path planning and obstacle avoidance. The objective is to perform warehouse inventory tasks using a drone to search for barcodes or markers to identify the objects. For the indoor positioning techniques, we employ Visual-Inertial Odometry (VIO), Ultra-Wideband (UWB), AprilTag fiducial markers, and Simultaneous Localization and Mapping (SLAM). These algorithms encompass global positioning, local positioning, and pre-mapping positioning, comparing the merits and drawbacks of various techniques and trajectories. In UAV navigation, we combine SLAM-based RTAB-Map indoor mapping and navigation path planning of the ROS for indoor environments. This system enables precise drone positioning indoors and utilizes global and local path planners to generate flight paths that avoid dynamic, static, unknown, and known obstacles, demonstrating high practicality and feasibility. To achieve the warehouse inventory inspection, a reinforcement learning approach is proposed to recognize the markers by adjusting the UAV's viewpoint. We address several main problems in inventory management, including efficiently planning paths while ensuring a certain level of detection rate. Two reinforcement learning techniques, AC (Actor-Critic) and PPO (Proximal Policy Optimization), are implemented based on AprilTag identification. Testing is performed in both simulated and real-world environments, and the effectiveness of the proposed method is validated.Code is available at https://github.com/kellen080/Navigation and https://github.com/kellen080/Indoor\_Positioning.

Understanding the thermal cracks of rock caused by high temperature is of great help to the development of underground engineering, such as geothermal mining, underground coal gasification. Although there has been many study on thermal cracking, it is not systematic and in-depth enough. In order to deeply study the thermal crack mechanism of rock, this paper conducted thermal cracking experiments on granite at different temperatures and heating/cooling paths, and qualitative and quantitative analysis was conducted on the crack initiation characteristics, propagation paths, and crack network morphology of rock thermal crack under different test conditions. The thermal crack mechanism was also analyzed from the perspectives of mineral petrology, fracture mechanics, thermodynamics, and other aspects. The research results show that there are two obvious mutation points in the study temperature range for samples with fast cooling paths (SF path: slow heating and fast cooling; FF path: fast heating and fast cooling), around 200-300 ℃ and 600 ℃, respectively, while for samples with slow cooling paths (SS path: slow heating and slow cooling; FS path: fast heating and slow cooling), there is only one mutation point around 600 ℃. The initiation positions of thermal cracking under all temperature paths are relatively similar, with intergranular crack located between particles at the edge of the sample or intercrystalline crack in the middle of feldspar or quartz aggregates. The initiation temperature of SF and FF path specimens is relatively low compared to SS and FS path specimens, and the number and size of cracks is small. The crack network structure formed by the SF path is the most complex, with the largest crack ratio and cumulative crack length; The crack network structure formed by the FF path is relatively complex, with a larger main crack size but relatively fewer secondary cracks; The FS and SS paths do not form a complex network with good connectivity. The process of thermal crack development can be divided into three stages: the development of small cracks, the joint development of main cracks and small cracks, and the connection of cracks into a network structure. The mechanism of thermal crack propagation is that the expansion and thermal conductivity between different crystals are different. The thermal stress caused by temperature gradient and the tension or shear stress caused by the inconsistent deformation of crystals form stress concentration in weak areas such as particles boundary, cleavage, and original cracks. Firstly, it causes some crystals with smaller strength or less rounded shape to crack, and when the combined stress is large, the cracks will gradually expand along the existing fine cracks. This also explains that the most main cracks of the SF and FF path specimens mainly surround some large mineral aggregates or between particles.

Navigation is the most challenging issue in autonomous vehicles. Researchers in the current era have developed many Artificial Intelligence techniques to navigate, generate paths, and avoid obstacles for optimum path planning for autonomous vehicles. Different studies have investigated bio-inspired techniques to overcome the navigation issue, including obstacle avoidance. This paper uses new meta-heuristic optimization techniques called Dragonfly Algorithm (DA) to set the goal by detecting and avoiding obstacles with minimum human interference. For effective results, the Dragonfly-Fuzzy hybrid algorithm is analyzed over the unstructured environment because individual techniques may not be sure of an optimal solution over all configurations. The main advantage of the proposed hybrid controller is that it combines the multiple features of different approaches into a single controller. This paper compares simulation and experimental findings over various environmental conditions to the individual algorithm. Regarding time and path optimization, the hybrid Dragonfly-Fuzzy controller performs better than the respective controller.

The Complete Coverage Path Planning (CCPP) is a key technology in the field of agricultural robot, and has great significance for improving the efficiency and quality of tillage, fertilization, harvesting and other agricultural robot operations, as well as reducing the operation energy consumption. The traditional boustrophedon or heuristic search algorithm based CCPP methods, when coping with the field with irregular boundaries, obstacles and other complex environments, still face many problems and challenges, such as large repeated work areas, multiple turns or U-turns, low operation efficiency and prone to local optimum. In order to solve the above problems, an improved-genetic-algorithm-based CCPP method was proposed in this paper, which introduces the idea of chromosome pairs and multi-points mutation to improve its global optimization ability in complex environments, reduce the repeated work areas and the number of turns and U-turns, and thereby improve the operation efficiency. The simulation and experimental results on simple regular fields showed that the proposed improved genetic algorithm-based CCPP method achieved the comparable performance with the traditional boustrophedon-based CCPP method. However, on the complex irregular fields, although the proposed CCPP method increased the number of turns by 13.76%, the area of repeated operation and the number of U-turns were decreased by 38.54% and 35.00% respectively, and saves the battery voltage by 7.82% on average compared to the boustrophedon-based CCPP method. This proved that the proposed CCPP method has strong adaptive capacity to the environment, and has practical application value in improving the efficiency and quality of agricultural machinery operations, and reducing the energy consumption.

This paper presents some aspects of command and control of the new generation of machines-tools with numerical control. A problem faced by numerical control programmers is related to the length (relatively long) of the programs, with implications in the costs and duration of the manufacturing preparation. A method of reducing the main program and other redundant expenses is the introduction and use of processing cycles and subroutines for automatic calculation of the cutting tool trajectory, a fact that also allows the optimization and simplification of numerical control programming on flexible order manufacturing systems numeric. The method involves the use of predefined cycles and appropriate subroutines in order to improve the efficiency of the programming activity in a balanced way. It is a new and rapid method for optimize the structure of program using the numerical subroutine for command the movement of tool, in our case, with application for turning and milling.

A simple undirected graph $\Gamma=(V_\Gamma,E_\Gamma)$ admits an $H$-covering if every edge in $E_\Gamma$ belongs to at least one subgraph of $\Gamma$ that isomorphic to a graph $H$. For any graph $\Gamma$ admitting $H$-covering, a total Labelling $\beta: V_\Gamma \cup E_\Gamma \longrightarrow \{1,2,\dots,p\}$ is called an $H$-irregular total $p$-labelling of $\Gamma$ if every two different subgraphs $H_1$ and $H_2$ of $\Gamma$ isomorphic to $H$ have distinct weights where the weight $w_\beta(K)$ of subgraph $K$ of $\Gamma$ is defined as $w_f(K):=\displaystyle \sum_{v\in V_K} f(v) + \sum_{e\in E_K} f(e)$. The smallest number $p$ for which a graph $\Gamma$ admits an $H$-irregular total $p$-labelling is called the total $H$-irregularity strength of $\Gamma$ and is denoted by $ths(\Gamma)$. In this paper, we determine the total $H$-irregularity strength of edge comb product of two graphs.

Vehicle driveability is one of the important vehicle attributes in range-extender electric vehicles due to the electric motor torque characteristics at low-speed events. The process of validating and rectifying vehicle driveability attributes is typically utilised by a physical vehicle prototype that can be expensive and required several design iterations. In this paper, a model-based energy method to assess vehicle driveability is presented based on a high-fidelity 49 degree-of-freedom powertrain and vehicle systems. Multibody dynamics components were built according to their true centre of gravity relative to the vehicle datum for providing an accurate system interaction. The work covered a frequency at less than 20 Hz. The results that consisted of the component frequency domination are structured and examined to identify the low-frequency sensitivity based on different operating parameters such as a road surface coefficient. An energy path technique was also implemented on the dominant component by decoupling its compliances to study the effect on the vehicle driveability and low-frequency response. The outcomes of the research provided a good understanding of the interaction across the sub-systems levels. The powertrain rubber mounts were the dominant components that controlled the low-frequency contents (< 15.33 Hz) and can change the vehicle driveability quality.

In the rescue operations the full time of action plays important role. It is a sum of planning, travel, and manipulation (in the action place) phases times. The time minimization of first two phases by autonomous vehicle for remote action is considered in the paper. For known a priori map the path planning consists of local optimal decision collected next in the general algorithm of the optimal path. Such approach significantly reduces time of path planning. The robot features and known sparse obstacles reduce the allowable robot speeds. The time of travel is calculated from allowable velocity profile. So, it can be used to estimate the travel performance. Genetic algorithm and random search-based methods for path finding with travel time optimization are exploited and compared in the paper. All the proposed time optimisation solutions of rescue operation are checked during computer simulations and results of simulation are presented.

Compared to traditional multi-robot path planning problems, multi-chain robot path planning (MCRPP) is more challenging because it must account for collisions between robot units and between the bodies of a chain and the leading unit during towing. To address MCRPP more efficiently, we propose a novel algorithm called Multi-Train Safe Interval Path Planning (MT-SIPP). Based on safe interval path planning principles, we categorize conflicts in the multi-train planning process into three types: travel conflicts, waiting conflicts, and station conflicts. To handle travel conflicts, we use an improved k-robust method to ensure trains avoid collisions with other trains during movement. To resolve waiting conflicts, we apply a time correction method to ensure the safety of positions occupied by trains during waiting periods. To address station conflicts, we introduce node constraints to prevent other trains from occupying the station positions of trains that have reached their target stations and are stopped. Experimental results on three benchmark maps show that the MT-SIPP algorithm achieves about a 30% improvement in solution success rate and nearly a 50% increase in the maximum number of solvable instances compared to existing methods. These results confirm the effectiveness of MT-SIPP in addressing the challenges of MCRPP.

The laser host materials undergo relatively small changes in their intrinsic properties due to various sources during an experiment. These sources are often related to temperature change or applied stress, which may cause change in optical properties of the material under study. Consequently, the crystal experiences an optical anisotropy, which may affect the final outcome of the experiments. One way to reduce probable noises is to predict the change in optical properties with respect to load. To predict the changing pattern of the refractive index in a crystal, one needs to know both the elastic and photoelastic constants of the material. In this study, we utilized density functional perturbation theory (DFPT) to extract the photoelastic tensor of Y$_2$SiO$_5$ and Eu-doped Y$_2$SiO$_5$ crystals. Using the photoelastic and elastic constants calculated, a Finite Element (FE) model was developed, which allowed us to apply load and then post-process the results. This methodology enabled us to observe the variation in refractive index ($n$), and consequently, the shift in the resonance frequency of the cavity. The results obtained were in agreement with experimental measurements, falling within a 3\% discrepancy across a temperature range spanning from cryogenic to room temperature. This correlation suggests the feasibility of using the current workflow as a predictive tool for evaluating variations in refractive indices over a specific interval.

To study the oil and gas distribution law in the slope area of the hydrocarbon-bearing basin, the distribution of the effective dominant path of sand bodies transporting oil and gas is a fundamental subject. In this paper, we introduced an effective way to predict such transport paths and applied the method to study the sand bodies of the lower first member of the Shahejie Formation (E3s1L) in the southern area of the Qikou Depression in the Bohai Bay Basin (Qinan). We first define the dominant hydrocarbon transport paths of the sand body as the superimposed area of the contiguously distributed area of the sand body and the paleotectonic ridges at the top of the formation where the sand body is located. Then we define the oil and gas supply area of the oil source fault as the overlapped area of the favorable transport path of oil source faults and the width of the associated fracture zone. Stacking the two areas, we can delineate the distribution of the effective dominant transport paths of the sand bodies. The results from our case study of the Qinan area show that the effective dominant paths of sand bodies transporting oil and gas in the E3s1L Formation in the Qinan area are distributed throughout the region with better development in the west than in the east. The paths in the eastern part extend from north to south, while the paths in the western part extend from northeast to southwest, which is favorable for the convergence of oil and gas generated from the source rocks of the third member of Shahejie Formation (Es3) in the Northeastern main depression of Qikou and the formation of oil and gas accumulations in the l E3s1L Formation. The results are consistent with the fact that oil and gas discovered in the E3s1L Formation in the Qinan region are mainly distributed in the central and western regions, with a small amount in the southeast. Therefore, the suggested method is feasible to predict the effective dominant path of sand bodies transporting oil and gas.

The quickest path problem in the multistate flow networks, also known as the quickest path reliability problem (QPRP), aims at calculating the probability of transmitting a minimum of d units of flow/dat/commodity from a source node to a destination node through one single path within T units of time. Several exact and approximation algorithms have been proposed in the literature to address this problem. Most of the exact algorithms in the literature need prior knowledge of all the network’s minimal paths (MPs), which is considered a weak point. In addition to the time, the budget is always limited in real-world systems, making it an essential consideration in the analysis of systems’ performance. Hence, this study considers the QPRP under the cost constraints and provides an efficient approach based on the node-child matrix to address the problem without knowing the MPs. We show the correctness of the algorithm, compute its complexity results, illustrate it through a benchmark example, and conduct extensive experimental results on the known benchmarks and one thousand randomly generated test problems to demonstrate its practical superiority compared to the existing algorithms in the literature.

With the changes in the spatial structure of China's economic development, urban clusters have become the primary carriers of China's regional economy and green growth. The article uses annual data from 2010 to 2021 to study the carbon emission characteristics and carbon reduction pathways of 36 cities in the Yangtze River Delta region. Firstly, cities in the Yangtze River Delta region are divided into six carbon emission types based on decoupling elasticity coefficient and carbon intensity indicators. Then, the STIRPAT model is used to regress the panel data of different carbon emission types for 11 years, analyze the driving factors of carbon emissions, and develop differentiated carbon emission reduction paths for cities with six carbon emission types. According to the results, the city of Type I needs to accelerate low-carbon technology innovation, Type II needs to improve energy efficiency and strengthen low-carbon technology research and development, Type V needs to suppress foreign investment in high energy consumption and high emission projects in the local area, Type VI needs to accelerate the process of new urbanization and optimize industrial structure. Types III and IV have not received effective emission reduction paths, and further research is required on other emission reduction policies and measures.

It is often claimed that Einstein is wrong about quantum mechanics. However, when comparisons are made with respect to theoretical foundations rather than experimental results Einstein’s theories are found to be superior. Although quantum mechanics correctly predicts what it is possible to observe (the emissions) it ignores the other half of natural phenomena, what cannot be observed (the absorptions), thereby violating the conservation laws. By describing only one-half of radiation processes conceptual difficulties such as wave function collapse, infinite paths, and inscrutable mathematics seem to be insoluble mysteries. The deficiencies are corrected by introducing Hamilton’s principle S = ∫ Ldt and applying the methods of quantum field theory to derive relativistic equations of motion. The calculus of variations is used to show that the wave function represents an incomplete equation of motion because it equals twice the allowable action minimum.

A well known result for the interference of two single-mode fields is that the degree of coherence and the degree of indistinguishablity are same when we consider the detection of a single photon. In this article we present the relation between degree of coherence, path indistinguishability and the fringe visibility considering interference of multiple number of single-mode fields while being interested in the detection of a single photon only . We will also mention how Born’s rule of interference for multiple sources is reflected in these results.

With the increased global attention to environmental protection, social responsibility and corporate governance (ESG) standards, integrating ESG into supply chain management (SCM) is becoming a strategic requirement for companies to achieve competitiveness and sustainable development. This study reviews the impact factors of ESG practices on supply chain competitiveness, and empirically examines the mechanism of ESG performance on supply chains through a questionnaire survey with a sample of Chinese SMEs. It was found that normative pressure, coercive pressure and imitative pressure in SMEs have a significant positive effect on cognition and attitude and perceived behavioral control; good corporate cognition and attitude, perceived behavioral control and corporate pressure also enhance the level of ESG practices. Further analysis shows that cognition and attitude and perceived behavioral control play a mediating role in the impact of ESG practices, and ESG performance promotes sustainable development of SMEs. The article puts forward the following suggestions: (1) close supply chain partnerships to enhance green innovation; (2) the government should give more resource support to ESG-invested enterprises and support the development of advantageous enterprises; (3) improve the corporate disclosure mechanism and strengthen the supervision; and (4) strengthen the training of professionals in supply chain ESG management.

In recent years, artificial intelligence technology has seen increasingly widespread application in the field of intelligent manufacturing, particularly with deep learning offering novel methods for recognizing geometric shapes with specific features. In traditional CNC machining, computer-aided manufacturing (CAM) typically generates G-code for specific machine tools based on existing models. However, the tool paths for most CNC machines consist of a series of collinear motion commands (G01), often resulting in discontinuities in the curvature of adjacent tool paths, leading to machining defects. To address these issues, this paper proposes a method for CNC system machining trajectory feature recognition and path optimization based on intelligent agents. This method employs intelligent agents to construct models, analyze the key geometric information in the G-code generated during CNC machining, and uses the MCRL deep learning model incorporating linear attention mechanisms and multiple neural networks for recognition and classification. Path optimization is then carried out using mean filtering, Bezier curve fitting, and an improved novel adaptive coati optimization algorithm (NACOA) according to the degree of unsmoothness of the path. Taking the optimization of a gear model’s process file as an example, the effectiveness of the proposed method is verified. The research results indicate that the CNC system machining trajectory feature recognition and path optimization method based on intelligent agents can significantly enhance the smoothness of CNC machining paths, reduce machining defects, and has substantial application value.

This paper shows the firsts results of a methodological approach in which Remote Sensing technologies (Satellite imagery and LiDAR) combined with Least Cost Path algorithm on GIS are being tested like tools to overcome locally-based interpretations about populational patterns and communication routes during Flavian municipality in the Comarca de El Condado region. The identification of fourteen hypothetical communication routes between already known archaeological sites thanks to a recent archaeological prospection, and the confirmation of three sections of them and a new archaeological site demonstrate that the combined use of the aforementioned technics has a very useful to delve more deeply, more widely and at a variety of different scales into the relation between the twelve known/selected Early Roman Empire sites and the surrounding landscape in the right bank of Guadalén River. It is expected that, in next phases, this methodological approach will allow us to go deeper in analysing and understanding spatial distribution, exploitation, and interrelation between different Early Roman Empire sites, helping us to fill the aforementioned gaps in our understanding of the archaeological continuum in the region reducing time and costs.

In this paper, a swarm trajectory planning method is proposed for multiple autonomous surface vehicles (ASVs) in an unknown and obstacle-rich environment. Specifically, based on the point cloud information of the surrounding environment obtained from local sensors, a kinodynamic path searching method is used to generate a series of waypoints in the discretized control space at first. Next, after fitting B-spline curves to the obtained waypoints, a nonlinear optimization problem is formulated to optimize the B-spline curves based on gradient-based local planning. Finally, a numerical optimization method is used to solve the optimization problems in real-time to obtain collision-free, smooth and dynamically feasible trajectories relying on a shared network. Simulation results demonstrate the effectiveness and efficiency of the proposed swarm trajectory planning method for a network of ASVs.

Background: primary sclerosing cholangitis (PSC) is a chronic cholestatic disease characterized by inflammation and fibrosis of the bile ducts. Cholestasis may lead to hepatic inflammation and fibrosis, and amelioration of cholestasis may allow recovery from inflammatory and fibrotic pathological damage. Prevotella copri (P. copri) intervention have been reported could significantly improve cholestasis and liver fibrosis in DDC-induced PSC mice model. Despite alone P. copri treatment could not recover DDC-induced inflammation, it increased the abundance of Lactobacillus murinus (L. murinus) compared to DDC treatment, which has been reported to have anti-inflammatory effects. The abundance of L. murinus still not recover to normal level may underlie hepatic inflammation in P. copri+DDC mice. Method: alone or in combination interventions of P. copri and L. murinus were used to investigate the molecular mechanism of improvement of PSC inflammation and fibrosis. Results: P. copri and L. murinus significantly reduced the hepatic inflammatory cell aggregation and inflammatory factor expression, as well as the hepatic collagen content and fibrin factor expression in PSC mice. Further analysis of phosphorylation and dephosphorylation levels revealed that P. copri and L. murinus combined intervention in PSC mice inhibited the activity of DDC-activated TGF-β1/Smad pathway, thereby reducing liver inflammation and fibrosis. Conclusion: combination of P. copri and L. murinus inhibits the TGF-β1/Smad pathway and reduces inflammation and fibrosis in PSC.

Wireless sensor networks (WSNs) are a critical research area with numerous practical applications. WSNs are utilized in real-life scenarios, including environmental monitoring, healthcare, industrial automation, smart homes, and agriculture. As WSNs advance and become more sophisticated, they offer limitless opportunities for innovative solutions in various fields. However, due to their unattended nature, it is essential to develop strategies to improve their performance without draining the battery power of the sensor nodes, which is their most valuable resource. This paper proposes a novel sink mobility model based on constructing a bipartite graph from a deployed wireless sensor network. Using the bipartite graph’s properties, the mobile sink node can visit stationary sensor nodes in an optimal way to collect data and transmit it to the base station. We evaluated the proposed approach through simulations using the NS-2 simulator to investigate the performance of wireless sensor networks when adopting this mobility model. Our results show that using the proposed approach can significantly enhance the performance of wireless sensor networks while conserving the energy of the sensor nodes.

In this study we present a hybrid approach of ACO with fuzzy logic and clustering methods to solve multi-objective path planning problems in case of swarm USVs. This study aims to enhance the performance of ACO algorithm by integrating fuzzy logic in order to cope with the multiple contradicting objectives and generate quality solutions by in parallel identifying the mission areas of each USV to reach the desired targets. The objectives that are taken into account are the minimization of traveled distance and energy consumption, and the maximization of path smoothness. A comparative evaluation is conducted among ACO and fuzzy inference systems, Mamdani (ACO-M) and Takagi–Sugeno–Kang (ACO-TSK). The results showed that depending on the needs of the application, each methodology can contribute respectively. ACO-M generates better paths but ACO-TSK presents higher computation efficiency.

Application of the Ramsey graph theory to the analysis of physical systems is reported. Physical interactions may be very generally classified as attractive and repulsive. This classification creates the premises for the application of the Ramsey theory to the analysis of physical systems built of electrical charges, electric and magnetic dipoles. The notions of mathematical logic, such as transitivity and intransitivity relations, become crucial for understanding of the behavior of physical systems. The Ramsey theory explains why nature prefers cubic lattices over hexagonal ones for systems built of electric or magnetic dipoles. The Ramsey approach may be applied to the analysis of mechanical systems when actual and virtual paths between the states in the configurational space are considered. Irreversible mechanical and thermodynamic processes are seen within the reported approach as directed graphs. Chains of irreversible processes appear as transitive tournaments. These tournaments are acyclic; the transitive tournaments necessarily contain the Hamiltonian path. The set of states in the phase space of the physical system, between which irreversible processes are possible, is considered. The Hamiltonian path of the tournament emerging from the graph uniting these states is a relativistic invariant. Applications of the Ramsey theory to the general relativity become possible when the discrete changes in the metric tensor are assumed. Reconsideration of the concept of “simultaneity” within the Ramsey approach is reported.

In heterogeneous networks, the random walks based on meta-path requires prior knowledge and lacks flexibility. And the random walks based on non-meta-path only considers the number of node types, but does not consider the influence of schema and topology between node types in real networks. To solve the above problems, this paper proposes a novel model HNE-RWTIC (Heterogeneous Network Embedding Based on Random Walks of Type & Inner Constraint). Firstly, to realize the flexible walks, we design a Type strategy, which is the node type selection strategy based on the co-occurrence probability of node types. Secondly, to achieve the uniformity of node sampling, we design an Inner strategy, which is the node selection strategy based on the adjacency relationship between nodes. The Type & Inner strategy can realize the random walks based on meta-path, the flexibility of the walks, and can sample the node types and nodes uniformly in proportion. Thirdly, based on the above strategy, a transition probability model is constructed; then, we obtain the nodes embedding based on the random walks and Skip-Gram. Finally, in classification and clustering tasks, we conducted a thorough empirical evaluation of our method on three real heterogeneous networks. Experimental results shown that F1-Score and NMI of HNE-RWTIC outperform state-of-the-art approaches.

In the new period, the state has made every effort to promote the new urbanization of public sports service. Entropy method, coupled coordination model, cold hot spot analysis is used to explore the dynamic relationship between public sports services and the development of new urbanization in China from 2008 to 2017. The results show that: (1) The development of the internal subsystem of public sports service is not balanced, the sports financial investment system grows rapidly, but the development of professional sports talent team is slow. (2) The imbalance of regional development cannot be ignored, and the public sports service level shows a decreasing gradient from east to west. (3) The regional development features are different. The eastern region is dominated by the coordinated development of sports public service and urbanization, while the central region is mainly in the type of public sports service lag, while the western region has multiple complex characteristics of low-level coordination and public sports service lag. Therefore, it is proposed that the construction of modern public sports service system should be investigated in the context of the development of new urbanization. It should be promoted from the following aspects: promoting the extension of public sports service to rural areas, engendering the "citizen's right" of sports health to the migrant population, conforming to the trend of mass sports intelligence, developing green sports and revitalizing idle sports assets in cities.

Multiaxial fatigue experiments under asynchronous loadings with four different loading frequency ratios were carried out on 30CrMnSiA steel. The experimental results show that the fatigue life decreases when the axial or torsion frequency increases from 1 to 2, while there is no significant change when the axial or torsion frequency increases from 2 to 4. The surface crack paths are observed and show that cracks initiate on the maximum shear stress amplitude planes, propagate approximately tens of microns, and then turn to propagate along the maximum normal stress planes. The number of secondary cracks increases when the axial or torsion frequency increases. Subsequently, the Bannantine-Socie and Wang-Brown cycle counting methods along with various multiaxial fatigue criteria and Palmgren-Miner’s cumulative damage rule were used for fatigue life prediction. The experimental results are consistent with the fatigue life predicted by the Bannantine-Socie method with the section critical plane criterion for 30CrMnSiA steel under asynchronous loading paths.

With the rapid development of smart phones, tablets and their operative systems, many positioning enabled sensors have been built into these devices. Users can now accurately fix their location according to the function of GPS receivers. For indoor environments, as in the case we are studying, WiFi based positioning is preferred to GPS due to the attenuation or obstruction of signals. This paper deals with the automatic classification of customers in a Sports Shop Center on the basis of their movements around the shop's premises. To achieve this goal, we start by collecting (x,y) coordinates from customers while they visit the store. Consequently, any costumer's path through the shop is formed by a list of coordinates, obtained with a frequency of one measurement per minute. Then, a guess about the full trajectory is constructed and a number of parameters about these trajectories is calculated before performing an Unsupervised Learning Clustering Process. As a result, we can identify several types of customers, and the dynamics of their behavior inside the shop. This information is of great value to the company, to be used both in the long term and also in short periods of time, monitoring the current state of the shop at any moment, identifying different types of situation appearing during restricted periods, or predicting customer flow conditions

We present the detailed calculations of social distancing requirement. A comparative study of the growth pattern and death tolls in different communities indicates that the growth pattern of infected patients and death rate follow the similar distribution with different parametrizations. Every distribution follows an exponential growth pattern curve, like other microbes, then reaches the saturation point an d eventually decay s However, the argument for the exponential function depends on several parameters unbeknownst, as of yet. However, the slope varies different ial ly for various epicenter s and seems to have a relationship with parameters such as accessibi lity to healthcare facilities, pre existing medical conditions socio economic conditions and lifestyle. The mismatch of the growth pattern is also linked with the impact of various other factors and a premature interpretation of limit ed data. Novel behavi or of the virus brought many surprises, opened up new venues for medical research, and the need for the more detailed study of pathogens in the light of the interaction of RNA and DNA The adaptability to diverse ecological condition s and the relevant modification in the structure is also worth investigation The genetic modification can be studied using quantum mechanical probabilistic approach.

Internet of things (IoT) is a network of smart things. This indicates the ability of these physical things to transfer information with other physical things. IoT has introduced various services and daily human life depends on its reliable and accessible operation. The characteristics of these networks, such as topology dynamicity and energy constraint, challenges the routing problem in these networks. Previous routing methods could not achieve the required performance in this type of network. Therefore, developers of this network designed and developed specific methods in order to satisfy the requirements of these networks. One of the routing methods is utilization of multi-path protocols which send data to its destination using routs with separate links. One of such protocols is AOMDV routing protocol. AOMDV protocol is a multi-path protocol which uses multiple different paths for sending information in order to maintain the network traffic balance, manage and control node energy, decrease latency, etc. In this paper, this method is improved using gray system theory which chooses the best paths used for separate routes to send packets. To do this, AOMDV packet format is altered and some fields are added to it so that energy criteria, link expiration time, and signal to noise ratio can also be considered while selecting the best route. The proposed method named GSTMPR-IoT is introduced which chooses the routs with highest rank for concurrent transmission of data, using a specific routine based on the gray system theory. In order to evaluate and report the results, the proposed GSTMPR-IoT method is compared to the EECRP and AOMDV approaches with regard to throughput, packet delivery rate, end to end delay, average residual energy, and network lifetime. The results demonstrate the superior performance of the proposed GSTMPR-IoT compared to the EECRP and AOMDV approaches.

This study presents a path planning method for a mobile robot to be effectively operated through a multi-objective decision-making problem. Specifically, the proposed Fuzzy analytic hierarchy process (FAHP) determines an optimal position as a sub-goal within the multi-objective boundary. The key features of the proposed FAHP are evaluating the candidates according to the fuzzified relative importance among objectives to select an optimal solution. In order to incorporate FAHP into path planning, an AHP framework is defined, which includes the highest level (goal), middle level (objectives), and the lowest level (alternatives). The distance to the target, robot’s rotation, and safety against collision between obstacles are considered as objective functions. Comparative results obtained from the artificial potential field and AHP/FAHP simulations show that FAHP is much preferable for the mobile robot’s path planning than typical AHP.

We generate numerically on a lattice an ensemble of stationary metrics, with spherical symmetry, which have Einstein action S_E « ħ. This is obtained through a Metropolis algorithm with weight exp(-β²S_E²) and β » ħ^-1. The squared action in the exponential allows to circumvene the problem of the non-positivity of S_E. The discretized metrics obtained exhibit a spontaneous polarization in regions of positive and negative scalar curvature. We compare this ensemble with a class of continuous metrics previously found, which satisfy the condition S_E=0 exactly, or in certain cases even the stronger condition R(x)=0 for any x. All these gravitational field configurations are of considerable interest in quantum gravity, because they represent possible vacuum fluctuations and are markedly different from Wheeler's ''spacetime foam''.

In quantum gravity perturbation theory in Newton's constant $G$ is known to be badly divergent, and as a result not very useful. Nevertheless, some of the most interesting phenomena in physics are often associated with non-analytic behavior in the coupling constant and the existence of nontrivial quantum condensates. It is therefore possible that pathologies encountered in the case of gravity are more likely the result of inadequate analytical treatment, and not necessarily a reflection of some intrinsic insurmountable problem. The nonperturbative treatment of quantum gravity via the Regge-Wheeler lattice path integral formulation reveals the existence of a new phase involving a nontrivial gravitational vacuum condensate, and a new set of scaling exponents characterizing both the running of $G$ and the long-distance behavior of invariant correlation functions. The appearance of such a gravitational condensate is viewed as analogous to the (equally nonperturbative) gluon and chiral condensates known to describe the physical vacuum of QCD. The resulting quantum theory of gravity is highly constrained, and its physical predictions are found to depend only on one adjustable parameter, a genuinely nonperturbative scale $\xi$ in many ways analogous to the scaling violation parameter $\Lambda_{\bar MS} $ of QCD. Recent results point to significant deviations from classical gravity on distance scales approaching the effective infrared cutoff set by the observed cosmological constant. Such subtle quantum effects are expected to be initially small on current cosmological scales, but could become detectable in future high precision satellite experiments.

This research work uses a simplified approach to combine location information from beacons propagation signal interaction with a mobile device with local building information to give real-time location and guidance to a user inside a building. This is an interactive process with visualisation information that can help user’s orientation inside unknown buildings and the data stored from different users can provide useful information about users movements inside a public building. Beacons installed on the building at specific pre-defined position emit signals that give a geographic position with an associated imprecision, related with Bluetooth’s range. This uncertainty is handled by building layout and users’ movement in a developed system that maps users’ position, gives guidance and store user movements. This system is based on an App (Find Me!) for Android OS (Operating System) which captures the Bluetooth Low Energy (BLE) signal coming from the beacon(s) and shows, through a map, the location of the user ‘s smartphone and guide him to the desired destination. Also, the beacons can deliver relevant context information. The application was tested by a panel of new and habitual campus users against traditional wayfinding alternatives yielding navigation times about 30% smaller, respectively.

The generalization of Farey graphs and extended Farey graphs are all originated from Farey graph and scale-free and small-world simultaneously. We propose a labeling of the vertices for it that allows determining all the shortest paths routing between any two vertices only based on their labels. The maximum number of shortest paths between any two vertices is huge as the product of two Fibonacci numbers, however, the label-based routing algorithm runs in linear time O(n). The existence of an efficient routing protocol for Farey-type models should help the understanding of several physical dynamic processes on it.

In the field of autonomous vehicles, lane detection and control plays an important role. In autonomous driving the vehicle has to follow the path to avoid the collision. A deep learning technique is used to detect the curved path in autonomous vehicles. In this paper a customized lane detection algorithm was implemented to detect the curvature of the lane. A ground truth labelling tool box for deep learning is used to detect the curved path in autonomous vehicle. By mapping point to point in each frame 80-90% computing efficiency and accuracy is achieved in detecting path.

Landing is one of the most dangerous tasks in all the operations on the aircraft carrier, and the landing safety is very important to the pilot and the flight deck operation. The problem of landing path selection is studied in this paper as there several candidates corresponding to different situations. A fuzzy path selection strategy is proposed to solve the problem considering the fuzziness of environmental information and human judgment, and the goal is to provide the pilot with more reasonable decision. The strategy is based on Fuzzy Multi-attribute Group Decision Making (FMAGDM), which has been widely used in industry. Firstly, the background of the path selection problem is given. Then the essential elements of the problem are abstracted to build the conceptual model. A group decision-making method is applied to denote the preference of each decision maker for each alternative route, and the optimal landing path under the current environment is determined taking into account the knowledge and the weight of both decision makers. Experimental studies under different setups, i.e., different environments, are carried out. The results demonstrate that the proposed path selection strategy is validated in different environments, and the optimal landing paths corresponding to different environments can be determined.

The multi-UAV target search problem is crucial in the field of autonomous Unmanned Aerial Vehicle (UAV) decision-making. The algorithm design of Multi-agent Reinforcement Learning (MARL) methods has become integral to research on multi-UAV target search, due to its adaptability to the rapid online decision-making required by UAVs in complex, uncertain environments. In non-cooperative target search scenarios, targets may have the ability to escape, complicating UAVs' search efforts and hindering the convergence of the MARL algorithm training. This paper investigates the multi-UAV target search problem in scenarios involving static obstacles and dynamic escape targets, modeling the problem within the framework of Decentralized Partially Observable Markov Decision Process. Based on this model, a Spatio-Temporal Efficient Exploration network and a Global Convolutional Local Ascent mechanism are proposed. Subsequently,we introduce a Multi-UAV Escape Target Search Algorithm Based on MAPPO(ETS-MAPPO) for addressing the escape target search difficulty problem. Simulation results demonstrate that the ETS-MAPPO algorithm outperforms five classical MARL algorithms in terms of the number of target searches,the area coverage rate, and other metrics.

With the digital transformation of the logistics industry, smart logistics algorithms have become a core technology to improve efficiency and reduce costs. This paper reviews the development history of traditional logistics technology and discusses the key role of technologies such as the Internet of Things, big data analysis, artificial intelligence, and automation in logistics technology innovation. It focuses on the application of intelligent logistics algorithms in path optimization, intelligent scheduling, data mining and prediction, and intelligent warehousing. To solve the problem of inconsistency between training and testing objectives, this paper proposes DRL4Route, a deep reinforcement learning-based path optimization framework, and designs the DRL4Route-GAE model. Validated through extensive offline experiments and online deployments, the model significantly outperforms existing optimal benchmark methods on real datasets, improving the location deviation squared metrics and the top-three location prediction accuracy metrics. These research results provide important support to further promote the intelligent development of the logistics industry.

Fractional delay-Doppler (DD) channel estimation in Orthogonal Time Frequency Space (OTFS) systems poses a significant challenge considering the severe effects of Inter-Path Interference (IPI). To this end, several algorithms have been extensively explored in literature for accurate low-complexity channel estimation in both integer and fractional DDs scenarios. In this work, we develop a variant of the state-of-the-art Delay-Doppler Inter-Path Interference Cancellation (DDIPIC) algorithm which progressively cancels the IPI as estimates are obtained. The key advantage of the proposed approach is that it requires only a final refinement procedure reducing the complexity of the algorithm. Specifically, the time difference in latency between the proposed approach and the DDIPIC algorithm is almost proportional to the square of the number of estimated paths. Numerical results show that the proposed algorithm outperforms the other channel estimation schemes achieving lower Normalized Mean Square Error (NMSE) and Bit Error Rate (BER).

The challenging terrain and deep ravines characteristic of mountainous regions often result in slower path planning and suboptimal flight paths for Unmanned Aerial Vehicles (UAVs) when traditional meta-heuristic optimization algorithms are employed. This study investigates the application of an Improved Enhanced Snake Optimizer (IESO) for three-dimensional path planning in a simulated rugged mountainous terrain. The initialization process in the enhanced snake optimizer is refined by integrating the Chebyshev chaotic map. Additionally, a non-monotonic factor is introduced to modulate the "temperature," and a boundary condition is incorporated into the dynamic opposition learning mechanism. These modifications collectively reduce the likelihood of population convergence to local optima during optimization. The feasibility of IESO is validated through time complexity and global convergence analyses. Comparative simulation experiments benchmarked IESO against five state-of-the-art optimization algorithms across test functions and path-planning simulated scenarios. The experimental results indicate that the enhanced algorithm achieves superior optimization precision, faster convergence speeds, and improved quality in the planned trajectories by 30%.

Pepper leaf segmentation plays a crucial role in monitoring pepper leaf diseases in various backgrounds and ensuring the healthy growth of peppers. However, existing transformer-based segmentation methods suffer from computational inefficiency, excessive parameterization, and limited utilization of edge information. To tackle these challenges, we propose an adaptive multi-scale MLP framework, named AMS-MLP, which combines the multi-path aggregation module (MPAM) and the multi-scale context relation mask module (MCRD) to refine the object boundaries in pepper leaf segmentation. AMS-MLP consists of an encoder-based network, an adaptive multi-scale MLP (AM-MLP) module, and a decoder network. In the encoder network, the MPAM module effectively fuses five-scale features to generate a single-channel mask, improving the accuracy of pepper leaf boundary extraction. The AM-MLP module divides the input features into two branches: the global multi-scale MLP branch captures long-range dependencies between image information, while the local multi-scale MLP branch focuses on extracting local feature maps. Adaptive attention mechanism is designed to dynamically adjust the weights of global and local features. The decoder network incorporates the MCRD module into the convolutional layer, enhancing the extraction of boundary features. To verify the performance of the proposed method, we conducted extensive experiments on three pepper leaf datasets with different backgrounds. The results demonstrate mIoU scores of 97.39%, 96.91%, and 97.91%, as well as F1 scores of 98.29%, 97.86%, and 98.51%, respectively. Comparative analysis with U-Net and state-of-the-art models reveals that the proposed method dramatically improves the accuracy and efficiency of pepper leaf image segmentation.