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Large Language Models for Effective Detection of Algorithmically Generated Domains:A Comprehensive Review
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作者 Hamed Alqahtani Gulshan Kumar 《Computer Modeling in Engineering & Sciences》 2025年第8期1439-1479,共41页
Domain Generation Algorithms(DGAs)continue to pose a significant threat inmodernmalware infrastructures by enabling resilient and evasive communication with Command and Control(C&C)servers.Traditional detection me... Domain Generation Algorithms(DGAs)continue to pose a significant threat inmodernmalware infrastructures by enabling resilient and evasive communication with Command and Control(C&C)servers.Traditional detection methods-rooted in statistical heuristics,feature engineering,and shallow machine learning-struggle to adapt to the increasing sophistication,linguistic mimicry,and adversarial variability of DGA variants.The emergence of Large Language Models(LLMs)marks a transformative shift in this landscape.Leveraging deep contextual understanding,semantic generalization,and few-shot learning capabilities,LLMs such as BERT,GPT,and T5 have shown promising results in detecting both character-based and dictionary-based DGAs,including previously unseen(zeroday)variants.This paper provides a comprehensive and critical review of LLM-driven DGA detection,introducing a structured taxonomy of LLM architectures,evaluating the linguistic and behavioral properties of benchmark datasets,and comparing recent detection frameworks across accuracy,latency,robustness,and multilingual performance.We also highlight key limitations,including challenges in adversarial resilience,model interpretability,deployment scalability,and privacy risks.To address these gaps,we present a forward-looking research roadmap encompassing adversarial training,model compression,cross-lingual benchmarking,and real-time integration with SIEM/SOAR platforms.This survey aims to serve as a foundational resource for advancing the development of scalable,explainable,and operationally viable LLM-based DGA detection systems. 展开更多
关键词 Adversarial domains cyber threat detection domain generation algorithms large language models machine learning security
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An improved fluid flow algorithm for hydraulic fracturing:Optimizing domain volume and crack pressure update strategies
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作者 Wei Zhang Jing Bi +3 位作者 Yu Zhao Yongfa Zhang Chaolin Wang Yang Pan 《International Journal of Mining Science and Technology》 2025年第4期639-657,共19页
With the widespread adoption of hydraulic fracturing technology in oil and gas resource development,improving the accuracy and efficiency of fracturing simulations has become a critical research focus.This paper propo... With the widespread adoption of hydraulic fracturing technology in oil and gas resource development,improving the accuracy and efficiency of fracturing simulations has become a critical research focus.This paper proposes an improved fluid flow algorithm,aiming to enhance the computational efficiency of hydraulic fracturing simulations while ensuring computational accuracy.The algorithm optimizes the aperture law and iteration criteria,focusing on improving the domain volume and crack pressure update strategy,thereby enabling precise capture of dynamic borehole pressure variations during injection tests.The effectiveness of the algorithm is verified through three flow-solid coupling cases.The study also analyzes the effects of borehole size,domain volume,and crack pressure update strategy on fracturing behavior.Furthermore,the performance of the improved algorithm in terms of crack propagation rate,micro-crack formation,and fluid pressure distribution was further evaluated.The results indicate that while large-size boreholes delay crack initiation,the cracks propagate more rapidly once formed.Additionally,the optimized domain volume calculation and crack pressure update strategy significantly shorten the pressure propagation stage,promote crack propagation,and improve computational efficiency. 展开更多
关键词 Hydraulic fracturing Fluid flow algorithm domain volume optimization Crack pressure update Borehole size
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A Parallel Global-Local Mixed Evolutionary Algorithm for Multimodal Function Optimization Based on Domain Decomposition 被引量:4
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作者 Wu Zhi-jian, Tang Zhi-long,Kang Li-shanState Key Laboratory of Software Engineering, Wuhan University, Wuhan 430072, Hubei, China 《Wuhan University Journal of Natural Sciences》 CAS 2003年第S1期253-258,共6页
This paper presents a parallel two-level evolutionary algorithm based on domain decomposition for solving function optimization problem containing multiple solutions. By combining the characteristics of the global sea... This paper presents a parallel two-level evolutionary algorithm based on domain decomposition for solving function optimization problem containing multiple solutions. By combining the characteristics of the global search and local search in each sub-domain, the former enables individual to draw closer to each optima and keeps the diversity of individuals, while the latter selects local optimal solutions known as latent solutions in sub-domain. In the end, by selecting the global optimal solutions from latent solutions in each sub-domain, we can discover all the optimal solutions easily and quickly. 展开更多
关键词 function optimization GT algorithm GLME algorithm evolutionary algorithm domain decomposition
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Modeling of Borehole Radar for Well Logging Using Pseudo-spectral Time Domain Algorithm 被引量:2
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作者 林树海 《Journal of Earth Science》 SCIE CAS CSCD 2009年第6期978-984,共7页
In this article, numerical modeling of borehole radar for well logging in time domain is developed using pseudo-spectral time domain algorithm in axisymmetric cylindrical coordinate for proximate true formation model.... In this article, numerical modeling of borehole radar for well logging in time domain is developed using pseudo-spectral time domain algorithm in axisymmetric cylindrical coordinate for proximate true formation model. The conductivity and relative permittivity logging curves are obtained from the data of borehole radar for well logging. Since the relative permittivity logging curve is not affected by salinity of formation water, borehole radar for well logging has obvious advantages as compared with conventional electrical logging. The borehole radar for well logging is a one-transmitter and two-receiver logging tool. The conductivity and relative permittivity logging curves are obtained successfully by measuring the amplitude radio and the time difference of pulse waveform from two receivers. The calculated conductivity and relative permittivity logging curves are close to the true value of surrounding formation, which tests the usability and reliability of borehole radar for well logging. The numerical modeling of borehole radar for well logging laid the important foundation for researching its logging tool. 展开更多
关键词 borehole radar well logging pseudo-spectral time domain algorithm CONDUCTIVITY permittivity.
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Immune evolutionary algorithms with domain knowledge for simultaneous localization and mapping 被引量:4
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作者 李枚毅 蔡自兴 《Journal of Central South University of Technology》 EI 2006年第5期529-535,共7页
Immune evolutionary algorithms with domain knowledge were presented to solve the problem of simultaneous localization and mapping for a mobile robot in unknown environments. Two operators with domain knowledge were de... Immune evolutionary algorithms with domain knowledge were presented to solve the problem of simultaneous localization and mapping for a mobile robot in unknown environments. Two operators with domain knowledge were designed in algorithms, where the feature of parallel line segments without the problem of data association was used to construct a vaccination operator, and the characters of convex vertices in polygonal obstacle were extended to develop a pulling operator of key point grid. The experimental results of a real mobile robot show that the computational expensiveness of algorithms designed is less than other evolutionary algorithms for simultaneous localization and mapping and the maps obtained are very accurate. Because immune evolutionary algorithms with domain knowledge have some advantages, the convergence rate of designed algorithms is about 44% higher than those of other algorithms. 展开更多
关键词 immune evolutionary algorithms simultaneous localization and mapping domain knowledge
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ANALYSIS OF WAVEGUIDE PROBLEMS USING A RELAXED ITERATIVE DOMAIN DECOMPOSITION METHOD COMBINED WITH MULTIFRONTAL ALGORITHM 被引量:2
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作者 Zhu Hanqing Wu Zhengde (Applied Physics Institute, University of Electronic Science and Technology of China, Chengdu 610054)K. M. Luk(Department of Electronic Eng., City University of Hong Kong, Kowloon, Hong Kong SAR, China) 《Journal of Electronics(China)》 2003年第2期110-115,共6页
In this paper, an absorbing Fictitious Boundary Condition (FBC) is presented to generate an iterative Domain Decomposition Method (DDM) for analyzing waveguide problems.The relaxed algorithm is introduced to improve t... In this paper, an absorbing Fictitious Boundary Condition (FBC) is presented to generate an iterative Domain Decomposition Method (DDM) for analyzing waveguide problems.The relaxed algorithm is introduced to improve the iterative convergence. And the matrix equations are solved using the multifrontal algorithm. The resulting CPU time is greatly reduced.Finally, a number of numerical examples are given to illustrate its accuracy and efficiency. 展开更多
关键词 Fictitious boundary condition domain decomposition method Relaxed algorithm Multifrontal algorithm Waveguide problem
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A ROBUST PHASE-ONLY DIRECT DATA DOMAIN ALGORITHM BASED ON GENERALIZED RAYLEIGH QUOTIENT OPTIMIZATION USING HYBRID GENETIC ALGORITHM 被引量:2
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作者 Shao Wei Qian Zuping Yuan Feng 《Journal of Electronics(China)》 2007年第4期560-566,共7页
A robust phase-only Direct Data Domain Least Squares (D3LS) algorithm based on gen- eralized Rayleigh quotient optimization using hybrid Genetic Algorithm (GA) is presented in this letter. The optimization efficiency ... A robust phase-only Direct Data Domain Least Squares (D3LS) algorithm based on gen- eralized Rayleigh quotient optimization using hybrid Genetic Algorithm (GA) is presented in this letter. The optimization efficiency and computational speed are improved via the hybrid GA com- posed of standard GA and Nelder-Mead simplex algorithms. First, the objective function, with a form of generalized Rayleigh quotient, is derived via the standard D3LS algorithm. It is then taken as a fitness function and the unknown phases of all adaptive weights are taken as decision variables. Then, the nonlinear optimization is performed via the hybrid GA to obtain the optimized solution of phase-only adaptive weights. As a phase-only adaptive algorithm, the proposed algorithm is sim- pler than conventional algorithms when it comes to hardware implementation. Moreover, it proc- esses only a single snapshot data as opposed to forming sample covariance matrix and operating matrix inversion. Simulation results show that the proposed algorithm has a good signal recovery and interferences nulling performance, which are superior to that of the phase-only D3LS algorithm based on standard GA. 展开更多
关键词 Generalized Rayleigh quotient Hybrid genetic algorithm Phase-only optimization Direct Data domain Least Squares (D^3LS) algorithm Nelder-Mead simplex algorithm
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Parallel finite element algorithm based on full domain partition for stationary Stokes equations
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作者 尚月强 何银年 《Applied Mathematics and Mechanics(English Edition)》 SCIE EI 2010年第5期643-650,共8页
Based on the full domain partition, a parallel finite element algorithm for the stationary Stokes equations is proposed and analyzed. In this algorithm, each subproblem is defined in the entire domain. Majority of the... Based on the full domain partition, a parallel finite element algorithm for the stationary Stokes equations is proposed and analyzed. In this algorithm, each subproblem is defined in the entire domain. Majority of the degrees of freedom are associated with the relevant subdomain. Therefore, it can be solved in parallel with other subproblems using an existing sequential solver without extensive recoding. This allows the algorithm to be implemented easily with low communication costs. Numerical results are given showing the high efficiency of the parallel algorithm. 展开更多
关键词 Stokes equations finite element parallel algorithm full domain partition
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Error Analysis in Frequency Domain for Linear Multipass Algorithms
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作者 费景高 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2001年第4期77-84,共8页
Error analysis methods in frequency domain are developed in this paper for determining the characteristic root and transfer function errors when the linear multipass algorithms are used to solve linear differential eq... Error analysis methods in frequency domain are developed in this paper for determining the characteristic root and transfer function errors when the linear multipass algorithms are used to solve linear differential equations. The relation between the local truncation error in time domain and the error in frequency domain is established, which is the basis for developing the error estimation methods. The error estimation methods for the digital simulation model constructed by using the Runge-Kutta algorithms and the linear multistep predictor-corrector algorithms are also given. 展开更多
关键词 algorithmS Computer simulation Differential equations Error analysis Frequency domain analysis Runge Kutta methods
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A Domain Extension Algorithm for Digital Error Correction of Pipeline ADCs
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作者 Ting Li Chao You 《Circuits and Systems》 2014年第2期39-44,共6页
A domain extension algorithm to correct the comparator offsets of pipeline analog-to-digital converters (ADCs) is presented, in which the 1.5-bit/stage ADC quantify domain is extended from a three-domain to a five-dom... A domain extension algorithm to correct the comparator offsets of pipeline analog-to-digital converters (ADCs) is presented, in which the 1.5-bit/stage ADC quantify domain is extended from a three-domain to a five-domain. This algorithm is designed for high speed and low comparator accuracy application. The comparator offset correction ability is improved. This new approach also promises significant improvements to the spurious-free dynamic range (SFDR), the total harmonic distortion (THD), the signal-to-noise ratio (SNR) and the minor analog and digital circuit modifications. Behavioral simulation results are presented to demonstrate the effectiveness of the algorithm, in which all absolute values of comparator offsets are set to |3Vref/8|. SFDR, THD and SNR are improved, from 34.62-dB, 34.63-dB and 30.33-dB to 60.23-dB, 61.14-dB and 59.35-dB, respectively, for a 10-bit pipeline ADC. 展开更多
关键词 BEHAVIORAL Simulation COMPARATOR OFFSETS domain Extension algorithm Pipeline ADCS
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Inversion of Seabed Geotechnical Properties in the Arctic Chukchi Deep Sea Basin Based on Time Domain Adaptive Search Matching Algorithm
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作者 AN Long XU Chong +5 位作者 XING Junhui GONG Wei JIANG Xiaodian XU Haowei LIU Chuang YANG Boxue 《Journal of Ocean University of China》 SCIE CAS CSCD 2024年第4期933-942,共10页
The chirp sub-bottom profiler,for its high resolution,easy accessibility and cost-effectiveness,has been widely used in acoustic detection.In this paper,the acoustic impedance and grain size compositions were obtained... The chirp sub-bottom profiler,for its high resolution,easy accessibility and cost-effectiveness,has been widely used in acoustic detection.In this paper,the acoustic impedance and grain size compositions were obtained based on the chirp sub-bottom profiler data collected in the Chukchi Plateau area during the 11th Arctic Expedition of China.The time-domain adaptive search matching algorithm was used and validated on our established theoretical model.The misfit between the inversion result and the theoretical model is less than 0.067%.The grain size was calculated according to the empirical relationship between the acoustic impedance and the grain size of the sediment.The average acoustic impedance of sub-seafloor strata is 2.5026×10^(6) kg(s m^(2))^(-1)and the average grain size(θvalue)of the seafloor surface sediment is 7.1498,indicating the predominant occurrence of very fine silt sediment in the study area.Comparison of the inversion results and the laboratory measurements of nearby borehole samples shows that they are in general agreement. 展开更多
关键词 time domain adaptive search matching algorithm acoustic impedance inversion sedimentary grain size Arctic Ocean Chukchi Deep Sea Basin
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Conformal Wavelet Finite-difference Time-domain Algorithm for Analysis of Milimeter Wave Attenuation on Coplanar Waveguide
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作者 DAI Hong-quan CHEN Hai-yan 《Semiconductor Photonics and Technology》 CAS 2007年第3期206-209,共4页
Addressed is the calculation of millimeter wave attenuation on coplanar waveguide(CPW). A novel conformal wavelet finite-difference time-domain(CWFDTD) algorithm is proposed with emphasis on its application in calcula... Addressed is the calculation of millimeter wave attenuation on coplanar waveguide(CPW). A novel conformal wavelet finite-difference time-domain(CWFDTD) algorithm is proposed with emphasis on its application in calculation of millimeter wave attenuation on CPW, which is the combination of conformal algorithm dealing with the deformed cell with Wavelet-FDTD using multi-resolution analysis(MRA). Derived is the difference formulation for multi-resolution time domain(MRTD) based on Daubechies wavelets, and also given is the stability conditions for wavelet-FDTD algorithm. To validate its accuracy and efficiency, this novel method is applied to calculate the millimeter wave attenuation on lithium niobate CPW. Numerical results demonstrate that this new CWFDTD algorithm has the same accuracy with the conformal finite-difference time-domain(CFDTD) and conformal finite-difference time-domain based on alternating-direction implicit method(ADI-CFDTD), but saves computational time and computer memory. 展开更多
关键词 millimeter wave attenuation conformal wavelet FDTD algorithm multi-resolution analysis multi-resolution time domain coplanar waveguide
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Dynamic multicast sharing protection algorithm based on fuzzy game in multi-domain optical network
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作者 WU Qi-wu CHEN Hao +1 位作者 JIANG Ling-zhi ZHOU Yang 《Optoelectronics Letters》 EI 2020年第6期455-461,共7页
Aiming at the problem of dynamic multicast service protection in multi-domain optical network, this paper proposes a dynamic multicast sharing protection algorithm based on fuzzy game in multi-domain optical network. ... Aiming at the problem of dynamic multicast service protection in multi-domain optical network, this paper proposes a dynamic multicast sharing protection algorithm based on fuzzy game in multi-domain optical network. The algorithm uses the minimum cost spanning tree strategy and fuzzy game theory. First, it virtualizes two planes to calculate the multicast tree and the multicast protection tree respectively. Then, it performs a fuzzy game to form a cooperative alliance to optimize the path composition of each multicast tree. Finally, it generates a pair of optimal multicast work tree and multicast protection tree for dynamic multicast services. The time complexity of the algorithm is O(k3 m2 n), where n represents the number of nodes in the networks, k represents the number of dynamic multicast requests, and m represents the number of destination nodes for each multicast request. The experimental results show that the proposed algorithm reduces significantly the blocking rate of dynamic multicast services, and improves the utilization of optical network resources within a certain number of dynamic multicast request ranges. 展开更多
关键词 SERVICE Dynamic multicast sharing protection algorithm based on fuzzy game in multi-domain optical network domain
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Effective pure qP-wave equation and its numerical implementation in the time-space domain for 3D complicated anisotropic media
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作者 Shi-Gang Xu Xing-Guo Huang Li Han 《Petroleum Science》 2025年第4期1534-1547,共14页
Seismic anisotropy has been extensively acknowledged as a crucial element that influences the wave propagation characteristic during wavefield simulation,inversion and imaging.Transversely isotropy(TI)and orthorhombic... Seismic anisotropy has been extensively acknowledged as a crucial element that influences the wave propagation characteristic during wavefield simulation,inversion and imaging.Transversely isotropy(TI)and orthorhombic anisotropy(OA)are two typical categories of anisotropic media in exploration geophysics.In comparison of the elastic wave equations in both TI and OA media,pseudo-acoustic wave equations(PWEs)based on the acoustic assumption can markedly reduce computational cost and complexity.However,the presently available PWEs may experience SV-wave contamination and instability when anisotropic parameters cannot satisfy the approximated condition.Exploiting pure-mode wave equations can effectively resolve the above-mentioned issues and generate pure P-wave events without any artifacts.To further improve the computational accuracy and efficiency,we develop two novel pure qP-wave equations(PPEs)and illustrate the corresponding numerical solutions in the timespace domain for 3D tilted TI(TTI)and tilted OA(TOA)media.First,the rational polynomials are adopted to estimate the exact pure qP-wave dispersion relations,which contain complicated pseudo-differential operators with irrational forms.The polynomial coefficients are produced by applying a linear optimization algorithm to minimize the objective function difference between the expansion formula and the exact one.Then,the developed optimized PPEs are efficiently implemented using the finite-difference(FD)method in the time-space domain by introducing a scalar operator,which can help avoid the problem of spectral-based algorithms and other calculation burdens.Structures of the new equations are concise and corresponding implementation processes are straightforward.Phase velocity analyses indicate that our proposed optimized equations can lead to reliable approximation results.3D synthetic examples demonstrate that our proposed FD-based PPEs can produce accurate and stable P-wave responses,and effectively describe the wavefield features in complicated TTI and TOA media. 展开更多
关键词 Anisotropic media Wavefield extrapolation Pure qP-wave equation Optimization algorithm Finite-difference method Time-space domain
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DNEFNET: Denoising and Frequency Domain Feature Enhancement Event Fusion Network for Image Deblurring
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作者 Kangkang Zhao Yaojie Chen Jianbo Li 《Computers, Materials & Continua》 2025年第7期745-762,共18页
Traditional cameras inevitably suffer from motion blur when facing high-speed moving objects.Event cameras,as high temporal resolution bionic cameras,record intensity changes in an asynchronous manner,and their record... Traditional cameras inevitably suffer from motion blur when facing high-speed moving objects.Event cameras,as high temporal resolution bionic cameras,record intensity changes in an asynchronous manner,and their recorded high temporal resolution information can effectively solve the problem of time information loss in motion blur.Existing event-based deblurring methods still face challenges when facing high-speed moving objects.We conducted an in-depth study of the imaging principle of event cameras.We found that the event stream contains excessive noise.The valid information is sparse.Invalid event features hinder the expression of valid features due to the uncertainty of the global threshold.To address this problem,a denoising-based long and short-term memory module(DTM)is designed in this paper.The DTM suppressed the original event information by noise reduction process.Invalid features in the event stream and solves the problem of sparse valid information in the event stream,and it also combines with the long short-term memory module(LSTM),which further enhances the event feature information in the time scale.In addition,through the in-depth understanding of the unique characteristics of event features,it is found that the high-frequency information recorded by event features does not effectively guide the fusion feature deblurring process in the spatial-domain-based feature processing,and for this reason,we introduce the residual fast fourier transform module(RES-FFT)to further enhance the high-frequency characteristics of the fusion features by performing the feature extraction of the fusion features from the perspective of the frequency domain.Ultimately,our proposed event image fusion network based on event denoising and frequency domain feature enhancement(DNEFNET)achieved Peak Signal-to-Noise Ratio(PSNR)/Structural Similarity Index Measure(SSIM)scores of 35.55/0.972 on the GoPro dataset and 38.27/0.975 on the REBlur dataset,achieving the state of the art(SOTA)effect. 展开更多
关键词 Image deblurring event camera DENOISING frequency domain algorithm 1:DNEFNET image processing
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Multi-scale seismic full waveform inversion in the frequency-domain with a multi-grid method 被引量:2
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作者 宋建勇 郑晓东 +1 位作者 秦臻 苏本玉 《Applied Geophysics》 SCIE CSCD 2011年第4期303-310,371,共9页
Although full waveform inversion in the frequency domain can overcome the local minima problem in the time direction, such problem still exists in the space direction because of the media subsurface complexity. Based ... Although full waveform inversion in the frequency domain can overcome the local minima problem in the time direction, such problem still exists in the space direction because of the media subsurface complexity. Based on the optimal steep descent methods, we present an algorithm which combines the preconditioned bi-conjugated gradient stable method and the multi-grid method to compute the wave propagation and the gradient space. The multiple scale prosperity of the waveform inversion and the multi-grid method can overcome the inverse problems local minima defect and accelerate convergence. The local inhomogeneous three-hole model simulated results and the Marmousi model certify the algorithm effectiveness. 展开更多
关键词 Full waveform inversion frequency domain wave equation multi-grid iterative method bi-conjugated gradient stable algorithm
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基于字符级替换的DGA域名生成方法
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作者 王春东 王天宇 《计算机应用与软件》 北大核心 2026年第1期135-141,177,共8页
现代僵尸网络广泛采用域名生成算法(Domain Generation Algorithms,DGAs),以生成大量随机域名,用于隐蔽命令和控制(Command and Control,C&C)通信。近年来,研究人员提出了许多基于机器学习的方法以检测DGA域名。然而,这些方法难以... 现代僵尸网络广泛采用域名生成算法(Domain Generation Algorithms,DGAs),以生成大量随机域名,用于隐蔽命令和控制(Command and Control,C&C)通信。近年来,研究人员提出了许多基于机器学习的方法以检测DGA域名。然而,这些方法难以有效应对对抗攻击。提出一种基于字符级替换的DGA(CLR-DGA),它通过一定条件下的字符替换,以良性域名为基础生成对抗性域名,不需要了解DGA检测器即可回避检测。实验采用5种深度学习分类器,对包括CLR-DGA的6种DGA域名测试分类效果。实验结果表明,CLR-DGA生成的域名最难被分类器检测。 展开更多
关键词 域名生成算法 深度学习 对抗攻击
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融合骨架约束域的RRT-Connect路径规划算法
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作者 聂铭杰 向贤宝 +3 位作者 蔡芸 蒋林 汤勃 潘艳桥 《重庆理工大学学报(自然科学)》 北大核心 2026年第1期123-131,共9页
针对RRT-Connect路径规划算法存在采样随机性强、路径点冗余及搜索效率低等问题,提出了一种融合骨架约束域的RRT-Connect路径规划算法。首先,对栅格地图进行预处理,提取骨架并生成全局骨架地图,基于给定的起始点和目标点在骨架上搜索初... 针对RRT-Connect路径规划算法存在采样随机性强、路径点冗余及搜索效率低等问题,提出了一种融合骨架约束域的RRT-Connect路径规划算法。首先,对栅格地图进行预处理,提取骨架并生成全局骨架地图,基于给定的起始点和目标点在骨架上搜索初始路径,并扩展该路径生成的骨架约束区域;其次,为降低RRT-Connect算法的采样随机性,将采样点限制在生成的骨架约束域内,并引入目标节点偏置策略;然后,为减少路径冗余点,引入启发式代价函数,选取代价值最低的节点作为扩展节点;最后,通过路径裁剪结合二次贝塞尔曲线进行路径平滑优化,通过构建不同复杂度的仿真场景和实际环境进行对比实验。实验结果表明,所提算法可以高效地生成一条无碰撞且包含初始节点与目标节点的最优路径,提升路径生成效率。 展开更多
关键词 RRT-Connect算法 骨架约束域 目标偏置 启发式代价函数 路径裁剪
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水陆两栖无人车跨域三维路径规划方法研究
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作者 梁董 黄细霞 +1 位作者 阎峻鸣 汪行 《计算机工程与应用》 北大核心 2026年第1期339-355,共17页
在陆地与水域共存的复杂环境中,水陆两栖无人车(amphibious unmanned ground vehicle,A-UGV)跨域(即在水域与陆地之间的路径转换)三维路径规划是一项具有挑战性的任务。为应对这一挑战,提出一种基于地形信息优化启发函数的改进A^(*)算法... 在陆地与水域共存的复杂环境中,水陆两栖无人车(amphibious unmanned ground vehicle,A-UGV)跨域(即在水域与陆地之间的路径转换)三维路径规划是一项具有挑战性的任务。为应对这一挑战,提出一种基于地形信息优化启发函数的改进A^(*)算法,并结合最佳下水上岸点检测进行全局路径规划的方法(improved A^(*)path planning with optimal launch and ashore point detection,IA^(*)OLAPD)。对水陆环境进行地图构建,通过动态体素网格对环境点云数据进行分割和评估,将水域和陆地进行区分,并根据地形信息生成2D占用栅格地图、2.5D数字高程图及通行性地图。在路径规划阶段,将2.5D地图的多层地形信息转化为动态权重因子,优化A^(*)算法的启发函数,以增强复杂地形的适应性。在A-UGV跨越陆地和水域的过程中,算法结合路径长度、路径粗糙度、坡度、高程差和下水上岸点处的地形信息等因素,确定最佳的跨域过渡点,从而最小化整体路径代价和风险系数,实现陆地和水域之间的安全高效跨域过渡。仿真实验结果表明,IA^(*)OLAPD算法在水陆两栖跨域路径规划的安全性、稳定性和路径选择合理性方面具有显著优势。 展开更多
关键词 水陆两栖无人车 跨域路径规划 改进A^(*)算法 最佳下水上岸点检测
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