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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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Optimization and Algorithm for Through Train Connections at District Stations
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作者 郭倩倩 陈宜军 毛介英 《Journal of Southwest Jiaotong University(English Edition)》 2010年第3期220-224,共5页
In the optimization of train diagrams, selecting the arrival and departure paths of the through gains has a great impact on the dwell time at district stations. In this paper, on the basis of train paths and the throu... In the optimization of train diagrams, selecting the arrival and departure paths of the through gains has a great impact on the dwell time at district stations. In this paper, on the basis of train paths and the through train connection time standard at district stations, we built a mathematical model aiming at minimizing dwell time of through trains at two adjacent district stations, and then converted this into a network flow model to which is added a source and a sink node. Then, we propose a new algorithm for solving the network flow model based on the minimum-cost flow algorithm. A case study for through trains from the Guiyang South Railway Station to the Chongqing West Railway Station shows that the algorithm is reliable and efficient for solving the problem of through train connections, and there is a reduction in the total dwell time that the through trains spend at two adjacent district stations. 展开更多
关键词 Train diagrams Through train connections Minimum-cost flow algorithm District stations
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A fast connected components labeling algorithm for binary images 被引量:1
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作者 付宜利 韩现伟 王树国 《Journal of Harbin Institute of Technology(New Series)》 EI CAS 2012年第3期81-87,共7页
A fast label-equivalence-based connected components labeling algorithm is proposed in this paper.It is a combination of two existing efficient methods,which are pivotal operations in two-pass connected components labe... A fast label-equivalence-based connected components labeling algorithm is proposed in this paper.It is a combination of two existing efficient methods,which are pivotal operations in two-pass connected components labeling algorithms.One is a fast pixel scan method,and the other is an array-based Union-Find data structure.The scan procedure assigns each foreground pixel a provisional label according to the location of the pixel.That is to say,it labels the foreground pixels following background pixels and foreground pixels in different ways,which greatly reduces the number of neighbor pixel checks.The array-based Union-Find data structure resolves the label equivalences between provisional labels by using only a single array with path compression,and it improves the efficiency of the resolving procedure which is very time-consuming in general label-equivalence-based algorithms.The experiments on various types of images with different sizes show that the proposed algorithm is superior to other labeling approaches for huge images containing many big connected components. 展开更多
关键词 binary image connected components labeling algorithm Union-Find label-equivalence
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Evaluation of Stiffened End-Plate Moment Connection through Optimized Artificial Neural Network 被引量:1
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作者 Mehdi Ghassemieh Mohsen Nasseri 《Journal of Software Engineering and Applications》 2012年第3期156-167,共12页
This study involves the development of an analytical model for understanding the behavior of the extended, stiffened end-plate moment connections with eight high strength bolts. Modeling of the connection as an assemb... This study involves the development of an analytical model for understanding the behavior of the extended, stiffened end-plate moment connections with eight high strength bolts. Modeling of the connection as an assemblage of finite elements (FE) used for load deformation analysis, with material, and contact nonlinearities are developed. Results from the FE mathematical model are verified with results from the ANSYS computer program as well as with the test results. Sensitivity and feasibility studies are carried out. Significant geometry and force related variables are introduced;and by varying the geometric variables of the connections within a practical range, a matrix of test cases is obtained. Maximum end-plate separation, maximum bending stresses in the end-plate, and the forces from the connection bolts for these test cases are obtained. From the FE analysis, a database is produced to collect results for the artificial neural network analysis. Finally, salient features of the optimized Artificial Neural Network (ANN) via Genetic Algorithm (GA) analysis are introduced and implemented with the aim of predicting the overall behavior of the connection. 展开更多
关键词 END-PLATE MOMENT connection Finite Element Method Artificial Neural Network SENSITIVITIES Analysis GENETIC algorithm
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改进RRT-Connect算法的机器人路径规划研究 被引量:5
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作者 陈志澜 唐昊阳 《计算机科学与探索》 北大核心 2025年第2期396-405,共10页
针对标准RRT-Connect算法在路径规划中存在的路径冗长、转折较多和区域通过性欠缺问题,提出了一种新的改进RRT-Connect算法(TRRT-Connect)。采用改进RRT算法搜索并添加一个中间根节点,实现同时扩展四棵随机树,加快算法收敛速度。在随机... 针对标准RRT-Connect算法在路径规划中存在的路径冗长、转折较多和区域通过性欠缺问题,提出了一种新的改进RRT-Connect算法(TRRT-Connect)。采用改进RRT算法搜索并添加一个中间根节点,实现同时扩展四棵随机树,加快算法收敛速度。在随机点的选取上使用目标偏置策略,在新节点的生成上叠加引力场,同时融合贪婪搜索策略。结合新的动态步长调节方法,通过识别扫描区域内障碍物的个数动态选择合适的步长。对生成的初始路径使用双向剪枝优化方法,加快剪枝效率,剔除路径上的冗余节点。对路径转折处进行光滑处理,减少路径转折。在三种不同环境地图中进行仿真对比实验,结果表明,TRRT-Connect算法与标准RRT-Connect算法相比较,在路径长度、迭代次数和节点数上有较大改善,在密集障碍物区域的通过性较好,路径更加光滑且无转折,证明了该算法的有效性。同时将TRRT-Connect算法应用于现场实例仿真中,使得移动机器人的运输路径长度相较于传统固定路径降低了15.4%,且路径光滑,进一步验证了该算法的实用性。 展开更多
关键词 RRT-connect算法 动态步长调节 双向剪枝优化 路径规划
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A CONNECTION ADMISSION CONTROL SCHEME BASED ON GAME THEORETICAL MODEL IN ATM NETWORKS
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作者 Chen Huimin Wang Pu Li Yanda (Department of Automation, Tsinghua University, Beijing 100084) 《Journal of Electronics(China)》 1999年第1期7-15,共9页
In this paper, the main schemes of connection admission control (CAC) in ATM networks are briefly discussed especially the principle of dynamic bandwidth allocation. Then the fair share of the bandwidth among differen... In this paper, the main schemes of connection admission control (CAC) in ATM networks are briefly discussed especially the principle of dynamic bandwidth allocation. Then the fair share of the bandwidth among different traffic sources is analyzed based on cooperative game model. A CAC scheme is proposed using the genetic algorithm (GA) to optimize the bandwidth-delay-product formed utilization function that ensures the fair share and accuracy of accepting/rejecting the incoming calls. Simulation results show that the proposed scheme ensures fairness of the shared bandwidth to different traffic sources. 展开更多
关键词 connection ADMISSION control Cooperative GAME model GENETIC algorithm Dynamic BANDWIDTH ALLOCATION ATM network
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Traffic flow of connected and automated vehicles at lane drop on two-lane highway: An optimization-based control algorithm versus a heuristic rules-based algorithm
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作者 刘华清 姜锐 +1 位作者 田钧方 朱凯旋 《Chinese Physics B》 SCIE EI CAS CSCD 2023年第1期380-391,共12页
This paper investigates traffic flow of connected and automated vehicles at lane drop on two-lane highway. We evaluate and compare performance of an optimization-based control algorithm(OCA) with that of a heuristic r... This paper investigates traffic flow of connected and automated vehicles at lane drop on two-lane highway. We evaluate and compare performance of an optimization-based control algorithm(OCA) with that of a heuristic rules-based algorithm(HRA). In the OCA, the average speed of each vehicle is maximized. In the HRA, virtual vehicle and restriction of the command acceleration caused by the virtual vehicle are introduced. It is found that(i) capacity under the HRA(denoted as C_(H)) is smaller than capacity under the OCA;(ii) the travel delay is always smaller under the OCA, but driving is always much more comfortable under the HRA;(iii) when the inflow rate is smaller than C_(H), the HRA outperforms the OCA with respect to the fuel consumption and the monetary cost;(iv) when the inflow rate is larger than C_(H), the HRA initially performs better with respect to the fuel consumption and the monetary cost, but the OCA would become better after certain time. The spatiotemporal pattern and speed profile of traffic flow are presented, which explains the reason underlying the different performance. The study is expected to help for better understanding of the two different types of algorithm. 展开更多
关键词 traffic flow connected and automated vehicles(CAVs) lane drop optimization-based control algorithm Heuristic rules-based algorithm
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Algorithm for the Vertex Connectivity Problem on Circular Trapezoid Graphs
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作者 Hirotoshi Honma Kento Nishimura +1 位作者 Yuto Tamori Yoko Nakajima 《Journal of Applied Mathematics and Physics》 2019年第11期2595-2602,共8页
The vertex connectivity k(G) of a graph G is the minimum number of nodes whose deletion disconnects it. Graph connectivity is one of the most fundamental problems in graph theory. In this paper, we designed an O(n2) t... The vertex connectivity k(G) of a graph G is the minimum number of nodes whose deletion disconnects it. Graph connectivity is one of the most fundamental problems in graph theory. In this paper, we designed an O(n2) time algorithm to solve connectivity problem on circular trapezoid graphs. 展开更多
关键词 algorithm Design connectivity PROBLEM Intersection GRAPHS Circular TRAPEZOID GRAPHS
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Research on Different Heuristics for Minimax Algorithm Insight from Connect-4 Game 被引量:2
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作者 Xiyu Kang Yiqi Wang Yanrui Hu 《Journal of Intelligent Learning Systems and Applications》 2019年第2期15-31,共17页
Minimax algorithm and machine learning technologies have been studied for decades to reach an ideal optimization in game areas such as chess and backgammon. In these fields, several generations try to optimize the cod... Minimax algorithm and machine learning technologies have been studied for decades to reach an ideal optimization in game areas such as chess and backgammon. In these fields, several generations try to optimize the code for pruning and effectiveness of evaluation function. Thus, there are well-armed algorithms to deal with various sophisticated situations in gaming occasion. However, as a traditional zero-sum game, Connect-4 receives less attention compared with the other members of its zero-sum family using traditional minimax algorithm. In recent years, new generation of heuristics is created to address this problem based on research conclusions, expertise and gaming experiences. However, this paper mainly introduced a self-developed heuristics supported by well-demonstrated result from researches and our own experiences which fighting against the available version of Connect-4 system online. While most previous works focused on winning algorithms and knowledge based approaches, we complement these works with analysis of heuristics. We have conducted three experiments on the relationship among functionality, depth of searching and number of features and doing contrastive test with sample online. Different from the sample based on summarized experience and generalized features, our heuristics have a basic concentration on detailed connection between pieces on board. By analysing the winning percentages when our version fights against the online sample with different searching depths, we find that our heuristics with minimax algorithm is perfect on the early stages of the zero-sum game playing. Because some nodes in the game tree have no influence on the final decision of minimax algorithm, we use alpha-beta pruning to decrease the number of meaningless node which greatly increases the minimax efficiency. During the contrastive experiment with the online sample, this paper also verifies basic characters of the minimax algorithm including depths and quantity of features. According to the experiment, these two characters can both effect the decision for each step and none of them can be absolutely in charge. Besides, we also explore some potential future issues in Connect-4 game optimization such as precise adjustment on heuristic values and inefficiency pruning on the search tree. 展开更多
关键词 HEURISTICS MINIMAX algorithm ZERO-SUM GAME connect-4 GAME
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Heterogeneous Task Allocation Model and Algorithm for Intelligent Connected Vehicles
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作者 Neng Wan Guangping Zeng Xianwei Zhou 《Computers, Materials & Continua》 SCIE EI 2024年第9期4281-4302,共22页
With the development of vehicles towards intelligence and connectivity,vehicular data is diversifying and growing dramatically.A task allocation model and algorithm for heterogeneous Intelligent Connected Vehicle(ICV)... With the development of vehicles towards intelligence and connectivity,vehicular data is diversifying and growing dramatically.A task allocation model and algorithm for heterogeneous Intelligent Connected Vehicle(ICV)applications are proposed for the dispersed computing network composed of heterogeneous task vehicles and Network Computing Points(NCPs).Considering the amount of task data and the idle resources of NCPs,a computing resource scheduling model for NCPs is established.Taking the heterogeneous task execution delay threshold as a constraint,the optimization problem is described as the problem of maximizing the utilization of computing resources by NCPs.The proposed problem is proven to be NP-hard by using the method of reduction to a 0-1 knapsack problem.A many-to-many matching algorithm based on resource preferences is proposed.The algorithm first establishes the mutual preference lists based on the adaptability of the task requirements and the resources provided by NCPs.This enables the filtering out of un-schedulable NCPs in the initial stage of matching,reducing the solution space dimension.To solve the matching problem between ICVs and NCPs,a new manyto-many matching algorithm is proposed to obtain a unique and stable optimal matching result.The simulation results demonstrate that the proposed scheme can improve the resource utilization of NCPs by an average of 9.6%compared to the reference scheme,and the total performance can be improved by up to 15.9%. 展开更多
关键词 Task allocation intelligent connected vehicles dispersed computing matching algorithm
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Fault Diagnosis Method for Photovoltaic Grid-Connected Inverters Based on MPA-VMD-PSO BiLSTM 被引量:1
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作者 Jingxian Ni Chaomeng Wang +2 位作者 Shiqi Sun Yuxuan Sun Gang Ma 《Energy Engineering》 2025年第9期3719-3736,共18页
To improve the fault diagnosis accuracy of a PV grid-connected inverter,a PV grid-connected inverter data diagnosis method based on MPA-VMD-PSO-BiLSTM is proposed.Firstly,unlike the traditional VMD algorithm which rel... To improve the fault diagnosis accuracy of a PV grid-connected inverter,a PV grid-connected inverter data diagnosis method based on MPA-VMD-PSO-BiLSTM is proposed.Firstly,unlike the traditional VMD algorithm which relies on manual experience to set parameters(e.g.,noise tolerance,penalty parameter,number of decompositions),this paper achieves adaptive optimization of parameters through MPA algorithmto avoid the problemof feature information loss caused by manual parameter tuning,and adopts the improved VMD algorithm for feature extraction of DC-side voltage data signals of PV-grid-connected inverters;and then,adopts the PSO algorithm for theThen,the PSO algorithm is used to optimize the optimal batch size,the number of nodes in the hidden layer and the learning rate of the BiLSTM network,which significantly improves the model’s ability to capture the long-term dependent features of the PV inverter’s timing signals,to construct the PV grid-connected inverter prediction model of PSO-BiLSTM,and predict the capacitance value of the PVgrid-connected inverter.Finally,diagnostic experiments are carried out based on the expected capacitance value and the capacitance failure criterion.The results showthat compared with the traditional VMD algorithm,the MPA-optimised VMD improves the signal-to-noise ratio(SNR)of the signal decomposition from 28.5 to 33.2 dB(16.5%improvement).After combining with the PSO-BiLSTM model,the mean absolute percentage error(MAPE)of the fault diagnosis is reduced to 1.31%,and the coefficient of determination(R2)is up to 0.99.It is concluded that the present method has excellent diagnostic performance of PV grid-connected inverter data signals and effectively improves the accuracy of PV grid-connected inverter diagnosis. 展开更多
关键词 Photovoltaic grid connection INVERTERS signal diagnostics MPA algorithm VMD algorithm BiLSTM network
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改进RRT-Connect算法下的码垛机械臂避障轨迹规划 被引量:1
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作者 赵彬湘 焉峻 李金泉 《成组技术与生产现代化》 2025年第1期25-30,共6页
针对小型包装件码垛场景中码垛机器人的避障轨迹规划问题,从更快地得到光滑且无碰撞的路径、缩短时耗、提高码垛机器人工作效率的目的出发,在轨迹规划基本算法RRT-Connect的基础上加入目标偏置采样和自适应步长调节机制,使随机树能更快... 针对小型包装件码垛场景中码垛机器人的避障轨迹规划问题,从更快地得到光滑且无碰撞的路径、缩短时耗、提高码垛机器人工作效率的目的出发,在轨迹规划基本算法RRT-Connect的基础上加入目标偏置采样和自适应步长调节机制,使随机树能更快地向目标方向拓展,同时引入路径修剪和重连策略来减少规划路径的节点数量,使整个路径更加平滑,实现了对基本RRT-Connect算法的改进。对比传统算法及改进后算法的规划时间、路径节点数量和路径长度等数据,并利用机械臂模型进行了仿真分析。结果表明,改进后算法更为高效。 展开更多
关键词 码垛机器人 机械臂 轨迹规划 RRT-connect算法 动态步长 重连策略
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Cost Optimization of Steel Beam-to-Column Connections using AVOA
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作者 Ziyu Wang Zhaoyang Ren 《Journal of Architectural Research and Development》 2024年第2期18-23,共6页
The joint-bolt-African Vulture optimization algorithm(AVOA)model is proposed for the design of building connections to improve the stability of steel beam-to-column connections.For this algorithm,the type of steel is ... The joint-bolt-African Vulture optimization algorithm(AVOA)model is proposed for the design of building connections to improve the stability of steel beam-to-column connections.For this algorithm,the type of steel is first determined,and the number of bolts needed by the corresponding steel type is referenced in Eurocode 3.Then,the bearing capacity of the joint can be calculated.The joint-bolt-AVOA model is established by substituting the bolt number required by the steel into the algorithm to obtain the optimal bolt number required while ensuring joint stability.The results show that the number of bolts required by the joint-bolt-AVOA model based on the stability of steel is lower than that calculated by Eurocode 3.Therefore,AVOA can effectively optimize the number of bolts needed in building connections and save resources. 展开更多
关键词 Steel connections African vulture optimization algorithm Optimization of bolts
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Evaluation of the Use of Minimax Search in Connect-4—How Does the Minimax Search Algorithm Perform in Connect-4 with Increasing Grid Sizes?
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作者 Abdoul Wahab Touré 《Applied Mathematics》 2023年第6期419-427,共9页
As computers have become faster at performing computations over the decades, algorithms to play games have also become more efficient. This research paper seeks to see how the performance of the Minimax search evolves... As computers have become faster at performing computations over the decades, algorithms to play games have also become more efficient. This research paper seeks to see how the performance of the Minimax search evolves on increasing Connect-4 grid sizes. The objective of this study is to evaluate the effectiveness of the Minimax search algorithm in making optimal moves under different circumstances and to understand how well the algorithm scales. To answer this question we tested and analyzed the algorithm several times on different grid sizes with a time limit to see its performance as the complexity increases, we also looked for the average search depth for each grid size. The obtained results show that despite larger grid sizes, the Minimax search algorithm stays relatively consistent in terms of performance. 展开更多
关键词 MINIMAX Alpha-Beta Pruning connect-4 algorithms
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基于复杂环境的RRT-Connect路径规划算法改进 被引量:1
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作者 谭仲万 袁宇浩 《科学技术与工程》 北大核心 2025年第19期8127-8134,共8页
针对RRT-Connect算法在复杂环境下路径规划效率低、避障能力差以及生成路径质量差等问题,提出一种改进的RRT-Connect算法。首先,提出一种双向目标偏向策略,增加算法的目标导向性以及路径规划效率。其次,提出一种避障优化策略,增加算法... 针对RRT-Connect算法在复杂环境下路径规划效率低、避障能力差以及生成路径质量差等问题,提出一种改进的RRT-Connect算法。首先,提出一种双向目标偏向策略,增加算法的目标导向性以及路径规划效率。其次,提出一种避障优化策略,增加算法在复杂环境下的主动避障能力以及通过能力。最后,加入路径重组策略和平滑策略对生成的初始路径进行优化处理,减少路径长度及拐点,提高路径质量。通过MATLAB将改进算法与其他算法在3种复杂环境下进行对比研究。仿真结果表明,改进算法相对规划时间更少、路径长度更短、采样次数更少、路径规划成功率更高,证明了改进算法在复杂环境下的有效性。 展开更多
关键词 RRT-connect算法 路径规划 双向目标偏向策略 避障优化策略 路径优化策略
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Identification of key brain networks and functional connectivities of successful aging:A surface-based resting-state functional magnetic resonance study
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作者 Jiao-Jiao Sun Li Zhang +3 位作者 Ru-Hong Sun Xue-Zheng Gao Chun-Xia Fang Zhen-He Zhou 《World Journal of Psychiatry》 2025年第3期216-226,共11页
BACKGROUND Successful aging(SA)refers to the ability to maintain high levels of physical,cognitive,psychological,and social engagement in old age,with high cognitive function being the key to achieving SA.AIM To explo... BACKGROUND Successful aging(SA)refers to the ability to maintain high levels of physical,cognitive,psychological,and social engagement in old age,with high cognitive function being the key to achieving SA.AIM To explore the potential characteristics of the brain network and functional connectivity(FC)of SA.METHODS Twenty-six SA individuals and 47 usual aging individuals were recruited from community-dwelling elderly,which were taken the magnetic resonance imaging scan and the global cognitive function assessment by Mini Mental State Examination(MMSE).The resting state-functional magnetic resonance imaging data were preprocessed by DPABISurf,and the brain functional network was conducted by DPABINet.The support vector machine model was constructed with altered functional connectivities to evaluate the identification value of SA.RESULTS The results found that the 6 inter-network FCs of 5 brain networks were significantly altered and related to MMSE performance.The FC of the right orbital part of the middle frontal gyrus and right angular gyrus was mostly increased and positively related to MMSE score,and the FC of the right supramarginal gyrus and right temporal pole:Middle temporal gyrus was the only one decreased and negatively related to MMSE score.All 17 significantly altered FCs of SA were taken into the support vector machine model,and the area under the curve was 0.895.CONCLUSION The identification of key brain networks and FC of SA could help us better understand the brain mechanism and further explore neuroimaging biomarkers of SA. 展开更多
关键词 Successful aging Resting-state functional magnetic resonance imaging Surface-based brain network analysis Functional connectivity Support vector machine algorithm
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融合A*算法和RRT-Connect算法在路径规划中的应用
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作者 胡超 朱云国 都飞翔 《黑河学院学报》 2025年第7期182-184,共3页
路径规划是机器人和自动驾驶领域的关键技术,对于提高效率和安全性具有重要意义。RRT-Connect算法以其高效的搜索能力在路径规划中应用较多,但其生成的随机树节点具有随机性,导致其经常不能得到较优的路径。采用启发式函数的A*算法在搜... 路径规划是机器人和自动驾驶领域的关键技术,对于提高效率和安全性具有重要意义。RRT-Connect算法以其高效的搜索能力在路径规划中应用较多,但其生成的随机树节点具有随机性,导致其经常不能得到较优的路径。采用启发式函数的A*算法在搜索过程中利用最小代价的节点可以得到较优的路径。为了使RRT-Connect算法能得到较优的路径,提高其规划路径的效率,将RRT-Connect算法和A*算法进行融合,利用两者的优点提高搜索效率和路径质量,提升RRT-Connect算法的鲁棒性。 展开更多
关键词 路径规划 A*算法 RRT-connect算法 移动机器人
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基于DBSCAN算法的改进 RRT-Connect 路径规划研究
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作者 李刘洋 王可庆 +1 位作者 焦思韬 周奇 《计算技术与自动化》 2025年第1期1-6,共6页
针对双向快速扩展随机树(RRT-Connect)算法收敛速度慢、路径搜索效率低、路径曲折的问题,提出了一种基于DBSCAN算法的改进RRT-Connect算法。在RRT-Connect算法基础上加入节点引力场引导新节点产生方向,使收敛速度变快;同时通过引入椭圆... 针对双向快速扩展随机树(RRT-Connect)算法收敛速度慢、路径搜索效率低、路径曲折的问题,提出了一种基于DBSCAN算法的改进RRT-Connect算法。在RRT-Connect算法基础上加入节点引力场引导新节点产生方向,使收敛速度变快;同时通过引入椭圆采样方法,缩小采样范围,提高路径规划效率;最后在改进RRT-Connect的基础上引入DBSCAN聚类算法,使得到的规划路径更加平滑可靠,增强算法的鲁棒性。为了验证改进后的算法优化效果,分别在不同环境中与RRT算法、RRT-Connect算法进行仿真比较。仿真实验表明,改进后的RRT-Connect算法路径规划效果均要优于其他两种算法,不仅加快了路径规划速度,而且得到的路径接近最优解,具有普遍适用性、鲁棒性高等特点。 展开更多
关键词 RRT-connect算法 DBSCAN算法 椭圆采样 引力场 路径规划
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基于改进RRT^(*)-connect算法的机械臂运动规划
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作者 胡孟慧 王怀震 +1 位作者 梁凤强 孟超 《电动工具》 2025年第6期19-23,共5页
为解决机械臂在动态环境中实时避障能力不足的问题,研究了一种基于改进RRT^(*)-connect算法的运动规划方法。RRT-connect与RRT算法分别擅长快速搜索与路径优化,但各有不足。为此,融合二者优势,提出了一种可变步长的RRT^(*)-connect改进... 为解决机械臂在动态环境中实时避障能力不足的问题,研究了一种基于改进RRT^(*)-connect算法的运动规划方法。RRT-connect与RRT算法分别擅长快速搜索与路径优化,但各有不足。为此,融合二者优势,提出了一种可变步长的RRT^(*)-connect改进算法,通过引入节点限制与椭球采样等策略,在保证路径质量的同时提升收敛速度。二维与机械臂仿真实验表明,该算法在规划成功率、路径长度与运行效率上均优于传统算法,验证了其有效性与优越性。 展开更多
关键词 RRT~^(*)-connect算法 路径规划 机械臂 变步长策略 椭球采样 MATLAB仿真
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含大规模分布式光伏的低压配电网综合治理技术
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作者 王书征 孙玉柱 +3 位作者 赵景涛 郑舒 吴志 石春虎 《电力自动化设备》 北大核心 2026年第1期171-178,208,共9页
随着越来越多的分布式光伏并入低压配电网,配电网的线路损耗、电压越限、三相不平衡等问题日益严重,而单一的治理手段无法满足光伏并网产生的多样化治理需求。为此,提出一种基于电抗器、AC/DC变换器协调配合的低压台区综合治理装置,该... 随着越来越多的分布式光伏并入低压配电网,配电网的线路损耗、电压越限、三相不平衡等问题日益严重,而单一的治理手段无法满足光伏并网产生的多样化治理需求。为此,提出一种基于电抗器、AC/DC变换器协调配合的低压台区综合治理装置,该装置提供2个直流接口,可以灵活增配储能以及实现台区间的柔性互联。基于该装置,构建以减小台区电压偏差、治理三相不平衡以及降低网损为目标的低压配电网运行优化模型;利用对称半正定规划算法,通过凸松弛将原始的非凸非线性模型转换成便于求解的对称半正定规划模型。在某实际系统上对不同综合治理装置配置方式下的治理效果进行对比分析,验证了综合治理装置对解决分布式光伏并网带来的一系列问题的有效性。 展开更多
关键词 综合治理 光伏并网 低压台区 对称半正定规划算法 配电网 运行优化
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