At present,energy consumption is one of the main bottlenecks in autonomous mobile robot development.To address the challenge of high energy consumption in path planning for autonomous mobile robots navigating unknown ...At present,energy consumption is one of the main bottlenecks in autonomous mobile robot development.To address the challenge of high energy consumption in path planning for autonomous mobile robots navigating unknown and complex environments,this paper proposes an Attention-Enhanced Dueling Deep Q-Network(ADDueling DQN),which integrates a multi-head attention mechanism and a prioritized experience replay strategy into a Dueling-DQN reinforcement learning framework.A multi-objective reward function,centered on energy efficiency,is designed to comprehensively consider path length,terrain slope,motion smoothness,and obstacle avoidance,enabling optimal low-energy trajectory generation in 3D space from the source.The incorporation of a multihead attention mechanism allows the model to dynamically focus on energy-critical state features—such as slope gradients and obstacle density—thereby significantly improving its ability to recognize and avoid energy-intensive paths.Additionally,the prioritized experience replay mechanism accelerates learning from key decision-making experiences,suppressing inefficient exploration and guiding the policy toward low-energy solutions more rapidly.The effectiveness of the proposed path planning algorithm is validated through simulation experiments conducted in multiple off-road scenarios.Results demonstrate that AD-Dueling DQN consistently achieves the lowest average energy consumption across all tested environments.Moreover,the proposed method exhibits faster convergence and greater training stability compared to baseline algorithms,highlighting its global optimization capability under energy-aware objectives in complex terrains.This study offers an efficient and scalable intelligent control strategy for the development of energy-conscious autonomous navigation systems.展开更多
This paper proposes a lightweight traffic sign detection system based on you only look once(YOLO).Firstly,the classification to fusion(C2f)structure is integrated into the backbone network,employing deformable convolu...This paper proposes a lightweight traffic sign detection system based on you only look once(YOLO).Firstly,the classification to fusion(C2f)structure is integrated into the backbone network,employing deformable convolution and bi-directional feature pyramid network(BiFPN)_Concat to improve the adaptability of the network.Secondly,the simple attention module(SimAm)is embedded to prioritize key features and reduce the complexity of the model after the C2f layer at the end of the backbone network.Next,the focal efficient intersection over union(EloU)is introduced to adjust the weights of challenging samples.Finally,we accomplish the design and deployment for the mobile app.The results demonstrate improvements,with the F1 score of 0.8987,mean average precision(mAP)@0.5 of 98.8%,mAP@0.5:0.95 of 75.6%,and the detection speed of 50 frames per second(FPS).展开更多
In wireless networks,the prioritized transmission scheme is essential for accommodating different priority classes of users sharing a common channel.In this paper,we propose a prioritized random access scheme based on...In wireless networks,the prioritized transmission scheme is essential for accommodating different priority classes of users sharing a common channel.In this paper,we propose a prioritized random access scheme based on compute-and-forward,referred to as expanding window sign-compute diversity slotted ALOHA(EW-SCDSA).We improve the expanding window technique and apply it to a high-throughput random access scheme,i.e.,the signcompute diversity slotted ALOHA(SCDSA)scheme,to implement prioritized random access.We analyze the probability of user resolution in each priority class utilizing a bipartite graph and derive the corresponding lower bounds,the effectiveness of which is validated through simulation experiments.Simulation results demonstrate that the EW-SCDSA scheme can provide heterogeneous reliability performance for various user priority classes and significantly outperforms the existing advanced prioritized random access scheme.展开更多
As the world transitions to a more environment-friendly and sustainable global economy,innovations in green technology are playing a crucial role.Recognizing this,China,along with many other nations,is adapting its pa...As the world transitions to a more environment-friendly and sustainable global economy,innovations in green technology are playing a crucial role.Recognizing this,China,along with many other nations,is adapting its pat⁃ent system to better support green innovations,establishing what is known as a green patent regime.While extensive empirical research highlights the significance of China's green patent regime in achieving environmental sustainabil⁃ity,there is a noticeable lack of normative studies on enhancing its efficacy.This work aims to fill this gap by conduct⁃ing a normative study using doctrinal analysis and proposing that transparency and accessibility are key factors in evaluating the effectiveness of a green patent regime.Through a doctrinal analysis of China's green patent legislation and regulations,this work assesses the legal rights conferred by this regime and identifies how these rights are con⁃strained by substantive and procedural norms.The findings reveal significant limitations to the transparency and acces⁃sibility of China's green patent regime and propose improvements.These recommendations offer insights for policymak⁃ers in China and other countries.The doctrinal analysis conducted in this research could stimulate further theoretical discussion in the field of sustainable development and intellectual property law.Moreover,it might enlighten more hy⁃potheses for future empirical studies.展开更多
The emergence of the SARS-CoV-2 virus resulted in a health and economic crisis worldwide. Although everyone is susceptible to COVID-19, the elderly have compromised immune systems and often suffer from chronic underly...The emergence of the SARS-CoV-2 virus resulted in a health and economic crisis worldwide. Although everyone is susceptible to COVID-19, the elderly have compromised immune systems and often suffer from chronic underlying diseases, which makes them more vulnerable. This study aims to assess variation in COVID-19 vaccine distribution patterns across different age groups in European countries and to understand the extent to which European countries have prioritized vulnerable age groups (age > 70) in their vaccination programs. The study utilized open data from the European Center for Disease Prevention and Control (ECDC) and employed an observational, retrospective study design to examine the distribution of the COVID-19 vaccine among various age groups in several European countries from September 2021 to September 2023. Results reveal that vaccination rates increase with age, peaking at the 25 - 49 age group (1.34 × 10−4), after which there was a decline in vaccination rate. Analysis of variance (ANOVA) was used to investigate the equality of vaccination rates across the 29 countries in Europe, which resulted in a p-value of 70) during the study period as no country achieved the 70% coverage aimed by WHO. Continuous efforts must be made to ensure larger coverage of COVID-19 vaccination among this vulnerable population in order to protect them from severe outcomes in this region.展开更多
Soil erosion in the Hare watershed led to significant land degradation,water pollution,and reduced agricultural productivity.Despite its effects,very few researchers have used combined morphometric and RUSLE model tec...Soil erosion in the Hare watershed led to significant land degradation,water pollution,and reduced agricultural productivity.Despite its effects,very few researchers have used combined morphometric and RUSLE model techniques to quantify soil erosion and thereby prioritize impacted areas.This work used an automated GIS-based tool(SWPT)to prioritize crucial areas based on topohydrological and morphometric factors and predict soil loss in sub-watersheds using the RUSLE model.Land use/cover data were obtained from Landsat imagery,while slope and morphometric information were extracted from digital elevation data with a resolution of 12.5 m.Soil erodibility was determined using Ethiopian soil maps,and rainfall erosivity was computed using meteorological data.An average annual soil loss of 49 t ha-1 yr-1 was observed in the Hare watershed.Sub-watershed 11 was found to be the most affected,with an average annual soil loss of 85.12 t ha-1 yr-1and a compound parameter value(CPV)of 0.059.Subwatershed 17 has the least amount of soil loss,with 3.67t ha-1 yr-1 and a CPV of 1.32.The study emphasizes the usefulness of integrating RUSLE and morphometric analysis for soil and water conservation planning,suggesting a variety of modeling tools in data-sparse locations to quantify and prioritize erosion-prone areas.展开更多
In the current era of intelligent technologies,comprehensive and precise regional coverage path planning is critical for tasks such as environmental monitoring,emergency rescue,and agricultural plant protection.Owing ...In the current era of intelligent technologies,comprehensive and precise regional coverage path planning is critical for tasks such as environmental monitoring,emergency rescue,and agricultural plant protection.Owing to their exceptional flexibility and rapid deployment capabilities,unmanned aerial vehicles(UAVs)have emerged as the ideal platforms for accomplishing these tasks.This study proposes a swarm A^(*)-guided Deep Q-Network(SADQN)algorithm to address the coverage path planning(CPP)problem for UAV swarms in complex environments.Firstly,to overcome the dependency of traditional modeling methods on regular terrain environments,this study proposes an improved cellular decomposition method for map discretization.Simultaneously,a distributed UAV swarm system architecture is adopted,which,through the integration of multi-scale maps,addresses the issues of redundant operations and flight conflicts inmulti-UAV cooperative coverage.Secondly,the heuristic mechanism of the A^(*)algorithmis combinedwith full-coverage path planning,and this approach is incorporated at the initial stage ofDeep Q-Network(DQN)algorithm training to provide effective guidance in action selection,thereby accelerating convergence.Additionally,a prioritized experience replay mechanism is introduced to further enhance the coverage performance of the algorithm.To evaluate the efficacy of the proposed algorithm,simulation experiments were conducted in several irregular environments and compared with several popular algorithms.Simulation results show that the SADQNalgorithmoutperforms othermethods,achieving performance comparable to that of the baseline prior algorithm,with an average coverage efficiency exceeding 2.6 and fewer turning maneuvers.In addition,the algorithm demonstrates excellent generalization ability,enabling it to adapt to different environments.展开更多
Response prediction is a fundamental yet challenging task in aeronautical engineering,requiring an accurate selection of sensor positions correlated with the target responses to achieve precise predictions. Unfortunat...Response prediction is a fundamental yet challenging task in aeronautical engineering,requiring an accurate selection of sensor positions correlated with the target responses to achieve precise predictions. Unfortunately, in large-scale structures, the rigorous selection of reliable sensor candidates for multi-target responses remains largely unexplored. In this paper, we propose a flexible and generalized framework for selecting the most relevant sensors to the multi-target response and predicting the target response, referred to as the Fast-aware Multi-Target Response Prediction(FMTRP) approach in the spirit of divide-and-conquer. Specifically, first, a multi-task learning module is designed to predict multi-point response tasks at the same time. Simultaneously, we meticulously devise adaptive mechanisms to facilitate loss-term reweighting and encourage prioritization of challenging tasks in multiple prediction tasks. Second, to ensure ease of interpretation,we introduce a hybrid penalty to select sensors at the group-sparsity, individual-sparsity and element-sparsity levels. Finally, due to the substantial number of candidate sensors posing a significant computational burden, we develop a more efficient search strategy and support computation to make the proposed approach applicable in practice, leading to substantial runtime improvements. Extensive experiments on aircraft standard model response datasets and large airliner test flight datasets validate the effectiveness of the proposed approach in identifying sensor locations and simultaneously predicting responses at multiple points. Compared to state-of-the-art methods,the proposed approach achieves an accuracy of over 99% in sinusoidal excitation and exhibits the shortest runtime(3.514 s).展开更多
In the wake of major natural disasters or human-made disasters,the communication infrastruc-ture within disaster-stricken areas is frequently dam-aged.Unmanned aerial vehicles(UAVs),thanks to their merits such as rapi...In the wake of major natural disasters or human-made disasters,the communication infrastruc-ture within disaster-stricken areas is frequently dam-aged.Unmanned aerial vehicles(UAVs),thanks to their merits such as rapid deployment and high mobil-ity,are commonly regarded as an ideal option for con-structing temporary communication networks.Con-sidering the limited computing capability and battery power of UAVs,this paper proposes a two-layer UAV cooperative computing offloading strategy for emer-gency disaster relief scenarios.The multi-agent twin delayed deep deterministic policy gradient(MATD3)algorithm integrated with prioritized experience replay(PER)is utilized to jointly optimize the scheduling strategies of UAVs,task offloading ratios,and their mobility,aiming to diminish the energy consumption and delay of the system to the minimum.In order to address the aforementioned non-convex optimiza-tion issue,a Markov decision process(MDP)has been established.The results of simulation experiments demonstrate that,compared with the other four base-line algorithms,the algorithm introduced in this paper exhibits better convergence performance,verifying its feasibility and efficacy.展开更多
Natural resource management is essential to sustain human well-being and the environment.Water and soil are two of the most important natural resources that require careful management.The western part of India faces m...Natural resource management is essential to sustain human well-being and the environment.Water and soil are two of the most important natural resources that require careful management.The western part of India faces multiple challenges,including climatic variability,soil degradation,water scarcity,deforestation,etc.The basin’s sub-watersheds are delineated and prioritised using the Soil and Water Assessment Tool(SWAT)and Sub Watershed Prioritization Tool(SWPT),respectively,using morphometric and topo-hydrological characteristics,and the sub-watersheds are further ranked using Weighted Sum Analysis(WSA).The findings indicate that SWS19,SWS18,SWS1,SWS17,SWS16,and SWS15,which are drained by the rivers Chambal,Kali Sindh,Mashi,Parbati,Parwan,and Beradi,are highly vulnerable sub-watersheds.By integrating remote sensing,GIS techniques,and quantitative morphometric analysis,parameters such as drainage density,stream frequency,bifurcation ratio,and slope gradient were evaluated.The analysis revealed critical sub-watersheds characterized by steep slopes,high drainage density,and poor vegetation cover,indicating their susceptibility to erosion and runoff.The findings underscore the necessity for targeted soil conservation measures,such as contour bunding,afforestation,and water retention structures.This study highlights the utility of geospatial tools for sustainable watershed management and provides a replicable framework for prioritizing sub-watersheds in similar regions.展开更多
Computer analysis of electrocardiograms(ECGs)was introduced more than 50 years ago,with the aim to improve efficiency and clinical workflow.[1,2]However,inaccuracies have been documented in the literature.[3,4]Researc...Computer analysis of electrocardiograms(ECGs)was introduced more than 50 years ago,with the aim to improve efficiency and clinical workflow.[1,2]However,inaccuracies have been documented in the literature.[3,4]Research indicates that emergency department(ED)clinician interruptions occur every 4-10 min,which is significantly more common than in other specialties.[5]This increases the cognitive load and error rates and impacts patient care and clinical effi ciency.[1,2,5]De-prioritization protocols have been introduced in certain centers in the United Kingdom(UK),removing the need for clinician ECG interpretation where ECGs have been interpreted as normal by the machine.展开更多
By analyzing the average percent of faults detected （APFD） metric and its variant versions, which are widely utilized as metrics to evaluate the fault detection efficiency of the test suite, this paper points out so...By analyzing the average percent of faults detected （APFD） metric and its variant versions, which are widely utilized as metrics to evaluate the fault detection efficiency of the test suite, this paper points out some limitations of the APFD series metrics. These limitations include APFD series metrics having inaccurate physical explanations and being unable to precisely describe the process of fault detection. To avoid the limitations of existing metrics, this paper proposes two improved metrics for evaluating fault detection efficiency of a test suite, including relative-APFD and relative-APFDc. The proposed metrics refer to both the speed of fault detection and the constraint of the testing source. The case study shows that the two proposed metrics can provide much more precise descriptions of the fault detection process and the fault detection efficiency of the test suite.展开更多
The importance and complexity of prioritizing construction projects (PCP) in urban road network planning lead to the necessity to develop an aided decision making program (ADMP). Cost benefit ratio model and stage rol...The importance and complexity of prioritizing construction projects (PCP) in urban road network planning lead to the necessity to develop an aided decision making program (ADMP). Cost benefit ratio model and stage rolled method are chosen as the theoretical foundations of the program, and then benefit model is improved to accord with the actuality of urban traffic in China. Consequently, program flows, module functions and data structures are designed, and particularly an original data structure of road ...展开更多
[Objective]The aim was to establish a multi-attribute decision making method and introduce its application in rice breeding.[Method]Based on the defined closeness degree among attributes,the difference degrees among a...[Objective]The aim was to establish a multi-attribute decision making method and introduce its application in rice breeding.[Method]Based on the defined closeness degree among attributes,the difference degrees among attributes were discussed.Furthermore,the weights of attributes were determined based on the difference degrees among the attributes.[Result]A multi-attribute decision making method based on difference degrees among attributes was established,the feasibility of applying it in rice breeding was also analyzed.[Conclusion]This study enriched the methods to determine attribute weights in multi-attribute decision making and provided the necessary theoretical support for selecting rice varieties scientifically and rationally.展开更多
The occurrence and impacts of emerging organic contaminants(EOCs)in the aquatic environment have gained widespread attention over the past two decades.Due to large number of potential contaminants,monitoring campaigns...The occurrence and impacts of emerging organic contaminants(EOCs)in the aquatic environment have gained widespread attention over the past two decades.Due to large number of potential contaminants,monitoring campaigns,treatment plants,and proposed regulations should preferentially focus on specific pollutants with the highest potential for ecological and human health effects.In the present study,a multi-criteria screening approach based on hazard and exposure potentials was developed for prioritization of 405 unregulated EOCs already present in Chinese surface water.Hazard potential,exposure potential,and risk quotients for ecological and human health effects were quantitatively analyzed and used to screen contaminants.The hazard potential was defined by contaminant persistence,bioaccumulation,ecotoxicity,and human health effects;similarly,the exposure potential was a function of contaminant concentration and detection frequency.In total,123 compounds passed the preselection process,which involved a priority index equal to the normalized hazard potential multiplied by the normalized exposure potential.Based on the prioritization scheme,11 compounds were identified as top-priority,and 37 chemicals were defined as high-priority.The results obtained by the priority index were compared with four other prioritization schemes based on exposure potential,hazard potential,or risk quotients for ecological effects or human health.The priority index effectively captured and integrated the results from the more simplistic prioritization schemes.Based on identified data gaps,four uncertainty categories were classified to recommend:①regular monitoring,derivation of environmental quality standards,and development of control strategies;②increased monitoring;③fortified hazard assessment;and④increased efforts to collect occurrence and toxicity data.Overall,20 pollutants were recommended as priority EOCs.The prioritized list of contaminants provides the necessary information for authoritative regulations to monitor,control,evaluate,and manage the risks of environmentally-relevant EOCs in Chinese surface water.展开更多
The aim of liver transplantation(LT) for hepatocellular carcinoma(HCC) is to ensure a rate of disease-free survival similar to that of patients transplanted due to benign disease. Therefore, we are forced to adopt str...The aim of liver transplantation(LT) for hepatocellular carcinoma(HCC) is to ensure a rate of disease-free survival similar to that of patients transplanted due to benign disease. Therefore, we are forced to adopt strict criteria when selecting candidates for LT and prioritizing patients on the waiting list(WL), to have clarified indications for bridging therapy for groups at risk for progression or recurrence, and to establish certain limits for downstaging therapies. Although the Milan criteria(MC) remain the standard and most employed criteria for indication of HCC patients for LT by far, in the coming years, criteria will be consolidated that take into account not only data regarding the size/volume and number of tumors but also their biology. This criteria will mainly include the alpha fetoprotein(AFP) values and, in view of their wide variability, any of the published logarithmic models for the selection of candidates for LT. Bridging therapy is necessary for HCC patients on the WL who meet the MC and have the possibility of experiencing a delay for LT greater than 6 mo or any of the known risk factors for recurrence. It is difficult to define single AFP values that would indicate bridging therapy(200, 300 or 400 ng/m L); therefore, it is preferable to rely on the criteria of a French AFP model score > 2. Other single indications for bridging therapy include a tumor diameter greater than 3 cm, more than one tumor, and having an AFP slope greater than 15 ng/m L per month or > 50 ng/m L for three months during strict monitoring while on the WL. When considering the inclusion of patients on the WL who do not meet the MC, it is mandatory to determine their eligibility for downstaging therapy prior to inclusion. The upper limit for this therapy could be one lesion up to 8 cm, 2-3 lesions with a total tumor diameter up to 8 cm, or a total tumor volume of 115 cm^3. Lastly, liver allocation and the prioritization of patients with HCC onthe WL should take into account the recently described HCC model for end-stage liver disease, which considers hepatic function, HCC size and the number and the log of AFP values. This formula has been calibrated with the survival data of non-HCC patients and produces a dynamic and more accurate assessment model.展开更多
The sub-watershed prioritization is the ranking of different areas of a river basin according to their need to proper planning and management of soil and water resources.Decision makers should optimally allocate the i...The sub-watershed prioritization is the ranking of different areas of a river basin according to their need to proper planning and management of soil and water resources.Decision makers should optimally allocate the investments to critical sub-watersheds in an economically effective and technically efficient manner.Hence,this study aimed at developing a user-friendly geographic information system(GIS)tool,Sub-Watershed Prioritization Tool(SWPT),using the Python programming language to decrease any possible uncertainty.It used geospatial-statistical techniques for analyzing morphometric and topohydrological factors and automatically identifying critical and priority sub-watersheds.In order to assess the capability and reliability of the SWPT tool,it was successfully applied in a watershed in the Golestan Province,Northern Iran.Historical records of flood and landslide events indicated that the SWPT correctly recognized critical sub-watersheds.It provided a cost-effective approach for prioritization of sub-watersheds.Therefore,the SWPT is practically applicable and replicable to other regions where gauge data is not available for each sub-watershed.展开更多
The continuous and rapid increase of chemical pollution in surface waters has become a pressing and widely recognized global concern.As emerging contaminants(ECs)in surface waters,pharmaceutical and personal care prod...The continuous and rapid increase of chemical pollution in surface waters has become a pressing and widely recognized global concern.As emerging contaminants(ECs)in surface waters,pharmaceutical and personal care products(PPCPs),and endocrine-disrupting compounds(EDCs)have attracted considerable attention due to their wide occurrence and potential threat to human health.Therefore,a comprehensive understanding of the occurrence and risks of ECs in Chinese surface waters is urgently required.This study summarizes and assesses the environmental occurrence concentrations and ecological risks of 42 pharmaceuticals,15 personal care products(PCPs),and 20 EDCs frequently detected in Chinese surface waters.The ECs were primarily detected in China’s densely populated and highly industrialized regions.Most detected PPCPs and EDCs had concentrations between ng/L toμg/L,whereas norfloxacin,caffeine,and erythromycin had relatively high contamination levels,even exceeding 2000 ng/L.Risk evaluation based on the risk quotient method revealed that 34 PPCPs and EDCs in Chinese surface waters did not pose a significant risk,whereas 4-nonylphenol,4-tert-octylphenol,17α-ethinyl estradiol,17β-estradiol,and triclocarban did.This review provides a comprehensive summary of the occurrence and associated hazards of typical PPCPs and EDCs in Chinese surface waters over the past decade,and will aid in the regulation and control of these ECs in Chinese surface waters。展开更多
Remote sensing and GIS techniques were employed for prioritization of the Zerqa River watershed. Forty-three 4th order sub-watersheds were prioritized based on morphometric and Principal Component Analysis (PCA), in o...Remote sensing and GIS techniques were employed for prioritization of the Zerqa River watershed. Forty-three 4th order sub-watersheds were prioritized based on morphometric and Principal Component Analysis (PCA), in order to examine the effectiveness of morphometric parameters in watershed prioritization. A comparison has been carried out between the results achieved through applying the two methods of analysis (morphometric and PCA). Afterwards, suitable measures are proposed for soil and water conservation. Topo sheets and ASTER DEM have been employed to demarcate the 43 sub-watersheds, to extract the drainage networks, and to compile the required thematic maps such as slope categories and elevation. LANDSAT 8 image (April-2015) is employed to generate land use/cover maps using ENVI (v 5.1) software. The soil map of the watershed has been digitized using Arc GIS software. Prioritization of the 43 sub-watersheds was performed using ten linear and shape parameters, and three parameters which are highly correlated with components 1 and 2. Subsequently, different sub-watersheds were prioritized by ascribing ranks based on the calculated compound parameters (Cp) using the two approaches. Comparison of the results revealed that prioritization of watersheds based on morphometric analysis is more consistent and serves for better decision making in conservation planning as compared with the PCA approach. The recommended soil conservation measures are prescribed in accordance with the specified priority, in order to avoid undesirable effects on land and environment. Sub-watersheds classified under high priority class are subjected to high erosion risk, thus, creating an urgent need for applying soil and water conservation measures. It is expected that decision makers will pay sufficient attention to the present results/information, activate programs encouraging soil conservation, integrated watershed management, and will continue working on the afforestation of the government-owned sloping lands. Such a viable approach can be applied at different parts of the rainfed highland areas to minimize soil erosion loss, and to increase infiltration and soil moisture in the soil profile, thus, reducing the impact of recurrent droughts and the possibility of flooding hazards.展开更多
Based on the option prioritization in graph model for conflict resolution of two decision makers(DMs),new logical and matrix representations of four stability concepts for DMs′attitude are proposed.The logical repres...Based on the option prioritization in graph model for conflict resolution of two decision makers(DMs),new logical and matrix representations of four stability concepts for DMs′attitude are proposed.The logical representation of attitude is defined,and converted to the matrix form in order to develop a decision support system(DSS)efficiently.Compared with existing definitions of DMs′attitude based on states,the proposed definitions of attitude based on options are convenient and more effective to generate preferences since that of states can be significantly larger than that of options in a large conflict.In addition,it is easier to obtain the information of the prioritization of option statements than to obtain preference of states for users.The proposed representations are applied to the process conflict during aircraft manufacturing to demonstrate the efficiency of the new approach.展开更多
文摘At present,energy consumption is one of the main bottlenecks in autonomous mobile robot development.To address the challenge of high energy consumption in path planning for autonomous mobile robots navigating unknown and complex environments,this paper proposes an Attention-Enhanced Dueling Deep Q-Network(ADDueling DQN),which integrates a multi-head attention mechanism and a prioritized experience replay strategy into a Dueling-DQN reinforcement learning framework.A multi-objective reward function,centered on energy efficiency,is designed to comprehensively consider path length,terrain slope,motion smoothness,and obstacle avoidance,enabling optimal low-energy trajectory generation in 3D space from the source.The incorporation of a multihead attention mechanism allows the model to dynamically focus on energy-critical state features—such as slope gradients and obstacle density—thereby significantly improving its ability to recognize and avoid energy-intensive paths.Additionally,the prioritized experience replay mechanism accelerates learning from key decision-making experiences,suppressing inefficient exploration and guiding the policy toward low-energy solutions more rapidly.The effectiveness of the proposed path planning algorithm is validated through simulation experiments conducted in multiple off-road scenarios.Results demonstrate that AD-Dueling DQN consistently achieves the lowest average energy consumption across all tested environments.Moreover,the proposed method exhibits faster convergence and greater training stability compared to baseline algorithms,highlighting its global optimization capability under energy-aware objectives in complex terrains.This study offers an efficient and scalable intelligent control strategy for the development of energy-conscious autonomous navigation systems.
基金supported by the Shanxi Agricultural University Science and Technology Innovation Enhancement Project。
文摘This paper proposes a lightweight traffic sign detection system based on you only look once(YOLO).Firstly,the classification to fusion(C2f)structure is integrated into the backbone network,employing deformable convolution and bi-directional feature pyramid network(BiFPN)_Concat to improve the adaptability of the network.Secondly,the simple attention module(SimAm)is embedded to prioritize key features and reduce the complexity of the model after the C2f layer at the end of the backbone network.Next,the focal efficient intersection over union(EloU)is introduced to adjust the weights of challenging samples.Finally,we accomplish the design and deployment for the mobile app.The results demonstrate improvements,with the F1 score of 0.8987,mean average precision(mAP)@0.5 of 98.8%,mAP@0.5:0.95 of 75.6%,and the detection speed of 50 frames per second(FPS).
基金supported by the National Natural Science Foundation of China under Grant No.62301008China Postdoctoral Science Foundation under Grant No.2022M720272。
文摘In wireless networks,the prioritized transmission scheme is essential for accommodating different priority classes of users sharing a common channel.In this paper,we propose a prioritized random access scheme based on compute-and-forward,referred to as expanding window sign-compute diversity slotted ALOHA(EW-SCDSA).We improve the expanding window technique and apply it to a high-throughput random access scheme,i.e.,the signcompute diversity slotted ALOHA(SCDSA)scheme,to implement prioritized random access.We analyze the probability of user resolution in each priority class utilizing a bipartite graph and derive the corresponding lower bounds,the effectiveness of which is validated through simulation experiments.Simulation results demonstrate that the EW-SCDSA scheme can provide heterogeneous reliability performance for various user priority classes and significantly outperforms the existing advanced prioritized random access scheme.
基金Funded by the National Key R&D Program of China (Grant No:2022YFC3303000)。
文摘As the world transitions to a more environment-friendly and sustainable global economy,innovations in green technology are playing a crucial role.Recognizing this,China,along with many other nations,is adapting its pat⁃ent system to better support green innovations,establishing what is known as a green patent regime.While extensive empirical research highlights the significance of China's green patent regime in achieving environmental sustainabil⁃ity,there is a noticeable lack of normative studies on enhancing its efficacy.This work aims to fill this gap by conduct⁃ing a normative study using doctrinal analysis and proposing that transparency and accessibility are key factors in evaluating the effectiveness of a green patent regime.Through a doctrinal analysis of China's green patent legislation and regulations,this work assesses the legal rights conferred by this regime and identifies how these rights are con⁃strained by substantive and procedural norms.The findings reveal significant limitations to the transparency and acces⁃sibility of China's green patent regime and propose improvements.These recommendations offer insights for policymak⁃ers in China and other countries.The doctrinal analysis conducted in this research could stimulate further theoretical discussion in the field of sustainable development and intellectual property law.Moreover,it might enlighten more hy⁃potheses for future empirical studies.
文摘The emergence of the SARS-CoV-2 virus resulted in a health and economic crisis worldwide. Although everyone is susceptible to COVID-19, the elderly have compromised immune systems and often suffer from chronic underlying diseases, which makes them more vulnerable. This study aims to assess variation in COVID-19 vaccine distribution patterns across different age groups in European countries and to understand the extent to which European countries have prioritized vulnerable age groups (age > 70) in their vaccination programs. The study utilized open data from the European Center for Disease Prevention and Control (ECDC) and employed an observational, retrospective study design to examine the distribution of the COVID-19 vaccine among various age groups in several European countries from September 2021 to September 2023. Results reveal that vaccination rates increase with age, peaking at the 25 - 49 age group (1.34 × 10−4), after which there was a decline in vaccination rate. Analysis of variance (ANOVA) was used to investigate the equality of vaccination rates across the 29 countries in Europe, which resulted in a p-value of 70) during the study period as no country achieved the 70% coverage aimed by WHO. Continuous efforts must be made to ensure larger coverage of COVID-19 vaccination among this vulnerable population in order to protect them from severe outcomes in this region.
文摘Soil erosion in the Hare watershed led to significant land degradation,water pollution,and reduced agricultural productivity.Despite its effects,very few researchers have used combined morphometric and RUSLE model techniques to quantify soil erosion and thereby prioritize impacted areas.This work used an automated GIS-based tool(SWPT)to prioritize crucial areas based on topohydrological and morphometric factors and predict soil loss in sub-watersheds using the RUSLE model.Land use/cover data were obtained from Landsat imagery,while slope and morphometric information were extracted from digital elevation data with a resolution of 12.5 m.Soil erodibility was determined using Ethiopian soil maps,and rainfall erosivity was computed using meteorological data.An average annual soil loss of 49 t ha-1 yr-1 was observed in the Hare watershed.Sub-watershed 11 was found to be the most affected,with an average annual soil loss of 85.12 t ha-1 yr-1and a compound parameter value(CPV)of 0.059.Subwatershed 17 has the least amount of soil loss,with 3.67t ha-1 yr-1 and a CPV of 1.32.The study emphasizes the usefulness of integrating RUSLE and morphometric analysis for soil and water conservation planning,suggesting a variety of modeling tools in data-sparse locations to quantify and prioritize erosion-prone areas.
文摘In the current era of intelligent technologies,comprehensive and precise regional coverage path planning is critical for tasks such as environmental monitoring,emergency rescue,and agricultural plant protection.Owing to their exceptional flexibility and rapid deployment capabilities,unmanned aerial vehicles(UAVs)have emerged as the ideal platforms for accomplishing these tasks.This study proposes a swarm A^(*)-guided Deep Q-Network(SADQN)algorithm to address the coverage path planning(CPP)problem for UAV swarms in complex environments.Firstly,to overcome the dependency of traditional modeling methods on regular terrain environments,this study proposes an improved cellular decomposition method for map discretization.Simultaneously,a distributed UAV swarm system architecture is adopted,which,through the integration of multi-scale maps,addresses the issues of redundant operations and flight conflicts inmulti-UAV cooperative coverage.Secondly,the heuristic mechanism of the A^(*)algorithmis combinedwith full-coverage path planning,and this approach is incorporated at the initial stage ofDeep Q-Network(DQN)algorithm training to provide effective guidance in action selection,thereby accelerating convergence.Additionally,a prioritized experience replay mechanism is introduced to further enhance the coverage performance of the algorithm.To evaluate the efficacy of the proposed algorithm,simulation experiments were conducted in several irregular environments and compared with several popular algorithms.Simulation results show that the SADQNalgorithmoutperforms othermethods,achieving performance comparable to that of the baseline prior algorithm,with an average coverage efficiency exceeding 2.6 and fewer turning maneuvers.In addition,the algorithm demonstrates excellent generalization ability,enabling it to adapt to different environments.
基金sponsored by the Innovation Foundation for National Natural Science Foundation of China(No.11872312)。
文摘Response prediction is a fundamental yet challenging task in aeronautical engineering,requiring an accurate selection of sensor positions correlated with the target responses to achieve precise predictions. Unfortunately, in large-scale structures, the rigorous selection of reliable sensor candidates for multi-target responses remains largely unexplored. In this paper, we propose a flexible and generalized framework for selecting the most relevant sensors to the multi-target response and predicting the target response, referred to as the Fast-aware Multi-Target Response Prediction(FMTRP) approach in the spirit of divide-and-conquer. Specifically, first, a multi-task learning module is designed to predict multi-point response tasks at the same time. Simultaneously, we meticulously devise adaptive mechanisms to facilitate loss-term reweighting and encourage prioritization of challenging tasks in multiple prediction tasks. Second, to ensure ease of interpretation,we introduce a hybrid penalty to select sensors at the group-sparsity, individual-sparsity and element-sparsity levels. Finally, due to the substantial number of candidate sensors posing a significant computational burden, we develop a more efficient search strategy and support computation to make the proposed approach applicable in practice, leading to substantial runtime improvements. Extensive experiments on aircraft standard model response datasets and large airliner test flight datasets validate the effectiveness of the proposed approach in identifying sensor locations and simultaneously predicting responses at multiple points. Compared to state-of-the-art methods,the proposed approach achieves an accuracy of over 99% in sinusoidal excitation and exhibits the shortest runtime(3.514 s).
基金supported by the Basic Scientific Research Business Fund Project of Higher Education Institutions in Heilongjiang Province(145409601)the First Batch of Experimental Teaching and Teaching Laboratory Construction Research Projects in Heilongjiang Province(SJGZ20240038).
文摘In the wake of major natural disasters or human-made disasters,the communication infrastruc-ture within disaster-stricken areas is frequently dam-aged.Unmanned aerial vehicles(UAVs),thanks to their merits such as rapid deployment and high mobil-ity,are commonly regarded as an ideal option for con-structing temporary communication networks.Con-sidering the limited computing capability and battery power of UAVs,this paper proposes a two-layer UAV cooperative computing offloading strategy for emer-gency disaster relief scenarios.The multi-agent twin delayed deep deterministic policy gradient(MATD3)algorithm integrated with prioritized experience replay(PER)is utilized to jointly optimize the scheduling strategies of UAVs,task offloading ratios,and their mobility,aiming to diminish the energy consumption and delay of the system to the minimum.In order to address the aforementioned non-convex optimiza-tion issue,a Markov decision process(MDP)has been established.The results of simulation experiments demonstrate that,compared with the other four base-line algorithms,the algorithm introduced in this paper exhibits better convergence performance,verifying its feasibility and efficacy.
文摘Natural resource management is essential to sustain human well-being and the environment.Water and soil are two of the most important natural resources that require careful management.The western part of India faces multiple challenges,including climatic variability,soil degradation,water scarcity,deforestation,etc.The basin’s sub-watersheds are delineated and prioritised using the Soil and Water Assessment Tool(SWAT)and Sub Watershed Prioritization Tool(SWPT),respectively,using morphometric and topo-hydrological characteristics,and the sub-watersheds are further ranked using Weighted Sum Analysis(WSA).The findings indicate that SWS19,SWS18,SWS1,SWS17,SWS16,and SWS15,which are drained by the rivers Chambal,Kali Sindh,Mashi,Parbati,Parwan,and Beradi,are highly vulnerable sub-watersheds.By integrating remote sensing,GIS techniques,and quantitative morphometric analysis,parameters such as drainage density,stream frequency,bifurcation ratio,and slope gradient were evaluated.The analysis revealed critical sub-watersheds characterized by steep slopes,high drainage density,and poor vegetation cover,indicating their susceptibility to erosion and runoff.The findings underscore the necessity for targeted soil conservation measures,such as contour bunding,afforestation,and water retention structures.This study highlights the utility of geospatial tools for sustainable watershed management and provides a replicable framework for prioritizing sub-watersheds in similar regions.
文摘Computer analysis of electrocardiograms(ECGs)was introduced more than 50 years ago,with the aim to improve efficiency and clinical workflow.[1,2]However,inaccuracies have been documented in the literature.[3,4]Research indicates that emergency department(ED)clinician interruptions occur every 4-10 min,which is significantly more common than in other specialties.[5]This increases the cognitive load and error rates and impacts patient care and clinical effi ciency.[1,2,5]De-prioritization protocols have been introduced in certain centers in the United Kingdom(UK),removing the need for clinician ECG interpretation where ECGs have been interpreted as normal by the machine.
基金The National Natural Science Foundation of China(No.61300054)the Natural Science Foundation of Jiangsu Province(No.BK2011190,BK20130879)+1 种基金the Natural Science Foundation of Higher Education Institutions of Jiangsu Province(No.13KJB520018)the Science Foundation of Nanjing University of Posts&Telecommunications(No.NY212023)
文摘By analyzing the average percent of faults detected （APFD） metric and its variant versions, which are widely utilized as metrics to evaluate the fault detection efficiency of the test suite, this paper points out some limitations of the APFD series metrics. These limitations include APFD series metrics having inaccurate physical explanations and being unable to precisely describe the process of fault detection. To avoid the limitations of existing metrics, this paper proposes two improved metrics for evaluating fault detection efficiency of a test suite, including relative-APFD and relative-APFDc. The proposed metrics refer to both the speed of fault detection and the constraint of the testing source. The case study shows that the two proposed metrics can provide much more precise descriptions of the fault detection process and the fault detection efficiency of the test suite.
文摘The importance and complexity of prioritizing construction projects (PCP) in urban road network planning lead to the necessity to develop an aided decision making program (ADMP). Cost benefit ratio model and stage rolled method are chosen as the theoretical foundations of the program, and then benefit model is improved to accord with the actuality of urban traffic in China. Consequently, program flows, module functions and data structures are designed, and particularly an original data structure of road ...
基金Supported by the Science Research and Development Project of Nanning City(201002030B)~~
文摘[Objective]The aim was to establish a multi-attribute decision making method and introduce its application in rice breeding.[Method]Based on the defined closeness degree among attributes,the difference degrees among attributes were discussed.Furthermore,the weights of attributes were determined based on the difference degrees among the attributes.[Result]A multi-attribute decision making method based on difference degrees among attributes was established,the feasibility of applying it in rice breeding was also analyzed.[Conclusion]This study enriched the methods to determine attribute weights in multi-attribute decision making and provided the necessary theoretical support for selecting rice varieties scientifically and rationally.
基金supported by the Major Science and Technology Program for Water Pollution Control and Treatment in China (2017ZX07202)Beijing Science and Technology Planning Project (Z191100006919003)
文摘The occurrence and impacts of emerging organic contaminants(EOCs)in the aquatic environment have gained widespread attention over the past two decades.Due to large number of potential contaminants,monitoring campaigns,treatment plants,and proposed regulations should preferentially focus on specific pollutants with the highest potential for ecological and human health effects.In the present study,a multi-criteria screening approach based on hazard and exposure potentials was developed for prioritization of 405 unregulated EOCs already present in Chinese surface water.Hazard potential,exposure potential,and risk quotients for ecological and human health effects were quantitatively analyzed and used to screen contaminants.The hazard potential was defined by contaminant persistence,bioaccumulation,ecotoxicity,and human health effects;similarly,the exposure potential was a function of contaminant concentration and detection frequency.In total,123 compounds passed the preselection process,which involved a priority index equal to the normalized hazard potential multiplied by the normalized exposure potential.Based on the prioritization scheme,11 compounds were identified as top-priority,and 37 chemicals were defined as high-priority.The results obtained by the priority index were compared with four other prioritization schemes based on exposure potential,hazard potential,or risk quotients for ecological effects or human health.The priority index effectively captured and integrated the results from the more simplistic prioritization schemes.Based on identified data gaps,four uncertainty categories were classified to recommend:①regular monitoring,derivation of environmental quality standards,and development of control strategies;②increased monitoring;③fortified hazard assessment;and④increased efforts to collect occurrence and toxicity data.Overall,20 pollutants were recommended as priority EOCs.The prioritized list of contaminants provides the necessary information for authoritative regulations to monitor,control,evaluate,and manage the risks of environmentally-relevant EOCs in Chinese surface water.
文摘The aim of liver transplantation(LT) for hepatocellular carcinoma(HCC) is to ensure a rate of disease-free survival similar to that of patients transplanted due to benign disease. Therefore, we are forced to adopt strict criteria when selecting candidates for LT and prioritizing patients on the waiting list(WL), to have clarified indications for bridging therapy for groups at risk for progression or recurrence, and to establish certain limits for downstaging therapies. Although the Milan criteria(MC) remain the standard and most employed criteria for indication of HCC patients for LT by far, in the coming years, criteria will be consolidated that take into account not only data regarding the size/volume and number of tumors but also their biology. This criteria will mainly include the alpha fetoprotein(AFP) values and, in view of their wide variability, any of the published logarithmic models for the selection of candidates for LT. Bridging therapy is necessary for HCC patients on the WL who meet the MC and have the possibility of experiencing a delay for LT greater than 6 mo or any of the known risk factors for recurrence. It is difficult to define single AFP values that would indicate bridging therapy(200, 300 or 400 ng/m L); therefore, it is preferable to rely on the criteria of a French AFP model score > 2. Other single indications for bridging therapy include a tumor diameter greater than 3 cm, more than one tumor, and having an AFP slope greater than 15 ng/m L per month or > 50 ng/m L for three months during strict monitoring while on the WL. When considering the inclusion of patients on the WL who do not meet the MC, it is mandatory to determine their eligibility for downstaging therapy prior to inclusion. The upper limit for this therapy could be one lesion up to 8 cm, 2-3 lesions with a total tumor diameter up to 8 cm, or a total tumor volume of 115 cm^3. Lastly, liver allocation and the prioritization of patients with HCC onthe WL should take into account the recently described HCC model for end-stage liver disease, which considers hepatic function, HCC size and the number and the log of AFP values. This formula has been calibrated with the survival data of non-HCC patients and produces a dynamic and more accurate assessment model.
基金supported by the Geographic Information Science Research Group,Ton Duc Thang University,Ho Chi Minh City,Viet Nam
文摘The sub-watershed prioritization is the ranking of different areas of a river basin according to their need to proper planning and management of soil and water resources.Decision makers should optimally allocate the investments to critical sub-watersheds in an economically effective and technically efficient manner.Hence,this study aimed at developing a user-friendly geographic information system(GIS)tool,Sub-Watershed Prioritization Tool(SWPT),using the Python programming language to decrease any possible uncertainty.It used geospatial-statistical techniques for analyzing morphometric and topohydrological factors and automatically identifying critical and priority sub-watersheds.In order to assess the capability and reliability of the SWPT tool,it was successfully applied in a watershed in the Golestan Province,Northern Iran.Historical records of flood and landslide events indicated that the SWPT correctly recognized critical sub-watersheds.It provided a cost-effective approach for prioritization of sub-watersheds.Therefore,the SWPT is practically applicable and replicable to other regions where gauge data is not available for each sub-watershed.
基金supported by the National Natural Science Foundation of China(No.22176199)the Key R&D Program of Shandong Province(No.2020CXGC011202)+1 种基金the Jinan University and Institute Innovation Team Project(No.2021GXRC061)the Research Center for Eco-Environmental Science(No.RCEES-TDZ-2021-14).
文摘The continuous and rapid increase of chemical pollution in surface waters has become a pressing and widely recognized global concern.As emerging contaminants(ECs)in surface waters,pharmaceutical and personal care products(PPCPs),and endocrine-disrupting compounds(EDCs)have attracted considerable attention due to their wide occurrence and potential threat to human health.Therefore,a comprehensive understanding of the occurrence and risks of ECs in Chinese surface waters is urgently required.This study summarizes and assesses the environmental occurrence concentrations and ecological risks of 42 pharmaceuticals,15 personal care products(PCPs),and 20 EDCs frequently detected in Chinese surface waters.The ECs were primarily detected in China’s densely populated and highly industrialized regions.Most detected PPCPs and EDCs had concentrations between ng/L toμg/L,whereas norfloxacin,caffeine,and erythromycin had relatively high contamination levels,even exceeding 2000 ng/L.Risk evaluation based on the risk quotient method revealed that 34 PPCPs and EDCs in Chinese surface waters did not pose a significant risk,whereas 4-nonylphenol,4-tert-octylphenol,17α-ethinyl estradiol,17β-estradiol,and triclocarban did.This review provides a comprehensive summary of the occurrence and associated hazards of typical PPCPs and EDCs in Chinese surface waters over the past decade,and will aid in the regulation and control of these ECs in Chinese surface waters。
文摘Remote sensing and GIS techniques were employed for prioritization of the Zerqa River watershed. Forty-three 4th order sub-watersheds were prioritized based on morphometric and Principal Component Analysis (PCA), in order to examine the effectiveness of morphometric parameters in watershed prioritization. A comparison has been carried out between the results achieved through applying the two methods of analysis (morphometric and PCA). Afterwards, suitable measures are proposed for soil and water conservation. Topo sheets and ASTER DEM have been employed to demarcate the 43 sub-watersheds, to extract the drainage networks, and to compile the required thematic maps such as slope categories and elevation. LANDSAT 8 image (April-2015) is employed to generate land use/cover maps using ENVI (v 5.1) software. The soil map of the watershed has been digitized using Arc GIS software. Prioritization of the 43 sub-watersheds was performed using ten linear and shape parameters, and three parameters which are highly correlated with components 1 and 2. Subsequently, different sub-watersheds were prioritized by ascribing ranks based on the calculated compound parameters (Cp) using the two approaches. Comparison of the results revealed that prioritization of watersheds based on morphometric analysis is more consistent and serves for better decision making in conservation planning as compared with the PCA approach. The recommended soil conservation measures are prescribed in accordance with the specified priority, in order to avoid undesirable effects on land and environment. Sub-watersheds classified under high priority class are subjected to high erosion risk, thus, creating an urgent need for applying soil and water conservation measures. It is expected that decision makers will pay sufficient attention to the present results/information, activate programs encouraging soil conservation, integrated watershed management, and will continue working on the afforestation of the government-owned sloping lands. Such a viable approach can be applied at different parts of the rainfed highland areas to minimize soil erosion loss, and to increase infiltration and soil moisture in the soil profile, thus, reducing the impact of recurrent droughts and the possibility of flooding hazards.
基金supported by the National Natural Science Foundation of China(Nos.71071076,71471087,and 61673209)
文摘Based on the option prioritization in graph model for conflict resolution of two decision makers(DMs),new logical and matrix representations of four stability concepts for DMs′attitude are proposed.The logical representation of attitude is defined,and converted to the matrix form in order to develop a decision support system(DSS)efficiently.Compared with existing definitions of DMs′attitude based on states,the proposed definitions of attitude based on options are convenient and more effective to generate preferences since that of states can be significantly larger than that of options in a large conflict.In addition,it is easier to obtain the information of the prioritization of option statements than to obtain preference of states for users.The proposed representations are applied to the process conflict during aircraft manufacturing to demonstrate the efficiency of the new approach.
