The pseudo-two-dimensional(P2D)model plays an important role in exploring physicochemical mechanisms,predicting the state of health,and improving the fast charge capability for Li-ion batteries(LIBs).However,the fast ...The pseudo-two-dimensional(P2D)model plays an important role in exploring physicochemical mechanisms,predicting the state of health,and improving the fast charge capability for Li-ion batteries(LIBs).However,the fast charge leads to the lithium concentration gradient in the solid and electrolyte phases and the non-uniform electrochemical reaction at the solid/electrolyte interface.In order to decouple charge transfer reactions in LIBs under dynamic conditions,understanding the spatio-temporal resolution of the P2D model is urgently required.Till now,the study of this aspect is still insufficient.This work studies the spatio-temporal resolution for dynamic/static electrochemical impedance spectroscopy(DEIS/SEIS)on multiple scales.In detail,DEIS and SEIS with spatio-temporal resolutions are used to decouple charge transfer reactions in LIBs based on the numerical solution of the P2D model in the frequency domain.The calculated results indicate that decoupling solid diffusion requires a high spatial resolution along the r-direction in particles,decoupling electrolyte diffusion and interfacial transfer reaction requires a high spatial resolution along the x-direction,and decoupling charge transfer reactions in LIBs at an extremely low state of charge(SOC)requires an extremely high temporal resolution along the t-direction.Finally,the optimal range of spatio-temporal resolutions for DEIS/SEIS is derived,and the method to decouple charge transfer reactions with spatio-temporal resolutions is developed.展开更多
False Data Injection Attacks(FDIAs)pose a critical security threat to modern power grids,corrupting state estimation and enabling malicious control actions that can lead to severe consequences,including cascading fail...False Data Injection Attacks(FDIAs)pose a critical security threat to modern power grids,corrupting state estimation and enabling malicious control actions that can lead to severe consequences,including cascading failures,large-scale blackouts,and significant economic losses.While detecting attacks is important,accurately localizing compromised nodes or measurements is even more critical,as it enables timely mitigation,targeted response,and enhanced system resilience beyond what detection alone can offer.Existing research typically models topological features using fixed structures,which can introduce irrelevant information and affect the effectiveness of feature extraction.To address this limitation,this paper proposes an FDIA localization model with adaptive neighborhood selection,which dynamically captures spatial dependencies of the power grid by adjusting node relationships based on data-driven similarities.The improved Transformer is employed to pre-fuse global spatial features of the graph,enriching the feature representation.To improve spatio-temporal correlation extraction for FDIA localization,the proposed model employs dilated causal convolution with a gating mechanism combined with graph convolution to capture and fuse long-range temporal features and adaptive topological features.This fully exploits the temporal dynamics and spatial dependencies inherent in the power grid.Finally,multi-source information is integrated to generate highly robust node embeddings,enhancing FDIA detection and localization.Experiments are conducted on IEEE 14,57,and 118-bus systems,and the results demonstrate that the proposed model substantially improves the accuracy of FDIA localization.Additional experiments are conducted to verify the effectiveness and robustness of the proposed model.展开更多
False data injection attack(FDIA)can affect the state estimation of the power grid by tampering with the measured value of the power grid data,and then destroying the stable operation of the smart grid.Existing work u...False data injection attack(FDIA)can affect the state estimation of the power grid by tampering with the measured value of the power grid data,and then destroying the stable operation of the smart grid.Existing work usually trains a detection model by fusing the data-driven features from diverse power data streams.Data-driven features,however,cannot effectively capture the differences between noisy data and attack samples.As a result,slight noise disturbances in the power grid may cause a large number of false detections for FDIA attacks.To address this problem,this paper designs a deep collaborative self-attention network to achieve robust FDIA detection,in which the spatio-temporal features of cascaded FDIA attacks are fully integrated.Firstly,a high-order Chebyshev polynomials-based graph convolution module is designed to effectively aggregate the spatio information between grid nodes,and the spatial self-attention mechanism is involved to dynamically assign attention weights to each node,which guides the network to pay more attention to the node information that is conducive to FDIA detection.Furthermore,the bi-directional Long Short-Term Memory(LSTM)network is introduced to conduct time series modeling and long-term dependence analysis for power grid data and utilizes the temporal self-attention mechanism to describe the time correlation of data and assign different weights to different time steps.Our designed deep collaborative network can effectively mine subtle perturbations from spatiotemporal feature information,efficiently distinguish power grid noise from FDIA attacks,and adapt to diverse attack intensities.Extensive experiments demonstrate that our method can obtain an efficient detection performance over actual load data from New York Independent System Operator(NYISO)in IEEE 14,IEEE 39,and IEEE 118 bus systems,and outperforms state-of-the-art FDIA detection schemes in terms of detection accuracy and robustness.展开更多
In floristic research,the grid mapping method is a crucial and highly effective tool for investigating the flora of specific regions.This methodology aids in the collection of comprehensive data,thereby promoting a th...In floristic research,the grid mapping method is a crucial and highly effective tool for investigating the flora of specific regions.This methodology aids in the collection of comprehensive data,thereby promoting a thorough understanding of regional plant diversity.This paper presents findings from a grid mapping study conducted in the Surkhan-Sherabad botanical-geographic region(SShBGR),acknowledged as one of the major floristic areas in southwestern Uzbekistan.Using an expansive dataset of 14,317 records comprised of herbarium specimens and field diary entries collected from 1897 to 2023,we evaluated the stages and seasonal dynamics of data accumulation,species richness(SR),and collection density(CD)within 5 km×5 km grid cells.We further examined the taxonomic and life form composition of the region's flora.Our analysis revealed that the grid mapping phase(2021–2023)produced a significantly greater volume of specimens and taxonomic diversity compared with other periods(1897–1940,1941–1993,and 1994–2020).Field research spanned 206 grid cells during 2021–2023,resulting in 11,883 samples,including 6469 herbarium specimens and 5414 field records.Overall,fieldwork covered 251 of the 253 grid cells within the SShBGR.Notably,the highest species diversity was documented in the B198 grid cell,recording 160 species.In terms of collection density,the E198 grid cell produced 475 samples.Overall,we identified 1053 species distributed across 439 genera and 78 families in the SShBGR.The flora of this region aligned significantly with the dominant families commonly found in the Holarctic,highlighting vital ecological connections.Among our findings,the Asteraceae family was the most polymorphic,with 147 species,followed by the continually stable and diverse Poaceae,Fabaceae,Brassicaceae,and Amaranthaceae.Besides,our analysis revealed a predominance of therophyte life forms,which constituted 52%(552 species)of the total flora.The findings underscore the necessity for continual data collection efforts to further enhance our understanding of the biodiversity in the SShBGR.The results of this study demonstrated that the application of grid-based mapping in floristic studies proves to be an effective tool for assessing biodiversity and identifying key taxonomic groups.展开更多
In the intelligent transportation system, the autonomous vehicle platoon is a promising concept for addressing traffic congestion problems. However, under certain conditions, the platoon’s advantage cannot be properl...In the intelligent transportation system, the autonomous vehicle platoon is a promising concept for addressing traffic congestion problems. However, under certain conditions, the platoon’s advantage cannot be properly developed, especially when stopping for electronic toll collection (ETC) to pay the toll fee using the highway. This study proposes a software architectural platform that enables connected automated vehicles to reserve a grid-based alternative approach to replace current highway toll collection systems. A planned travel route is reserved in advance by a connected automated vehicle in a platoon, and travel is based on reservation information. We use driving information acquired by communication mechanisms installed in connected automated vehicles to develop a dynamic map platform that collects highway toll tax based on reserving spatio-temporal grids. Spatio-temporal sections are developed by dividing space and time into equal grids and assigning a certain road tax rate. The results of the performance evaluation reveal that the proposed method appropriately reserves the specified grids and collects toll taxes accurately based on a spatio-temporal grid with minimal communication time and no data package loss. Likely, using the proposed method to mediate driving on a one-kilometer route takes an average of 36.5 seconds, as compared to ETC and the combination of ETC and freeway road lane methods, which take 46.6 and 53.8 seconds, respectively, for 1000 vehicles. Consequently, our proposed method’s travel time improvements will reduce congestion by more effectively exploiting road capacity as well as enhance the number of platoons while providing non-stoppable travel for autonomous vehicles.展开更多
Designing the optimal distribution of Global Navigation Satellite System(GNSS)ground stations is crucial for determining the satellite orbit,satellite clock and Earth Rotation Parameters(ERP)at a desired precision usi...Designing the optimal distribution of Global Navigation Satellite System(GNSS)ground stations is crucial for determining the satellite orbit,satellite clock and Earth Rotation Parameters(ERP)at a desired precision using a limited number of stations.In this work,a new criterion for the optimal GNSS station distribution for orbit and ERP determination is proposed,named the minimum Orbit and ERP Dilution of Precision Factor(OEDOP)criterion.To quickly identify the specific station locations for the optimal station distribution on a map,a method for the rapid determination of the selected station locations is developed,which is based on the map grid zooming and heuristic technique.Using the minimum OEDOP criterion and the proposed method for the rapid determination of optimal station locations,an optimal or near-optimal station distribution scheme for 17 newly built BeiDou Navigation Satellite System(BDS)global tracking stations is suggested.To verify the proposed criterion and method,real GNSS data are processed.The results show that the minimum OEDOP criterion is valid,as the smaller the value of OEDOP,the better the precision of the satellite orbit and ERP determination.Relative to the exhaustive method,the proposed method significantly improves the computational efficiency of the optimal station location determination.In the case of 3 newly built stations,the computational efficiency of the proposed method is 35 times greater than that of the exhaustive method.As the number of stations increases,the improvement in the computational efficiency becomes increasingly obvious.展开更多
The technique of incremental updating,which can better guarantee the real-time situation of navigational map,is the developing orientation of navigational road network updating.The data center of vehicle navigation sy...The technique of incremental updating,which can better guarantee the real-time situation of navigational map,is the developing orientation of navigational road network updating.The data center of vehicle navigation system is in charge of storing incremental data,and the spatio-temporal data model for storing incremental data does affect the efficiency of the response of the data center to the requirements of incremental data from the vehicle terminal.According to the analysis on the shortcomings of several typical spatio-temporal data models used in the data center and based on the base map with overlay model,the reverse map with overlay model (RMOM) was put forward for the data center to make rapid response to incremental data request.RMOM supports the data center to store not only the current complete road network data,but also the overlays of incremental data from the time when each road network changed to the current moment.Moreover,the storage mechanism and index structure of the incremental data were designed,and the implementation algorithm of RMOM was developed.Taking navigational road network in Guangzhou City as an example,the simulation test was conducted to validate the efficiency of RMOM.Results show that the navigation database in the data center can response to the requirements of incremental data by only one query with RMOM,and costs less time.Compared with the base map with overlay model,the data center does not need to temporarily overlay incremental data with RMOM,so time-consuming of response is significantly reduced.RMOM greatly improves the efficiency of response and provides strong support for the real-time situation of navigational road network.展开更多
For the mobile robot path planning under the complex environment,ant colony optimization with artificial potential field based on grid map is proposed to avoid traditional ant colony algorithm's poor convergence a...For the mobile robot path planning under the complex environment,ant colony optimization with artificial potential field based on grid map is proposed to avoid traditional ant colony algorithm's poor convergence and local optimum.Firstly,the pheromone updating mechanism of ant colony is designed by a hybrid strategy of global map updating and local grids updating.Then,some angles between the vectors of artificial potential field and the orientations of current grid are introduced to calculate the visibility of eight-neighbor cells of cellular automata,which are adopted as ant colony's inspiring factor to calculate the transition probability based on the pseudo-random transition rule cellular automata.Finally,mobile robot dynamic path planning and the simulation experiments are completed by this algorithm,and the experimental results show that the method is feasible and effective.展开更多
Disease mapping is the study of the distribution of disease relative risks or rates in space and time, and normally uses generalized linear mixed models (GLMMs) which includes fixed effects and spatial, temporal, and ...Disease mapping is the study of the distribution of disease relative risks or rates in space and time, and normally uses generalized linear mixed models (GLMMs) which includes fixed effects and spatial, temporal, and spatio-temporal random effects. Model fitting and statistical inference are commonly accomplished through the empirical Bayes (EB) and fully Bayes (FB) approaches. The EB approach usually relies on the penalized quasi-likelihood (PQL), while the FB approach, which has increasingly become more popular in the recent past, usually uses Markov chain Monte Carlo (McMC) techniques. However, there are many challenges in conventional use of posterior sampling via McMC for inference. This includes the need to evaluate convergence of posterior samples, which often requires extensive simulation and can be very time consuming. Spatio-temporal models used in disease mapping are often very complex and McMC methods may lead to large Monte Carlo errors if the dimension of the data at hand is large. To address these challenges, a new strategy based on integrated nested Laplace approximations (INLA) has recently been recently developed as a promising alternative to the McMC. This technique is now becoming more popular in disease mapping because of its ability to fit fairly complex space-time models much more quickly than the McMC. In this paper, we show how to fit different spatio-temporal models for disease mapping with INLA using the Leroux CAR prior for the spatial component, and we compare it with McMC using Kenya HIV incidence data during the period 2013-2016.展开更多
The mapping method is a forward-modeling method that transforms the irregular surface to horizontal by mapping the rectangular grid as curved; moreover, the wave field calculations move from the physical domain to the...The mapping method is a forward-modeling method that transforms the irregular surface to horizontal by mapping the rectangular grid as curved; moreover, the wave field calculations move from the physical domain to the calculation domain. The mapping method deals with the irregular surface and the low-velocity layer underneath it using a fine grid. For the deeper high-velocity layers, the use of a fine grid causes local oversampling. In addition, when the irregular surface is transformed to horizontal, the flattened interface below the surface is transformed to curved, which produces inaccurate modeling results because of the presence of ladder-like burrs in the simulated seismic wave. Thus, we propose the mapping method based on the dual-variable finite-difference staggered grid. The proposed method uses different size grid spacings in different regions and locally variable time steps to match the size variability of grid spacings. Numerical examples suggest that the proposed method requires less memory storage capacity and improves the computational efficiency compared with forward modeling methods based on the conventional grid.展开更多
基金supported by the National Natural Science Foundation of China(Nos.22479092 and 22078190)。
文摘The pseudo-two-dimensional(P2D)model plays an important role in exploring physicochemical mechanisms,predicting the state of health,and improving the fast charge capability for Li-ion batteries(LIBs).However,the fast charge leads to the lithium concentration gradient in the solid and electrolyte phases and the non-uniform electrochemical reaction at the solid/electrolyte interface.In order to decouple charge transfer reactions in LIBs under dynamic conditions,understanding the spatio-temporal resolution of the P2D model is urgently required.Till now,the study of this aspect is still insufficient.This work studies the spatio-temporal resolution for dynamic/static electrochemical impedance spectroscopy(DEIS/SEIS)on multiple scales.In detail,DEIS and SEIS with spatio-temporal resolutions are used to decouple charge transfer reactions in LIBs based on the numerical solution of the P2D model in the frequency domain.The calculated results indicate that decoupling solid diffusion requires a high spatial resolution along the r-direction in particles,decoupling electrolyte diffusion and interfacial transfer reaction requires a high spatial resolution along the x-direction,and decoupling charge transfer reactions in LIBs at an extremely low state of charge(SOC)requires an extremely high temporal resolution along the t-direction.Finally,the optimal range of spatio-temporal resolutions for DEIS/SEIS is derived,and the method to decouple charge transfer reactions with spatio-temporal resolutions is developed.
基金supported by National Key Research and Development Plan of China(No.2022YFB3103304).
文摘False Data Injection Attacks(FDIAs)pose a critical security threat to modern power grids,corrupting state estimation and enabling malicious control actions that can lead to severe consequences,including cascading failures,large-scale blackouts,and significant economic losses.While detecting attacks is important,accurately localizing compromised nodes or measurements is even more critical,as it enables timely mitigation,targeted response,and enhanced system resilience beyond what detection alone can offer.Existing research typically models topological features using fixed structures,which can introduce irrelevant information and affect the effectiveness of feature extraction.To address this limitation,this paper proposes an FDIA localization model with adaptive neighborhood selection,which dynamically captures spatial dependencies of the power grid by adjusting node relationships based on data-driven similarities.The improved Transformer is employed to pre-fuse global spatial features of the graph,enriching the feature representation.To improve spatio-temporal correlation extraction for FDIA localization,the proposed model employs dilated causal convolution with a gating mechanism combined with graph convolution to capture and fuse long-range temporal features and adaptive topological features.This fully exploits the temporal dynamics and spatial dependencies inherent in the power grid.Finally,multi-source information is integrated to generate highly robust node embeddings,enhancing FDIA detection and localization.Experiments are conducted on IEEE 14,57,and 118-bus systems,and the results demonstrate that the proposed model substantially improves the accuracy of FDIA localization.Additional experiments are conducted to verify the effectiveness and robustness of the proposed model.
基金supported in part by the Research Fund of Guangxi Key Lab of Multi-Source Information Mining&Security(MIMS21-M-02).
文摘False data injection attack(FDIA)can affect the state estimation of the power grid by tampering with the measured value of the power grid data,and then destroying the stable operation of the smart grid.Existing work usually trains a detection model by fusing the data-driven features from diverse power data streams.Data-driven features,however,cannot effectively capture the differences between noisy data and attack samples.As a result,slight noise disturbances in the power grid may cause a large number of false detections for FDIA attacks.To address this problem,this paper designs a deep collaborative self-attention network to achieve robust FDIA detection,in which the spatio-temporal features of cascaded FDIA attacks are fully integrated.Firstly,a high-order Chebyshev polynomials-based graph convolution module is designed to effectively aggregate the spatio information between grid nodes,and the spatial self-attention mechanism is involved to dynamically assign attention weights to each node,which guides the network to pay more attention to the node information that is conducive to FDIA detection.Furthermore,the bi-directional Long Short-Term Memory(LSTM)network is introduced to conduct time series modeling and long-term dependence analysis for power grid data and utilizes the temporal self-attention mechanism to describe the time correlation of data and assign different weights to different time steps.Our designed deep collaborative network can effectively mine subtle perturbations from spatiotemporal feature information,efficiently distinguish power grid noise from FDIA attacks,and adapt to diverse attack intensities.Extensive experiments demonstrate that our method can obtain an efficient detection performance over actual load data from New York Independent System Operator(NYISO)in IEEE 14,IEEE 39,and IEEE 118 bus systems,and outperforms state-of-the-art FDIA detection schemes in terms of detection accuracy and robustness.
基金supported by the grant from the State Programs"Grid Mapping of the Flora of Uzbekistan'during 2020–2024"the grant from the State Programs"Creation of the Digital Platform of the Plant World of Central Uzbekistan"during 2025–2029the State Research Project"Taxonomic Revision of Polymorphic Plant Families of the Flora of Uzbekistan"from the Institute of Botany,Academy of Sciences of the Republic of Uzbekistan (A-FA-2021-427)
文摘In floristic research,the grid mapping method is a crucial and highly effective tool for investigating the flora of specific regions.This methodology aids in the collection of comprehensive data,thereby promoting a thorough understanding of regional plant diversity.This paper presents findings from a grid mapping study conducted in the Surkhan-Sherabad botanical-geographic region(SShBGR),acknowledged as one of the major floristic areas in southwestern Uzbekistan.Using an expansive dataset of 14,317 records comprised of herbarium specimens and field diary entries collected from 1897 to 2023,we evaluated the stages and seasonal dynamics of data accumulation,species richness(SR),and collection density(CD)within 5 km×5 km grid cells.We further examined the taxonomic and life form composition of the region's flora.Our analysis revealed that the grid mapping phase(2021–2023)produced a significantly greater volume of specimens and taxonomic diversity compared with other periods(1897–1940,1941–1993,and 1994–2020).Field research spanned 206 grid cells during 2021–2023,resulting in 11,883 samples,including 6469 herbarium specimens and 5414 field records.Overall,fieldwork covered 251 of the 253 grid cells within the SShBGR.Notably,the highest species diversity was documented in the B198 grid cell,recording 160 species.In terms of collection density,the E198 grid cell produced 475 samples.Overall,we identified 1053 species distributed across 439 genera and 78 families in the SShBGR.The flora of this region aligned significantly with the dominant families commonly found in the Holarctic,highlighting vital ecological connections.Among our findings,the Asteraceae family was the most polymorphic,with 147 species,followed by the continually stable and diverse Poaceae,Fabaceae,Brassicaceae,and Amaranthaceae.Besides,our analysis revealed a predominance of therophyte life forms,which constituted 52%(552 species)of the total flora.The findings underscore the necessity for continual data collection efforts to further enhance our understanding of the biodiversity in the SShBGR.The results of this study demonstrated that the application of grid-based mapping in floristic studies proves to be an effective tool for assessing biodiversity and identifying key taxonomic groups.
文摘In the intelligent transportation system, the autonomous vehicle platoon is a promising concept for addressing traffic congestion problems. However, under certain conditions, the platoon’s advantage cannot be properly developed, especially when stopping for electronic toll collection (ETC) to pay the toll fee using the highway. This study proposes a software architectural platform that enables connected automated vehicles to reserve a grid-based alternative approach to replace current highway toll collection systems. A planned travel route is reserved in advance by a connected automated vehicle in a platoon, and travel is based on reservation information. We use driving information acquired by communication mechanisms installed in connected automated vehicles to develop a dynamic map platform that collects highway toll tax based on reserving spatio-temporal grids. Spatio-temporal sections are developed by dividing space and time into equal grids and assigning a certain road tax rate. The results of the performance evaluation reveal that the proposed method appropriately reserves the specified grids and collects toll taxes accurately based on a spatio-temporal grid with minimal communication time and no data package loss. Likely, using the proposed method to mediate driving on a one-kilometer route takes an average of 36.5 seconds, as compared to ETC and the combination of ETC and freeway road lane methods, which take 46.6 and 53.8 seconds, respectively, for 1000 vehicles. Consequently, our proposed method’s travel time improvements will reduce congestion by more effectively exploiting road capacity as well as enhance the number of platoons while providing non-stoppable travel for autonomous vehicles.
基金This work was supported by“The National Natural Science Foundation of China(No.41404033)”“The National Science and Technology Basic Work of China(No.2015FY310200)”+1 种基金“The State Key Program of National Natural Science Foundation of China(No.41730109)”“The Jiangsu Dual Creative Teams Program Project Awarded in 2017”and thanks for the data from IGS and iGMAS。
文摘Designing the optimal distribution of Global Navigation Satellite System(GNSS)ground stations is crucial for determining the satellite orbit,satellite clock and Earth Rotation Parameters(ERP)at a desired precision using a limited number of stations.In this work,a new criterion for the optimal GNSS station distribution for orbit and ERP determination is proposed,named the minimum Orbit and ERP Dilution of Precision Factor(OEDOP)criterion.To quickly identify the specific station locations for the optimal station distribution on a map,a method for the rapid determination of the selected station locations is developed,which is based on the map grid zooming and heuristic technique.Using the minimum OEDOP criterion and the proposed method for the rapid determination of optimal station locations,an optimal or near-optimal station distribution scheme for 17 newly built BeiDou Navigation Satellite System(BDS)global tracking stations is suggested.To verify the proposed criterion and method,real GNSS data are processed.The results show that the minimum OEDOP criterion is valid,as the smaller the value of OEDOP,the better the precision of the satellite orbit and ERP determination.Relative to the exhaustive method,the proposed method significantly improves the computational efficiency of the optimal station location determination.In the case of 3 newly built stations,the computational efficiency of the proposed method is 35 times greater than that of the exhaustive method.As the number of stations increases,the improvement in the computational efficiency becomes increasingly obvious.
基金Under the auspices of National High Technology Research and Development Program of China (No.2007AA12Z242)
文摘The technique of incremental updating,which can better guarantee the real-time situation of navigational map,is the developing orientation of navigational road network updating.The data center of vehicle navigation system is in charge of storing incremental data,and the spatio-temporal data model for storing incremental data does affect the efficiency of the response of the data center to the requirements of incremental data from the vehicle terminal.According to the analysis on the shortcomings of several typical spatio-temporal data models used in the data center and based on the base map with overlay model,the reverse map with overlay model (RMOM) was put forward for the data center to make rapid response to incremental data request.RMOM supports the data center to store not only the current complete road network data,but also the overlays of incremental data from the time when each road network changed to the current moment.Moreover,the storage mechanism and index structure of the incremental data were designed,and the implementation algorithm of RMOM was developed.Taking navigational road network in Guangzhou City as an example,the simulation test was conducted to validate the efficiency of RMOM.Results show that the navigation database in the data center can response to the requirements of incremental data by only one query with RMOM,and costs less time.Compared with the base map with overlay model,the data center does not need to temporarily overlay incremental data with RMOM,so time-consuming of response is significantly reduced.RMOM greatly improves the efficiency of response and provides strong support for the real-time situation of navigational road network.
基金National Natural Science Foundation of China(No.61373110)the Science-Technology Project of Wuhan,China(No.2014010101010005)
文摘For the mobile robot path planning under the complex environment,ant colony optimization with artificial potential field based on grid map is proposed to avoid traditional ant colony algorithm's poor convergence and local optimum.Firstly,the pheromone updating mechanism of ant colony is designed by a hybrid strategy of global map updating and local grids updating.Then,some angles between the vectors of artificial potential field and the orientations of current grid are introduced to calculate the visibility of eight-neighbor cells of cellular automata,which are adopted as ant colony's inspiring factor to calculate the transition probability based on the pseudo-random transition rule cellular automata.Finally,mobile robot dynamic path planning and the simulation experiments are completed by this algorithm,and the experimental results show that the method is feasible and effective.
文摘Disease mapping is the study of the distribution of disease relative risks or rates in space and time, and normally uses generalized linear mixed models (GLMMs) which includes fixed effects and spatial, temporal, and spatio-temporal random effects. Model fitting and statistical inference are commonly accomplished through the empirical Bayes (EB) and fully Bayes (FB) approaches. The EB approach usually relies on the penalized quasi-likelihood (PQL), while the FB approach, which has increasingly become more popular in the recent past, usually uses Markov chain Monte Carlo (McMC) techniques. However, there are many challenges in conventional use of posterior sampling via McMC for inference. This includes the need to evaluate convergence of posterior samples, which often requires extensive simulation and can be very time consuming. Spatio-temporal models used in disease mapping are often very complex and McMC methods may lead to large Monte Carlo errors if the dimension of the data at hand is large. To address these challenges, a new strategy based on integrated nested Laplace approximations (INLA) has recently been recently developed as a promising alternative to the McMC. This technique is now becoming more popular in disease mapping because of its ability to fit fairly complex space-time models much more quickly than the McMC. In this paper, we show how to fit different spatio-temporal models for disease mapping with INLA using the Leroux CAR prior for the spatial component, and we compare it with McMC using Kenya HIV incidence data during the period 2013-2016.
基金financially supported by the National Natural Science Foundation of China(Nos.41104069 and 41274124)the National 973 Project(Nos.2014CB239006 and 2011CB202402)+1 种基金the Shandong Natural Science Foundation of China(No.ZR2011DQ016)Fundamental Research Funds for Central Universities(No.R1401005A)
文摘The mapping method is a forward-modeling method that transforms the irregular surface to horizontal by mapping the rectangular grid as curved; moreover, the wave field calculations move from the physical domain to the calculation domain. The mapping method deals with the irregular surface and the low-velocity layer underneath it using a fine grid. For the deeper high-velocity layers, the use of a fine grid causes local oversampling. In addition, when the irregular surface is transformed to horizontal, the flattened interface below the surface is transformed to curved, which produces inaccurate modeling results because of the presence of ladder-like burrs in the simulated seismic wave. Thus, we propose the mapping method based on the dual-variable finite-difference staggered grid. The proposed method uses different size grid spacings in different regions and locally variable time steps to match the size variability of grid spacings. Numerical examples suggest that the proposed method requires less memory storage capacity and improves the computational efficiency compared with forward modeling methods based on the conventional grid.
