Search Results (618)

To improve path planning performance for mobile robots in complex environments, this study proposes a hybrid method combining an improved jump point search (JPS) algorithm with the dynamic window approach (DWA). In global planning, a quadrant pruning strategy guided by the target direction and a sine-enhanced heuristic function reduces the search space and accelerates planning. Natural jump points are retained for path continuity, and the path is smoothed using cubic B-spline curves. In local planning, DWA is enhanced by incorporating a target orientation factor, a safety distance penalty, and a normalization mechanism into the cost function. An adaptive weighting strategy dynamically balances goal-directed motion and obstacle avoidance. Simulation experiments in static and complex environments with unknown and dynamic obstacles demonstrate the method’s effectiveness. Compared to the standard approach, the improved JPS reduces search time by 36.7% and node expansions by 60.9%, with similar path lengths. When integrated with DWA, the robot adapts effectively to changing obstacles, ensuring safe and efficient navigation. The proposed method significantly enhances the real-time performance and safety of path planning in dynamic and uncertain environments. Full article

In this paper, we propose a navigation synthesis method for indoor mobile robots based on the Improved Jumping Point Search (JPS) framework. Although traditional JPS has high search efficiency, it often leads to excessive node expansion and sharp turns in complex environments, which limits its practical application. In order to overcome these problems, we introduced three key strategies. First, we used a density-sensing heuristic function calculated by integrating the image to improve the adaptability of complex areas. Secondly, we extracted structural key points from the path and used third-order B-splines to fit them to enhance smoothness and continuity. Third, a curvature-driven Regulated Pure Pursuit (RPP) controller adjusts the look-ahead distance and speed based on path curvature, improving tracking stability. Simulation results show that the proposed method reduces planning time and node redundancy while generating smoother and more executable paths than the conventional JPS framework. Full article

We propose a novel deep learning framework for counterfactual inference on the COMPAS dataset, utilizing a multi-task CNN-LSTM architecture. The model jointly predicts multiple outcome types: (i) count outcomes with zero inflation, modeled using zero-inflated Poisson (ZIP), zero-inflated negative binomial (ZINB), and negative binomial (NB) distributions; (ii) time-to-event outcomes, modeled via the Cox proportional hazards model. To effectively leverage the structure in high-dimensional tabular data, we integrate functional data analysis (FDA) techniques by transforming covariates into smooth functional representations using B-spline basis expansions. Specifically, we construct a pseudo-temporal index over predictor variables and fit basis expansions to each subject’s feature vector, yielding a low-dimensional set of coefficients that preserve smooth variation while reducing noise. This functional representation enables the CNN-LSTM model to capture both local and global temporal patterns in the data, including treatment-covariate interactions. Our approach estimates both population-average and individual-level treatment effects (ATE and CATE) for each outcome and evaluates predictive performance using metrics such as Poisson deviance, root mean squared error (RMSE), and the concordance index (C-index). Statistical inference on treatment effects is supported via bootstrap-based confidence intervals and hypothesis testing. Overall, this comprehensive framework facilitates flexible modeling of heterogeneous treatment effects in structured, high-dimensional data, advancing causal inference methodologies in criminal justice and related domains. Full article

Unmanned aerial vehicles (UAVs) increasingly demand robust onboard diagnostic frameworks to ensure safe operation under irregular telemetry and mission-critical conditions. This paper presents a real-time fault detection framework for unmanned aerial vehicles (UAVs), optimized for deployment on edge devices and designed to handle irregular, nonuniform telemetry. The system reconstructs raw sensor data using compactly supported B-spline interpolation, ensuring stable recovery of flight dynamics under jitter, dropouts, and asynchronous sampling. A lightweight hybrid anomaly detection module—combining a Long Short-Term Memory (LSTM) autoencoder with an Isolation Forest—analyzes both temporal patterns and statistical deviations across reconstructed signals. The full pipeline operates entirely onboard embedded platforms such as the Raspberry Pi 4 and NVIDIA Jetson Nano, with end-to-end inference latency under 50 milliseconds. Experiments using real PX4 UAV flight logs and synthetic fault injection demonstrate a detection accuracy of 93.6% and strong resilience to telemetry disruptions. These results support the feasibility of autonomous, sensor-based health monitoring in UAV systems and broader real-time cyber–physical applications. Full article

In many complex applications, both data heterogeneity and homogeneity are present simultaneously. Overlooking either aspect can lead to misleading statistical inferences. Moreover, the increasing prevalence of complex, non-Euclidean data calls for more sophisticated modeling techniques. To address these challenges, we propose a density data response additive model, where the response variable is represented by a distributional density function. In this framework, individual effect curves are assumed to be homogeneous within groups but heterogeneous across groups, while covariates that explain variation share common additive bivariate functions. We begin by applying a transformation to map density functions into a linear space. To estimate the unknown subject-specific functions and the additive bivariate components, we adopt a B-spline series approximation method. Latent group structures are uncovered using a hierarchical agglomerative clustering algorithm, which allows our method to recover the true underlying groupings with high probability. To further improve estimation efficiency, we develop refined spline-backfitted local linear estimators for both the grouped structures and the additive bivariate functions in the post-grouping model. We also establish the asymptotic properties of the proposed estimators, including their convergence rates, asymptotic distributions, and post-grouping oracle efficiency. The effectiveness of our method is demonstrated through extensive simulation studies and real-world data analysis, both of which show promising and robust performance. Full article

The direct fitting of sea level anomaly (SLA) using satellite along-track data provides a critical approach for monitoring mesoscale ocean dynamics. While bicubic quasi-uniform B-spline surface fitting has demonstrated feasibility in localized sea areas, its applicability to basin-scale regions remains underexplored. This study focuses on the northern Atlantic Ocean, employing B-spline surface fitting to derive SLA fields from satellite along-track data. The results show strong agreement with in situ measurements, yielding a mean absolute error (MAE) of 1.89 cm and a root mean square error (RMSE) of 3.02 cm. Comparative analysis against the Copernicus Marine Environment Monitoring Service (CMEMS) Level-4 gridded SSH data reveals nearly equivalent accuracy (MAE: 1.95 cm; RMSE: 3.06 cm). The relationship between the order of fitting and the spatial extent of the fitting domain is also examined. Furthermore, the influence of the coastline on the fitting results is investigated in detail. As the coastline area expanded, the MAE and RMSE for the entire region increased. But the maximum increase in MAE was only 1.20 cm, and the maximum increase in RMSE was only 2.49 cm. Notably, there was no upward trend in MAE and RMSE in the mesoscale vortex dense area, which highlights the advantage of B-spline’s local support. Geostrophic flow and vertical component of relative vorticity are computed from the satellite along-track SLA data, with results showing agreement with Level-4 gridded geostrophic flow and vertical component of relative vorticity data. Full article

Rydberg atoms play a crucial role in testing atomic structure theory, quantum computing and simulation. Measurements of transition frequencies from the $2^{1,3}S$ states to Rydberg ${}^{1,3}P$ states have reached a precision of several kHz, which poses significant challenges for theoretical calculations, since the accuracy of variational energy calculations decreases rapidly with increasing principal quantum number n. Recently the complex “triple” Hylleraas basis was employed to attain the ionization energy of helium $24{}^{1}P$ state with high accuracy. Different from it, we extended the correlated B-spline basis functions (C-BSBFs) to calculate the Rydberg states of helium. The nonrelativistic energies of $1snp$${}^{1,3}P$ states up to $n=27$ achieve at least 14 significant digits using a unified basis set, thereby greatly reducing the complexity of the optimization process. Results of geometric structure parameters and cusp conditions were presented as well. Both the global operator and direct calculation methods are employed and cross-checked for contact potentials. This C-BSBF method not only obtains high-accuracy energies across all studied levels but also confirms the effectiveness of the C-BSBFs in depicting long-range and short-range correlation effects, laying a solid foundation for future high-accuracy Rydberg-state calculations with relativistic and QED corrections included in helium atom and low-Z helium-like ions. Full article

A multi-objective optimal trajectory planning method is proposed for manipulators in this paper to enhance motion efficiency and to reduce component wear while ensuring motion smoothness. The trajectory is initially interpolated in the joint space by using quintic non-uniform B-splines with virtual points, achieving the C⁴ continuity of joint motion and satisfying dynamic, kinematic, geometric, synchronization, and boundary constraints. The interpolation reformulates the trajectory planning problem into an optimization problem, where the time intervals between desired adjacent waypoints serve as variables. Travelling time and the integral of the squared jerk along the entire trajectories comprise the multi-objective functions. A constrained multi-objective dream optimization algorithm is designed to solve the time–jerk optimal trajectory planning problem and generate Pareto solutions for optimized trajectories. Simulations conducted on 6-DOF manipulators validate the effectiveness and superiority of the proposed method in comparison with existing typical trajectory planning methods. Full article

The advancement of computational capabilities has allowed for more efficient airfoil analysis and design. Consequently, it has become possible to expand the design space and explore new geometries and configurations. However, the current state of development does not yet support a fully automated optimization process. Instead, the newly introduced capabilities have effectively transferred the previously trial-and-error-based approach used in geometry design to the formulation of the optimization problem. The goal of this work is to study the formulation of an optimization problem and propose a new methodology that better portrays the aircraft’s requirements for airfoil performance. The new objective function, added to an existing tool, estimates the main performance parameters of an aircraft for the Air Cargo Challenge (ACC) 2022 competition using a method that extrapolates the characteristics of the airfoil into the aircraft’s performance. In addition, the traditional relative aerodynamic property improvements, in this work, are coupled with the performance results to smooth the polar curve of the resulting airfoil. The optimization algorithm is based on the free-gradient technique Particle Swarm Optimization (PSO), using the B-spline parametrization and a coupled viscous/inviscid interaction method as the flow solver. Full article

To address the technical bottlenecks of low path planning efficiency and insufficient point cloud coverage in the automated 3D scanning of complex structural components, this study proposes an offline method for the generation and optimization of scanning paths based on CAD models. Discrete sampling of the model’s surface is achieved through the construction of an oriented bounding box (OBB) and a linear object–triangular mesh intersection algorithm, thereby obtaining a discrete point set of the model. Incorporating a standard vector analysis of the discrete points and the kinematic constraints of the scanning system, a scanner pose parameter calculation model is established. An improved nearest neighbor search algorithm is employed to generate a globally optimized scanning path, and an adaptive B-spline interpolation algorithm is applied to path smoothing. A joint MATLAB (R2023b)—RobotStudio (6.08) simulation platform is developed to facilitate the entire process, from model pre-processing and path planning to path verification. The experimental results demonstrate that compared with the traditional manual teaching methods, the proposed approach achieves a 25.4% improvement in scanning efficiency and an 18.6% increase in point cloud coverage when measuring typical complex structural components. This study offers an intelligent solution for the efficient and accurate measurement of large-scale complex parts and holds significant potential for broad engineering applications. Full article

To address the limitations of traditional tunnel structural plane modeling—such as low automation, insufficient smoothness, and poor adaptability to real construction environments—this study proposes a novel three-dimensional (3D) modeling framework based on B-spline interpolation combined with deep learning. The method first employs YOLOv5 for rapid detection of structural regions and DeepLabV3+ for precise boundary segmentation, followed by skeleton extraction and coordinate transformation to obtain spatial structural traces. Finally, B-spline interpolation is applied across multiple tunnel sections to construct continuous 3D surfaces. In model training and testing, the segmentation network achieved an F1 score of 94.01%, and the final modeling accuracy demonstrated a mean relative error (MRE) below 2.5%, confirming the reliability of the geometric reconstruction. Additionally, the proposed method was applied to excavation face images from the Paiyashan Tunnel, where multiple structural surfaces were successfully reconstructed in 3D, validating the approach’s applicability and robustness in real geological conditions. Compared to traditional triangulated or linear surface methods, the proposed approach achieves higher smoothness, better geological continuity, and improved automation, making it suitable for real-world geotechnical applications. Full article

In the realm of 3D curve reconstruction, Non-Uniform Rational B-Splines (NURBSs) offer a versatile mathematical tool due to their ability to precisely represent complex geometries. However, achieving high fitting accuracy in stereo-based applications remains challenging, primarily due to the nonlinear nature of weight optimization. This study introduces an enhanced iterative strategy that leverages the geometric significance of NURBS weights to incrementally refine curve fitting. By formulating an inverse optimization problem guided by model deformation principles, the proposed method progressively adjusts weights to minimize reprojection error. Experimental evaluations confirm the method’s convergence and demonstrate its superiority in fitting accuracy when compared to conventional optimization techniques. Full article

Deep-sea navigation represents the future trend of maritime navigation; however, complex seakeeping conditions often lead to unconventional ship attitudes. Conventional calculation methods are insufficient for accurately assessing hull performance under heeled or extreme trim conditions. Drawing inspiration from Bonjean curve principles, this study proposes a Quasi-Bonjean (QB) method to compute ship performance elements in arbitrary attitudes. Specifically, the QB method first constructs longitudinally distributed hull sections from the Non-Uniform Rational B-Spline (NURBS) surface model, then simulates arbitrary attitudes through dynamic waterplane adjustments, and finally calculates performance elements via sectional integration. Furthermore, an Adaptive Surface Tessellation (AST) method is proposed to optimize longitudinal section distribution by minimizing the number of stations while maintaining high geometric fidelity, thereby enhancing the computational efficiency of the QB method. Comparative experiments reveal that the AST-generated 100-station sections achieve computational precision comparable to 200-station uniform distributions under optimal conditions, and the performance elements calculated by the QB method under multi-attitude conditions meet International Association of Classification Societies accuracy thresholds, particularly excelling in the displacement and vertical center of buoyancy calculations. These findings confirm that the QB method effectively addresses the critical limitations of traditional hydrostatic tables, providing a theoretical foundation for analyzing damaged ship equilibrium and evaluating residual stability. Full article

This paper extends Woźny and Chudy’s linear-complexity Bézier evaluation algorithm (2020) to all parametric curves/surfaces with normalized basis functions via a novel basis function matrix decomposition. The unified framework covers the following: (i) B-spline/NURBS models; (ii) Bézier-type surfaces (tensor-product, rational, and triangular); (iii) enhanced models with shape parameters or non-polynomial basis spaces. For curves, we propose sequential and reverse corner-cutting modes. Surface evaluation adapts to type: non-tensor-product surfaces are processed through index-linearization to match the curve format, while tensor-product surfaces utilize nested curve evaluation. This approach reduces computational complexity, resolves cross-model compatibility issues, and establishes an efficient evaluation framework for diverse parametric geometries. Full article

To address the operational demands of irregular farmland with fixed obstacles, this study proposes a full-coverage path planning framework that integrates UAV-based 3D perception and angle-adaptive optimization. First, digital orthophoto maps (DOMs) and digital elevation models (DEMs) were reconstructed from low-altitude aerial imagery. The feasible working region was constructed by shrinking field boundaries inward and dilating obstacle boundaries outward. This ensured sufficient safety margins for machinery operation. Next, segmentation angles were scanned from 0° to 180° to minimize the number and irregularity of sub-regions; then a two-level simulation search was performed over 0° to 360° to optimize the working direction for each sub-region. For each sub-region, the optimal working direction was selected based on four criteria: the number of turns, travel distance, coverage redundancy, and planning time. Between sub-regions, a closed-loop interconnection path was generated using eight-directional A* search combined with polyline simplification, arc fitting, Chaikin subdivision, and B-spline smoothing. Simulation results showed that a 78° segmentation yielded four regular sub-regions, achieving 99.97% coverage while reducing the number of turns, travel distance, and planning time by up to 70.42%, 23.17%, and 85.6%. This framework accounts for field heterogeneity and turning radius constraints, effectively mitigating path redundancy in conventional fixed-angle methods. This framework enables general deployment in agricultural field operations and facilitates extensions toward collaborative and energy-optimized task planning. Full article