Search Results (234)

To address the challenges of inefficient path planning, discontinuous trajectories, and inadequate safety margins in autonomous spraying vehicles for greenhouse environments, this paper proposes a hierarchical motion control architecture. At the global path planning level, the heuristic function of the A* algorithm was redesigned to integrate channel width constraints, thereby optimizing node expansion efficiency. A continuous reference path is subsequently generated using a third-order Bézier curve. For local path planning, a state-space sampling method was adopted, incorporating a multi-objective cost function that accounts for collision distance, curvature change rate, and path deviation, enabling the real-time computation of optimal obstacle-avoidance trajectories. At the control level, an adaptive look-ahead distance pure pursuit algorithm was designed for trajectory tracking. The proposed framework was validated through a Simulink-ROS co-simulation environment and deployed on a Huawei MDC300F computing platform for real-world vehicle tests under various operating conditions. Experimental results demonstrated that compared with the baseline methods, the proposed approach improved the planning efficiency by 38.7%, reduced node expansion by 16.93%, shortened the average path length by 6.3%, and decreased the path curvature variation by 65.3%. The algorithm effectively supports dynamic obstacle avoidance, multi-vehicle coordination, and following behaviors in diverse scenarios, offering a robust solution for automation in facility agriculture. Full article

This article presents aircraft propeller optimal design technology; including an algorithm and OpenVINT 5 code. To achieve greater geometric flexibility, the proposed technique implements Class-Shape Transformation (CST) parameterization combined with Bézier curves, replacing the previous fully Bézier-based system. Performance improvements in the optimization process are accomplished through deep learning models and a genetic algorithm, which substitute XFOIL and Differential Evolution-based approaches, respectively. The scientific novelty of the article lies in the application of a neural network to predict the aerodynamic characteristics of profiles in the form of contour diagrams, rather than scalar values, which execute the neural network repeatedly per ISM algorithm iteration and speed up the design time of propeller blades by 32 times as much. A propeller for an aircraft-type UAV was designed using the proposed methodology and OpenVINT 5. A comparison was made with the results to solve a similar problem using numerical mathematical models and experimental studies in a wind tunnel. Full article

Embedding text on 3D triangular meshes is essential for conveying semantic information and supporting reliable identification and authentication. However, existing methods often fail to incorporate the geometric properties of the underlying mesh, resulting in shape inconsistencies and visual artifacts, particularly in regions with high curvature. To overcome these limitations, we present GeoText, a framework for generating 3D text directly on triangular meshes while faithfully preserving local surface geometry. In our approach, the control points of TrueType Font outlines are mapped onto the mesh along a user-specified placement curve and reconstructed using geodesic Bézier curves. We introduce two mapping strategies—one based on a local tangent frame and another based on straightest geodesics—that ensure natural alignment of font control points. The reconstructed outlines enable the generation of embossed, engraved, or independent 3D text meshes. Unlike Boolean-based methods, which combine text meshes through union or difference and therefore fail to lie exactly on the surface—breaking the symmetry between embossing and engraving—our offset-based approach ensures a symmetric relation: positive offsets yield embossing, whereas negative offsets produce engraving. Furthermore, our method achieves robust text generation without self-intersections or inter-character collisions. These capabilities make GeoTextwell suited for applications such as 3D watermarking, visual authentication, and digital content creation. Full article

Optimal airfoil design remains a critical challenge in aerodynamic engineering, with traditional methods requiring extensive computational resources and iterative processes. This paper presents GEO-DSGA, a novel framework integrating hybrid geometric neural networks with deep symbiotic genetic algorithms for enhanced airfoil optimization. The methodology employs graph-based representations of airfoil geometries through a hybrid architecture combining graph convolutional networks with traditional deep learning, enabling precise capture of spatial geometric relationships. The parametric modeling stage utilizes CST, Bézier curves, and PARSEC methods to generate mathematically robust airfoil representations, subsequently transformed into graph structures preserving local and global shape characteristics. The optimization framework incorporates a deep symbiotic genetic algorithm enhanced with dominant feature phenotyping, applying biological symbiotic principles where design parameters achieve superior performance through mutual enhancement rather than independent optimization. This systematic exploration maintains geometric feasibility and aerodynamic validity throughout the design space. Experimental results demonstrate an 88.6% reduction in computational time while maintaining prediction accuracy within 1.5% error margin for aerodynamic coefficients across diverse operating conditions. The methodology successfully identifies airfoil geometries outperforming baseline NACA profiles by up to 12% in lift-to-drag ratio while satisfying manufacturing and structural constraints, establishing GEO-DSGA as a significant advancement in computational aerodynamic design optimization. Full article

While the established theory of computer-aided geometric design (CAGD) suggests that rational Bernstein–Bézier polynomials associated with control points can be used to accurately represent conics and quadrics, this paper shows that the same goal can be achieved in a different manner. More specifically, rational Lagrange polynomials of the same degree, associated with nodal points lying on the true curve or surface, can be combined with appropriate weights to yield equivalent numerical results within a Bézier patch. The specific application of this equivalence to derive weights for Lagrange nodes on conics and quadrics is shown in this paper. Although this replacement may not be crucial for CAGD purposes, it proves useful for the direct implementation of boundary conditions in isogeometric analysis, since it allows the use of nodal values on the exact boundary. Full article

Aiming at the problems of low efficiency, high energy consumption, and poor path quality during the multi-mechanism operation of bridge cranes in spatial tasks, an improved Rapidly exploring Random Tree (RRT) algorithm based on multi-strategy fusion is proposed for energy-efficient path planning. First, the improved algorithm introduces heuristic path information to guide the sampling process, enhancing the quality of sampled nodes. By defining a heuristic boundary, the search space is constrained to goal-relevant regions, thereby improving path planning efficiency. Secondly, focused sampling and reconnection strategies are adopted to significantly enhance path quality while ensuring the global convergence of the algorithm. Combined with line segment sampling and probability control strategies, the algorithm balances global exploration and local refinement, further optimizing path selection. Finally, Bezier curves are applied to smooth the generated path, markedly improving path smoothness and feasibility. Comparative experiments conducted on a constructed three-dimensional simulation platform demonstrate that, compared to other algorithms, the proposed algorithm achieves significant optimization in planning time, path cost, number of path nodes, and number of random tree nodes, while generating smoother paths. Notably, under different operational modes, this study provides a quantitative evaluation of operational efficiency and energy consumption based on energy efficiency trade-offs, offering an effective technical solution for the intelligent operation of bridge cranes. Full article

This paper proposes a fast midcourse trajectory optimization method by using the Bézier curve as a transcription scheme to represent the interceptor trajectories. First, the trajectory optimization problem is established with the constraints during midcourse guidance and the performance index of the terminal velocity. Then, the interceptor position coordinates are represented using Bézier functions, which directly satisfy the boundary constraints. Other state and control variables are also expressed as Bézier functions. Finally, the original trajectory optimization problem is transformed into optimizing the Bézier parameters, which can be obtained by sequential quadratic programming. Numerical examples verify the rapidity of the proposed method when compared with various traditional numerical optimization methods. In addition, the result of the proposed method can be used as a fast solution satisfying all the boundary and path constraints, and it can also be used as an initial guess for further optimizations. Full article

In response to the challenges of obstacle avoidance and terrain negotiation encountered by wheel-legged robots in static environments with complex obstacles, this study introduces an enhanced A* path planning algorithm that incorporates a jump-point search strategy, a dynamically weighted heuristic strategy, and a continuous jumping constraint mechanism to facilitate efficient obstacle traversal. The algorithm extends the traditional 8-neighborhood rule to support jumping in the horizontal, vertical, and diagonal directions. A dynamic, weighted heuristic is introduced to adaptively adjust heuristic weights, guide the search direction, improve efficiency, and reduce detours. Redundant point removal and Bézier curve smoothing were employed to enhance path smoothness, whereas the continuous jumping constraint limited the jump frequency and improved motion stability. The results validate that—relative to the standard A* algorithm, which achieves a 73.7% reduction in path nodes (from 54 to 16)—85% fewer search nodes (from 542 to 78) and a planning time of 0.0032 s were achieved while also enhancing performance in crossing complex structures. This enhances the capability of wheel-legged robots to perform real-time path planning in structurally complex yet static environments, thereby improving their autonomous navigation efficiency. Full article

The fan blade shank serves as a critical transition structure connecting the airfoil and dovetail, with its geometric design significantly influencing the blade’s structural integrity. This study investigates the geometric configuration and static strength of the laminated composite fan blade shank, with emphasis on design methodology and analytical approaches. Utilizing Bézier spline curve techniques, two shank configurations—thickened and thinned—were developed for the laminated composite fan blade shank, followed by ply design and static strength analysis. The results demonstrate that high-stress regions in the laminated composite fan blade are predominantly located at the junction between the shank section and the leading edge of the dovetail. Furthermore, the thickened shank configuration effectively reduces the peak σ₃₃ by approximately 15% and simultaneously alleviates the interlaminar shear stress σ₁₃, without introducing adverse ply drop angles, which exhibits superior interlaminar stress resistance under tensile loading conditions. Full article

This study develops an effective forecasting model for metal futures prices with enhanced capability in trend identification and abrupt change detection, aiming to improve decision-making in both financial and industrial contexts. A hybrid framework is proposed that integrates non-uniform piecewise cubic Bézier curves with a temporal convolutional network (TCN). The Bézier–Hurst (BH) decomposition extracts multi-scale trend components, which are then processed by a TCN to capture long-range dependencies. Empirical results show that the model outperforms LSTM, standard TCN, Bézier–TCN, and WD-TCN, achieving higher accuracy in trend detection and abrupt change response. This integration of Bézier-based decomposition with TCN offers a novel and robust tool for forecasting, providing valuable support for risk control and strategic planning in commodity markets. Full article

To address the issues of low efficiency, insufficient coverage, and high energy consumption in wheat sowing path planning for large-scale irregular farmland, this study proposes an improved hybrid particle swarm optimization algorithm (TLG-PSO) for autonomous operational path planning. Building upon the standard PSO, the proposed method introduces a Tent chaotic mapping initialization mechanism, a Logistic-based dynamic inertia weight adjustment strategy, and adaptive Gaussian perturbation optimization to achieve precise control of the agricultural machinery’s driving orientation angle. A comprehensive path planning model is constructed with the objectives of minimizing the effective operation path length, reducing turning frequency, and maximizing coverage rate. Furthermore, cubic Bézier curves are employed for path smoothing, effectively controlling path curvature and ensuring the safety and stability of agricultural operations. The simulation experiment results demonstrate that the TLG-PSO algorithm achieved exceptional full-coverage operation performance across four categories of typical test fields. Compared to conventional fixed-direction path planning strategies, the algorithm reduced average total path length by 6228 m, improved coverage rate by 1.31%, achieved average labor savings of 96.32%, and decreased energy consumption by 6.45%. In large-scale comprehensive testing encompassing 1–27 field plots, the proposed algorithm reduced average total path length by 8472 m (a 5.45% decrease) and achieved average energy savings of 44.21 kW (a 5.48% reduction rate). Comparative experiments with mainstream intelligent optimization algorithms, including GA, ACO, PSO, BreedPSO, and SecPSO, revealed that TLG-PSO reduced path length by 0.16%–0.74% and decreased energy consumption by 0.53%–2.47%. It is worth noting that for large-scale field operations spanning hundreds of acres, even an approximately 1% path reduction translates to substantial fuel and operational time savings, which holds significant practical implications for large-scale agricultural production. Furthermore, TLG-PSO demonstrated exceptional performance in terms of algorithm convergence speed and computational efficiency. The improved TLG-PSO algorithm provides a feasible and efficient solution for autonomous operation of large-scale agricultural machinery. Full article

This paper presents a control method for achieving precise robotic contact on complex and curved surfaces in manufacturing and automation. The method combines smooth trajectory planning with contact force control to improve finishing accuracy while reducing processing time. It integrates a Bézier curve with a simplified hexic polynomial implemented through a position-based impedance controller that is enhanced by a novel force corrector unit. The model is referred to as the Adaptive Bézier–Based Impedance Constant Force Controller (ABBIFC), where the Bézier curve length is calculated using Simpson’s rule, and surface orientations are interpolated using quadratic quaternions. A hexic polynomial velocity profile ensures consistent motion speed throughout the process. This method effectively regulates both contact force and positional accuracy, resulting in high-quality surface finishes. Simulation studies and real-time polishing experiments demonstrate the system’s capability to accurately track path, speed, and force, with significantly reduced force errors. This approach advances robotic automation in applications such as polishing, grinding, and other surface finishing tasks by ensuring smooth motion and precise force control. Full article

The A* algorithm is broadly identified for its application in diverse fields, such as agriculture, robotics and GPS technology, due to its effectiveness in route planning. Despite its broad utility, the algorithm faces inherent limitations regarding operational efficiency and the length of the paths it generates. Addressing these constraints, this paper proposes an enhancement to the traditional A* algorithm that significantly improves its performance. Our innovative approach integrates Euclidean and Chebyshev distances into a single heuristic function, thereby enhancing pathfinding accuracy and flexibility. This combined heuristic leverages the strengths of both distance measures: the Euclidean distance provides an accurate straight-line measure between points, while the Chebyshev distance effectively handles scenarios allowing diagonal movement. Furthermore, we incorporate Bezier curves into the algorithm to smooth the generated paths. This addition is particularly advantageous in agricultural environments, where machinery must navigate complex terrains without causing damage to crops. The smooth paths produced by Bezier curves ensure more efficient and safer navigation in such settings. Comprehensive experiments conducted in various agricultural scenarios demonstrate the superior performance of the enhanced algorithm. These results reveal that the improved algorithm not only reduces the computation time needed for route planning but also generates shorter and smoother paths compared to the standard A* algorithm. The proposed approach significantly enhances the operational efficiency and route optimization capabilities of the A* algorithm, making it more suitable for complex and dynamic applications in agriculture. This advancement also holds promise for improving navigation systems in various other domains. Full article

This work presents an image processing algorithm for the segmentation of the personalized mapping of retinal nerve fiber layer (RNFL) bundle trajectories in the human retina. To segment RNFL bundles, preprocessing steps were used for noise reduction and illumination correction. Blood vessels were removed. The image was fed to a maximum–minimum modulation algorithm to isolate retinal nerve fiber (RNF) segments. A modified Garway-Heath map categorizes RNF orientation, assuming designated sets of orientation angles for aligning RNFs direction. Bezier curves fit RNFs from the center of the optic disk (OD) to their corresponding end. Fundus images from five different databases (n = 300) were tested, with 277 healthy normal subjects and 33 classified as diabetic without any sign of diabetic retinopathy. The algorithm successfully traced fiber trajectories per fundus across all regions identified by the Garway-Heath map. The resulting trace images were compared to the Jansonius map, reaching an average efficiency of 97.44% and working well with those of low resolution. The average mean difference in orientation angles of the included images was 11.01 ± 1.25 and the average RMSE was 13.82 ± 1.55. A 24-2 visual field (VF) grid pattern was overlaid onto the fundus to relate the VF test points to the intersection of RNFL bundles and their entry angles into the OD. The mean standard deviation (95% limit) obtained 13.5° (median 14.01°), ranging from less than 1° to 28.4° for 50 out of 52 VF locations. The influence of optic parameters was explored using multiple linear regression. Average angle trajectories in the papillomacular region were significantly influenced (p < 0.00001) by the latitudinal optic disk position and disk–fovea angle. Given the basic biometric ground truth data (only fovea and OD centers) that is publicly accessible, the algorithm can be customized to individual eyes and distinguish fibers with accuracy by considering unique anatomical features. Full article

Addressing the limitations of existing path planning algorithms for mobile robots in complex environments, such as poor adaptability, low convergence efficiency, and poor path quality, this study establishes a clear connection between mobile robots and real-world challenges such as unknown environments, dynamic obstacle avoidance, and smooth motion through innovative strategies. A novel multi-strategy fusion white shark optimization algorithm is proposed, focusing on actual scenario requirements, to provide optimal solutions for mobile robot path planning. First, the Chaotic Elite Pool strategy is employed to generate an elite population, enhancing population diversity and improving the quality of initial solutions, thereby boosting the algorithm’s global search capability. Second, adaptive weights are introduced, and the traditional simulated annealing algorithm is improved to obtain the Rapid Annealing Method. The improved simulated annealing algorithm is then combined with the White Shark algorithm to avoid getting stuck in local optima and accelerate convergence speed. Finally, third-order Bézier curves are used to smooth the path. Path length and path smoothness are used as fitness evaluation metrics, and an evaluation function is established in conjunction with a non-complete model that reflects actual motion to assess the effectiveness of path planning. Simulation results show that on the simple 20 × 20 grid map, the fusion of the Fused Multi-strategy White Shark Optimisation algorithm (FMWSO) outperforms WSO, D*, A*, and GWO by 8.43%, 7.37%, 2.08%, and 2.65%, respectively, in terms of path length. On the more complex 40 × 40 grid map, it improved by 6.48%, 26.76%, 0.95%, and 2.05%, respectively. The number of turning points was the lowest in both maps, and the path smoothness was lower. The algorithm’s runtime is optimal on the 20 × 20 map, outperforming other algorithms by 40.11%, 25.93%, 31.16%, and 9.51%, respectively. On the 40 × 40 map, it is on par with A*, and outperforms WSO, D*, and GWO by 14.01%, 157.38%, and 3.48%, respectively. The path planning performance is significantly better than other algorithms. Full article