Search Results (3,681)

Autonomous navigation in cluttered and dynamic industrial environments remains a major challenge for mobile robots. Traditional occupancy-grid and geometric planning approaches often struggle in such unstructured settings due to partial observability, sensor noise, and the frequent presence of moving agents (machinery, vehicles, humans). These limitations seriously undermine long-term reliability and safety compliance—both essential for Industry 4.0 applications. This paper introduces S3PM, a lightweight entropy-regularized framework for simultaneous mapping and path planning that operates directly on dense 3D point clouds. Its key innovation is a dynamics-aware entropy field that fuses per-voxel occupancy probabilities with motion cues derived from residual optical flow. Each voxel is assigned a risk-weighted entropy score that accounts for both geometric uncertainty and predicted object dynamics. This representation enables (i) robust differentiation between reliable free space and ambiguous/hazardous regions, (ii) proactive collision avoidance, and (iii) real-time trajectory replanning. The resulting multi-objective cost function effectively balances path length, smoothness, safety margins, and expected information gain, while maintaining high computational efficiency through voxel hashing and incremental distance transforms. Extensive experiments in both real-world and simulated settings, conducted on a Raspberry Pi 5 (with and without the Hailo-8 NPU), show that S3PM achieves 18–27% higher IoU in static/dynamic segmentation, 0.94–0.97 AUC in motion detection, and 30–45% fewer collisions compared to OctoMap + RRT* and standard probabilistic baselines. The full pipeline runs at 12–15 Hz on the bare Pi 5 and 25–30 Hz with NPU acceleration, making S3PM highly suitable for deployment on resource-constrained embedded platforms. Full article

As people spend more time indoors, the impact of the built environment on psychological health has attracted growing attention. Yet existing studies often have difficulty capturing decision-makers’ reference dependence and loss aversion under uncertainty. To bridge this gap, we propose an evaluation framework comprising three first-level criteria—Outdoor Environment, Physical Comfort (including thermal, lighting, and color environments), and Acoustic Comfort—and determine combined weights by integrating subjective analytic hierarchy process (AHP) judgments with objective entropy weighting based on triangular fuzzy numbers (TFNs). We further incorporate prospect–regret theory to represent loss aversion, expectation-based reference points, and counterfactual regret/rejoicing, and couple it with the VIKOR compromise ranking method, forming an integrated “TFN + Prospect–Regret + VIKOR” approach. The proposed method is applied to four retrofit alternatives for an open-plan office floor (approximately 1200 m²), each emphasizing outdoor environment, physical comfort, acoustic comfort, or no single priority. Experts assessed the schemes using fuzzy linguistic variables. The results show that lighting conditions, thermal comfort, color scheme, and internal noise control receive the highest comprehensive weights. Extensive sensitivity analyses across value/weighting functions and regret-aversion parameters indicate that the ranking of alternatives remains stable while exhibiting clearer separation. Comparative analyses further suggest that, although the overall ordering is consistent with baseline methods, the proposed model increases score dispersion and improves discriminative power. Overall, by explicitly accounting for decision-makers’ psychological behavior and information uncertainty, the framework enables robust and interpretable selection of retrofit schemes for existing office spaces. Full article

Socio-ecological systems in basin regions characterized by diverse cultural traditions and hierarchical village spatial structure are undergoing profound transformation driven by multifunctional demands and spatial restructuring. This study develops an analytical framework encompassing economic production, socio-cultural functions, and ecological potential to examine the spatial differentiation and socio-ecological coupling mechanisms within the Yilong Lake Basin, Yunnan Province. Through the entropy weighting method and a coupling coordination model, the framework evaluates the “lake–mountain–village” gradient of spatial differentiation. The results indicate that: (1) the overall coordination level of multifunctional systems in the region remains relatively low, exhibiting a decreasing trend from lakeshore to the mountain periphery; (2) village-level dependencies of spatial functions can be summarized into three coupling categories—associated with institutional embedding, self-organization, and value mismatch—revealing distinct socio-ecological interaction patterns; and (3) three coupling categories correspond to three differentiated governance pathways, namely coupling optimization, functional transition, and conflict mitigation. The study advances theoretical and methodological insights into the spatial differentiation and evolution of complex village systems, highlighting the nonlinear coexistence of interdependence and constraint among economic, social, and ecological functions. It further provides practical guidance for coordinated governance and sustainable spatial planning in similar rural and basin environments worldwide. Full article

In a situation where cities are increasingly being developed vertically and complexly, a novel approach for analyzing vertical urban functional patterns is proposed. For this purpose, a multi-dimensional GDC (Geo Data Cube) consisting of spatial and temporal data x, y, z, t, and f dimensions containing layer information was created. At this time, the size of the GDC cell (interval in x, y, z dimensions) is calculated by cell point data using the three-dimensional (3D) Moran’s I index value calculated with the 3D Diversity Factor (DF) based on information entropy proposed to reduce the uncertainty of information for each cell. In other words, the cell with the smallest index value was chosen to minimize the influence of Modifiable Areal Unit Problem (MAUP) that occurs when mapping. The 3D land use index (3D LUI) is calculated as a linearly weighted sum of the spatial accessibility of uses between cells (3D KDF) and the enrichment of uses (3D EF), taking into account the first law of geography. Finally, the 3D LUI value for each use was calculated for each cell of the GDC, and the use with the highest value was determined as the urban function of the cell. As a result of applying this to Seocho-gu, Seoul, Republic of Korea (ROK) in June 2024 and visually evaluating it using the street view provided by Kakao Map, it was confirmed that commercial and residential functions were vertically separated in buildings with residential–commercial complexes or shops on the ground floor. It was also confirmed that such characteristics did not appear in the two-dimensional (2D) urban functional patter analysis. Full article

Diffusion probabilistic models have demonstrated remarkable superiority in SISR. Yet, their multi-step denoising mechanism incurs prohibitive computational overhead, which severely limits real-world deployment. To address this issue, we propose an Entropy Subtraction-Supported Diffusion Denoising framework for image Reconstruction (ESRDF). The core idea is to shift part of the SR burden from the diffusion model to an image Decoder, with a key focus on recovering the symmetric structural correspondence between LR and HR images that is often degraded during downsampling. Specifically, ESRDF’s main branch employs a CNN that performs one-step feature reconstruction, supervised by a novel entropy-matching loss in addition to the conventional reconstruction loss. This loss adopts a patch-wise entropy matching strategy that enforces regional consistency between the True and the predicted images. Building on L1’s focus on pixel-level details and perceptual loss’s grasp of global semantics, region-wise entropy measurement further completes the global alignment of intra-region information structures. Under this framework, the main branch delivers coarse low-frequency content, drastically reducing the workload of the diffusion branch, which now only needs to sparsely refine high-frequency details. Experimental results on multiple benchmark datasets demonstrate that ESRDF achieves shorter model convergence times and higher generation quality with fewer denoising steps, outperforming previous diffusion-based image reconstruction methods. Full article

Rainfall, as the main driving force of natural disasters such as floods and droughts, has strong non-linear and abrupt characteristics, which makes it difficult to predict. As extreme weather events occur frequently in the Yellow River Basin, it is especially critical to reveal the physical mechanism of rainfall in the basin and integrate monthly scale meteorological data to achieve monthly rainfall prediction. In this paper, we propose a rainfall prediction model coupled with a physical mechanism and a temporal convolutional network (TCN) to achieve the prediction of monthly rainfall in the basin, aiming to reveal the physical mechanism between rainfall factors in the basin based on the transfer entropy and the multidimensional Copula function and based on the physical mechanism which is embedded into the TCN to construct a dual-driven prediction model with both physical knowledge and data, while the SHAP is used to analyze the interpretability of the prediction model. The results are as follows: (1) Temperature, relative humidity, and evaporation are key characteristic factors driving rainfall. (2) The physical mechanism features between temperature, relative humidity, and evaporation can be described by the three-dimensional Gumbel–Hougaard Copula function, with a more concentrated data distribution of their joint distribution probability. (3) The PHY-TCN model can accurately fit the extremes of the rainfall series, improving the model accuracy in the training set by 3.82%, 1.39%, and 9.82% compared to TCN, CNN, and LSTM, respectively, and in the test set by 6.04%, 2.55%, and 8.91%, respectively. (4) Embedding physical mechanisms enhances the contribution of individual feature variables in the PHY-TCN model and increases the persuasiveness of the model. This study provides a new research framework for rainfall prediction in the YRB and analyzes the physical relationship between the input data and output results of the deep learning model. It has important practical significance and strategic value for guiding the optimal scheduling of water resources, improving the risk management level of the basin, and promoting the ecological protection and high-quality development of the YRB. Full article

Accurate Short-Term Load Forecasting (STLF) is paramount for the stable and economical operation of power systems, particularly in the context of high renewable energy penetration, which exacerbates load volatility and non-stationarity. The prevailing advanced “decomposition–ensemble” paradigm, however, faces two significant challenges when processing non-stationary signals: (1) The performance of Variational Mode Decomposition (VMD) is highly dependent on its hyperparameters (K, α), and traditional meta-heuristic algorithms (e.g., GA, GWO, PSO) are prone to converging to local optima during the optimization process; (2) Deep learning predictors struggle to dynamically weigh the importance of multi-dimensional, heterogeneous features (such as the decomposed Intrinsic Mode Functions (IMFs) and external climatic factors). To address these issues, this paper proposes a novel, adaptive hybrid forecasting framework, namely IRIME-VMD-CDA-LSTNet. Firstly, an Improved Rime Optimization Algorithm (IRIME) integrated with a Gaussian Mutation strategy is proposed. This algorithm adaptively optimizes the VMD hyperparameters by targeting the minimization of average sample entropy, enabling it to effectively escape local optima. Secondly, the optimally decomposed IMFs are combined with climatic features to construct a multi-dimensional information matrix. Finally, this matrix is fed into an innovative Cross-Dimensional Attention (CDA) LSTNet model, which dynamically allocates weights to each feature dimension. Ablation experiments conducted on a real-world dataset from a distribution substation demonstrate that, compared to GA-VMD, GWO-VMD, and PSO-VMD, the proposed IRIME-VMD method achieves a reduction in Root Mean Square Error (RMSE) of up to 18.9%. More importantly, the proposed model effectively mitigates the “prediction lag” phenomenon commonly observed in baseline models, especially during peak load periods. This framework provides a robust and high-accuracy solution for non-stationary load forecasting, holding significant practical value for the operation of modern power systems. Full article

Early fault vibration signals of rolling bearings are non-stationary and nonlinear, with weak fault signatures easily masked by noise. Traditional denoising methods (e.g., wavelet thresholding, empirical mode decomposition (EMD)) struggle to accurately extract effective features. Although variational mode decomposition (VMD) overcomes mode mixing, its core parameters rely on empirical selection, making it prone to local optima and limiting its denoising performance. To address this critical issue, this study aims to propose a hybrid model with adaptive parameter optimization and efficient denoising capabilities, enhancing the signal-to-noise ratio (SNR) and feature discriminability of early fault signals in rolling bearings. The novelty of this work is reflected in three aspects: (1) An improved edge strategy whale optimization algorithm (IEWOA) is proposed, incorporating six enhancements to balance global exploration and local exploitation. Using the minimum average envelope entropy as the objective function, the IEWOA achieves adaptive global optimization of VMD parameters. (2) A hybrid framework of “IEWOA-VMD + dataset-specific wavelet thresholding for secondary denoising” is constructed. The optimized VMD first decomposes signals to separate noise and effective components, followed by secondary denoising, ensuring both adaptable signal decomposition and precise denoising. (3) Comprehensive validation is conducted across five models using two public datasets (Case Western Reserve University (CWRU) and Paderborn Universität (PU)). Key findings demonstrate that the proposed method achieves a root-mean-square error (RMSE) as low as 0.00013–0.00041 and a Normalized Cross-Correlation (NCC) of 0.9689–0.9798, significantly outperforming EEMD, traditional VMD, and VMD optimized by single algorithms. The model effectively suppresses noise interference, preserves the fundamental and harmonic components of fault features, and exhibits strong robustness under different loads and fault types. This work provides an efficient and reliable signal preprocessing solution for early fault diagnosis of rolling bearings. Full article

Gentiana species are widely used in traditional and modern medicine, and Gentiana siphonantha is an important medicinal representative. To evaluate the quality characteristics of cultivated G. siphonantha roots, the accumulation patterns of iridoid glycosides and antioxidant activities across different cultivation ages and harvest months were investigated. Five major iridoid glycosides were quantified, and antioxidant capacity was assessed through DPPH, ABTS, and FRAP assays. Quality was subsequently multidimensionally evaluated using principal component analysis (PCA), orthogonal partial least squares–discriminant analysis (OPLS-DA), membership function analysis, and entropy weight–TOPSIS analysis, and the relationship between iridoid glycoside content and antioxidant activity was analyzed. Results showed that 3-year-old cultivated roots had the highest total iridoid glycoside content (134.60 mg·g⁻¹ DW), indicating the optimal cultivation age. Peak glycoside accumulation occurred in 4-year-old plants harvested in June–July, identifying this period as the optimal harvest time, as supported by multivariate statistical and comprehensive evaluation. Antioxidant activity increased with cultivation age, with samples collected in June or August showing higher capacities, and it was positively correlated with total iridoid glycoside content, particularly with FRAP (p < 0.05). In conclusion, cultivated G. siphonantha exhibits stable quality and favorable antioxidant activity, providing a basis for standardized cultivation, quality evaluation, and rational utilization. Full article

Mobile edge-AI plant monitoring systems enable automated disease control in greenhouses and open fields, reducing dependence on manual inspection and the variability of visual diagnostics. This paper proposes a lightweight two-stage edge-AI system for strawberries, in which a YOLOv10n detector on board a mobile agricultural robot locates leaves affected by seven common diseases (including Leaf Spot) with real-time capability on an embedded platform. Patches are then automatically extracted for leaves classified as Leaf Spot and transmitted to the second module—a compact MobileViT-S-based classifier with ordinal output that assesses the severity of Leaf Spot on three levels (S1—mild, S2—moderate, S3—severe) on a specialised set of 373 manually labelled leaf patches. In a comparative experiment with lightweight architectures ResNet-18, EfficientNet-B0, MobileNetV3-Small and Swin-Tiny, the proposed Ordinal MobileViT-S demonstrated the highest accuracy in assessing the severity of Leaf Spot (accuracy ≈ 0.97 with 4.9 million parameters), surpassing both the baseline models and the standard MobileViT-S with a cross-entropy loss function. On the original image set, the YOLOv10n detector achieves an mAP@0.5 of 0.960, an F1 score of 0.93 and a recall of 0.917, ensuring reliable detection of affected leaves for subsequent Leaf Spot severity assessment. The results show that the “YOLOv10n + Ordinal MobileViT-S” cascade provides practical severity-aware Leaf Spot diagnosis on a mobile agricultural robot and can serve as the basis for real-time strawberry crop health monitoring systems. Full article

Energy management strategies (EMSs) play a critical role in improving both the efficiency and durability of fuel cell electric vehicles (FCEVs). To overcome the limited adaptability and insufficient durability consideration of existing deep reinforcement learning-based EMSs, this study develops a degradation-aware energy management strategy based on the Soft Actor–Critic (SAC) algorithm. By leveraging SAC’s maximum-entropy framework, the proposed method enhances exploration efficiency and avoids premature convergence to operating patterns that are unfavorable to fuel cell durability. A reward function explicitly penalizing hydrogen consumption, power fluctuation, and degradation-related operating behaviors is designed, and the influences of reward weighting and key hyperparameters on learning stability and performance are systematically analyzed. The proposed SAC-based EMS is evaluated against Deep Q-Network (DQN) and Proximal Policy Optimization (PPO) strategies under both training and unseen driving cycles. Simulation results demonstrate that SAC achieves a superior and robust trade-off between hydrogen economy and degradation mitigation, maintaining improved adaptability and durability under varying operating conditions. These findings indicate that integrating degradation awareness with entropy-regularized reinforcement learning provides an effective framework for practical EMS design in FCEVs. Full article

This study analyzes artificial intelligence development and green economic efficiency across 31 Chinese provinces using 2019–2021 panel data. We apply the entropy weight TOPSIS method to measure AI development levels. The entropy weight TOPSIS method measures AI development levels, the DEA-BCC model assesses green economic efficiency, and their coordination types are identified. Findings reveal a significant negative correlation between AI development and green economic efficiency. We explain this complex relationship through three mechanisms: short-term polarization effects, technology conversion lags, and spatial spillovers. Spatial analysis shows AI development forms high-high agglomerations in the Yangtze River Delta and Shandong. Green economic efficiency shows high-high clustering in the Beijing-Tianjin-Hebei region and selected western provinces. Using a “two-system” coupling framework, we identify four provincial categories. The “double-high” type should function as growth poles. The “high-low” type requires improved technology conversion efficiency. The “low-high” type can leverage ecological advantages. The “double-low” type needs enhanced factor inputs. We propose three targeted policy recommendations: establishing digital-green synergy platforms, implementing inter-provincial AI resource collaboration mechanisms, and developing locally adapted action plans. Full article

Background: Autism Spectrum Disorder (ASD) is a type of neurodevelopmental disorder, and its exact causes are currently unknown. Neuroimaging research suggests that its clinical features are closely linked to alterations in brain functional network connectivity, yet the specific patterns and mechanisms underlying these abnormalities require further clarification. Methods: We recruited 36 children with ASD and 36 age- and sex-matched typically developing (TD) controls. Resting-state EEG data were used to construct static and dynamic low- and high-order functional networks across four frequency bands (δ, θ, α, β). Graph-theoretical metrics (clustering coefficient, characteristic path length, global efficiency, local efficiency) and state entropy were applied to characterize network topology and dynamic transitions between integration and segregation. Additionally, between-frequency networks were built for six band pairs (δ-θ, δ-α, δ-β, θ-α, θ-β, α-β), and network global measures quantified cross-frequency interactions. Results: Low-order networks in ASD showed increased δ and β connectivity but decreased θ and α connectivity. High-order networks demonstrated increased δ connectivity, reduced α connectivity, and mixed alterations in θ and β. Graph-theoretical analysis revealed pronounced α-band topological disruptions in ASD, reflected by a lower clustering coefficient and efficiency and higher characteristic path length in both low- and high-order networks. Dynamic analysis showed no significant entropy changes in low-order networks, while high-order networks exhibited time- and frequency-specific abnormalities, particularly in δ and α (0.5 s window) and δ (6 s window). Between-frequency analysis showed enhanced β-related coupling in low-order networks but widespread reductions across all band pairs in high-order networks. Conclusions: Young children with ASD exhibit coexisting hypo- and hyper-connectivity, disrupted network topology, and abnormal temporal dynamics. Integrating hierarchical, dynamic, and cross-frequency analyses offers new insights into ASD neurophysiology and potential biomarkers. Full article

Solubility studies are an essential requirement for the development of more efficient industrial processes. In this context, the use of cosolvents is a relevant strategy in pharmaceutical sciences, especially when dealing with green solvents such as water (W (2)) and Polyethylene glycol 400 (PEG 400 (1)). The objective of this study is to thermodynamically analyze the solubility of isoniazid in {PEG 400 (1) + W (2)} cosolvent mixtures at seven temperatures (288.15 to 318.15 K). The study was conducted by calculating thermodynamic functions from experimental solubility data determined using the flask shaking method, employing UV spectrophotometry as the quantification technique. The dissolution process was shown to be endothermic and entropy-driven. Although maximum solubility would be expected to be achieved in a cosolvent mixture, given that the solubility parameter of isoniazid (30.54 MPa^1/2) has an intermediate value between the two pure solvents (PEG 400 ≈ 22.5 MPa^1/2; Water $\approx 47.8$ MPa^1/2), maximum solubility is achieved in pure PEG 400 and the lowest solubility is achieved in pure water. Full article

To improve the accuracy and robustness of lithium-ion battery state of charge (SOC) estimation, this paper proposes a generalized mixture maximum correlation-entropy criterion-based adaptive extended Kalman filter (GMMCC-AEKF) algorithm, addressing the performance degradation of the traditional extended Kalman filter (EKF) under non-Gaussian noise and inaccurate initial conditions. Based on the GMMCC theory, the proposed algorithm introduces an adaptive mechanism and employs two generalized Gaussian kernels to construct a mixed kernel function, thereby formulating the generalized mixture correlation-entropy criterion. This enhances the algorithm’s adaptability to complex non-Gaussian noise. Simultaneously, by incorporating adaptive filtering concepts, the state and measurement covariance matrices are dynamically adjusted to improve stability under varying noise intensities and environmental conditions. Furthermore, the use of statistical linearization and fixed-point iteration techniques effectively improves both the convergence behavior and the accuracy of nonlinear system estimation. To investigate the effectiveness of the suggested method, experiments for SOC estimation were implemented using two lithium-ion cells featuring distinct rated capacities. These tests employed both dynamic stress test (DST) and federal test procedure (FTP) profiles under three representative temperature settings: 40 °C, 25 °C, and 10 °C. The experimental findings prove that when exposed to non-Gaussian noise, the GMMCC-AEKF algorithm consistently outperforms both the traditional EKF and the generalized mixture maximum correlation-entropy-based extended Kalman filter (GMMCC-EKF) under various test conditions. Specifically, under the 25 °C DST profile, GMMCC-AEKF improves estimation accuracy by 86.54% and 10.47% over EKF and GMMCC-EKF, respectively, for the No. 1 battery. Under the FTP profile for the No. 2 battery, it achieves improvements of 55.89% and 28.61%, respectively. Even under extreme temperatures (10 °C, 40 °C), GMMCC-AEKF maintains high accuracy and stable convergence, and the algorithm demonstrates rapid convergence to the true SOC value. In summary, the GMMCC-AEKF confirms excellent estimation accuracy under various temperatures and non-Gaussian noise conditions, contributing a practical approach for accurate SOC estimation in power battery systems. Full article