Mapping Algorithm Research Articles

HierCGRA: A Novel Framework for Large-scale CGRA with Hierarchical Modeling and Automated Design Space Exploration

Coarse-grained reconfigurable arrays (CGRAs) are promising design choices in computation-intensive domains, since they can strike a balance between energy efficiency and flexibility. A typical CGRA comprises processing elements (PEs) that can execute operations in applications and interconnections between them. Nevertheless, most CGRAs suffer from the ineffectiveness of supporting flexible architecture design and solving large-scale mapping problems. To address these challenges, we introduce HierCGRA, a novel framework that integrates hierarchical CGRA modeling, Chisel-based Verilog generation, LLVM-based data flow graph (DFG) generation, DFG mapping, and design space exploration (DSE). With the graph homomorphism (GH) mapping algorithm, HierCGRA achieves a faster mapping speed and higher PE utilization rate compared with the existing state-of-the-art CGRA frameworks. The proposed hierarchical mapping strategy achieves 41× speedup on average compared with the ILP mapping algorithm in CGRA-ME. Furthermore, the automated DSE based on Bayesian optimization achieves a significant performance improvement by the heterogeneity of PEs and interconnections. With these features, HierCGRA enables the agile development for large-scale CGRA and accelerates the process of finding a better CGRA architecture.

Dense collaborative mapping with deep visual SLAM method

Abstract. The creation of highly accurate and collaborative mapping algorithms is crucial for the progress of SLAM technology, as it greatly improve the efficiency of building detailed maps. In the area of mapping based on single moving trajectory, DROID-SLAM (Differentiable Recurrent Optimization-Inspired Design) by (Teed and Deng, 2021) stands out as an innovative method based on deep learning, providing a visual-only solution that works with various types of camera, such as monocular, stereo, and RGB-D. Its ability to create maps with excellent accuracy makes it superior to well-known methods like ORB-SLAM3 by (Campos et al., 2021). Despite its impressive individual mapping performance, DROID-SLAM does not account for scenarios involving multisession data or the collaborative map creation by multiple agents. To address this problem, we propose two collaborative map construction algorithms built upon DROID-SLAM. Compared to prior methods that compute explicit relative transformations for loop closures, our algorithm leverages the power of deep learning-based bundle adjustment, using dense per-pixel correspondence, to merge into a globally consistent state. These algorithms have been thoroughly tested with stereo and RGB-D models. we validated the effectiveness of our proposed algorithms on both public and self-collected datasets, showing higher accuracy than prior methods. By leveraging the strengths of DROID-SLAM while addressing its limitations with our novel algorithms, we extend the application scenarios of this method and provide a new way of thinking about collaborative mapping.

Reversible image secret sharing based on quantum logistic mapping and Chinese remainder theorem

Abstract A reversible image secret sharing algorithm is proposed based on quantum logistic mapping and Chinese remainder theorem. In this algorithm, the hash value of the original image is generated using the SHA-3 algorithm, and then encrypted using the RSA algorithm to obtain the encrypted hash value and the public key, which are the initial values in the quantum logistic mapping equations. Next, the quantum logistic mapping algorithm will be utilized to generate the chaotic sequence. After scrambling the original image matrix with the chaotic sequence, the pre-encryption part will be completed. Finally, the cover images are binarized and then the pre-encrypted secret image is embedded into them, adding the Chinese remainder theorem. According to the simulation results, the present algorithm improves the key sensitivity of Chinese remainder theorem-based image secret sharing and has high robustness to salt and pepper noise and cut-off attack.

A Soft‐Tissue Driven Bone Remodeling Algorithm for Mandibular Residual Ridge Resorption Based on Patient CT Image Data

AbstractThe role of the biomechanical stimulation generated from soft tissue has not been well quantified or separated from the self‐regulated hard tissue remodeling governed by Wolff's Law. Prosthodontic overdentures, commonly used to restore masticatory functions, can cause localized ischemia and inflammation as they often compress patients’ oral mucosa and impede local circulation. This biomechanical stimulus in mucosa is found to accelerate the self‐regulated residual ridge resorption (RRR), posing ongoing clinical challenges. Based on the dedicated long‐term clinical datasets, we developed an in‐silico framework with a combination of techniques, including advanced image post‐processing, patient‐specific finite element models and unsupervised machine learning Self‐Organizing map algorithm, to identify the soft tissue induced residual ridge resorption and quantitatively elucidate the governing relationship between the RRR and hydrostatic pressure in mucosa. The proposed governing equation has not only enabled a predictive simulation for RRR as showcased in this study, providing a biomechanical basis for optimizing prosthodontic treatments, but also extended our understanding of the mechanobiological responses in the soft‐hard tissue interfaces and the role in bone remodeling.This article is protected by copyright. All rights reserved

Image scrambling encryption using chaotic map and genetic algorithm: a hybrid approach for enhanced security

Image scrambling encryption using chaotic map and genetic algorithm: a hybrid approach for enhanced security

TKO‐SLAM: Visual SLAM algorithm based on time‐delay feature regression and keyframe pose optimization

AbstractThis paper addresses the challenge of generating clear image frames and minimizing the loss of keyframes by a robot engaging in rapid large viewing angle motion. These issues often lead to detrimental consequences such as trajectory drifting and loss during the construction of curved motion trajectories. To tackle this, we proposed a novel visual simultaneous localization and mapping (SLAM) algorithm, TKO‐SLAM, which is based on time‐delay feature regression and keyframe position optimization. TKO‐SLAM uses a multiscale recurrent neural network to rectify object deformation and image motion smear. This network effectively repairs the time‐delay image features caused by the rapid movement of the robot, thereby enhancing visual clarity. Simultaneously, inspired by the keyframe selection strategy of the ORB‐SLAM3 algorithm, we introduced a grayscale motion‐based image processing method to supplement keyframes that may be omitted due to the robot's rapid large viewing angle motion. To further refine the algorithm, the time‐delay feature regression image keyframes and adjacent secondary keyframes were used as dual measurement constraints to optimize camera poses and restore robot trajectories. The results of experiments on the benchmark RGB‐D data set TUM and real‐world scenarios show that TKO‐SLAM algorithm achieves more than 10% better localization accuracy than the PKS‐SLAM algorithm in the rapid large viewing angle motion scenario, and has advantages over the SOTA algorithms.

National-scale 10 m annual maize maps for China and the contiguous United States using a robust index from Sentinel-2 time series

Accurate and continuous maps of maize distribution are essential for food security and sustainable agricultural development. However, there are no continuous national-scale and fine-resolution maize maps and explicit updated information on the spatiotemporal dynamics of maize for most countries. Maize mapping at the national scale is challenging due to the spectral heterogeneity caused by crop growth conditions, cropping patterns, and inter-annual variations. To this end, this study developed a novel crop index-based algorithm for national-scale maize mapping. Compared to other crops, maize is characterized by large-leaf-dominated canopies and high photosynthetic efficiency. Maize shows significant changes in chlorophyll and anthocyanin content. Therefore, a robust maize index was established by exploring the temporal Variation of the Vegetation-Pigment index (VVP) during the growing period. A simple decision rule was coded on the Google Earth Engine (GEE) platform, which was used for maize mapping based on the Sentinel-2 time series in China and the contiguous United States (US) from 2018 to 2022. The national-scale 10 m annual maize maps for China and the contiguous US were developed and in good agreement with the corresponding agricultural statistics data for many years (R2 > 0.94) and 9,412 reference points (overall accuracy of 90.09 %). Compared with simply applying the vegetation index, the VVP index took account of spectral heterogeneity caused by variations in crop growth conditions, cropping patterns, and inter-annual, and the omission error of maize was reduced by over 20 %. Moreover, the VVP index can significantly improve the spatial transferability of the Random Forest (RF) classifier. The first 10 m annual maize maps for China revealed that the planted area trend decreased and then increased from 2018 to 2022. The year 2020 was the turning point. The maize planted area consisted of 68 % single maize and 32 % double cropping with maize in 2020, with the northern boundary for double cropping with maize in the Yanshan Mountains. The maize planted area in China consistently decreased by 39,352 km2 (about 9 %) from 2018 to 2020. This is mainly due to the adjustment of the maize-planted structure in the “Sickle Bend” region of China (the “Sickle Bend” policy). However, the maize planted area gradually recovered from 2020 to 2022, primarily concentrated in regions with ever-planted. This study will provide essential information for cropping structure adjustment and related agricultural policy formulation and contribute to sustainable agricultural development by mapping maize from a national to a global scale.

Bio-inspired mobile robot design and autonomous exploration strategy for underground special space

Purpose To make the robot that have real autonomous ability is always the goal of mobile robot research. For mobile robots, simultaneous localization and mapping (SLAM) research is no longer satisfied with enabling robots to build maps by remote control, more needs will focus on the autonomous exploration of unknown areas, which refer to the low light, complex spatial features and a series of unstructured environment, lick underground special space (dark and multiintersection). This study aims to propose a novel robot structure with mapping and autonomous exploration algorithms. The experiment proves the detection ability of the robot. Design/methodology/approach A small bio-inspired mobile robot suitable for underground special space (dark and multiintersection) is designed, and the control system is set up based on STM32 and Jetson Nano. The robot is equipped with double laser sensor and Ackerman chassis structure, which can adapt to the practical requirements of exploration in underground special space. Based on the graph optimization SLAM method, an optimization method for map construction is proposed. The Iterative Closest Point (ICP) algorithm is used to match two frames of laser to recalculate the relative pose of the robot, which improves the sensor utilization rate of the robot in underground space and also increase the synchronous positioning accuracy. Moreover, based on boundary cells and rapidly-exploring random tree (RRT) algorithm, a new Bio-RRT method for robot autonomous exploration is proposed in addition. Findings According to the experimental results, it can be seen that the upgraded SLAM method proposed in this paper achieves better results in map construction. At the same time, the algorithm presents good real-time performance as well as high accuracy and strong maintainability, particularly it can update the map continuously with the passing of time and ensure the positioning accuracy in the process of map updating. The Bio-RRT method fused with the firing excitation mechanism of boundary cells has a more purposeful random tree growth. The number of random tree expansion nodes is less, and the amount of information to be processed is reduced, which leads to the path planning time shorter and the efficiency higher. In addition, the target bias makes the random tree grow directly toward the target point with a certain probability, and the obtained path nodes are basically distributed on or on both sides of the line between the initial point and the target point, which makes the path length shorter and reduces the moving cost of the mobile robot. The final experimental results demonstrate that the proposed upgraded SLAM and Bio-RRT methods can better complete the underground special space exploration task. Originality/value Based on the background of robot autonomous exploration in underground special space, a new bio-inspired mobile robot structure with mapping and autonomous exploration algorithm is proposed in this paper. The robot structure is constructed, and the perceptual unit, control unit, driving unit and communication unit are described in detail. The robot can satisfy the practical requirements of exploring the underground dark and multiintersection space. Then, the upgraded graph optimization laser SLAM algorithm and interframe matching optimization method are proposed in this paper. The Bio-RRT independent exploration method is finally proposed, which takes shorter time in equally open space and the search strategy for multiintersection space is more efficient. The experimental results demonstrate that the proposed upgrade SLAM and Bio-RRT methods can better complete the underground space exploration task.

Application of deep reinforcement learning in electricity demand response market: Demand response decision-making of load aggregator

With the large-scale integration of renewable energy generation, developing the potential of demand response is becoming more and more significant. However, the number of consumers is huge, the electricity consumption behaviors are various and the information of consumers is incomplete, thus there are great difficulties in modeling and processing demand response by the conventional mathematical methods. Therefore, how to accurately predict the response behaviors of consumers and select the appropriate consumers for demand response is worthy of in-depth discussion. In this paper, the decision-making method of the load aggregators who participant in demand response market on behalf of the small and medium-sized consumers based on Deep Q-network algorithm is proposed, supporting the aggregators to properly guide the potential demand response consumers. At the same time, a dynamic consumer classification method based on self-organizing maps algorithm is also proposed, supporting the aggregators to accurately predict the response behaviors of the consumers. Simulation results show that the proposed method can effectively realize the classification of the consumers and result in a more beneficial demand response.•The proposed method does not require complete information, such as demand response behavior parameters of the consumers.•Self-organizing maps can realize a dynamic classification of demand response consumers as the case may be.•DQN algorithm can effectively realize the demand response decision-making of aggregators under the condition of incomplete information.

Open source robot localization for nonplanar environments

AbstractThe operational environments in which a mobile robot executes its missions often exhibit nonflat terrain characteristics, encompassing outdoor and indoor settings featuring ramps and slopes. In such scenarios, the conventional methodologies employed for localization encounter novel challenges and limitations. This study delineates a localization framework incorporating ground elevation and incline considerations, deviating from traditional two‐dimensional localization paradigms that may falter in such contexts. In our proposed approach, the map encompasses elevation and spatial occupancy information, employing Gridmaps and Octomaps. At the same time, the perception model is designed to accommodate the robot's inclined orientation and the potential presence of ground as an obstacle, besides usual structural and dynamic obstacles. We provide an implementation of our approach fully working with Nav2, ready to replace the baseline Adaptative Monte Carlo Localization (AMCL) approach when the robot is in nonplanar environments. Our methodology was rigorously tested in both simulated environments and through practical application on actual robots, including the Tiago and Summit XL models, across various settings ranging from indoor and outdoor to flat and uneven terrains. Demonstrating exceptional precision, our approach yielded error margins below 10 cm and 0.05 radians in indoor settings and less than 1.0 m in extensive outdoor routes. While our results exhibit a slight improvement over AMCL in indoor environments, the enhancement in performance is significantly more pronounced when compared to three‐dimensional simultaneous localization and mapping algorithms. This underscores the considerable robustness and efficiency of our approach, positioning it as an effective strategy for mobile robots tasked with navigating expansive and intricate indoor/outdoor environments.

Multivariate statistical methods for analysis of physicochemical and microbiological parameters of well water from the village M’Pody

The pollution of surface water and groundwater is a real public health problem that is currently receiving particular attention throughout the world. The use of water for food or hygiene purposes requires excellent physicochemical and microbiological quality. Well water is used for many purposes by the inhabitants of M’pody, a village in the Anyama district of Côte d’Ivoire. In this village, an epidemic of diarrhoea was detected in January 2020. This epidemic claimed sixty-nine (69) victims. This study aims to evaluate well water quality controls using the methods of principal component analysis (PCA), correspondence factorial analysis (CFA), analysis of variance (ANOVA) and self-organizing map (SOM) algorithm. The parameters studied were, turbidity (Tur), conductivity (Cond), hydrogen potential (pH), temperature (T), nitrate (NO3-\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$NO_{3^{-}}$$\\end{document}), nitrite (NO2-\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$NO_{2^{-}}$$\\end{document}), ammonium (NH4+\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$NH_{4^{+}}$$\\end{document}), phosphates (PO43-\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$PO_{4}^{3^{-}}$$\\end{document}), chlorides (Cl-)\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$(Cl^{-})$$\\end{document}, total hydrotimetric degree (DHT), sulfates (SO42-\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$SO_{4}^{2^{-}}$$\\end{document}), bicarbonate (HCO3-\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$HCO_{3^{-}}$$\\end{document}), total alkalinity contents (TAC), escherichia coli (E.coli), thermotolerant coliforms (CTH) and enterococcus faecalis (E.faecalis). Data were collected from seventy-two (72) wells in the village during four campaigns in 2020. Physicochemical parameters were determined by electrochemical and spectrophotometric methods. Microbiological analysis was carried out using membrane filtration technique. Descriptive statistics revealed that Tur, Cond, pH and T parameters did not meet world health organization (WHO, 2017) standards. However, the parameters NO3-\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$NO_{3^{-}}$$\\end{document}, NO2-\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$NO_{2^{-}}$$\\end{document}, NH4+\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$NH_{4^{+}}$$\\end{document}, PO43-\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$PO_{4}^{3^{-}}$$\\end{document}, Cl-\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$Cl^{-}$$\\end{document}, DHT, TAC, SO42-\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$SO_{4}^{2^{-}}$$\\end{document} and HCO3-\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$HCO_{3^{-}}$$\\end{document} comply with WHO standards. The results of bacteriological analyzes confirm the presence in very significant numbers of indicators of faecal contamination (CTH, E.coli and E.faecalis) in all wells. The logical explanations for faecal pollution would come from the infiltration of septic tanks located near the wells and the run-off of waste water carrying human and animal faecal matter. The diarrhea epidemic would therefore be caused by the consumption of this polluted water. PCA, FCA and hierarchical cluster analysis (HCA) were jointly employed to identify the structure of wells and deduce the principal factors controlling the parameters of these well waters. ANOVA revealed the effect of human-induced activities as the main factors influencing the physicochemical and microbiological parameters of the studied well waters. Further studies should focus on multivariate statistical techniques for effective forecasting and monitoring of emerging pollution for improved water quality.

ESKEMAP: exact sketch-based read mapping

BackgroundGiven a sequencing read, the broad goal of read mapping is to find the location(s) in the reference genome that have a “similar sequence”. Traditionally, “similar sequence” was defined as having a high alignment score and read mappers were viewed as heuristic solutions to this well-defined problem. For sketch-based mappers, however, there has not been a problem formulation to capture what problem an exact sketch-based mapping algorithm should solve. Moreover, there is no sketch-based method that can find all possible mapping positions for a read above a certain score threshold.ResultsIn this paper, we formulate the problem of read mapping at the level of sequence sketches. We give an exact dynamic programming algorithm that finds all hits above a given similarity threshold. It runs in O(|t|+|p|+ℓ2)\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$\\mathcal {O} (|t| + |p| + \\ell ^2)$$\\end{document} time and O(ℓlogℓ)\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$\\mathcal {O} (\\ell \\log \\ell )$$\\end{document} space, where |t| is the number of k\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$k$$\\end{document}-mers inside the sketch of the reference, |p| is the number of k\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$k$$\\end{document}-mers inside the read’s sketch and ℓ\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$\\ell$$\\end{document} is the number of times that k\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$k$$\\end{document}-mers from the pattern sketch occur in the sketch of the text. We evaluate our algorithm’s performance in mapping long reads to the T2T assembly of human chromosome Y, where ampliconic regions make it desirable to find all good mapping positions. For an equivalent level of precision as minimap2, the recall of our algorithm is 0.88, compared to only 0.76 of minimap2.

Assessment of consolidative multi-criteria decision making (C-MCDM) algorithms for optimal mapping of polymer materials in additive manufacturing: A case study of orthotic application

ObjectiveThe objectives of this research are twofold. The primary goal is to introduce, investigate, and contrast consolidative multi-criteria decision-making (C-MCDM) approaches. The second objective is the investigation of five alternative additive manufacturing materials. MethodsIt integrates the subjective and objective weights using the Bayes hypothesis in conjunction with a normal method. Chang's Extent Analysis Method under fuzzy logic is used to estimate subjective weights and the CRITIC approach is used for assessing objective weights. Ranking techniques, including the simple ranking process (SRP), multi-objective optimization based on ratio analysis (MOORA), measurement alternatives and ranking according to compromise solution (MARCOS), and technique for order preference by similarity to ideal solution (TOPSIS) are applied. It also encompasses sensitivity analysis based on Kendall's coefficient of concordance and rank reversal phenomenon analysis. Spearman's rank correlation coefficient, a weighted rank measure of correlation, and rank similarity coefficient are among the metrics used to evaluate agreement between different approaches. It entails gathering expert opinions regarding the importance of various criteria as well as conducting extensive experiments. ResultsThe findings of the study indicate that polylactic acid is the best material to use for orthoses. When compared to the other MCDM approaches being discussed, SRP is the most reliable approach. It is also demonstrated that the SRP, MARCOS, and TOPSIS methods are rank reversal-free. Furthermore, SRP exhibits a very poor association with the TOPSIS technique but a strong correlation with the MOORA and MARCOS approaches. ConclusionsTo ensure results reliability, it is necessary to consider both the subjectivity and objectivity of weights as well as apply multiple MCDM methodologies in addition to sensitivity analysis.

Enhancing PAPR reduction efficiency in MIMO-OFDM systems via selective mapping and metaheuristic algorithms

The relentless evolution of communication systems, driven by the demands of 5G and the impending 6G networks, necessitates heightened data rates and spectral efficiency. orthogonal frequency division multiplexing (OFDM), a form of multicarrier modulation employed in multi-input multi-output (MIMO) systems, stands as a pivotal technology. Yet, OFDM grapples with challenges, notably the peak-to-average power ratio (PAPR) issue. Selective mapping (SLM) has been a favored technique for mitigating PAPR in OFDM, albeit challenged by computational complexities in its pursuit of discovering optimal phase factors. This paper pioneers a transformative approach by integrating metaheuristic algorithms genetic algorithm (GA), particle swarm optimization (PSO), and the innovative fireworks algorithm (FWA) into SLM for PAPR reduction while minimizing computational complexity. Simulation results not only affirm the efficacy of SLM-based techniques but also spotlight the potential of metaheuristic algorithms in addressing PAPR challenges in modern communication systems. The study transcends single-antenna systems, extending to MIMO-OFDM systems based on WiMAX standards, validating the efficacy of these techniques in multi-antenna configurations. Crucially, the FWA, proposed for the first time in this paper, emerges as a robust candidate, striking an enviable balance between computational efficiency and performance, achieving a notable PAPR reduction with a favorable search number.

A multi-stage optimization of battery electric bus transit with battery degradation

Battery electric buses (BEBs) are appealing to transit operators for their elevated comfort, low noise, and zero tailpipe emissions. However, the degradation of BEB batteries over time challenges their performance and necessitates infrastructure adjustments. This study develops a generic multi-stage optimization model for BEB systems. The model addresses the dynamic influence of BEB battery degradation rates on the optimal BEB system configuration and operation, including component sizing, charging infrastructure allocation, BEB charging schedule, and battery replacement throughout the BEB usage lifecycle. A surrogate model-based space mapping (SMSM) algorithm is employed to address the inherent nonlinearity of incorporating battery degradation rates within the developed model. The model is tested on a real-world, multi-hub transit network, and the results highlight significant implications of battery degradation on the optimal spatiotemporal allocation of charging infrastructure, charging schedules, and battery replacement decisions throughout the 12-year BEB usage lifecycle. Sensitivity analysis highlights the influence of operational conditions on total system cost, indicating a 16.3 % increase in cost with a 50 % rise in both energy consumption rates and time-of-use (ToU) tariffs. Overall, the proposed model is a valuable decision-making tool for transit operators navigating BEB transit system planning.

Curvature Scale Space LiDAR Odometry And Mapping (LOAM)

The LiDAR Odometry and Mapping (LOAM) algorithm ranks in second place in the Karlsruhe Institute of Technology and Toyota Technological Institute (KITTI), Visual Odometry/SLAM Evaluations. It utilizes a feature extraction algorithm based on the evaluation of the curvature of points under test, to produce estimated smooth and non-smooth regions within typically laser based Point Cloud Data (PCD). This feature extractor (FE) however, does not take into account PCD spatial or detection uncertainty, which can result in the divergence of the LOAM algorithm. Therefore, this article proposes the use of the Curvature Scale Space (CSS) algorithm as a replacement for LOAM’s current feature extractor. It justifies the substitution, based on the CSS algorithm’s similar computational complexity but improved feature detection repeatability. LOAM’s current feature extractor and the proposed CSS feature extractor are tested and compared with simulated and real data, including the KITTI odometry-laser data set. Additionally, a recent deep learning based LiDAR Odometry (LO) algorithm, the Convolutional Auto-Encoder (CAE)-LO algorithm, will also be compared, using this data set, in terms of its computational speed and performance. Performance comparisons are made based on the Absolute Trajectory Error (ATE) and Cardinalized Optimal Linear Assignment (COLA) metrics. Based on these metrics, the comparisons show significant improvements of the LOAM algorithm with the CSS feature extractor compared with the benchmark versions.

Identification of Quantitative Trait Loci Associated with Seed Quality Traits in Two Early-Maturing Soybean Populations

In Canada, soybean (Glycine max (L.) Merr.) is primarily cultivated in three provinces (Ontario, Quebec, and Manitoba). Canadian breeders want to expand the current cultivation range to more northern agro-environments by developing early-maturing elite lines while maintaining good seed quality traits. To examine quantitative trait loci (QTL) involved in 100-seed weight and seed protein, oil, and fatty acid (oleic, linolenic, and linoleic acids) contents, we generated an early-maturing recombinant inbred line population (QS15544RIL) and an F2:F3 (QS15524F2:F3) population adapted to cultivation zones MGs 00 and 000, and phenotyped them for three and one years, respectively. Using two mapping algorithms (Inclusive composite interval mapping and Genome-wide composite interval mapping), we identified a total of 12 major regions that were either associated with QS15544RIL (five loci), QS15524F2:F3 (four loci), or both (three loci) populations. Of the 12 identified regions, three (RIL_GM12, RIL_GM16, and F2_GM04.2) were not previously identified and might respectively serve as novel sources of regulation for oil content, seed weight, and oleic acid. For the RIL_GM05 locus, we identified two novel variants in Glyma.05G244100/MOTHER OF FT AND TFL1, a gene with a confirmed role in the regulation of oleic and linoleic acid contents. Two of the major loci (RIL_GM04 and RIL_GM16) associated with the 100-seed weight trait and one locus (F2_GM04.2) associated with oleic acid were found to be overlapping three loci (E8-r1, GM16:5,680,173-5,730,237, and E8-r2) involved in early-maturity and/or shorter pod-filling that were previously identified by our group, suggesting possible breeding bottlenecks due to linkage drag or pleiotropic effects.

Comparative single-cell multiplex immunophenotyping of therapy-naive patients with rheumatoid arthritis, systemic sclerosis, and systemic lupus erythematosus shed light on disease-specific composition of the peripheral immune system.

Systemic autoimmune diseases (SADs) are a significant burden on the healthcare system. Understanding the complexity of the peripheral immunophenotype in SADs may facilitate the differential diagnosis and identification of potential therapeutic targets. Single-cell mass cytometric immunophenotyping was performed on peripheral blood mononuclear cells (PBMCs) from healthy controls (HCs) and therapy-naive patients with rheumatoid arthritis (RA), progressive systemic sclerosis (SSc), and systemic lupus erythematosus (SLE). Immunophenotyping was performed on 15,387,165 CD45+ live single cells from 52 participants (13cases/group), using an antibody panel to detect 34 markers. Using the t-SNE (t-distributed stochastic neighbor embedding) algorithm, the following 17 main immune cell types were determined: CD4+/CD57- T cells, CD4+/CD57+ T cells, CD8+/CD161- T cells, CD8+/CD161+/CD28+ T cells, CD8dim T cells, CD3+/CD4-/CD8- T cells, TCRγ/δ T cells, CD4+ NKT cells, CD8+ NKT cells, classic NK cells, CD56dim/CD98dim cells, B cells, plasmablasts, monocytes, CD11cdim/CD172dim cells, myeloid dendritic cells (mDCs), and plasmacytoid dendritic cells (pDCs). Seven of the 17 main cell types exhibited statistically significant frequencies in the investigated groups. The expression levels of the 34 markers in the main populations were compared between HCs and SADs. In summary, 59 scatter plots showed significant differences in the expression intensities between at least two groups. Next, each immune cell population was divided into subpopulations (metaclusters) using the FlowSOM (self-organizing map) algorithm. Finally, 121 metaclusters (MCs) of the 10 main immune cell populations were found to have significant differences to classify diseases. The single-cell T-cell heterogeneity represented 64MCs based on the expression of 34 markers, and the frequency of 23 MCs differed significantly between at least twoconditions. The CD3- non-T-cell compartment contained 57 MCs with 17 MCs differentiating at least two investigated groups. In summary, we are the first to demonstrate the complexity of the immunophenotype of34markers over 15 million single cells in HCs vs. therapy-naive patients withRA, SSc, and SLE. Disease specific population frequencies or expression patterns of peripheral immune cells provide a single-cell data resource to the scientific community.

3D RECONSTRUCTION OF THE FORT SANTIAGO DUNGEONS USING HANDHELD LASER SCANNING METHOD

Abstract. The preservation of Cultural Heritage sites is an inherent responsibility of the citizens of a country. To this end, developments in digitization serve as a permanent way of preserving a site at its optimum state, and the creation of accurate 3D models becomes a repository of measurements for future reconstruction. Thus, in this study, the Fort Santiago Dungeons, a popular Cultural Heritage site in the Philippines, was 3D-reconstructed using the GeoSLAM ZEB Revo RT, a handheld Light Detection and Ranging (LiDAR) scanner that uses a Simultaneous Localization and Mapping (SLAM) Algorithm. With it, dense point clouds were produced with acceptable results in terms of colorization using the ZEB-CAM accessory, completeness, and measurement noise. This trend extended to quantitative evaluations of the dense point clouds of different formats (LAS and PLY) and colorization settings, as the Root Mean Square Errors (RMSE) against corresponding ground measurements were 0.734cm and 0.739cm for the Non-colorized, and 1.308cm and 1.312cm for Colorized, respectively. Likewise, the derived mesh files gave similar RMSEs with the Non-colorized at 1.044cm (LAS) and 0.999cm (PLY); and with the Colorized at 1.339cm (LAS) and 1.326cm (PLY). Overall, results showed that the mesh file derived from PLY dense point cloud exceeded the other format - as the dungeon's interior was better represented. Nonetheless, even though there were differences in the RMSEs of the measurements, due to factors such as the number of points and the processing itself, all are within the 5cm threshold to be considered useful in the event of reconstruction.

Research and application of the wavelet high-frequency coefficient direct mapping algorithm in the micro-defect target detection system of an infrared objective lens

Various lens detection techniques for military sighting telescopes have been the focus of military production. However, most of the micro-defect detection of lenses is detected manually, which cannot guarantee the measurement precision and quality. In order to solve these problems, the wavelet high-frequency coefficients direct mapping algorithm is applied to the automatic detection system of a micro-defect target in an infrared objective lens, thus obtaining a new method of detection. The detection method utilizes the correlation feature between wavelet coefficient scales to process the acquired images to suppress the background signals. Then the noise is further filtered by the pipelined filtering method to finally realize the detection of micro-targets. The experimental results show that a relatively high signal-to-noise ratio can be obtained, and the method can detect the small and dim target whose signal-to-noise ratio is more than 2.5 times. The measurement range is ≥3pixels and the error precision is 4±1 pixels.