Mapping Problem Research Articles

Remote sensing and machine learning algorithms to predict soil salinity in southern Kazakhstan

Salinization and land degradation are significant challenges in the southern regions of Kazakhstan. These issues arise due to climate change, unequal water resource distribution, and human impact. The primary concern revolves around water resources, which are influenced by the area’s trans boundary flow of major rivers. The low level of water and food security has pushed the development of new approaches based on remote sensing monitoring and geographic information systems (GIS) to provide solutions for soil salinity. The research aims to focus on utilizing high-resolution radar images. This data type is effective for cloudy weather and can be useful for continued monitoring of some areas. Machine learning methods can solve the problem of automatic mapping of agricultural land salinity in Kazakhstan’s southern regions. The precise mapping of the salinity area helps prevent or decrease salinity’s impact on agriculture. The experiment realized that complex models such as LightGBM do not have significant accuracy performance over simple models on a small dataset compared with Ridge regression. The results allow us to recommend an approach for further improvement with ground-based measurement data and other deep-learning methods for mapping the salinity of agricultural lands.

Vehicle drivability evaluation based on PCA-SSA-XGBoost

In order to improve the efficiency and quality of vehicle drivability evaluation, a drivability evaluation model based on principal component analysis, extreme gradient boosting tree and sparrow optimization algorithm is proposed. In this paper, the power upshift of DCT vehicle is taken as a typical working condition, and 18 objective evaluation indicators under the power upshift working condition are studied and defined. The objective evaluation indicators are simplified by principal component analysis, their redundancy and blockiness are reduced, and the model input samples are optimized. The extreme gradient boosting tree model is trained to predict the subjective score of drivability, and the sparrow algorithm is used to optimize the core hyperparameters of the extreme gradient boosting tree to improve the accuracy and stability of the model. Road tests show that after the objective evaluation indicators are simplified by principal component analysis, the model evaluation accuracy reaches 97%, which is better than BPNN ( 90%), SVM ( 91%), ELM ( 92%) and SSA-XGBoost ( 95%). It is proved that the accuracy and stability of the proposed PCA-SSA-XGBoost model are better than other models, and it can complete the drivability evaluation more effectively. The evaluation model can be transferred and applied to other driving conditions, and has application value in solving the subjective and objective mapping problem in drivability evaluation.

Evaluation of visual SLAM algorithms in unstructured planetary-like and agricultural environments

Given the significant advance in visual SLAM (VSLAM), it might be assumed that the location and mapping problem has been solved. Nevertheless, VSLAM algorithms may exhibit poor performance in unstructured environments. This paper addresses the problem of VSLAM in unstructured planetary-like and agricultural environments. A performance study of state-of-the-art algorithms in these environments was conducted to evaluate their robustness. Quantitative and qualitative results of the study are reported, which exposes that the impressive performance of most state-of-the-art VSLAM algorithms is not generally reflected in unstructured planetary-like and agricultural environments. Statistical scene analysis was performed on datasets from well-known structured environments as well as planetary-like and agricultural datasets to identify visual differences between structured and unstructured environments, which cause VSLAM algorithms to fail. In addition, strategies to overcome the VSLAM algorithm limitations in unstructured planetary-like and agricultural environments are suggested to guide future research on VSLAM in these environments.

A multi-strategy ontology mapping method based on cost-sensitive SVM

As the core of ontology integration, the task of ontology mapping is to find the semantic relationship between ontologies. Nevertheless, most existing ontology mapping methods only rely ontext information to calculate entity similarity, thereby disregarding semantic nuances and necessitating substantial manual intervention. Therefore, this paper introduces an ontology mapping method. Based on the traditional ontology mapping method, the process employs a deep learning model to mine the semantic information of entity concepts, entity properties and ontology structure to obtain the embedding vector. We use the similarity mechanism to calculate the similarity between different embedding vectors, and combine the similarity values obtained from multiple strategy entities into a similarity matrix. The similarity matrix serves as input to the support vector machine (SVM), and the ontology mapping problem is finally transformed into a binary classification problem. However, since the number of mapped pairs is much larger than the number of non-mapped pairs, the number of positive samples in the data set is much smaller than the number of negative samples. Therefore, based on the traditional SVM, the paper adopts cost-sensitive strategy to deal with the class imbalance problem. In comparative evaluations against contemporary ontology mapping techniques, our method demonstrates a noteworthy 5.0% enhancement in recall and a 3.0% improvement in F1 score when tested on both public benchmark datasets and domain-specific datasets.

Precision estimation of winter wheat crop height and above-ground biomass using unmanned aerial vehicle imagery and oblique photoghraphy point cloud data.

Crop height and above-ground biomass (AGB) serve as crucial indicators for monitoring crop growth and estimating grain yield. Timely and accurate acquisition of wheat crop height and AGB data is paramount for guiding agricultural production. However, traditional data acquisition methods suffer from drawbacks such as time-consuming, laborious and destructive sampling. The current approach to estimating AGB using unmanned aerial vehicles (UAVs) remote sensing relies solely on spectral data, resulting in low accuracy in estimation. This method fails to address the ill-posed inverse problem of mapping from two-dimensional to three-dimensional and issues related to spectral saturation. To overcome these challenges, RGB and multispectral sensors mounted on UAVs were employed to acquire spectral image data. The five-directional oblique photography technique was utilized to construct the three-dimensional point cloud for extracting crop height. This study comparatively analyzed the potential of the mean method and the Accumulated Incremental Height (AIH) method in crop height extraction. Utilizing Vegetation Indices (VIs), AIH and their feature combinations, models including Random Forest Regression (RFR), eXtreme Gradient Boosting (XGBoost), Gradient Boosting Regression Trees (GBRT), Support Vector Regression (SVR) and Ridge Regression (RR) were constructed to estimate winter wheat AGB. The research results indicated that the AIH method performed well in crop height extraction, with minimal differences between 95% AIH and measured crop height values were observed across various growth stages of wheat, yielding R2 ranging from 0.768 to 0.784. Compared to individual features, the combination of multiple features significantly improved the model's estimate accuracy. The incorporation of AIH features helps alleviate the effects of spectral saturation. Coupling VIs with AIH features, the model's R2 increases from 0.694-0.885 with only VIs features to 0.728-0.925. In comparing the performance of five machine learning algorithms, it was discovered that models constructed based on decision trees were superior to other machine learning algorithms. Among them, the RFR algorithm performed optimally, with R2 ranging from 0.9 to 0.93. In conclusion, leveraging multi-source remote sensing data from UAVs with machine learning algorithms overcomes the limitations of traditional crop monitoring methods, offering a technological reference for precision agriculture management and decision-making.

Cognitive interviewing validation of the Chinese version of the neurogenic bladder symptom score

BackgroundThe neurogenic bladder symptom score (NBSS) has been widely used to specifically measure symptoms and consequences of neurogenic bladder (NB). The cognitive interviewing (CI) is effective in assessing item clarity and identifying key issues related to the comprehension of the instrument. We aim to translate the NBSS into Chinese and use the CI approach to explore the thought processes of patients with NB in responding the Chinese Version of the NBSS, identify and modify the factors hinder the thought processes to enhance the face validity of the NBSS. MethodsThe translation of the NBSS into Chinese was conducted with the guidance of the recommended frameworks. Patients with NB were recruited by purpose sampling. CI with the combination of thinking aloud and verbal probing techniques were used to explore thought processes. The interviews were transcribed and analyzed based on Tourangeau four-stage response model. ResultsTwo rounds of CI were carried out. The problems of comprehension, judgement and response mapping were identified in 8 items. Four items were revised based on the results of the interview. The revised items were verified and eventually integrated into the final version. ConclusionThe Chinese Version of the NBSS was easy to comprehend and use. The use of CI methodologies can increase the comprehensibility and cultural applicability of the NBSS, providing the evidence for the development of a clearer and more appropriate questionnaire.

A multi-sensor fusion SLAM algorithm for indoor aerial robots

Nowdays, existing Light Detection and Ranging (LiDAR) based unknown-space-exploration Simultaneous Localization and Mapping (SLAM) methods have the problems of unstable mapping in feature-degraded environments and poor estimation accuracy in the vertical direction. To solve these problems, this study presents a multi-sensor fusion SLAM algorithm for indoor aerial robots as well as Unmanned Aerial Vehicles (UAVs). The sensors used in the multi-sensor fusion algorithm include optical flow sensor, barometer, Inertial Measurement Unit (IMU), and LiDAR. The proposed algorithm is named LiDAR-IMU-optical flow odometry fusion algorithm (Lioo). We derived and established a tightly coupled multi-sensor fusion framework based on factor graph optimisation. The IMU-optical flow pre-integration factor is proposed, and the barometer factor to the algorithm is added innovatively. Engineering applications are also realised in this paper. Flight experiments demonstrated that the proposed algorithm achieves more precise mapping and localisation of UAVs in indoor environments.

GKE-TUNet: Geometry-Knowledge Embedded TransUNet Model for Retinal Vessel Segmentation Considering Anatomical Topology.

Automated retinal vessel segmentation is crucial for computer-aided clinical diagnosis and retinopathy screening. However, deep learning faces challenges in extracting complex intertwined structures and subtle small vessels from densely vascularized regions. To address these issues, we propose a novel segmentation model, called Geometry-Knowledge Embedded TransUNet (GKE-TUNet), which incorporates explicit embedding of topological features of retinal vessel anatomy. In the proposed GKE-TUNet model, a skeleton extraction network is pre-trained to extract the anatomical topology of retinal vessels from refined segmentation labels. During vessel segmentation, the dense skeleton graph is sampled as a graph of key-points and connections and is incorporated into the skip connection layer of TransUNet. The graph vertices are used as node features and correspond to positions in the low-level feature maps. The graph attention network (GAT) is used as the graph convolution backbone network to capture the shape semantics of vessels and the interaction of key locations along the topological direction. Finally, the node features obtained by graph convolution are read out as a sparse feature map based on their corresponding spatial coordinates. To address the problem of sparse feature maps, we employ convolution operators to fuse sparse feature maps with low-level dense feature maps. This fusion is weighted and connected to deep feature maps. Experimental results on the DRIVE, CHASE-DB1, and STARE datasets demonstrate the competitiveness of our proposed method compared to existing ones.

Ultra-dense nodal seismic acquisition for automated geohazard analysis

In this paper, we address the problem of shallow geohazard mapping by developing an integrated workflow consisting of nodal seismic acquisition and automated data analysis. Densely spaced point-receiver land nodes and point sources are adopted as an alternative to receiver arrays or groups conventionally used in seismic exploration. The recently developed methodology of surface-consistent decomposition of the transmitted wavefield is applied to the nodal data. Ultra-resolution mapping of surface-consistent attributes in amplitude and phase is obtained, together with the generation of high-energy signal beams at the common midpoint positions, forming virtual (shot) supergathers (VSGs). The VSG preserves frequency and true-amplitude content thanks to the surface-consistent corrections applied before beam forming. Traveltimes, waveforms, and surface waves are then analyzed in the high signal-to-noise ratio VSG, leading to inversion of the subsurface parameters. Human-intensive interpretation of surface-wave dispersion curves in the f-k spectra is facilitated by the introduction of efficient machine learning algorithms for the unsupervised and supervised paradigms. The ultra-dense nodal acquisition and automated data analysis are effectively applied to the analysis of several cases of near-surface geohazards.

Reducing Mode Collapse With Monge-Kantorovich Optimal Transport for Generative Adversarial Networks.

Mode collapse has been a persisting challenge in generative adversarial networks (GANs), and it directly affects the applications of GAN in many domains. Existing works that attempt to solve this problem have some serious limitations: models using optimal transport (OT) strategies (e.g., Wasserstein distance) lead to vanishing or exploding gradients; increasing the number of generators can cause several generators focusing on the same mode; and approaches that modify the loss also do not satisfactorily resolve mode collapse. In this article, we reduce mode collapse by formulating it as a Monge problem of OT map. We show that the Monge problem can be transformed to the distribution transformation problem in GAN, and a rectified affine neural network can be considered as a measurable function. In this way, we propose Monge GAN that uses this measurable function to transform the generated data distribution into the original data distribution. We utilize the Kantorovich formulation to obtain the OT cost, which is regarded as the OT distance between the two distributions. Finally, we conduct extensive experiments on both image and numerical datasets to validate our Monge GAN in reducing model collapse.

SAT-Based Exact Modulo Scheduling Mapping for Resource-Constrained CGRAs

Coarse-Grain Reconfigurable Arrays (CGRAs) represent emerging low-power architectures designed to accelerate Compute-Intensive Loops (CILs). The effectiveness of CGRAs in providing acceleration relies on the quality of mapping: how efficiently the CIL is compiled onto the platform. State-of-the-Art (SoA) compilation techniques utilize modulo scheduling to minimize the Iteration Interval (II) and use graph algorithms like Max-Clique Enumeration to address mapping challenges. Our work approaches the mapping problem through a satisfiability (SAT) formulation. We introduce the Kernel Mobility Schedule (KMS), an ad hoc schedule used with the Data Flow Graph and CGRA architectural information to generate Boolean statements that, when satisfied, yield a valid mapping. Experimental results demonstrate SAT-MapIt outperforming SoA alternatives in almost 50% of explored benchmarks. Additionally, we evaluated the mapping results in a synthesizable CGRA design and emphasized the runtime metrics trends, i.e., energy efficiency and latency, across different CILs and CGRA sizes. We show that a hardware-agnostic analysis performed on compiler-level metrics can optimally prune the architectural design space, while still retaining Pareto-optimal configurations. Moreover, by exploring how implementation details impact cost and performance on real hardware, we highlight the importance of holistic software-to-hardware mapping flows, as the one presented herein.

Unstability problem of real analytic maps

AbstractAs well known, the stability of proper maps is characterized by the infinitesimal stability. In the present paper, we study the counterpart in real analytic context. In particular, we show that the infinitesimal stability does not imply stability; for instance, a Whitney umbrella is not stable. A main tool for the proof is a relative version of Whitney's analytic approximation theorem that is shown by using H. Cartan's Theorems A and B.

Exploring high-performance photonic crystal slow light waveguides through deep reinforcement learning

Supervised deep learning is not really suitable for automatic inverse design of photonic crystal waveguides. There are three reasons for this:(1) Pre-training of the network requires a large number of datasets, which leads to a lot of time spent in the physical simulation process. (2) The one-to-many mapping problem often arises during the reverse design process. (3) It is difficult to realize the inverse design of photonic structures beyond the performance of the dataset. These problems can be well addressed by deep reinforcement learning (DRL). Here, deep reinforcement learning is proposed for the first time for the design of complex slow-light photonic crystal waveguides. The design using DRL took less than 72 h to obtain a photonic crystal waveguide with a normalized delay bandwidth product of 0.449 and group index of 48.72. By increasing the scaling factor of bandwidth in the reward function to 0.25, the bandwidth value of the optimized slow-light waveguide increases to 50.01 nm with an NDBP value of 0.39. The slow-light performance of both structures is verified by FDTD. In addition, the NDBP value is further optimized to 0.46 if the size of the structural parameters is not constrained. Compared with deep learning, DRL can improve the sampling efficiency by more than an order of magnitude and is not plagued by the three problems mentioned above. This work confirms the effectiveness of DRL in the inverse design of energy band engineering. DRL can be widely used in the optimization of energy band related performance.

Dynamics modeling and nonlinear attitude controller design for a rocket-type unmanned aerial vehicle

This paper presents an altitude and attitude control system for a newly designed rocket-type unmanned aerial vehicle (UAV) propelled by a gimbal-based coaxial rotor system (GCRS) enabling thrust vector control (TVC). The GCRS is the only means of actuation available to control the UAV’s orientation, and the flight dynamics identify the primary control difficulty as the highly nonlinear and tightly coupled control distribution problem. To address this, the study presents detailed derivations of attitude flight dynamics and a control strategy to track the desired attitude trajectory. First, a Proportional-Integral-Derivative (PID) control algorithm is developed based on the formulation of linear matrix inequality (LMI) to ensure robust stability and performance. Second, an optimization algorithm using the Levenberg–Marquardt (LM) method is introduced to solve the nonlinear inverse mapping problem between the control law and the actual actuator outputs, addressing the nonlinear coupled control input distribution problem of the GCRS. In summary, the main contribution is the proposal of a new TVC UAV system based on GCRS. The PID control algorithm and LM algorithm were designed to solve the distribution problem of the actuation model and confirm altitude and attitude tracking missions. Finally, to validate the flight properties of the rocket-type UAV and the performance of the proposed control algorithm, several numerical simulations were conducted. The results indicate that the tightly coupled control input nonlinear inverse problem was successfully solved, and the proposed control algorithm achieved effective attitude stabilization even in the presence of disturbances.

Construction of compositional geological models using the variational grid method of geomapping and the object-hierarchical approach

The variational grid method of geomapping is based on approximation by bicubic splines, the permissible grid size of which is limited by the amount of computer RAM. The paper describes an approach to solving problems of constructing maps of geological parameters, using this method, when computer resources are insufficient. The approach is based on the sequential mapping for a set of fragments of the entire mapping area. The implementation of the approach is considered for two options. The first, if the data density is sufficiently high, consists of sequential calculations over partially overlapping “bands”. If the data distribution is significantly uneven, the second option is implemented, which consists in calculating a detailed grid for local areas and smoothly pasting it into the general map. Smoothness at the boundaries of bands and insets is ensured through the condition of equality of spline coefficients for coinciding nodes, which is set by adjusting the system of linear algebraic equations when solving the mapping problem. Based on these approaches, a multiscale structural-geological model of the sedimentary cover over the territory of Western Siberia was implemented. The formation of a compositional model is carried out on the basis of an object-hierarchical approach, which ensures consistency in the calculations of all its elements, as well as automation of constructions.

Accurate 3D LiDAR SLAM System Based on Hash Multi-Scale Map and Bidirectional Matching Algorithm.

Simultaneous localization and mapping (SLAM) is a hot research area that is widely required in many robotics applications. In SLAM technology, it is essential to explore an accurate and efficient map model to represent the environment and develop the corresponding data association methods needed to achieve reliable matching from measurements to maps. These two key elements impact the working stability of the SLAM system, especially in complex scenarios. However, previous literature has not fully addressed the problems of efficient mapping and accurate data association. In this article, we propose a novel hash multi-scale (H-MS) map to ensure query efficiency with accurate modeling. In the proposed map, the inserted map point will simultaneously participate in modeling voxels of different scales in a voxel group, enabling the map to represent objects of different scales in the environment effectively. Meanwhile, the root node of the voxel group is saved to a hash table for efficient access. Secondly, considering the one-to-many (1 ×103 order of magnitude) high computational data association problem caused by maintaining multi-scale voxel landmarks simultaneously in the H-MS map, we further propose a bidirectional matching algorithm (MSBM). This algorithm utilizes forward-reverse-forward projection to balance the efficiency and accuracy problem. The proposed H-MS map and MSBM algorithm are integrated into a completed LiDAR SLAM (HMS-SLAM) system. Finally, we validated the proposed map model, matching algorithm, and integrated system on the public KITTI dataset. The experimental results show that, compared with the ikd tree map, the H-MS map model has higher insertion and deletion efficiency, both having O(1) time complexity. The computational efficiency and accuracy of the MSBM algorithm are better than that of the small-scale priority matching algorithm, and the computing speed of the MSBM achieves 49 ms/time under a single CPU thread. In addition, the HMS-SLAM system built in this article has also reached excellent performance in terms of mapping accuracy and memory usage.

A Power Method for Computing the Dominant Eigenvalue of a Dual Quaternion Hermitian Matrix

In this paper, we first study the projections onto the set of unit dual quaternions, and the set of dual quaternion vectors with unit norms. Then we propose a power method for computing the dominant eigenvalue of a dual quaternion Hermitian matrix. For a strict dominant eigenvalue, we show the sequence generated by the power method converges to the dominant eigenvalue and its corresponding eigenvector linearly. For a general dominant eigenvalue, we establish linear convergence of the standard part of the dominant eigenvalue. Based upon these, we reformulate the simultaneous localization and mapping problem as a rank-one dual quaternion completion problem. A two-block coordinate descent method is proposed to solve this problem. One block has a closed-form solution and the other block is the best rank-one approximation problem of a dual quaternion Hermitian matrix, which can be computed by the power method. Numerical experiments are presented to show the efficiency of our proposed power method.

DYNAMIC FIREWALL CONFIGURATION FOR VIRTUAL NETWORKS: A COMPREHENSIVE AUTOMATION FRAMEWORK

In recent years, segment routing has emerged as a revolutionary traffic engineering architecture. Segment routing, however, results in control overheads since more packet headers need to be included. When segment headers get excessively long, the overheads can significantly lower the forwarding efficiency for a big network. We suggest the intelligent routing scheme for traffic engineering (IRTE), which can provide load balancing with minimal control overheads, in order to meet the better of two goals. We first frame the problem as a mapping problem that maps various flows to important diversion sites in order to obtain optimal performance. Second, by reducing the problem to a k-dense subgraph problem, we demonstrate that it is nondeterministic polynomial (NP)-hard. We create improved ant colony optimisation (IACO), a popular ant colony optimisation technique for network optimisation problems, to address this issue. We also develop and examine the theoretical performance of the load balancing algorithm with diversion routing (LBA-DR). Ultimately, we test the IRTE in various real-world topologies, and the findings demonstrate that the IRTE works better than previous algorithms. For example, while testing on Bell Canada topology, the maximum bandwidth is 24.6% less than that of traditional algorithms. Keywords: Segment Routing, Traffic Engineering, Control Overheads, Packet Headers, Forwarding Efficiency, Intelligent Routing Scheme.

Probabilistic Method to Fuse Artificial Intelligence-Generated Underground Utility Mapping.

Utility as-built plans, which typically provide information about underground utilities' position and spatial locations, are known to comprise inaccuracies. Over the years, the reliance on utility investigations using an array of sensing equipment has increased in an attempt to resolve utility as-built inaccuracies and mitigate the high rate of accidental underground utility strikes during excavation activities. Adapting data fusion into utility engineering and investigation practices has been shown to be effective in generating information with improved accuracy. However, the complexities in data interpretation and associated prohibitive costs, especially for large-scale projects, are limiting factors. This paper addresses the problem of data interpretation, costs, and large-scale utility mapping with a novel framework that generates probabilistic inferences by fusing data from an automatically generated initial map with as-built data. The probabilistic inferences expose regions of high uncertainty, highlighting them as prime targets for further investigations. The proposed model is a collection of three main processes. First, the automatic initial map creation is a novel contribution supporting rapid utility mapping by subjecting identified utility appurtenances to utility inference rules. The second and third processes encompass the fusion of the created initial utility map with available knowledge from utility as-builts or historical satellite imagery data and then evaluating the uncertainties using confidence value estimators. The proposed framework transcends the point estimation of buried utility locations in previous works by producing a final probabilistic utility map, revealing a confidence level attributed to each segment linking aboveground features. In this approach, the utility infrastructure is rapidly mapped at a low cost, limiting the extent of more detailed utility investigations to low-confidence regions. In resisting obsolescence, another unique advantage of this framework is the dynamic nature of the mapping to automatically update information upon the arrival of new knowledge. This ultimately minimizes the problem of utility as-built accuracies dwindling over time.

Big data, big problems? How to circumvent problems in biodiversity mapping and ensure meaningful results

Our knowledge of biodiversity hinges on sufficient data, reliable methods, and realistic models. Without an accurate assessment of species distributions, we cannot effectively target and stem biodiversity loss. Species range maps are the foundation of such efforts, but countless studies have failed to account for the most basic assumptions of reliable species mapping practices, undermining the credibility of their results and potentially misleading and hindering conservation and management efforts. Here, we use examples from the recent literature and broader conservation community to highlight the substantial shortfalls in current practices and their consequences for both analyses and conservation management. We detail how different decisions on data filtering impact the outcomes of analysis and provide practical recommendations and steps for more reliable analysis, whilst understanding the limits of what available data will reliably allow and what methods are most appropriate. Whilst perfect analyses are not possible for many taxa given limited data, and biases, ensuring we use data within reasonable limits and understanding inherent assumptions is crucial to ensure appropriate use. By embracing and enacting such best practices, we can ensure both the accuracy and improved comparability of biodiversity analyses going forward, ultimately enhancing our ability to use data to facilitate our protection of the natural world.