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RRT Autonomous Detection Algorithm Based on Multiple Pilot Point Bias Strategy and Karto SLAM Algorithm

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Computers, Materials & Continua 2024年第2期78卷 2111-2136页

作者： Lieping Zhang Xiaoxu Shi Liu Tang Yilin Wang Jiansheng Peng Jianchu Zou Key Laboratory of Advanced Manufacturing and Automation Technology(Guilin University of Technology) Education Department of Guangxi Zhuang Autonomous RegionGuilin541006China College of Mechanical and Control Engineering Guilin University of TechnologyGuilin541006China Guilin Mingfu Robot Technology Company Limited Guilin541199China Key Laboratory of ai and Information Processing(Hechi University) Education Department of Guangxi Zhuang Autonomous RegionYizhou546300China

A Rapid-exploration Random Tree(RRT)autonomous detection algorithm based on the multi-guide-node deflection strategy and Karto Simultaneous Localization and Mapping(SLAM)algorithm was proposed to solve the problems of low efficiency of detecting frontier boundary points and drift distortion in the process of map building in the traditional RRT algorithm in the autonomous detection strategy of mobile ***,an RRT global frontier boundary point detection algorithm based on the multi-guide-node deflection strategy was put forward,which introduces the reference value of guide nodes’deflection probability into the random sampling function so that the global search tree can detect frontier boundary points towards the guide nodes according to random *** that,a new autonomous detection algorithm for mobile robots was proposed by combining the graph optimization-based Karto SLAM algorithm with the previously improved RRT *** algorithm simulation platform based on the Gazebo platform was *** simulation results show that compared with the traditional RRT algorithm,the proposed RRT autonomous detection algorithm can effectively reduce the time of autonomous detection,plan the length of detection trajectory under the condition of high average detection coverage,and complete the task of autonomous detection mapping more ***,with the help of the ROS-based mobile robot experimental platform,the performance of the proposed algorithm was verified in the real environment of different *** experimental results show that in the actual environment of simple and complex obstacles,the proposed RRT autonomous detection algorithm was superior to the traditional RRT autonomous detection algorithm in the time of detection,length of detection trajectory,and average coverage,thus improving the efficiency and accuracy of autonomous detection.

关键词： Autonomous detection RRT algorithm mobile robot ROS Karto SLAM algorithm

A Hybrid and Lightweight Device-to-Server Authentication Technique for the Internet of Things

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Computers, Materials & Continua 2024年第3期78卷 3805-3823页

作者： Shaha Al-Otaibi Rahim Khan Hashim Ali Aftab Ahmed Khan Amir Saeed Jehad Ali Department of Information Systems College of Computer and Information SciencesPrincess Nourah bint Abdulrahman UniversityP.O.Box 84428Riyadh11671Saudi Arabia Department of Computer Science Abdul Wali Khan University MardanMardan23200Pakistan Department of Computer Science and IT UET PeshawarJalozai Campus PeshawarPeshawar24240Pakistan Department of ai Convergence Network Ajou UniversitySuwon16499South Korea

The Internet of Things(IoT)is a smart networking infrastructure of physical devices,i.e.,things,that are embedded with sensors,actuators,software,and other technologies,to connect and share data with the respective server *** IoTs are cornerstones in different application domains,the device’s authenticity,i.e.,of server(s)and ordinary devices,is the most crucial issue and must be resolved on a priority ***,various field-proven methodologies were presented to streamline the verification process of the communicating devices;however,location-aware authentication has not been reported as per our knowledge,which is a crucial metric,especially in scenarios where devices are *** paper presents a lightweight and location-aware device-to-server authentication technique where the device’s membership with the nearest server is subjected to its location information along with other ***,Media Access Control(MAC)address and Advance Encryption Scheme(AES)along with a secret shared key,i.e.,λ_(i) of 128 bits,have been utilized by Trusted Authority(TA)to generate MaskIDs,which are used instead of the original ID,for every device,i.e.,server and member,and are shared in the offline ***,TA shares a list of authentic devices,i.e.,server S_(j) and members C_(i),with every device in the IoT for the onward verification process,which is required to be executed before the initialization of the actual communication ***,every device should be located such that it lies within the coverage area of a server,and this location information is used in the authentication process.A thorough analytical analysis was carried out to check the susceptibility of the proposed and existing authentication approaches against well-known intruder attacks,i.e.,man-in-the-middle,masquerading,device,and server impersonations,etc.,especially in the IoT ***,proposed authentication and existing state-of-the-art approaches have been s

关键词： Internet of things authenticity security location communication

αExtractor: a system for automatic extraction of chemical information from biomedical literature

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Science China(Life Sciences) 2024年第3期67卷 618-621页

作者： Jiacheng Xiong Xiaohong Liu Zhaojun Li Hongzhong Xiao Guangchao Wang Zhenjiang Niu Chaoyuan Fei Feisheng Zhong Gang Wang Wei Zhang Zunyun Fu Zhiguo Liu Kaixian Chen Hualiang Jiang Mingyue Zheng Drug Discovery and Design Center State Key Laboratory of Drug ResearchShanghai Institute of Materia MedicaChinese Academy of SciencesShanghai 201203China University of Chinese Academy of Sciences Beijing 100049China ai Department Suzhou Alphama Biotechnology Co.Ltd.Suzhou 215125China College of Computer and Information Engineering Dezhou UniversityDezhou 253023China

Dear Editor,Great progress has been made using artificial intelligence(ai) techniques in learning knowledge from biomedical databases in recent years, revolutionizing the study of many fields, such as protein structure prediction and protein design(Madani et al., 2023). However, there is massive biomedical knowledge not curated in the form of structured data but hidden in primary scientific literature.

关键词： has such knowledge

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基于提示微调的汉语词汇简化研究

中文信息学报 2024年第8期 34-43页

作者：肖子豪程苗苗巩捷甫韩旭王士进宋巍首都师范大学信息工程学院和交叉学科研究院科大讯飞股份有限公司ai研究院认知智能国家重点实验室

词汇简化是在不改变原句结构和语义的情况下，用更简单的词替换句子中的难词，提高文本面向特定群体读者的可读性。该文提出基于提示微调的汉语词汇简化方法PTCLS(Prompt-tuning Based Chinese Lexical Simplification)。PTCLS采用基于B... 详细信息

词汇简化是在不改变原句结构和语义的情况下，用更简单的词替换句子中的难词，提高文本面向特定群体读者的可读性。该文提出基于提示微调的汉语词汇简化方法PTCLS(Prompt-tuning Based Chinese Lexical Simplification)。PTCLS采用基于BART的底层架构，能够自然地生成不同字数的替代词，模型训练只需微调少量参数。在公开的汉语词汇简化数据集上的实验表明，该文提出的方法可以大幅超越目前最好的基线系统BERT-LS。深入分析揭示，微调方法只利用少量标注数据即可取得比全参数微调、手工提示和无监督方法更好的表现，尤其针对汉语同义词词典外的难词取得了更显著的性能提升。

关键词：词汇简化提示学习提示微调文本简化小样本学习

Dominant negative effect as a novel mechanism of SPAST gene mutation in a large family with hereditary spastic paraplegia

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Genes & Diseases 2024年第5期11卷 74-77页

作者： Ke Deng Haibo Ruan Feifei Yu Zhenle Pei Congjian Xu Shuo Zhang Shanghai Ji ai Genetics&IVF Institute Obstetrics and Gynecology Hospital of Fudan UniversityShanghai 200000China Shanghai Key Laboratory of Female Reproductive Endocrine Related Diseases Shanghai 200000China The First People’s Hospital of Wenling WenlingZhejiang 317500China Rushan Hospital of Traditional Chinese Medicine RushanShandong 264599China Department of Obstetrics and Gynecology Fudan UniversityShanghai 200000China.

Hereditary spastic paraplegia(HSP)is a group of disorders with genetic heterogeneity,lower-extremity weakness,and spasticity are the most common signs and *** is the most frequently disease-causing *** is a microtubule-severing enzyme encoded by SPAST that cleaves long microtubules into short fragments by interacting with other proteins or *** spastic paraplegia type 4(SPG4),which is autosomal dominant,is the clinical subtype associated with SPAST ***4 accounts for up to one-third of all HSP cases and usually presents with isolated lower extremity spasticity,with or without bladder or sensory dysfunction.1 The main cause of SPG4 is believed to be spastin haploinsufficiency,which results from mutations in the SPAST gene.

关键词： bladder insufficiency clinical

探索超高层建筑的未来——以深圳平安财险大厦为例

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当代建筑 2024年第4期 39-41页

作者： David Malott 虞稚哲 ai Planetworks建筑事务所

超高层建筑是为了应对快速城市化与人口的飞速增长等问题而建设的,但这通常被看作是一种“出于必要”的解决方案,未能创造性地响应城市化快速发展所产生的社会、文化、环境和福祉压力。深圳平安财险大厦旨在转化高层建筑的“必要”角色... 详细信息

超高层建筑是为了应对快速城市化与人口的飞速增长等问题而建设的,但这通常被看作是一种“出于必要”的解决方案,未能创造性地响应城市化快速发展所产生的社会、文化、环境和福祉压力。深圳平安财险大厦旨在转化高层建筑的“必要”角色,通过创造性地抬升塔楼,得到朝向城市核心区的公共高架广场,同时结合物联网与环境数据可视化的最新科技,使得高层建筑更“主动”地推动城市可持续发展,实现高密度城市更加宜居的目标。

关键词：超高层建筑未来数据可视化

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A Novel Eccentric Intrusion Detection Model Based on Recurrent Neural Networks with Leveraging LSTM

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Computers, Materials & Continua 2024年第3期78卷 3089-3127页

作者： Navaneetha Krishnan Muthunambu Senthil Prabakaran Balasubramanian Prabhu Kavin Kishore Senthil Siruvangur Kavitha Chinnadurai Jehad Ali Department of Computer Applications Karpagam College of EngineeringCoimbatore641032India Department of Computer Science and Engineering Karpagam College of EngineeringCoimbatore641032India Department of Data Science and Business Systems College of Engineering and TechnologySRM Institute of Science and TechnologyKattankulathur603203India Department of Computer Science and Engineering Sathyabama Institute of Science and TechnologyJeppiaar NagarRajiv Gandhi SalaiChennai600119India Department of ai Convergence Network Ajou UniversitySuwon16499Korea

The extensive utilization of the Internet in everyday life can be attributed to the substantial accessibility of online services and the growing significance of the data transmitted via the ***,this development has expanded the potential targets that hackers might *** adequate safeguards,data transmitted on the internet is significantly more susceptible to unauthorized access,theft,or *** identification of unauthorised access attempts is a critical component of cybersecurity as it aids in the detection and prevention of malicious *** research paper introduces a novel intrusion detection framework that utilizes Recurrent Neural Networks(RNN)integrated with Long Short-Term Memory(LSTM)*** proposed model can identify various types of cyberattacks,including conventional and distinctive *** networks,a specific kind of feedforward neural networks,possess an intrinsic memory *** Neural Networks(RNNs)incorporating Long Short-Term Memory(LSTM)mechanisms have demonstrated greater capabilities in retaining and utilizing data dependencies over extended *** such as data types,training duration,accuracy,number of false positives,and number of false negatives are among the parameters employed to assess the effectiveness of these models in identifying both common and unusual *** are utilised in conjunction with LSTM to support human analysts in identifying possible intrusion events,hence enhancing their decision-making capabilities.A potential solution to address the limitations of Shallow learning is the introduction of the Eccentric Intrusion Detection *** model utilises Recurrent Neural Networks,specifically exploiting LSTM *** proposed model achieves detection accuracy(99.5%),generalisation(99%),and false-positive rate(0.72%),the parameters findings reveal that it is superior to state-of-the-art techniques.

关键词： Cybersecurity intrusion detection machine learning leveraging long short-term memory(LLSTM) CICIDS2019 dataset innovative cyberattacks

Low-temperature replacement construction of three-dimensional corrosion-resistant interface for deeply rechargeable Zn metal batteries

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Nano Materials Science 2024年第3期6卷 329-336页

作者： Jinze Li Daniel Rohrens Gianluca Dalfollo Xiaochao Wu Ziheng Lu Qiang Gao Bo Han Ruimin Sun Chenggang Zhou Jindi Wang Zhao Cai Faculty of Materials Science and Chemistry China University of GeosciencesWuhan430074China Institute of Inorganic Chemistry RWTH Aachen UniversityAachen52074Germany Microsoft Research ai4Science Beijing10080China Institute of New Energy on Chemical Storage and Power Sources College of Applied Chemistry and Environmental EngineeringYancheng Teachers UniversityYancheng224000China

Aqueous Zn batteries are promising candidates for grid-scale renewable energy *** electrodes have been widely investigated and applied as anode materials for aqueous Zn batteries,however,they suffer from limited surface area and severe interfacial issues including metallic dendrites and corrosion side reactions,limiting the depth of discharge(DOD)of the foil electrode ***,a low-temperature replacement reaction is utilized to in-situ construct a three-dimensional(3D)corrosion-resistant interface for deeply rechargeable Zn foil ***,the deliberate low-temperature environment controlled the replacement rate between polycrystalline Zn metal and oxalic acid,producing a Zn foil electrode with distinct 3D corrosion-resistant interface(3DCI-Zn),which differed from conventional two-dimensional(2D)protective structure and showed an order of magnitude higher surface ***,the 3DCI-Zn electrode exhibited dendrite-free and anticorrosion properties,and achieved stable plating/stripping performance for 1000 h at 10 mA cm^(-2)and 10 mAh cm^(-2)with a remarkable DOD of 79%.After pairing with a MnO2cathode with a high areal capacity of 4.2 mAh cm^(-2),the pouch cells delivered 168 Wh L^(-1)and a capacity retention of 89.7%after 100 cycles with a low negative/positive(N/P)ratio of 3:1.

关键词： Aqueous batteries Foil electrodes Depth of discharge Dendrites Corrosion side reactions

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Emerging applications of nanofibers electrospun from carbohydrate polymers

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Journal of Future Foods 2024年第4期4卷 289-299页

作者： Nicole Angel Songnan Li Lingyan Kong Deparment of Mechanical Engineering.The University of Alabama TuscaloosaAL 35487USA Joint Intemnarional Research Laboratory of Agriculture and Agni-Product Saferty of the Ministry of Education of China Institutes of Agricultural Science and Techmology DevelopmentYangzhou UniversityYangzhou 225009China Deparment of Human Nutrition and Hospitality Management The University of AlabamaTuscaloosaAI 35487USA

Electrospinning is a simple and versatile technique that uses electrostatic forces to create fbers in the nano o micro range from a variety of materials,both synthetic and natural Due to the high surface area to volume ratio,high porosity,and desirable mechanic characteristics of electrospun fbers,they are of current interest for a wide variety of *** of the most signifcant applications of these fbers being researched include tissue *** delivery,wound dressings,environmental and energy applications,and protective ***,electrospun fbers may be specially tailored to better ft their fnal application through the direct 1oading of materials during the spining process as well as by choosing the correct base material for the *** example,it is desirable to use a biocompatible and biodegradable material in fibers desired for applications in the biomedical field;this way the fbers are able to safely interact with the human *** review will explore the applications,as previously listed,with a focus on how fbers are made using carbohydrate polymers(such as alginate,cellulose and its derivatives,chitosan and chitin,starch,pul1ulan,hyaluronic acid,dextran,and 1evan)as their base material,and their applicability and functionality in various applications.

关键词： Electrospinning Tissue engineering Drug delivery Wound dresing Envionment Energy Protective fabric