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To solve the problems of poor exploration ability and convergence speed of traditional deep reinforcement learning in the navigation task of the patrol robot under indoor specified routes, an improved deep reinforcement learning algorithm based on Pan/Tilt/Zoom(PTZ) image information was proposed in this paper. The obtained symmetric image information and target position information are taken as the input of the network, the speed of the robot is taken as the output of the next action, and the circular route with boundary is taken as the test. The improved reward and punishment function is designed to improve the convergence speed of the algorithm and optimize the path so that the robot can plan a safer path while avoiding obstacles first. Compared with Deep Q Network(DQN) algorithm, the convergence speed after improvement is shortened by about 40%, and the loss function is more stable. [ABSTRACT FROM AUTHOR]

• A temperature component is given by theoretical inference and parameter optimization. • Separate modeling technique is proposed based on ICEEMDAN and clustering analysis. • The ET-SMT-DELM model is established by a multi-output deep extreme learning machine. • The proposed model has high accuracy, credibility and interpretability. The anatomy of service status through health monitoring models is essential to long-term structural safety. Since deformation is the intuitive representation of the dam's operating condition, it is crucial to investigate the deformation monitoring model with high accuracy and strong interpretability for the safety management of high arch dams. A novel deformation monitoring model is proposed by incorporating impulse response-based equivalent temperature (ET) and machine learning-aided separate modeling technique (SMT). This methodology has three main sources of novelty. First, the impulse response-based equivalent temperature and corresponding temperature component are derived from heat transfer and temperature convolution theories. Then, the model parameters are identified by an improved firefly algorithm. Second, the components in the monitored displacement are progressively stripped out by clustering analysis, separation under equal water level conditions, and a robust signal decomposition technique. Third, the separated deformation components and environmental factors are modeled by the multi-output deep extreme learning machine (DELM) with autoencoder, and the monitoring model ET-SMT-DELM is thus established. The world's highest arch dam is selected to illustrate the proposed model, and the prediction accuracy, early warning performance, component shares, and impulse response mechanism are comprehensively investigated by comparing with several typical baseline models. The results show that the overfitting of the proposed model is reduced, and the prediction and early warning performance is significantly improved. The resulting temperature impulse response function and component shares imply that the interpretability of the model is also enhanced. [ABSTRACT FROM AUTHOR]