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In this paper, we continue describing the project and the experimentation of "Ricerca Operativa Applicazioni Reali" (ROAR; in English, Real Applications of Operations Research), a three-year project for higher secondary schools, introduced. ROAR is composed of three teaching units, addressed to Grades 10, 11, and 12, respectively, having the main aim to improve students' interest, motivation, and skills related to Science, Technology, Engineering, and Mathematics disciplines by integrating mathematics and computer science through operations research. In a previous paper, we reported on the design and implementation of the first unit, started in Spring 2021 at the scientific high school IIS Antonietti in Iseo (Brescia, Italy), in a Grade-10 class. Here, we focus on the second unit, carried out in Winter/Spring 2022 with the same students, now in a Grade-11 class. In particular, we describe objectives, prerequisites, topics and methods, the organization of the lectures, digital technologies used, and a challenging final project. Moreover, we analyze the feedback from students and teachers involved in the experimentation.

As a special type of multi-objective combinatorial optimization problems (MOCOPs), the multi-objective traveling salesman problem (MOTSP) plays an important role in practical fields such as transportation and robot control. However, due to the complexity of its solution space and the conflicts between different objectives, it is difficult to obtain satisfactory solutions in a short time. This paper proposes an end-to-end algorithm framework for solving MOTSP based on deep reinforcement learning (DRL). By decomposing strategies, solving MOTSP is transformed into solving multiple single-objective optimization subproblems. Through linear transformation, the features of the MOTSP are combined with the weights of the objective function. Subsequently, a modified graph pointer network (GPN) model is used to solve the decomposed subproblems. Compared with the previous DRL model, the proposed algorithm can solve all the subproblems using only one model without adding weight information as input features. Furthermore, our algorithm can output a corresponding solution for each weight, which increases the diversity of solutions. In order to verify the performance of our proposed algorithm, it is compared with four classical evolutionary algorithms and two DRL algorithms on several MOTSP instances. The comparison shows that our proposed algorithm outperforms the compared algorithms both in terms of training time and the quality of the resulting solutions., Competing Interests: Declaration of competing interest The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper., (Copyright © 2024 Elsevier Ltd. All rights reserved.)

Recent advances in path-planning algorithms have transformed robotics. The Rapidly exploring Random Tree (RRT) algorithm underpins autonomous robot navigation. This paper systematically examines the uses and development of RRT algorithms in single and multiple robots to demonstrate their importance in modern robotics studies. To do this, we have reviewed 70 works on RRT algorithms in single and multiple robot path planning from 2015 to 2023. RRT algorithm evolution, including crucial turning points and innovative techniques, have been examined. A detailed comparison of the RRT Algorithm versions reveals their merits, limitations, and development potential. The review's identification of developing regions and future research initiatives will enable roboticists to use RRT algorithms. This thorough review is essential to the robotics community, inspiring new ideas, helping problem-solving, and expediting single- and multi-robot system development. This highlights the necessity of RRT algorithms for autonomous and collaborative robotics advancement. [ABSTRACT FROM AUTHOR]

As an indispensable part of the vehicle environment perception task, road traffic marking detection plays a vital role in correctly understanding the current traffic situation. However, the existing traffic marking detection algorithms still have some limitations. Taking lane detection as an example, the current detection methods mainly focus on the location information detection of lane lines, and they only judge the overall attribute of each detected lane line instance, thus lacking more fine-grained dynamic detection of lane line attributes. In order to meet the needs of intelligent vehicles for the dynamic attribute detection of lane lines and more perfect road environment information in urban road environment, this paper constructs a fine-grained attribute detection method for lane lines, which uses pixel-level attribute sequence points to describe the complete attribute distribution of lane lines and then matches the detection results of the lane lines. Realizing the attribute judgment of different segment positions of lane instances is called the fine-grained attribute detection of lane lines (Lane-FGA). In addition, in view of the lack of annotation information in the current open-source lane data set, this paper constructs a lane data set with both lane instance information and fine-grained attribute information by combining manual annotation and intelligent annotation. At the same time, a cyclic iterative attribute inference algorithm is designed to solve the difficult problem of lane attribute labeling in areas without visual cues such as occlusion and damage. In the end, the average accuracy of the proposed algorithm reaches 97% on various types of lane attribute detection. [ABSTRACT FROM AUTHOR]

Efficient maritime search and rescue (SAR) is crucial for responding to maritime emergencies. In traditional SAR, fixed search path planning is inefficient and cannot prioritize high-probability regions, which has significant limitations. To solve the above problems, this paper proposes unmanned surface vehicles (USVs) path planning for maritime SAR based on POS-DQN so that USVs can perform SAR tasks reasonably and efficiently. Firstly, the search region is allocated as a whole using an improved task allocation algorithm so that the task region of each USV has priority and no duplication. Secondly, this paper considers the probability of success (POS) of the search environment and proposes a POS-DQN algorithm based on deep reinforcement learning. This algorithm can adapt to the complex and changing environment of SAR. It designs a probability weight reward function and trains USV agents to obtain the optimal search path. Finally, based on the simulation results, by considering the complete coverage of obstacle avoidance and collision avoidance, the search path using this algorithm can prioritize high-probability regions and improve the efficiency of SAR. [ABSTRACT FROM AUTHOR]

Unmanned Aerial Vehicles are useful tools for many applications. However, autonomous path planning for Unmanned Aerial Vehicles in unfamiliar environments is a challenging problem when facing a series of problems such as poor consistency, high influence by the native controller of the Unmanned Aerial Vehicles. In this paper, we investigate reinforcement learning-based autonomous local path planning methods for Unmanned Aerial Vehicles with high autonomous decision-making capability and locally high portability. We propose an autonomous local path planning algorithm based on the TD3 strategy to solve the problem of local obstacle avoidance and path planning in unfamiliar environments using autonomous decision-making of Unmanned Aerial Vehicles. The simulation results on Gazebo show that our method can effectively realize the autonomous local path planning task for Unmanned Aerial Vehicles, the success rate of path planning with our method can reach 93% under the interference of no obstacles, and 92% in the environment with obstacles. Finally, our method can be used for autonomous path planning of Unmanned Aerial Vehicles in unfamiliar environments. [ABSTRACT FROM AUTHOR]

This paper proposes a predictive power control strategy for the three‐phase, six‐switch Vienna rectifier without grid voltage sensors to reduce the hardware cost and complexity of a high‐power PWM rectifier system. Firstly, an algorithm for calculating the AC‐side voltage in the αβ coordinate system is derived according to the operating principle of the Vienna rectifier, and a voltage observer is constructed by combining a second‐order low‐pass filter to estimate the grid voltage. Secondly, a soft start method is designed to solve the problem that the rectifier is prone to inrush current when it is started. Furthermore, the control method of grid voltage sensorless is combined with predictive power control with good dynamic characteristics and simple parameter settings to form the control strategy proposed in this paper. Finally, simulation analysis and experimental verification are carried out on the proposed control strategy. Simulation and experimental results show that the grid voltage estimation has high accuracy, a good surge current suppression effect, unit power factor operation, low input current harmonic content, and good dynamic and steady‐state performance. Therefore, the correctness and effectiveness of the strategy proposed in this paper are verified. [ABSTRACT FROM AUTHOR]

The adoption of blockchain platforms to bolster the security of Internet of Things (IoT) systems has attracted significant attention in recent years. Currently, there is a lack of comprehensive and systematic survey papers in the literature addressing these platforms. This paper discusses six of the most popular emerging blockchain platforms adopted by IoT systems and analyses their usage in state-of-the-art works to solve security problems. The platform was compared in terms of security features and other requirements. Findings from the study reveal that most blockchain components contribute directly or indirectly to IoT security. Blockchain platform components such as cryptography, consensus mechanism, and hashing are common ways that security is achieved in all blockchain platform for IoT. Technologies like Interplanetary File System (IPFS) and Transport Layer Security (TLS) can further enhance data and communication security when used alongside blockchain. To enhance the applicability of blockchain in resource-constrained IoT environments, future research should focus on refining cryptographic algorithms and consensus mechanisms to optimise performance and security. [ABSTRACT FROM AUTHOR]

In autonomous driving, the fusion of multiple sensors is considered essential to improve the accuracy and safety of 3D object detection. Currently, a fusion scheme combining low-cost cameras with highly robust radars can counteract the performance degradation caused by harsh environments. In this paper, we propose the IRBEVF-Q model, which mainly consists of BEV (Bird's Eye View) fusion coding module and an object decoder module.The BEV fusion coding module solves the problem of unified representation of different modal information by fusing the image and radar features through 3D spatial reference points as a medium. The query in the object decoder, as a core component, plays an important role in detection. In this paper, Heat Map-Guided Query Initialization (HGQI) and Dynamic Position Encoding (DPE) are proposed in query construction to increase the a priori information of the query. The Auxiliary Noise Query (ANQ) then helps to stabilize the matching. The experimental results demonstrate that the proposed fusion model IRBEVF-Q achieves an NDS of 0.575 and a mAP of 0.476 on the nuScenes test set. Compared to recent state-of-the-art methods, our model shows significant advantages, thus indicating that our approach contributes to improving detection accuracy. [ABSTRACT FROM AUTHOR]

In industry, the task of defect classification and defect localization is an important part of defect detection system. However, existing studies only focus on one task and it is difficult to ensure the accuracy of both tasks. This paper proposes a defect detection system based on improved Yolo_v4, which greatly improves the detection ability of minor defects. For K_Means algorithm clustering prianchors question with strong subjectivity, the paper proposes the Density Based Spatial Clustering of Applications with Noise (DBSCAN) algorithm to determine the number of Anchors. To solve the problem of low detection rate of small targets caused by insufficient reuse rate of low-level features in CSPDarknet53 feature extraction network, this paper proposes an ECA-DenseNet-BC-121 feature extraction network to improve it. And the Dual Channel Feature Enhancement (DCFE) module is proposed to improve the local information loss and gradient propagation obstruction caused by quad chain convolution in PANet networks to improve the robustness of the model. The experimental results on the fabric surface defect detection datasets show that the mAP of the improved Yolo_v4 is 98.97%, which is 7.67% higher than SSD, 3.75% higher than Faster_RCNN, 10.82% higher than Yolo_v4 tiny, and 5.35% higher than Yolo_v4, and the detection speed reaches 39.4 fps. It can meet the real-time monitoring needs of industrial sites. [ABSTRACT FROM AUTHOR]

A fundamental assumption in addressing real-world problems is acknowledging the presence of uncertainty and dynamism. Dismissing these factors can lead to the formulation of an optimal solution for an entirely different problem. This paper presents a novel variant of the capacitated dispersion problem (CDP) referred to as the stochastic and non-static CDP. The main objective of this problem is to strategically position facilities to achieve maximum dispersion while meeting the capacity demand constraint. The proposed approach combines stochastic and non-static elements, introducing a new paradigm to address the problem. This innovation allows us to consider more realistic and flexible environments. To solve this challenging problem, a novel sim-learnheuristic algorithm is proposed. This algorithm combines a biased-randomized metaheuristic (optimization component) with a simulation component (to model the uncertainty) and a machine learning component (to model non-static behavior). The non-static part works by using black box and white box mechanisms to learn the uncertainty with some related facilities’ variables. Based on an extended set of traditional benchmarks for the CDP, a series of computational experiments were carried out. The results demonstrate the effectiveness of the proposed sim-learnheuristic approach for solving the CDP under non-static and stochastic scenarios. [ABSTRACT FROM AUTHOR]

Remote Sensing Image Object Detection (RSIOD) faces the challenges of multi-scale objects, dense overlap of objects and uneven data distribution in practical applications. In order to solve these problems, this paper proposes a YOLO-ACPHD RSIOD algorithm. The algorithm adopts Adaptive Condition Awareness Technology (ACAT), which can dynamically adjust the parameters of the convolution kernel, so as to adapt to the objects of different scales and positions. Compared with the traditional fixed convolution kernel, this dynamic adjustment can better adapt to the diversity of scale, direction and shape of the object, thus improving the accuracy and robustness of Object Detection (OD). In addition, a High-Dimensional Decoupling Technology (HDDT) is used to reduce the amount of calculation to 1/N by performing deep convolution on the input data and then performing spatial convolution on each channel. When dealing with large-scale Remote Sensing Image (RSI) data, this reduction in computation can significantly improve the efficiency of the algorithm and accelerate the speed of OD, so as to better adapt to the needs of practical application scenarios. Through the experimental verification of the RSOD RSI data set, the YOLO-ACPHD model in this paper shows very satisfactory performance. The F1 value reaches 0.99, the Precision value reaches 1, the Precision-Recall value reaches 0.994, the Recall value reaches 1, and the mAP value reaches 99.36 % , which indicates that the model shows the highest level in the accuracy and comprehensiveness of OD. [ABSTRACT FROM AUTHOR]

Path planning is one of the core issues in the autonomous navigation of an Unmanned Surface Vehicle (USV), as the accuracy of the results directly affects the safety of the USV. Hence, this paper proposes a USV path planning algorithm that integrates an improved Particle Swarm Optimisation (PSO) algorithm with a Dynamic Window Approach (DWA). Firstly, in order to advance the solution accuracy and convergence speed of the PSO algorithm, a nonlinear decreasing inertia weight and adaptive learning factors are introduced. Secondly, in order to solve the problem of long path and path non-smoothness, the fitness function of PSO is modified to consider both path length and path smoothness. Finally, the International Regulations for Preventing Collisions at Sea (COLREGS) are utilised to achieve dynamic obstacle avoidance while complying with maritime practices. Numerical cases verify that the path planned via the proposed algorithm is shorter and smoother, guaranteeing the safety of USV navigation while complying with the COLREGS. [ABSTRACT FROM AUTHOR]

As blockchain technology advances, cross-chain interoperability has become a crucial requirement for achieving seamless interaction among multiple chains. To solve this problem, this paper proposes a scholarly approach to the development of a cross-chain-secure transmission technique, incorporating the Trusted Platform Module (TPM) and the SM algorithm, which is based on trusted roots. This research paper elaborates on the design and implementation of the cross-chain-secure transmission technique based on TPM and the SM algorithm, emphasizing the academic rigor necessary for addressing the security requirements of cross-chain interactions. The research shows that compared with the previous method, the throughput of production capacity is not significantly different from that before and after adding the network delay, and the success rate of preventing attacks is increased by 46.9% by simulating related attacks. After multiple rounds of experiments, the effectiveness and feasibility of this technology in protecting cross-chain communication data are verified. [ABSTRACT FROM AUTHOR]

A bullet point cloud registration algorithm with a low overlap rate based on line feature detection was proposed to solve the problem of the difficulty and low efficiency of point cloud registration due to the low overlap rate among point clouds sampled by the bullet model. In this paper, voxel downsampling is used to remove some noise points and outliers from the bullet point cloud and applied to the specified resolution to reduce the calculation cost. The bullet point cloud is transformed to a better initial position by fitting the central axis with the geometrical features of the bullet. Then, the direction vector of the bullet linear features is obtained by using an icosahedral fitting discrete Hough transform to simplify the parameter space of the search transformation. Finally, the optimal rotation angle is searched for in the parameter space by using the improved Cuckoo algorithm to realize the registration of the bullet point cloud with a low overlap rate. Simulation and experimental results show that the proposed registration method can accurately register bullet point clouds of different densities with a low overlap rate. Compared with the commonly used ICP, GICP, and TRICP algorithms, the registration error of the proposed algorithm is reduced by 92.68% on average when the overlap rate is 52.85%. The registration error is reduced by 98.87% in the case of a 41.36% overlap rate, by 99.52% in the case of a 33.02% overlap rate, and by 98.89% in the case of a 22.75% overlap rate. [ABSTRACT FROM AUTHOR]

To solve the control problem of time-varying state-scale nonlinear systems whose initial state is not affected by settling time, fixed-time convergence algorithms are proposed for first-order systems and higher-order systems in this paper. First, a scalar model is used to illustrate how the time-varying feedback parameter can guarantee that the system achieves asymptotic stability while achieving finite-time convergence, and it is proved that the settling time obtained in this paper is only related to the prescribed boundary. This allows us to design the settling time with an appropriate parameter based on the prescribed boundary. To exhibit the effectiveness and extensibility of the proposed algorithm for first-order scalar systems, the results are subsequently extended to general higher-order systems based on the backstepping method. By introducing numerical simulation results, this paper verifies that the proposed algorithm will make the system achieve asymptotic stability and its output can converge to a given boundary, regardless of the system's initial states. [ABSTRACT FROM AUTHOR]

Disjoint paths are defined as paths between the source and destination nodes where the intermediate nodes in any two paths are disjoint. They are helpful in fault-tolerance routing and securing message distribution in the network. Several research papers were proposed to solve the problem of finding disjoint paths for a variety of interconnection networks such as Hypercube, Generalized Hypercube, Mesh, Torus, Gaussian, Eisenstein–Jacobi, and many other topologies. In this research, we have developed a general algorithm that constructs maximal node-to-node disjoint paths for symmetric networks where all paths are shortest. The algorithm presented in this paper outperforms other algorithms in finding not only the disjoint paths but shortest and maximal disjoint paths with a complexity of O (n 2) . In addition, we have simulated the proposed algorithm on different networks. The solution of unsolved problem in Cube-Connected-Cycles is given in the simulation results. [ABSTRACT FROM AUTHOR]

It is difficult to visually detect internal defects in a large transformer with a metal closure. For convenient internal inspection, a micro-robot was adopted, and an inspection method based on an image-enhancement algorithm and an improved deep-learning network was proposed in this paper. Considering the dim environment inside the transformer and the problems of irregular imaging distance and fluctuating supplementary light conditions during image acquisition with the internal-inspection robot, an improved MSRCR algorithm for image enhancement was proposed. It could analyze the local contrast of the image and enhance the details on multiple scales. At the same time, a white-balance algorithm was introduced to enhance the contrast and brightness and solve the problems of overexposure and color distortion. To improve the target recognition performance of complex carbon-trace defects, the SimAM mechanism was incorporated into the Backbone network of the YOLOv8 model to enhance the extraction of carbon-trace features. Meanwhile, the DyHead dynamic detection Head framework was constructed at the output of the YOLOv8 model to improve the perception of local carbon traces with different sizes. To improve the defect target recognition speed of the transformer-inspection robot, a pruning operation was carried out on the YOLOv8 model to remove redundant parameters, realize model lightness, and improve detection efficiency. To verify the effectiveness of the improved algorithm, the detection model was trained and validated with the carbon-trace dataset. The results showed that the MSH-YOLOv8 algorithm achieved an accuracy of 91.80%, which was 3.4 percentage points higher compared to the original YOLOv8 algorithm, and had a significant advantage over other mainstream target-detection algorithms. Meanwhile, the FPS of the proposed algorithm was up to 99.2, indicating that the model computation and model complexity were successfully reduced, which meets the requirements for engineering applications of the transformer internal-inspection robot. [ABSTRACT FROM AUTHOR]

This paper is devoted to the development of general algorithm for solving to the stability problem of anisotropic plates using the additional load discretization method. The study of the stability problem is relevant for all types of structural elements and machine parts, and its importance is especially increasing with respect to anisotropic thin plates. This is due to the fact that with the use of new structures and materials, the material intensity is reduced, the area of application of thin-walled systems with low stiffness, for which the danger of elastic loss of stability increases, and, therefore, the importance and relevance of the theory and methods of practical solution of problems of elastic stability of such structures increases. In many works, analytical expressions for determination of critical load are given. At present, the determination of critical loads causes great difficulties in their numerical determination. Therefore, the article presents the most effective numerical and analytical solution of this problem. As a rule, to solve stability problems of anisotropic plates, different representations of the bending deflection function in different rows are used. But the use of such representations is justified only under certain boundary conditions and under the condition of uniformly distributed load. The study described in this paper offers a way to overcome these difficulties, allowing the numerical values of critical forces to be determined without much difficulty. With increasing grid density, the accuracy of the critical load value increases rapidly and with an 8×8 grid, the deviation from the exact solution equal to is 1 %. From a practical point of view, the discovered mechanism of numerical realization of this problem allows to improve engineering design calculations of stability of anisotropic plates with different conditions on supports and with different loading. [ABSTRACT FROM AUTHOR]

Since the performance of the spectral moment estimation algorithm commonly used in engineering degrades under the conditions of low SNR, this paper introduces the Extreme Learning Machine (ELM) to the spectral moment estimation of weather signals based on the correlation of the signals of adjacent range cells. To solve the problem that the hidden layer nodes of ELM algorithm are difficult to be determined, the Bidirectional Extreme Learning Machine (B-ELM) algorithm is applied to achieve the high resolution of spectral moments. Firstly, to improve the SNR of the training samples, time-domain pulse signals are converted into weather power spectrum by Welch method. Then, the parameters of the B-ELM hidden layer nodes are directly calculated by backpropagation of network residuals. The model parameters are optimized according to the least-squares solution, where the optimal number of hidden layer nodes is determined adaptively. Finally, the optimized B-ELM model is employed for the spectral moment estimation of weather signals. The algorithm is validated to be fast and accurate for spectral moment estimation using the measured IDRA weather radar data and is easy to implement in engineering. [ABSTRACT FROM AUTHOR]

Underwater acoustic channels often have to face the interference of impulsive noise, which is usually modeled by α-stable distribution in simulation experiments. To solve the problem of underwater acoustic channel estimation under impulsive noise, this paper proposes a convex combination–variable-step-size least mean p-norm algorithm. The algorithm incorporates a convex combination into the variable-step-size least mean p-norm algorithm and uses the convex combination of different convergence domains provided by changing the parameters of the Gaussian function to further improve the effect after convergence. The simulation results of channel estimation show that the convex combination–variable-step-size least mean p-norm algorithm provides a more stable, robust, and universal solution than the variable-step-size least mean p-norm algorithm. [ABSTRACT FROM AUTHOR]

A Rapid-exploration Random Tree (RRT) autonomous detection algorithm based on the multi-guide-node deflection strategy andKarto Simultaneous Localization andMapping (SLAM) algorithmwas 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 robot. Firstly, 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 probability. After 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. The algorithm simulation platform based on the Gazebo platform was built. The 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 efficiently. Finally, 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 obstacles. The 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. [ABSTRACT FROM AUTHOR]

The algorithm proposed in this paper aims at solving the problem of star map matching in high-limiting-magnitude astronomical images, which is inspired by geometric voting star identification techniques. It is a two-step star map matching algorithm relying only on angular features, and adopts a reasonable matching strategy to overcome the problem of poor real-time performance of the geometric voting algorithm when the number of stars is large. The algorithm focuses on application scenarios where there are a large number of dense stars (limiting magnitude greater than 13, average number of stars per square degree greater than 185) in the image, which is different from the sparse star identification problem of the star tracker, which is more challenging for the robustness and real-time performance of the algorithm. The proposed algorithm can be adapted to application scenarios such as unreliable brightness information, centroid positioning error, visual axis pointing deviation, and a large number of false stars, with high accuracy, robustness, and good real-time performance. [ABSTRACT FROM AUTHOR]

In stock trading, a common phenomenon is that the trends of stocks in the same industry are very similar. In contrast, the movements of stocks in different industries are often different. Therefore, applying the same model to all stock trading is inappropriate without distinguishing the industries in which the stocks belong. However, recommending an optimal industry stock trading model is very challenging based on performance evaluation indicators. First, the indicators of the trading model are diverse. Second, the ranking of multiple indicators is often inconsistent. In the paper, we model the problem to be solved as a multi-criteria decision-making process. Therefore, we first divide stock dataset into nine industries according to their main business. Then, we apply several machine learning algorithms as candidate models to generate trading signals. Second, we conduct daily trading backtesting based on the trading signals to obtain multiple performance evaluation indicators. Third, we propose an optimal recommendation algorithm for the industry stock trading model with TODIM. The experimental results in the US stock market and China's A-share market show that the proposed algorithm can get a better trading model out-of-sample industry stock. Moreover, we effectively evaluate the generalization ability of the algorithm based on the proposed metrics. Finally, the proposed long–short portfolios based on the algorithm have achieved returns exceeding the benchmark on most out-of-sample datasets. [ABSTRACT FROM AUTHOR]

Cryo-electron micrograph images have various characteristics such as varying sizes, shapes, and distribution densities of individual particles, severe background noise, high levels of impurities, irregular shapes, blurred edges, and similar color to the background. How to demonstrate good adaptability in the field of image vision by picking up single particles from multiple types of cryo-electron micrographs is currently a challenge in the field of cryo-electron micrographs. This paper combines the characteristics of the MixUp hybrid enhancement algorithm, enhances the image feature information in the pre-processing stage, builds a feature perception network based on the channel self-attention mechanism in the forward network of the Swin Transformer model network, achieving adaptive adjustment of self-attention mechanism between different single particles, increasing the network's tolerance to noise, Incorporating PReLU activation function to enhance information exchange between pixel blocks of different single particles, and combining the Cross-Entropy function with the softmax function to construct a classification network based on Swin Transformer suitable for cryo-electron micrograph single particle detection model (Swin-cryoEM), achieving mixed detection of multiple types of single particles. Swin-cryoEM algorithm can better solve the problem of good adaptability in picking single particles of many types of cryo-electron micrographs, improve the accuracy and generalization ability of the single particle picking method, and provide high-quality data support for the three-dimensional reconstruction of a single particle. In this paper, ablation experiments and comparison experiments were designed to evaluate and compare Swin-cryoEM algorithms in detail and comprehensively on multiple datasets. The Average Precision is an important evaluation index of the evaluation model, and the optimal Average Precision reached 95.5% in the training stage Swin-cryoEM, and the single particle picking performance was also superior in the prediction stage. This model inherits the advantages of the Swin Transformer detection model and is superior to mainstream models such as Faster R-CNN and YOLOv5 in terms of the single particle detection capability of cryo-electron micrographs. [ABSTRACT FROM AUTHOR]

Fabric defect detection is an important part of the textile industry, aiming at the problems of many types of fabric defects, small size defects and unbalanced samples, an improved YOLOv5 fabric defect detection algorithm, FD-YOLOv5, was proposed. First, the coordinate attention module is embedded in the YOLOv5 backbone network structure to replace the bottleneck structure in the original network model. While reducing the amount of parameters and calculation, it enhances the ability of the network to extract features and improves the model's ability to detect small target defects. Secondly, a smoother Mish activation function is used in the original model convolution structure for model training, which improves the nonlinear expression ability of the model; the SIoU loss function considering the direction of the anchor box is used to improve the convergence speed and detection accuracy of the model. Finally, combining the focal loss and GHM loss functions as the target confidence loss function to solve the problem of sample imbalance in the fabric defect dataset. The experimental results based on the public fabric defect dataset of Aliyun TianChi shows that the mAP@.5 and mAP@.5:.95 of the improved algorithm are 65.1% and 30.4%, respectively, which are 8.3% and 3.2% higher than the original model, respectively, and the parameter amount, calculation amount and weight of the model are reduced by 8.4%, 11.2% and 14.3%, respectively, compared with the original model. Even compared with the state-of-the-art YOLOv7 model, the mAP@.5 value of the proposed model is improved by 6.5%. Although the FPS value is lower than YOLOv7 model, it also achieves a detection speed of 79 frames per second, which can meet the real-time demand. The experimental results demonstrate the effectiveness of the method in this paper, which can provide a reference for the automatic detection method of fabric defects. [ABSTRACT FROM AUTHOR]

The object of this study is a clustering algorithm using various technologies. This paper compares clustering algorithms that are more commonly used to analyze urban road network trajectories, the growth curve model, with the elbow method and the x-means algorithm. Experiments were conducted with various volumes of big data to determine calculation time, accuracy, and ways to increase calculation time. These results can be used to manage traffic jams in congested areas and city streets. Considering the widespread use of clustering algorithms for solving various problems, this study proposes to introduce GCM, SPGK methods for monitoring and analyzing the state of congestion on city roads. The work was carried out in the following steps: research and selection of methods based on efficiency and time, implementation of parallel computing technologies to improve computation speed, demonstration of the selected method based on collected data from a real city with visualization of the results. The growth curve model algorithm has been proven to be almost 5 times more effective than the elbow method and the x-means algorithm. The time allocated for data processing has been calculated. An increase in the volume of processed data showed an almost stable execution time t=3 s for the GCM algorithm for data with a volume of up to almost 2,000 units. The effectiveness of SPGK-means was shown for different values of the number of points. Models of the Chengdu transport network obtained using a clustering algorithm with maximum grid density of neighborhoods are presented. There are some deviations between the grid and the road network due to the large grid size. This error is explained by an error of up to one between the points and the real grid. The results obtained clearly show how optimization of congested roads can be influenced. They provide information to obtain data on available routes, which allows you to analyze the road network individually and as a whole. [ABSTRACT FROM AUTHOR]

In this paper, we investigate a distributed interval optimization problem whose local functions are interval functions rather than scalar functions. Focusing on distributed interval optimization, this paper presents a distributed primal-dual algorithm. A criterion is introduced under which linear convergence to the Pareto solution of distributed interval optimization problems can be achieved without strong convexity. Lastly, a numerical simulation is presented to illustrate the linear convergence of the algorithm that has been proposed. [ABSTRACT FROM AUTHOR]

Artificial physical optimizer (APO), as a new heuristic stochastic algorithm, is difficult to balance convergence and diversity when dealing with complex multi-objective problems. This paper introduces the advantages of R2 indicator and target space decomposition strategy, and constructs the candidate solution of external archive pruning technology selection based on APO algorithm. A hybrid strategy guided multi-objective artificial physical optimizer algorithm (HSGMOAPO) is proposed. Firstly, R2 indicator is used to select the candidate solutions that have great influence on the convergence of the whole algorithm. Secondly, the target space decomposition strategy is used to select the remaining solutions to improve the diversity of the algorithm. Finally, the restriction processing method is used to improve the ability to avoid local optimization. In order to verify the comprehensive ability of HSGMOAPO algorithm in solving multi-objective problems, five comparison algorithms were evaluated experimentally on standard test problems and practical problems. The results show that HSGMOAPO algorithm has good convergence and diversity in solving multi-objective problems, and has the potential to solve practical problems. [ABSTRACT FROM AUTHOR]

Effective data communication is a crucial aspect of the Social Internet of Things (SIoT) and continues to be a significant research focus. This paper proposes a data forwarding algorithm based on Multidimensional Social Relations (MSRR) in SIoT to solve this problem. The proposed algorithm separates message forwarding into intra- and cross-community forwarding by analyzing interest traits and social connections among nodes. Three new metrics are defined: the intensity of node social relationships, node activity, and community connectivity. Within the community, messages are sent by determining which node is most similar to the sender by weighing the strength of social connections and node activity. When a node performs cross-community forwarding, the message is forwarded to the most reasonable relay community by measuring the node activity and the connection between communities. The proposed algorithm was compared to three existing routing algorithms in simulation experiments. Results indicate that the proposed algorithmsubstantially improves message delivery efficiency while lessening network overhead and enhancing connectivity and coordination in the SIoT context. [ABSTRACT FROM AUTHOR]

The aim of this paper is to introduce a forward-backward-forward algorithm with inertial extrapolation to solve the problem of finding a common solution to the variational inequality problem (CSVIP) in a Hadamard manifold. Using a self-adaptive step size, we obtain convergence results under some standard conditions. Numerical examples are given to illustrate the theoretical analysis. Our result is a generalization and extension of previously announced results in this direction in the literature. [ABSTRACT FROM AUTHOR]

This paper presents a modified metaheuristic algorithm named the modified Firefly algorithm. Any metaheuristic algorithm will have exploration and exploitation steps, and the goal of modification is to maintain a balance between them. The improvement relies on movement equations, alterations to the algorithm's structure by introducing a single loop, and a selection of movement equations at random. Two movement equations are included in the improved method and are randomly selected. This guarantees both regionally and globally focused solution-finding. This prevents the algorithm from getting stuck at a local minimum. Comparing the modified version to the original Firefly method, just one for loop is used, reducing the algorithm's complexity. The algorithm's performance is evaluated with 35 traditional benchmark test functions and 10 CEC2019 test functions. According to the findings, the suggested method performed optimally in 24 traditional benchmark test functions and best in the six remaining benchmark test functions. The improved algorithm produced the best outcomes in seven of the 10 CEC2019 test functions. In contrast, the Firefly algorithm produced optimal results in 18 classical benchmark test functions and the best results in 6 CEC2019 test functions. The proposed algorithm is compared with other variants of the Firefly algorithm for common test functions in the literature. The results show that the proposed algorithm outperforms other variants in most test functions. [ABSTRACT FROM AUTHOR]

Cyber-physical power system (CPPS) has significantly improved the operational efficiency of power systems. However, cross-space cascading failures may occur due to the coupling characteristics, which poses a great threat to the safety and reliability of CPPS, and there is an acute need to reduce the probability of these failures. Towards this end, this paper first proposes a cascading failure index to identify and quantify the importance of different information in the same class of communication services. On this basis, a joint improved risk-balanced service function chain routing strategy (SFC-RS) is proposed, which is modeled as a robust optimization problem and solved by column-and-constraint generation (C-CG) algorithm. Compared with the traditional shortest-path routing algorithm, the superiority of SFC-RS is verified in the IEEE 30-bus system. The results demonstrate that SFC-RS effectively mitigates the risk associated with information transmission in the network, enhances information transmission accessibility, and effectively limits communication disruption from becoming the cause of cross-space cascading failures. [ABSTRACT FROM AUTHOR]

In order to solve the problem that allocating the whole virtual power station is not centralized and promoting the free access of power distribution, a research on distributed scheduling of urban power network based on blockchain technology is proposed. and a scheme is proposed. Based on the consistency of decentralized virtual power plant and blockchain in decentralized point-to-point interaction and decentralized cooperation, this paper proposes to use blockchain consensus mechanism to realize distributed scheduling of virtual power plant. According to the principle of continuous micro- increment cost, the optimal economic dispatch of virtual power system is realized by taking the micro- increment characteristic as the variable. and the optimal economic dispatch strategy is realized. As a node of the blockchain, each distributed energy in the virtual power plant has a complete backup of the key data of the whole network. When the load changes, each node uses the PBFT consensus algorithm to independently calculate the new power of each unit. The new power data is stored on the chain, and the global consistency of micro incremental features is maintained to realize the reasonable load distribution among units. The experimental results show that, when the initial t = 1, the λ the values of each unit are different. The system does not meet the principle of constant consumption micro-increase rate, and the system does not operate in the optimal state. After a PBFT consensus, λ variable reaches the same value at t=8, and the system reaches the optimal operating state. Conclusion: The simulation experiment verifies the effectiveness of the algorithm, realizes distributed scheduling by using blockchain, and provides a feasible reference scheme for the operation mode of decentralized virtual power plant. [ABSTRACT FROM AUTHOR]

Conjugate gradient (CG) methods are a popular class of iterative methods for solving linear systems of equations and nonlinear optimization problems. In this paper, a new hybrid conjugate gradient (CG) method is presented and analyzed for solving unconstrained optimization problems, where the parameter β k is a convex combination of β k WYL and β k CD . Under the strong Wolfe line search, the new method possesses the sufficient descent condition and the global convergence properties. The preliminary numerical results show the efficiency of our method in comparison with other CG methods. Furthermore, the proposed algorithm HWYLCD was extended to solve the problem of a mode function. [ABSTRACT FROM AUTHOR]

When aimed at minimizing both the classification error and the number of selected features, feature selection can be treated as a bi-objective optimization problem suitable for solving with multi-objective evolutionary algorithms (MOEAs). However, traditional MOEAs may encounter difficulties due to discrete optimization environments and the curse of dimensionality in the feature space, especially for high-dimensional datasets. Therefore, in this paper an interpolation-based evolutionary algorithm (termed IPEA) is proposed for tackling bi-objective feature selection in classification, where an interpolation based initialization method is designed for covering a wide range of search space and exploring the adaptively detected regions of interest. In experiments, IPEA is been compared with four state-of-the-art MOEAs in terms of two widely-used performance metrics on a list of 20 public real-world classification datasets with the dimensionality ranging from low to high. The overall empirical results suggest that IPEA generally performs the best of all tested algorithms, with significantly better search abilities and much lower computational time cost. [ABSTRACT FROM AUTHOR]

Co-resident attacks are serious security threats in multi-tenant public cloud platforms. They are often implemented by building side channels between virtual machines (VMs) hosted on the same cloud server. Traditional defense methods are troubled by the deployment cost. The existing tenant classification methods can hardly cope with the real dataset that is quite large and extremely unevenly distributed, and may have problems in the processing speed considering the computation complexity of the DBSCAN algorithm. In this paper, we propose a novel co-resident attack defense strategy which solve these problems through an improved and efficient multi-level clustering algorithm and semi-supervised classification method. We propose a novel multi-level clustering algorithm which can efficiently reduce the complexity, since only a few parameter adjustments are required. Built on the proposed clustering algorithm, a semi-supervised classification model is designed. The experimental results of the classification effect and training speed show that our model achieves F-scores of over 85% and is significantly faster than traditional SVM classification methods. Based on the classification of unlabeled tenants into different security groups, the cloud service provider may modify the VM placement policy to achieve physical isolation among different groups, reducing the co-residency probability between attackers and target tenants. Experiments are conducted on a large-scale dataset collected from Azure Cloud Platform. The results show that the proposed model achieves 97.86% accuracy and an average 96.06% F-score, proving the effectiveness and feasibility of the proposed defense strategy. [ABSTRACT FROM AUTHOR]

Most of the existing MAPF methods based on communication learning have poor scalability or aggregate too much redundant information, resulting in inefficient communication. To solve these problems, this paper proposed disruptor identifiable communication (DIC), which learned concise communication excluding non-disruptors by judging whether the agent in the center of the field of view would change its decision-making due to the presence of neighbors, and successfully filtered out redundant information. At the same time, this paper further instantiated DIC and developed a new highly scalable distributed MAPF solver: disruptor identifiable communication based on reinforcement and imitation learning algorithm (DICRIA). Firstly, the disruptor discriminator and the policy output layer of DICRIA identified the disruptor. Secondly, the algorithm updated the information of the disruptor and the communication wish sender in two rounds of communication respectively. Finally, DICRIA output the final policy according to the coding results of each module. Experimental results show that DICRIA S performance is better than other similar solvers in almost all environment settings, and the algorithm increases the success rate by 5.2% on average compared to the baseline solver. Especially in dense problem instances with large-size maps, the algorithm even increases the success rate of DICRIA by 44.5% compared to the baseline solver. [ABSTRACT FROM AUTHOR]

Copyright of Control Theory & Applications / Kongzhi Lilun Yu Yinyong is the property of Editorial Department of Control Theory & Applications and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Operator precedence grammars (OPG) are context-free grammars (CFG) that are characterized by the absence of two adjacent non-terminal symbols in the body of each production (right-hand side). Operator precedence languages (OPL) are deterministic and context-free. Three possible precedence relations between pairs of terminal symbols are established for these languages. Many CFGs are not OPGs because the operator precedence cannot be applied to them as they do not comply with the basic rule. To solve this problem, we have conducted a thorough redefinition of the Left and Right sets of terminals that are the basis for calculating the precedence relations, and we have defined a new Leftmost set. The algorithms for calculating them are also described in detail. Our work's most significant contribution is that we establish precedence relationships between terminals by overcoming the basic rule of not having two consecutive non-terminals using an algorithm that allows building the operator precedence table for a CFG regardless of whether it is an OPG. The paper shows the complexities of the proposed algorithms and possible exceptions to the proposed rules. We present examples by using an OPG and two non-OPGs to illustrate the operation of the proposed algorithms. With these, the operator precedence table is built, and bottom-up parsing is carried out correctly. [ABSTRACT FROM AUTHOR]

Copyright of Chinese Journal of Liquid Crystal & Displays is the property of Chinese Journal of Liquid Crystal & Displays and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

The Marine Predators Algorithm (MPA) is a swarm intelligence algorithm developed based on the foraging behavior of the ocean's predators. This algorithm has drawbacks including, insufficient population diversity, leading to trapping in local optima and poor convergence. To mitigate these drawbacks, this paper introduces an enhanced MPA based on Adaptive Sampling with Maximin Distance Criterion (AM) and the horizontal and vertical crossover operators – i.e. Adaptive Crossover-based MPA (AC-MPA). The AM approach is used to generate diverse and well-distributed candidate solutions. Whereas the horizontal and vertical crossover operators maintain the population diversity during the search process. The performance of AC-MPA was tested using 51 benchmark functions from CEC2017, CEC2020, and CEC2022, with varying degrees of dimensionality, and the findings are compared with those of its basic version, variants, and numerous well-established metaheuristics. Additionally, 11 engineering optimization problems were utilized to verify the capabilities of the AC-MPA in handling real-world optimization problems. The findings clearly show that AC-MPA performs well in terms of its solution accuracy, convergence, and robustness. Furthermore, the proposed algorithm demonstrates considerable advantages in solving engineering problems, proving its effectiveness and adaptability. [ABSTRACT FROM AUTHOR]

With the rapid spread of Internet information and the spread of fake news, the detection of fake news becomes more and more important. Traditional detection methods often rely on a single emotional or semantic feature to identify fake news, but these methods have limitations when dealing with news in specific domains. In order to solve the problem of weak feature correlation between data from different domains, a model for detecting fake news by integrating domain-specific emotional and semantic features is proposed. This method makes full use of the attention mechanism, grasps the correlation between different features, and effectively improves the effect of feature fusion. The algorithm first extracts the semantic features of news text through the Bi-LSTM (Bidirectional Long Short-Term Memory) layer to capture the contextual relevance of news text. Senta-BiLSTM is then used to extract emotional features and predict the probability of positive and negative emotions in the text. It then uses domain features as an enhancement feature and attention mechanism to fully capture more fine-grained emotional features associated with that domain. Finally, the fusion features are taken as the input of the fake news detection classifier, combined with the multi-task representation of information, and the MLP and Softmax functions are used for classification. The experimental results show that on the Chinese dataset Weibo21, the F1 value of this model is 0.958, 4.9% higher than that of the sub-optimal model; on the English dataset FakeNewsNet, the F1 value of the detection result of this model is 0.845, 1.8% higher than that of the sub-optimal model, which is advanced and feasible. [ABSTRACT FROM AUTHOR]

This article presents a pioneering mathematical model, fuzzy bipolar hypersoft (FBHS) sets, which combines the bipolarity of parameters with the fuzziness of data. Motivated by the need for a comprehensive framework capable of addressing uncertainty and variability in complex phenomena, our approach introduces a novel method for representing both the presence and absence of parameters through FBHS sets. By employing two mappings to estimate positive and negative fuzziness levels, we bridge the gap between bipolarity, fuzziness, and parameterization, allowing for more realistic simulations of multifaceted scenarios. Compared to existing models like bipolar fuzzy hypersoft (BFHS) sets, FBHS sets offer a more intuitive and user-friendly approach to modeling phenomena involving bipolarity, fuzziness, and parameterization. This advantage is underscored by a detailed comparison and a practical example illustrating FBHS sets' superiority in modeling such phenomena. Additionally, this paper provides an in-depth exploration of fundamental FBHS set operations, highlighting their robustness and applicability in various contexts. Finally, we demonstrate the practical utility of FBHS sets in problem-solving and introduce an algorithm for optimal object selection based on available information sets, further emphasizing the advantages of our proposed framework. [ABSTRACT FROM AUTHOR]

This paper is concerned with two generalized inverse eigenvalue problems for a kind of pseudo‐Jacobi matrix. From a non‐Hermite matrix, an r × r Jacobi matrix, two distinct real eigenvalues, and part of the corresponding eigenvectors, an n × n pseudo‐Jacobi matrix is constructed. Furthermore, an n × n pseudo‐Jacobi matrix can be made by two different eigenpairs and a positive definite diagonal matrix. It is shown that a unique pseudo‐Jacobi matrix can be recovered from partial eigenpairs and certain special mixed eigendata. Two algorithms are provided for the reconstruction of such a pseudo‐Jacobi matrix, and illustrative numerical examples are presented to verify the proposed algorithms. [ABSTRACT FROM AUTHOR]

Tikhonov regularization is a widely used technique in solving inverse problems that can enforce prior properties on the desired solution. In this paper, we propose a Krylov subspace based iterative method for solving linear inverse problems with general-form Tikhonov regularization term xT Mx, where M is a positive semidefinite matrix. An iterative process called the preconditioned Golub--Kahan bidiagonalization (pGKB) is designed, which implicitly utilizes a proper preconditioner to generate a series of solution subspaces with desirable properties encoded by the regularizer xT Mx. Based on the pGKB process, we propose an iterative regularization algorithm via projecting the original problem onto small dimensional solution subspaces. We analyze the regularization properties of this algorithm, including the incorporation of prior properties of the desired solution into the solution subspace and the semiconvergence behavior of the regularized solution. To overcome instabilities caused by semiconvergence, we further propose two pGKB based hybrid regularization algorithms. All the proposed algorithms are tested on both small-scale and large-scale linear inverse problems. Numerical results demonstrate that these iterative algorithms exhibit excellent performance, outperforming other state-of-the-art algorithms in some cases. [ABSTRACT FROM AUTHOR]

Copyright of Journal of Shanghai Jiao Tong University (1006-2467) is the property of Journal of Shanghai Jiao Tong University Editorial Office and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Applying parallel-in-time algorithms to multiscale Hamiltonian systems to obtain stable long-time simulations is very challenging. In this paper, we present novel data-driven methods aimed at improving the standard parareal algorithm developed by Lions et al. in 2001, for multiscale Hamiltonian systems. The first method involves constructing a correction operator to improve a given inaccurate coarse solver through solving a Procrustes problem using data collected online along parareal trajectories. The second method involves constructing an efficient, high-fidelity solver by a neural network trained with offline generated data. For the second method, we address the issues of effective data generation and proper loss function design based on the Hamiltonian function. We show proof-of-concept by applying the proposed methods to a Fermi-Pasta-Ulam (FPU) problem. The numerical results demonstrate that the Procrustes parareal method is able to produce solutions that are more stable in energy compared to the standard parareal. The neural network solver can achieve comparable or better runtime performance compared to numerical solvers of similar accuracy. When combined with the standard parareal algorithm, the improved neural network solutions are slightly more stable in energy than the improved numerical coarse solutions. [ABSTRACT FROM AUTHOR]

The study of influence maximizing in temporal social networks (IMT) is an important aspect of influence maximization (IM) research. Currently, two main types of algorithms can solve the IMT problem: greedy-based algorithms and heuristic-based algorithms. However, the greedy-based algorithm is too time-consuming to be used in practice, and most existing heuristic methods do not consider the attributes of nodes, resulting in these methods being unable to solve the IMT problem. Therefore, this paper proposes a mixed k-shell (MKS) algorithm, which considers nodes' local and global attributes to characterize their influence and select seed nodes. At the local level, we consider the degree centrality of nodes, and at the global level, we propose the temporal k-shell decomposition (TKS) algorithm. Ultimately, the influence of a node is determined by combining the influence of itself and its neighbors. Experiments on four real temporal social networks show that MKS performs better in effectiveness than other heuristic baselines and can maintain a balance between effectiveness and efficiency, providing a useful solution for solving the IMT problem. [ABSTRACT FROM AUTHOR]

For the RRT* algorithm, there are problems such as greater randomness, longer time consumption, more redundant nodes, and inability to perform local obstacle avoidance when encountering unknown obstacles in the path planning process of autonomous vehicles. And the artificial potential field method (APF) applied to autonomous vehicles is prone to problems such as local optimality, unreachable targets, and inapplicability to global scenarios. A fusion algorithm combining the improved RRT* algorithm and the improved artificial potential field method is proposed. First of all, for the RRT* algorithm, the concept of the artificial potential field and probability sampling optimization strategy are introduced, and the adaptive step size is designed according to the road curvature. The path post-processing of the planned global path is carried out to reduce the redundant nodes of the generated path, enhance the purpose of sampling, solve the problem where oscillation may occur when expanding near the target point, reduce the randomness of RRT* node sampling, and improve the efficiency of path generation. Secondly, for the artificial potential field method, by designing obstacle avoidance constraints, adding a road boundary repulsion potential field, and optimizing the repulsion function and safety ellipse, the problem of unreachable targets can be solved, unnecessary steering in the path can be reduced, and the safety of the planned path can be improved. In the face of U-shaped obstacles, virtual gravity points are generated to solve the local minimum problem and improve the passing performance of the obstacles. Finally, the fusion algorithm, which combines the improved RRT* algorithm and the improved artificial potential field method, is designed. The former first plans the global path, extracts the path node as the temporary target point of the latter, guides the vehicle to drive, and avoids local obstacles through the improved artificial potential field method when encountered with unknown obstacles, and then smooths the path planned by the fusion algorithm, making the path satisfy the vehicle kinematic constraints. The simulation results in the different road scenes show that the method proposed in this paper can quickly plan a smooth path that is more stable, more accurate, and suitable for vehicle driving. [ABSTRACT FROM AUTHOR]