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    2026, 31 (4):  0. 
    Abstract ( 88 )   PDF (16353KB) ( 31 )  
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    Automation & Computer Technologies
    Costmap A∗ Guided Reinforcement Learning Path Planning Method for Complex Environments Navigation
    Wang Yixuan, Shen Bin, Xiong Leilei, Nan Zhuojiang, Tao Wei
    2026, 31 (4):  819-827.  doi: 10.1007/s12204-024-2755-7
    Abstract ( 212 )   PDF (1436KB) ( 63 )  
    This paper presents a costmap A* guided soft actor-critic (CMA-SAC) path planning method to optimize the navigation performance of robots in long-distance and complex environments. Initially, a costmap is constructed to calculate the cost for approaching obstacles. With the costmap, the improved A* algorithm effectively avoids the paths being too close to obstacles. Subsequently, a local path planner based on deep reinforcement learning is constructed to directly generate control commands for the robot. Lastly, a tightly coupled strategy of global and local path planning is employed, where the results of global path planning are incorporated as part of the input to the deep neural network and integrated into the reward function of reinforcement learning (RL). Simulation experiments indicate that the CMA-SAC method outperforms deep deterministic policy gradient and SAC algorithms in terms of learning speed and stability during training. And in the test tasks, the CMA-SAC method performs better than other RL-based methods in navigation efficiency and has better dynamic obstacle avoidance performance than dynamic window approach. The proposed method has a success rate of 95.8% in the maze environment and the highest success rate in the long-distance and dynamic environment, demonstrating the method’s ability in complex navigation tasks.
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    Novel Sea Otter Optimization Algorithm for WSN Coverage Intelligence Optimization
    Wu Jin, Gao Yaqiong, Su Zhengdong, Chong Gege, Xiong Hao
    2026, 31 (4):  828-842.  doi: 10.1007/s12204-024-2765-5
    Abstract ( 189 )   PDF (2793KB) ( 53 )  
    A novel intelligent optimization algorithm inspired by nature, called sea otter optimization algorithm (SOOA), is proposed. The SOOA simulates the natural behaviors of sea otters, such as using tactile senses to search for food in seawater, grooming their fur, feeding with the aid of stones, and escaping from danger. In the exploration stage, a wetness factor is introduced to control the behavior of sea otters in foraging and grooming; a danger factor is introduced to control the behavior of sea otters in feeding and avoiding dangers in the exploitation stage, and the behaviors of sea otters in responding to different dangers are mathematically modeled. The proposed algorithm is compared with 9 well-known intelligent optimization algorithms, and evaluated in 13 benchmark functions as well as wireless sensor network coverage optimization problems to verify the effectiveness of the proposed algorithm. The experimental results show that the node coverage after SOOA optimization reaches 91.2% in 2D environment and 90.47% in 3D environment. Compared with other algorithms, SOOA is superior and possesses the ability to solve complex optimization problems.
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    Pre-Trained RS-VGG19 Model for Remote Sensing Natural Scene Image Classification Using Spark Distributed Framework
    Li Zhaofei, Zhang Yijie, Zhao Na, Liu Guoquan, Zheng Ruiyu
    2026, 31 (4):  843-857.  doi: 10.1007/s12204-025-2799-3
    Abstract ( 187 )   PDF (1488KB) ( 55 )  
    Remote sensing image classification using deep learning methods faces challenges such as high complexity, significant computational demands, and inefficiency on resource-constrained devices, while also being affected by issues like class similarity and spatial distribution. Current convolutional neural networks rely on stacking small convolutional kernels for feature learning, which results in relatively low classification accuracy, while their dependence on centralized learning architectures with high-performance GPUs/CPUs incurs substantial training costs. Therefore, this paper proposes a distributed rapid classification method for high-similarity natural scene remote sensing images using an improved VGG19 model (RS-VGG19) that combines residual connections and attention mechanisms. By introducing residual connections, the method improves training convergence speed and high-level feature learning ability, effectively preventing gradient vanishing during training. Embedding the SENet visual attention module in the tenth convolution layer allows the model to more specifically extract similar and significant features in remote sensing images. By employing a combination of cross-entropy and center loss functions, the model is able to learn features with reduced intra-class variance and increased inter-class variance, further enhancing classification accuracy. The distributed inference framework Spark is employed for decentralized model training, storing large-scale remote sensing images in the distributed file system HDFS, and accessing the pre-trained RS-VGG19 model in Docker containers on cluster nodes for distributed inference and classification using PySpark. Experimental results show that on two commonly used high-similarity remote sensing image datasets, NWPU-RESISC45 and UCMerced Land-Use, the RS-VGG19 model improves classification accuracy by 6.57% and 8.76% respectively compared to the original VGG19 model, and significantly enhances accuracy compared to other related classification models. This demonstrates the superior performance of the proposed structure and loss function fusion strategy in remote sensing image classification tasks. On the large-scale remote sensing image inference dataset NWPU-RESISC45, while maintaining classification accuracy, the distributed inference framework achieved a speedup of 11.9 when using six nodes, an improvement of 98.33% over theoretical linear speedup (6.00), reducing dependency on high-end hardware resources and significantly improving the classification speed of high-similarity natural scene remote sensing images.
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    Sparse DOA Estimation Method for Unknown Terrestrial Signals of Opportunity
    Tang Zewen, Lang Rongling, Xu Hao
    2026, 31 (4):  858-868.  doi: 10.1007/s12204-024-2784-2
    Abstract ( 112 )   PDF (915KB) ( 38 )  
    Signal of opportunity (SOP) has become an attractive source of navigation in the absence of global navigation satellite system (GNSS). However, in some typical GNSS-limited environments, such as deep urban canyons, the SOP positioning is challenged by low signal-to-noise ratio (SNR), rapidly time-varying channels, and gain/phase uncertainties. To overcome these challenges, we propose a sparse direction of arrival (DOA) estimation method specifically designed for SOP positioning. Under the conditions of low SNR and limited number of snapshots, we conduct detailed theoretical derivations and simulation experiments to analyze the negative impact of gain and phase uncertainties on sparse DOA estimation. The analysis indicates that these uncertainties can lead to an increase in the number or height of spurious peaks in the DOA spatial spectrum, thereby significantly reducing the accuracy of DOA estimation. To address this issue, we propose a non-iterative sparse DOA estimation method that combines blind source separation (BSS) and singular value decomposition (SVD) techniques. The BSS algorithm accurately determines the number of SOPs using a single sensor, effectively eliminating the impact of gain and phase uncertainties between sensors. Once the number of SOPs is obtained, we can introduce the SVD algorithm to further enhance the DOA estimation performance under low SNR conditions. Simulation results validate the effectiveness of the proposed method in DOA estimation, showcasing its excellent robustness and self-calibration characteristics while maintaining reasonable computational costs. The introduction of this method provides a new solution to the navigation and positioning problem in GNSS-denied environments.
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    Adaptive Fault-Tolerant Control Strategy for Drive Actuators in Four-Wheel Independent Drive Electric Vehicles
    Yu Song, Zhao Youqun, Lin Fen, Li Danyang, He Kunpeng, You Qingshen
    2026, 31 (4):  869-880.  doi: 10.1007/s12204-024-2776-2
    Abstract ( 166 )   PDF (569KB) ( 43 )  
    An adaptive nonsingular fast integral terminal sliding mode fault-tolerant control (ANFITSMFTC) strategy is proposed to guarantee the handling and stability of the four-wheel independent drive electric vehicles (4WID-EVs) in the presence of unknown faults in in-wheel motors. Aiming at the loss-of-effectiveness faults of the in-wheel motors, the ANFITSMFTC method is proposed to constrain the additional lateral force and the yaw moment, so as to track the ideal sideslip angle and the yaw rate during 4WID-EV driving to ensure its stability. Subsequently, the derived constraint conditions are optimized to calculate the braking torque increments of each wheel, which are applied to 4WID-EV to achieve fault tolerance. The stability of the control scheme is proved by the application of Lyapunov stability theory and Barbalat’s lemma. Finally, commercial softwares CarSim and MATLAB/Simulink are used for joint simulation to verify the effectiveness of the proposed control algorithm, which lays a foundation for improving the safety of the electric vehicles.
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    RSG-P: A Fast Global Path Planning Method Based on Route Scene Graph
    Tian Chensheng
    2026, 31 (4):  881-897.  doi: 10.1007/s12204-025-2813-9
    Abstract ( 122 )   PDF (5831KB) ( 45 )  
    Real-time global path planning for large-scale scenarios is a challenging problem due to the difficulty of maintaining high-definition maps and the high computational cost for real-time planning in changing environment.In this paper, we propose a global path planning framework based on route scene graph(RSG). Based on the hierarchical scene graph framework, we focus on mining spatial connectivity and extracting RSG representing scene road connections from precise obstacle information. The method updates the connection relationships between nodes locally through the minimum spanning tree to make the graph connections sparse. Loop processing ensures the optimality of planning without precise obstacle maps. With the abstract road information in RSG, road pre-planning and multi-level planning can be used to accelerate global path planning. We evaluate the method in both simulation and real environments. Compared to the search-based methods Far Planner(1-10ms), A, DLite(10-100ms), and the random sampling-based methods BIT*, SPARS(10-100ms), the method achieved the sub-millisecond level(0.1-1 ms) planning speed in over 10000m2 scenarios.
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    Asymmetric Dual-Stream Networks for Lightweight RGB-D Salient Object Detection
    Wang Yan, Zheng Wanlu, Xia Yaozheng, Wang Shaorong
    2026, 31 (4):  898-908.  doi: 10.1007/s12204-024-2794-0
    Abstract ( 137 )   PDF (880KB) ( 39 )  
    Integrating image and depth information for RGB-D salient object detection has become a research hotspot in the field of saliency detection. Balancing the efficiency and performance of salient object detection models under resource constraints is a key challenge. To address this, this paper proposes an asymmetric lightweight network suitable for real-time RGB-D salient object detection tasks. The network reduces the number of network parameters by designing different lightweight feature extraction networks for different input modalities. Additionally, a multi-modal feature enhancement fusion module is designed to effectively fuse multi-modal features while compensating for the information loss caused by the lightweight backbone network. Moreover, this paper utilizes a global context module for dense decoding, aggregating local and global information of multi-scale features without significantly increasing computational complexity. The experimental results on five benchmarks show that the proposed lightweight RGB-D salient object detection network not only outperforms most mainstream models quantitatively and qualitatively, but also significantly outperforms other models in terms of efficiency, only with a parameter count of 5.1 million and a computational load of 0.77 gigaflops. This achievement validates the proposed method's ability to achieve lightweight salient object detection while maintaining high efficiency.
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    Hyperspectral Image Classification Method Based on Global Space-Spectral Attention Mechanism
    Qin Rui, Wu Benze, Liu Xinfu, Wu Yirui
    2026, 31 (4):  909-919.  doi: 10.1007/s12204-024-2792-2
    Abstract ( 154 )   PDF (1287KB) ( 43 )  
    In hyperspectral remote sensing imagery, pixel interactions within defined spatial extents result in the mixing of adjacent pixels. Additionally, the high similarity of adjacent spectra leads to information redundancy,which hinders the extraction of global spatial and spectral correlations. In order to solve the problems of mixed adjacent pixels and redundant adjacent spectra, this work offers a hyperspectral image classification approach that uses a global space-spectral attention mechanism. First, the proposed method's global spatial attention module uses multi-scale dilated convolution to produce a bigger receptive field to be capable of capturing global spatial correlation and obtain unmixed pixel information. Then, the global spectral attention module designs a spectral domain partition algorithm, using the combination of regional density as well as information entropy as the threshold to divide spectrum into dispersed subsets and eliminate redundant information. The global context information for entire spectral band is fully exploited, and correlation of the global spectral information is extracted. Finally, the two modules combine to provide a global correlation of space and spectrum. Experiments demonstrate that the suggested method obtains overall accuracies of 97.28%, 94.73%, and 95.76% on the three WHU-Hi hyperspectral datasets, surpassing comparison methods.
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    HFANet: Hierarchical Feature-Enhanced Aggregation Network for Camouflaged Object Detection
    Zhang Xinchao, Zhu Hengliang, Mao Guojun
    2026, 31 (4):  920-928.  doi: 10.1007/s12204-024-2793-1
    Abstract ( 167 )   PDF (1913KB) ( 52 )  
    Camouflaged object detection(COD) aims to identify target objects in complex scenes with extremely high similarity to their surroundings, and has significant applications in military, medical, and other fields. This paper proposes a hierarchical feature-enhanced aggregation network(HFANet) for COD, aiming to address the situations that the target object is highly similar to the background. First, we adopt the pyramid vision Transformer model as the backbone for feature extraction. On top of it, the object-region amplification module and deep interaction guidance module are stacked to enhance the perception of camouflaged objects in complex scenes. Second, an enhanced receptive field module is designed to improve edge perception of camouflaged objects. At last, a multi-scale interactive fusion module is designed by cross-scale connection through adjacent layers, effectively improving the accuracy of COD. The proposed method is evaluated on three challenging datasets: CAMO, CHAMELEON, and COD10K. Evaluation results demonstrate superior performance compared to the state-of-the-art methods.
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    Swin2FII: Fluid Image Inpainting Method Based on SwinV2 Transformer and Fast Fourier Convolution
    Lin Chuchao, Zou Changjun, Xu Hangbin, Mou Yuanjin, Shi Zhihua, Ge Zhiyu
    2026, 31 (4):  929-941.  doi: 10.1007/s12204-024-2790-4
    Abstract ( 164 )   PDF (4391KB) ( 41 )  
    Image inpainting is a crucial research area in computer vision. Despite significant advancements with deep learning methods, challenges such as information loss and weak adaptability remain. This paper introduces a Transformer-based image inpainting method named Swin2FII, which integrates SwinV2 Transformer and fast Fourier convolution structure to address information loss and bottleneck issues, significantly enhancing inpainting accuracy and expanding its application scope. Swin2FII incorporates a super-resolution model, enhancing feature extraction and information transmission through efficient reconstruction, thereby improving detail recovery and stability. We employ the Charbonnier loss function to address gradient explosion, accurately estimating low-frequency signals and enhancing the precision of detail and texture reconstruction. Furthermore, combining mixed-precision training and data augmentation significantly boosts the model's adaptability and generalization ability. Experimental results show that our Swin2FII method outperforms the existing techniques on multiple public datasets. Notably, it exhibits excellent generalization and performance in a variety of scenarios and mask scales. In addition, Swin2FII also demonstrates strong capabilities in fluid image inpainting and mural image inpainting tasks.
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    Fully Self-Powered Wireless Wind Speed and Direction Sensing System Driven by Hybrid Nanogenerator via Infrared Communications
    Zhuansun Yuxiang, Ye Zi, Zhang Zhinan
    2026, 31 (4):  942-949.  doi: 10.1007/s12204-024-2787-z
    Abstract ( 104 )   PDF (980KB) ( 39 )  
    This paper proposes an infrared(IR) wireless wind information(both speed and direction) sensing system driven by a high-performance triboelectric-magnetic hybrid nanogenerator.Driven by wind, the hybrid generator actuates IR diodes to emit IR signals with different frequencies and phases. This process encodes data on wind speed and direction, accessible for remote detection. To achieve a sufficient current level for IR diodes,the current output of the triboelectric nanogenerator is enhanced from smaller than 10μA to more than 100μA by optimizing the electrode structure. Under the wind speed range of 3m/s to 26.0m/s, the experiment results show a linear relationship between wind speed and signal frequency, and the wind direction can also be accurately identified through the phase difference of IR signal, generated by a dual-disk electromagnetic generator. This work lays a foundation for effective online wind information monitoring.
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    Self-Supervised Fabric Defect Segmentation Based on Optimal Discrete Codebook
    Qi Kankan, Pan Ruru, Zhou Jian
    2026, 31 (4):  950-959.  doi: 10.1007/s12204-025-2795-7
    Abstract ( 114 )   PDF (1720KB) ( 33 )  
    Anomaly detection is demanding for industrial quality assurance and cost reduction, which is still a challenging problem in practice, due to limited availability of anomalies for model training. This work presents a new self-supervised method based on optimal discrete codebook to address defect(anomaly) segmentation on textile fabric. To suppress the generalization of reconstructing anomalous images, an optimal discrete codebook is learned to encode the abnormal feature into a normal one through latent discrete quantization. Moreover, to improve the discriminative power for subtle abnormal regions, the self-supervised segmentation model is presented by combining multi-layer abnormal features instead of reconstruction error. By using the solid color fabric dataset and the denim dataset for validation, the image-level AUROC reaches 100% and 98.8%, respectively; the pixel-level AUROC reaches 96.7% and 94.1%, respectively. The experimental results demonstrate that the proposed method outperforms state-of-the-art self-supervised algorithms in terms of both running time and localization accuracy for fabric defects, which makes it especially suitable for fabric defect segmentation tasks.
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    Modeling Photon Transport in Composite Materials Using Monte Carlo Algorithm
    Yang Ping, Zhao Pengyang
    2026, 31 (4):  960-969.  doi: 10.1007/s12204-024-2762-8
    Abstract ( 96 )   PDF (2425KB) ( 24 )  
    Composite materials may be subjected to extreme conditions where the surface is exposed to high-energy photon radiation, which can significantly change material properties and even cause severe damage and destruction. While the interaction of high-energy photons with homogeneous materials has been well studied, it is still a challenge to model the photon transport in composite materials. In this study, we propose a Monte Carlo model to simulate the photon transport in structurally and chemically heterogeneous materials. The model is first verified and validated by comparison with an existing open-source software(Geant4) through a case study of calculating the photon energy deposition curve in aluminum. It is then applied to studying the photon energy deposition in carbon fiber reinforced polymer(CFRP), of which the simulation results show a highly heterogeneous pattern of energy deposition in carbon fibers and epoxy resins. We also calculate the energy deposition in CFRP by homogenizing the composite as a single-phase material and compare the results with those of the full-field Monte Carlo simulations. It is found that energy deposition calculation based on homogenization can result in significant errors when the photon energy is high and is thus only suitable for low-energy photon radiation. As a final demonstration, we apply the model to calculating the energy deposition of photons in composite metal foam(CMF). The simulation results show that most of the photon energy is absorbed by the sphere wall and only a small fraction is deposited in the matrix, leading to greatly improved shielding performance of CMF as compared to that of pure matrix metals. We believe that this model has the potential to be applied to composite materials design where the structural and material heterogeneity can be optimized for improved performance under radiation environment.
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    Influence of Water-Solid Interaction and Surface Charge on Thermal Resistance Length
    Qian Chenyi, Wang Jiaxuan, Ye Zhenhong, Chen Jiangping, Yu Binbin
    2026, 31 (4):  970-980.  doi: 10.1007/s12204-024-2750-z
    Abstract ( 97 )   PDF (1399KB) ( 25 )  
    Understanding the particle behavior at the solid-liquid interface and regulating the interfacial thermal resistance is the key to solving the chip heat dissipation problem at extreme heat flux. To this end, non-equilibrium molecular dynamics simulations were used in this study to investigate the effects of water-solid interactions, surface charges, and static structure factors on the thermal resistance length. The number density and temperature profiles show that both water-solid interaction and surface charge determine the density and temperature distribution of the liquid in the system, and there is a competitive relationship between them. The temperature gradient, jump and thermal resistance length were calculated. We found that the thermal resistance length decreases with the increase of the interaction and surface charge mainly because of the drastic change in temperature jump. In particular, enhancing the water-solid interaction can reduce the thermal resistance length from 263.5A to 114.6A by a maximum of 56.5%, while increasing the surface charge can reduce the thermal resistance length from 263.5A to 46.7A by a maximum of 82.3% in the scope of this study. Moreover, it is found that the static structure factor is related to the solid-liquid interaction and the surface charge. For atomic-scale solid-liquid interfaces, the heat transfer performance can be optimized by increasing the peak value of the static structure factor to reduce the thermal resistance length. The findings in this study provide guidance for future studies to evaluate the possible solutions to improve the heat transfer performance of the solid-liquid interface, such as reducing the interfacial thermal resistance, and promoting its application in chip heat dissipation.
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    Novel Steganalysis Method for Stego-Images Directly Constructed from Color Images Based on Their Quantum Noise
    Abdeltwwab Mohammed R, Taie Shereen A, El-Bahnasawy Hany H, Eissa Amir
    2026, 31 (4):  981-991.  doi: 10.1007/s12204-024-2775-3
    Abstract ( 126 )   PDF (854KB) ( 24 )  
    Steganography and steganalysis are two different sides of the same coin. Both are just as important as the other. Image steganography is considered one of the most promising secure data transmission methods because it hides the data in an image file. In contrast, steganalysis tries to attack steganography and retrieve the hidden data that can be a secret message. Many robust and powerful image steganography methods have been presented in the literature. One of these methods is referred to as steganography without embedding(SWEM).It is considered more secure because it adopts the concept of data transmission without embedding or concealing it in the file. Like any new technology, image steganography may have a negative impact and can be misused.There is no steganalysis method for distinguishing and attacking the image file that has been constructed by the SWEM method. To overcome the aforementioned issues, the main contribution of this paper is to propose a new image steganalysis method based on the fast Fourier transform(FFT). The proposed method starts by examining a suspected image using FFT. Then, by calculating the ratio of different parts of the resulting FFT spectrum and comparing the result with a threshold value, we can decide whether the suspected image has been constructed by the SWEM or not. The proposed method overcomes the other existing methods that fail to attack this strong image steganography method. To check the generalizability of the proposed method as a method for distinguishing and attacking the image file that is created by SWEM, we constructed a data set of images,used the SWEM algorithm to construct images with concealed secret messages without embedding, and applied the proposed method and other two common existing steganalysis methods. The results show that the proposed method is able to distinguish these images with a high recognition rate compared to the results of the two methods.
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    Multi-System Real-Time Kinematic Positioning Based on Fast Satellite Selection and Improved Kalman Filter
    Tang Haibo, Wan Bohan, Mao Xuchu
    2026, 31 (4):  992-1002.  doi: 10.1007/s12204-024-2759-3
    Abstract ( 97 )   PDF (2152KB) ( 31 )  
    In optimal observation conditions, the number of visible satellites from the four global navigation satellite systems(GNSSs) can rise to approximately 50. This substantially elevates the computational demands for position determination. To expedite position calculations without compromising accuracy, we introduce a rapid satellite selection algorithm that merges the geometric distribution approach with the transformation formula technique. The dynamic environment presents more challenges compared with static positioning, being both intricate and less consistent. To bolster the precision and robustness of kinematic positioning, we present a four-GNSS fusion positioning algorithm grounded in the extended Kalman filter. Experimental results indicate that our proposed methodologies can attain centimeter-level precision and enhance computational efficiency.
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    Regional Constraint Module-Based Multi-Agent Path Planning Approach for Car-like Agents
    Fang Chengyuan, Mao Jianlin, Li Dayan, Wang Ning, Wang Niya
    2026, 31 (4):  1003-1013.  doi: 10.1007/s12204-024-2777-1
    Abstract ( 118 )   PDF (1155KB) ( 28 )  
    Multi-agent path finding(MAPF) is a challenging problem widely employed in automated docks and warehouse systems. However, when the above scenarios require car-like agents to perform the tasks, due to the complexity of the environment and the specificity of the shape of the agents, numerous conflicts between agents may occur in the process of path planning, which seriously affects the efficiency of the system and leads to a long runtime. To address these above problems, we propose a regional constraint module-based car-like conflict-based search(RCM-CL-CBS), which sets up the safe region to detect the conflicts between agents, maximizing the selection of paths with larger spatial resources under the same cost, and specifies the safe-exclusive region for colliding agents, reducing the probability of agents' collisions within a certain region. We conduct experiments under four scenario types including factory and warehousing instances. Compared with the baseline algorithms,the experimental results denote that our method reduces the computational burden in terms of resolving agent conflicts, and improves the efficiency of problem-solving. In particular, in the warehouse scenario, compared to the car-like conflict-based search(CL-CBS), CL-CBS in the sequential framework(CL-CBS-SE), and improved CL-CBS(ICL-CBS), our method in the sequential framework minimizes the runtime by 89.6%, 53.4%, and 46.6%,respectively.
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    SRPT: State Refinement ProbSparse Transformer for Tactical Intention Recognition of Cluster Targets
    Li Junyao, Tuo Hongya, Xie Zhirui, Liang Xinwu
    2026, 31 (4):  1014-1023.  doi: 10.1007/s12204-024-2769-1
    Abstract ( 124 )   PDF (1156KB) ( 30 )  
    Tactical intention recognition(TIR) is a crucial aspect of military situation awareness. Traditional methods for TIR, such as template matching and Bayesian networks, are challenging to accurately capture the spatiotemporal characteristics of cluster targets. In order to address this issue, we propose the state refinement ProbSparse transformer(SRPT) based on deep-learning method. SRPT network mainly comprises three distinct components, namely cluster-shared temporal embedding, ProbSparse transformer encoder, and state refinement(SR) layer. The first part enhances the input with temporal positional encoding, and adds a learnable token to each sequence data to represent global information. Then, we use ProbSparse self-attention to replace vanilla self-attention, which can precisely extract temporal features while reducing computational complexity. With the aim of obtaining spatial mutual information among cluster targets, SR layer relies on a message passing mechanism,which assigns higher weights to neighboring ones with greater similarity. So SRPT can refine current states of all targets within a cluster and capture spatiotemporal features for TIR. We build a tactical intention dataset and conduct experiments on it. The results show that our method SRPT accurately predicts the tactical intention of targets in land battlefield scenarios, surpassing all compared models.
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    Few-Shot Knowledge Graph Completion with Structure-Aware Graph Attention Network
    Yang Rongtai, Shao Yubin, Du Qingzhi, Zhang Feng, Qi Yuting
    2026, 31 (4):  1024-1033.  doi: 10.1007/s12204-024-2781-5
    Abstract ( 115 )   PDF (550KB) ( 30 )  
    Few-shot knowledge graph completion refers to inferring missing entity using limited instances. A key challenge lies in entity representation, which is complicated by diverse neighbor attributes. Although the entity's neighborhood topology holds potential to address this, its significance is overlooked in current research. In this paper, we propose a structure-aware graph attention network for few-shot knowledge graph completion. Firstly, to enhance entity representations, we design a structure-aware graph attention encoder to capture the graph's structural features of nodes, generating embedding for entity pairs. Secondly, a semantic prototype matching network is employed to compute the prediction score. Experiments on the NELL-One and Wiki-One datasets show that our proposed model outperforms the best baseline models by 0.021, 0.026, 0.039, 0.032 and 0.016, 0.064, 0.043, 0.040 in terms of MRR, Hits@10, Hits@5, and Hits@1 metrics, respectively. This demonstrates that our model can effectively leverage neighborhood topological information to improve the accuracy of knowledge completion, and achieve a better generalization.
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    Lot-Sizing and Scheduling Problem Considering Fixture Resource Constraints: A Decomposition Solution Approach
    Chen Kunxiu, Chen Lu, Bao Zhongkai
    2026, 31 (4):  1034-1047.  doi: 10.1007/s12204-024-2757-5
    Abstract ( 89 )   PDF (2009KB) ( 26 )  
    Lot-sizing and scheduling determines the size of production lots and the production sequence simultaneously, avoiding infeasible and sub-optimal situations caused by sequential decision-making. In some enterprises like the internal combustion engine manufacturer, some resources like fixtures are expensive and scarce, which leads to restrictions on production capacity. This paper studies a lot-sizing and scheduling problem considering fixture resource constraints to seek the trade-off between financial goals and customer satisfaction. With the introduction of the resource flow network, an integrated model is formulated to determine the optimal size and schedule of the product lots. A solution approach based on the logic-based Benders decomposition algorithm is proposed to solve the problem. Comparison with commercial solver demonstrates the effectiveness of our approach in different instance sets. Sensitivity analyses provide valuable managerial insights to the production managers.
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    Parametric Modeling of Glottal Flow in Form of Piecewise Differential Equations
    Mushtaq Tahir, Murtaza Sadaf, Saleem Muhammad, Farhad Khurram, Ejaz Muhammad Faisal
    2026, 31 (4):  1048-1056.  doi: 10.1007/s12204-025-2797-5
    Abstract ( 111 )   PDF (952KB) ( 26 )  
    For realistic speech generation, variation in glottal waveform models has long been proposed. Due to simplicity and efficiency, the parametric models of the glottal flow are very popular in the field of speech generation. The proposed work presents a new approach to modeling the glottal flow. The current model is comprised of two piecewise differential equations that generate a glottal pulse. The first and second differential equations generate the opening and closing phases of the vocal folds, respectively while the closed phase is taken as zero. There are four parameters involved in the proposed model to bring variation in the shape of the glottal pulse. The current model is very flexible in designing a glottal pulse and is comparable with the famous Liljencrants-Fant model, Rosenberg model, and KLGLOTT88 model. This comparison supports its successful implementation as a voice source in speech synthesis which also leads to the validity of our differential equation-based glottal model.
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    Unrelated Parallel-Machine Scheduling Problem with Time-Changing Effects and Dynamic Job Arrivals
    Guan Zhicheng, Zhang Xinying, Chen Lu
    2026, 31 (4):  1057-1070.  doi: 10.1007/s12204-024-2763-7
    Abstract ( 91 )   PDF (855KB) ( 26 )  
    With machine deterioration, time-changing effects are observed in the ion implantation work center of wafer fabrication. Furthermore, jobs arrive in a dynamic pattern. A mixed integer stochastic programming model is formulated to address the unrelated parallel-machine scheduling problem at the work center. The objective is to minimize the average flow time of wafers. Time-changing effects and dynamic job arrivals are considered simultaneously. A genetic algorithm with a reinforcement learning procedure(GA-RL) is developed to solve real-size problems. The reinforcement learning procedure aims to determine the optimal confidence levels during the search for the best solution. Computational analyses demonstrate the efficiency of the GA-RL. Sensitivity analyses provide valuable managerial insights into actual production processes.
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    Differentially Private Data Publishing of Trajectory Synthesis Based on Generalization and Probability
    Cao Wenxin, Xu Xian
    2026, 31 (4):  1071-1085.  doi: 10.1007/s12204-024-2768-2
    Abstract ( 80 )   PDF (1242KB) ( 25 )  
    With the advancement of information technology, the value of data has further emerged. Trajectory data, being a type of massive data, has emerged as a valuable asset in enterprises and a driving force for innovation.However, privacy issues are also increasingly prominent. As a result, developing effective methods for protecting the privacy of trajectory data has become a research hotspot. However, most existing methods ignore temporal attributes and spatial distribution characteristics of trajectory data, resulting in loss of important information and reduced efficiency. To improve on the method, a new differentially private trajectory-data publishing algorithm,differentially private trajectory-data publishing based on generalization and probability(TPGP), is proposed in this work. The algorithm has three stages and generates a synthetic trajectory dataset. The first stage pre-processes trajectories, by performing time splitting and Hilbert space partitioning on the compressed trajectory data, without ignoring the time attribute. In the second stage, Laplace noise is added to obtain two key pieces of statistical information: the noisy counts of generalized trajectory and the noisy Markov transition probability with time attribute. The third stage generates and releases synthetic trajectories using the two pieces of statistical information obtained in the second stage. Experimental results indicate that the proposed TPGP scheme has significant advantages over existing methods in terms of ensuring data privacy while improving data utility.
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    Ocean and Civil Engineering
    Seasonal Behavior of World Maritime Freight Rate
    Chen Feier, Tang Juanjuan, Yin Shuo, Du Luhui, Xu Feng
    2026, 31 (4):  1086-1103.  doi: 10.1007/s12204-024-2772-6
    Abstract ( 102 )   PDF (1271KB) ( 23 )  
    This study aims to analyze the seasonality of liquefied natural gas(LNG) maritime freight rates and separate the factors into long-term, short-term, and stochastic components. To perform the analysis, we employed correlations and multi-peak fitting methods on the dataset. By comparing various multi-peak fits on the spot rate and time charter rate, we demonstrate that the Gaussian Levenberg-Marquardt algorithm, combined with a nonlinear curve filter, effectively captures both long-term and short-term peaks in the LNG 160k cubic meter spot rate. Additionally, our findings indicate that the freight market shows a seasonal peak in mid-November, coinciding with a delicate supply-demand balance in the global LNG fleet. Furthermore, we establish a link between this seasonal peak and the world events. We observe that the events significantly impact the magnitude of the winter peak but have less influence on its duration. These results highlight the intricate nature of the LNG freight market and offer valuable insights for fleet investment and capacity operations.
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    Observed Behaviors of an Ultra-Deep Excavation with an Innovative Pre-Support System in Shanghai Soft Deposits
    Cai Huangqi, Li Mingguang, Hou Yongmao, Chen Jinjian
    2026, 31 (4):  1104-1114.  doi: 10.1007/s12204-024-2766-4
    Abstract ( 113 )   PDF (2370KB) ( 29 )  
    Time-dependent deformation of excavation in soft deposits is an important issue concerning the security of underground engineering. To mitigate the construction duration and alleviate the influence of time effects, an innovative sliding pre-support system(SPS) has been proposed, which enables effective support within 4 to 6 hours following excavation. In this study, the SPS was applied in a 43m deep excavation. To have a better understanding of the impact, an exhaustive field monitoring program was conducted. Additionally, the monitoring data of wall deflection and ground settlement was compared with that of another excavation without the new pre-support. It was found that: The implementation of the SPS resulted in a 40% reduction in the construction period; The normalized maximum deflection of pre-supported excavation was less than 0.19%H and the settlement remained under 0.10%H(H is the depth of excavation), which were substantially smaller than cases observed in soft clay; Furthermore, analyses indicated that deflection of diaphragm wall showed a rapid growth when excavating through the micro-aquifer and aquifer.
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