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Ship Path Planning Based on Sparse A^(*)Algorithm
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作者 Yongjian Zhai Jianhui Cui +3 位作者 Fanbin Meng Huawei Xie Chunyan Hou Bin Li 《哈尔滨工程大学学报(英文版)》 2025年第1期238-248,共11页
An improved version of the sparse A^(*)algorithm is proposed to address the common issue of excessive expansion of nodes and failure to consider current ship status and parameters in traditional path planning algorith... An improved version of the sparse A^(*)algorithm is proposed to address the common issue of excessive expansion of nodes and failure to consider current ship status and parameters in traditional path planning algorithms.This algorithm considers factors such as initial position and orientation of the ship,safety range,and ship draft to determine the optimal obstacle-avoiding route from the current to the destination point for ship planning.A coordinate transformation algorithm is also applied to convert commonly used latitude and longitude coordinates of ship travel paths to easily utilized and analyzed Cartesian coordinates.The algorithm incorporates a hierarchical chart processing algorithm to handle multilayered chart data.Furthermore,the algorithm considers the impact of ship length on grid size and density when implementing chart gridification,adjusting the grid size and density accordingly based on ship length.Simulation results show that compared to traditional path planning algorithms,the sparse A^(*)algorithm reduces the average number of path points by 25%,decreases the average maximum storage node number by 17%,and raises the average path turning angle by approximately 10°,effectively improving the safety of ship planning paths. 展开更多
关键词 sparse A^(*)algorithm Path planning RASTERIZATION Coordinate transformation Image preprocessing
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Sparse optimization of planar radio antenna arrays using a genetic algorithm
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作者 Jiarui Di Liang Dong Wei He 《Astronomical Techniques and Instruments》 2025年第2期100-110,共11页
Radio antenna arrays have many advantages for astronomical observations,such as high resolution,high sensitivity,multi-target simultaneous observation,and flexible beam formation.Problems surrounding key indices,such ... Radio antenna arrays have many advantages for astronomical observations,such as high resolution,high sensitivity,multi-target simultaneous observation,and flexible beam formation.Problems surrounding key indices,such as sensitivity enhancement,scanning range extension,and sidelobe level suppression,need to be solved urgently.Here,we propose a sparse optimization scheme based on a genetic algorithm for a 64-array element planar radio antenna array.As optimization targets for the iterative process of the genetic algorithm,we use the maximum sidelobe levels and beamwidth of multiple cross-section patterns that pass through the main beam in three-dimensions,with the maximum sidelobe levels of the patterns at several different scanning angles.Element positions are adjusted for iterations,to select the optimal array configuration.Following sparse layout optimization,the simulated 64-element planar radio antenna array shows that the maximum sidelobe level decreases by 1.79 dB,and the beamwidth narrows by 3°.Within the scan range of±30°,after sparse array optimization,all sidelobe levels decrease,and all beamwidths narrow.This performance improvement can potentially enhance the sensitivity and spatial resolution of radio telescope systems. 展开更多
关键词 Planar antenna array sparse optimization Genetic algorithm Wide-angle scanning
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Fusion Algorithm Based on Improved A^(*)and DWA for USV Path Planning
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作者 Changyi Li Lei Yao Chao Mi 《哈尔滨工程大学学报(英文版)》 2025年第1期224-237,共14页
The traditional A^(*)algorithm exhibits a low efficiency in the path planning of unmanned surface vehicles(USVs).In addition,the path planned presents numerous redundant inflection waypoints,and the security is low,wh... The traditional A^(*)algorithm exhibits a low efficiency in the path planning of unmanned surface vehicles(USVs).In addition,the path planned presents numerous redundant inflection waypoints,and the security is low,which is not conducive to the control of USV and also affects navigation safety.In this paper,these problems were addressed through the following improvements.First,the path search angle and security were comprehensively considered,and a security expansion strategy of nodes based on the 5×5 neighborhood was proposed.The A^(*)algorithm search neighborhood was expanded from 3×3 to 5×5,and safe nodes were screened out for extension via the node security expansion strategy.This algorithm can also optimize path search angles while improving path security.Second,the distance from the current node to the target node was introduced into the heuristic function.The efficiency of the A^(*)algorithm was improved,and the path was smoothed using the Floyd algorithm.For the dynamic adjustment of the weight to improve the efficiency of DWA,the distance from the USV to the target point was introduced into the evaluation function of the dynamic-window approach(DWA)algorithm.Finally,combined with the local target point selection strategy,the optimized DWA algorithm was performed for local path planning.The experimental results show the smooth and safe path planned by the fusion algorithm,which can successfully avoid dynamic obstacles and is effective and feasible in path planning for USVs. 展开更多
关键词 Improved A^(*)algorithm Optimized DWA algorithm Unmanned surface vehicles Path planning Fusion algorithm
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Path Planning for Thermal Power Plant Fan Inspection Robot Based on Improved A^(*)Algorithm
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作者 Wei Zhang Tingfeng Zhang 《Journal of Electronic Research and Application》 2025年第1期233-239,共7页
To improve the efficiency and accuracy of path planning for fan inspection tasks in thermal power plants,this paper proposes an intelligent inspection robot path planning scheme based on an improved A^(*)algorithm.The... To improve the efficiency and accuracy of path planning for fan inspection tasks in thermal power plants,this paper proposes an intelligent inspection robot path planning scheme based on an improved A^(*)algorithm.The inspection robot utilizes multiple sensors to monitor key parameters of the fans,such as vibration,noise,and bearing temperature,and upload the data to the monitoring center.The robot’s inspection path employs the improved A^(*)algorithm,incorporating obstacle penalty terms,path reconstruction,and smoothing optimization techniques,thereby achieving optimal path planning for the inspection robot in complex environments.Simulation results demonstrate that the improved A^(*)algorithm significantly outperforms the traditional A^(*)algorithm in terms of total path distance,smoothness,and detour rate,effectively improving the execution efficiency of inspection tasks. 展开更多
关键词 Power plant fans Inspection robot Path planning Improved A^(*)algorithm
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Sensitivity Analysis of Structural Dynamic Behavior Based on the Sparse Polynomial Chaos Expansion and Material Point Method
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作者 Wenpeng Li Zhenghe Liu +4 位作者 Yujing Ma Zhuxuan Meng Ji Ma Weisong Liu Vinh Phu Nguyen 《Computer Modeling in Engineering & Sciences》 2025年第2期1515-1543,共29页
This paper presents a framework for constructing surrogate models for sensitivity analysis of structural dynamics behavior.Physical models involving deformation,such as collisions,vibrations,and penetration,are devel-... This paper presents a framework for constructing surrogate models for sensitivity analysis of structural dynamics behavior.Physical models involving deformation,such as collisions,vibrations,and penetration,are devel-oped using the material point method.To reduce the computational cost of Monte Carlo simulations,response surface models are created as surrogate models for the material point system to approximate its dynamic behavior.An adaptive randomized greedy algorithm is employed to construct a sparse polynomial chaos expansion model with a fixed order,effectively balancing the accuracy and computational efficiency of the surrogate model.Based on the sparse polynomial chaos expansion,sensitivity analysis is conducted using the global finite difference and Sobol methods.Several examples of structural dynamics are provided to demonstrate the effectiveness of the proposed method in addressing structural dynamics problems. 展开更多
关键词 Structural dynamics DEFORMATION material point method sparse polynomial chaos expansion adaptive randomized greedy algorithm sensitivity analysis
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Enhancing Evolutionary Algorithms With Pattern Mining for Sparse Large-Scale Multi-Objective Optimization Problems
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作者 Sheng Qi Rui Wang +3 位作者 Tao Zhang Weixiong Huang Fan Yu Ling Wang 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2024年第8期1786-1801,共16页
Sparse large-scale multi-objective optimization problems(SLMOPs)are common in science and engineering.However,the large-scale problem represents the high dimensionality of the decision space,requiring algorithms to tr... Sparse large-scale multi-objective optimization problems(SLMOPs)are common in science and engineering.However,the large-scale problem represents the high dimensionality of the decision space,requiring algorithms to traverse vast expanse with limited computational resources.Furthermore,in the context of sparse,most variables in Pareto optimal solutions are zero,making it difficult for algorithms to identify non-zero variables efficiently.This paper is dedicated to addressing the challenges posed by SLMOPs.To start,we introduce innovative objective functions customized to mine maximum and minimum candidate sets.This substantial enhancement dramatically improves the efficacy of frequent pattern mining.In this way,selecting candidate sets is no longer based on the quantity of nonzero variables they contain but on a higher proportion of nonzero variables within specific dimensions.Additionally,we unveil a novel approach to association rule mining,which delves into the intricate relationships between non-zero variables.This novel methodology aids in identifying sparse distributions that can potentially expedite reductions in the objective function value.We extensively tested our algorithm across eight benchmark problems and four real-world SLMOPs.The results demonstrate that our approach achieves competitive solutions across various challenges. 展开更多
关键词 Evolutionary algorithms pattern mining sparse large-scale multi-objective problems(SLMOPs) sparse large-scale optimization.
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A Two-Layer Encoding Learning Swarm Optimizer Based on Frequent Itemsets for Sparse Large-Scale Multi-Objective Optimization 被引量:1
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作者 Sheng Qi Rui Wang +3 位作者 Tao Zhang Xu Yang Ruiqing Sun Ling Wang 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2024年第6期1342-1357,共16页
Traditional large-scale multi-objective optimization algorithms(LSMOEAs)encounter difficulties when dealing with sparse large-scale multi-objective optimization problems(SLM-OPs)where most decision variables are zero.... Traditional large-scale multi-objective optimization algorithms(LSMOEAs)encounter difficulties when dealing with sparse large-scale multi-objective optimization problems(SLM-OPs)where most decision variables are zero.As a result,many algorithms use a two-layer encoding approach to optimize binary variable Mask and real variable Dec separately.Nevertheless,existing optimizers often focus on locating non-zero variable posi-tions to optimize the binary variables Mask.However,approxi-mating the sparse distribution of real Pareto optimal solutions does not necessarily mean that the objective function is optimized.In data mining,it is common to mine frequent itemsets appear-ing together in a dataset to reveal the correlation between data.Inspired by this,we propose a novel two-layer encoding learning swarm optimizer based on frequent itemsets(TELSO)to address these SLMOPs.TELSO mined the frequent terms of multiple particles with better target values to find mask combinations that can obtain better objective values for fast convergence.Experi-mental results on five real-world problems and eight benchmark sets demonstrate that TELSO outperforms existing state-of-the-art sparse large-scale multi-objective evolutionary algorithms(SLMOEAs)in terms of performance and convergence speed. 展开更多
关键词 Evolutionary algorithms learning swarm optimiza-tion sparse large-scale optimization sparse large-scale multi-objec-tive problems two-layer encoding.
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Sparse Planar Retrodirective Antenna Array Using Improved Adaptive Genetic Algorithm 被引量:3
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作者 Feng-Ge Hu Jian-Hua Zhang Li-Ye Fang 《Journal of Electronic Science and Technology》 CAS 2011年第3期265-269,共5页
An improved adaptive genetic algorithm is presented in this paper. It primarily includes two modified methods: one is novel adaptive probabilities of crossover and mutation, the other is truncated selection approach.... An improved adaptive genetic algorithm is presented in this paper. It primarily includes two modified methods: one is novel adaptive probabilities of crossover and mutation, the other is truncated selection approach. This algorithm has been validated to be superior to the simple genetic algorithm (SGA) by a complicated binary testing function. Then the proposed algorithm is applied to optimizing the planar retrodirective array to reduce the cost of the hardware. The fitness function is discussed in the optimization example. After optimization, the sparse planar retrodirective antenna array keeps excellent retrodirectivity, while the array architecture has been simplified by 34%. The optimized antenna array can replace uniform full array effectively. Results show that this work will gain more engineering benefits in practice. 展开更多
关键词 Index Terms Adaptive genetic algorithm phase conjugation retrodirective antenna array sparse array.
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A SPARSE MATRIX TECHNIQUE FOR SIMULATING SEMICONDUCTOR DEVICES AND ITS ALGORITHMS 被引量:2
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作者 任建民 张义门 《Journal of Electronics(China)》 1990年第1期77-82,共6页
A novel sparse matrix technique for the numerical analysis of semiconductor devicesand its algorithms are presented.Storage scheme and calculation procedure of the sparse matrixare described in detail.The sparse matri... A novel sparse matrix technique for the numerical analysis of semiconductor devicesand its algorithms are presented.Storage scheme and calculation procedure of the sparse matrixare described in detail.The sparse matrix technique in the device simulation can decrease storagegreatly with less CPU time and its implementation is very easy.Some algorithms and calculationexamples to show the time and space characteristics of the sparse matrix are given. 展开更多
关键词 SEMICONDUCTOR devices sparse MATRIX TECHNIQUE algorithm CAD
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Sparse reconstruction for fluorescence molecular tomography via a fast iterative algorithm 被引量:3
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作者 Jingjing Yu Jingxing Cheng +1 位作者 Yuqing Hou Xiaowei He 《Journal of Innovative Optical Health Sciences》 SCIE EI CAS 2014年第3期50-58,共9页
Fluorescence molecular tomography(FMT)is a fast-developing optical imaging modalitythat has great potential in early diagnosis of disease and drugs development.However,recon-struction algorithms have to address a high... Fluorescence molecular tomography(FMT)is a fast-developing optical imaging modalitythat has great potential in early diagnosis of disease and drugs development.However,recon-struction algorithms have to address a highly ill-posed problem to fulfll 3D reconstruction inFMT.In this contribution,we propose an efficient iterative algorithm to solve the large-scalereconstruction problem,in which the sparsity of fluorescent targets is taken as useful a prioriinformation in designing the reconstruction algorithm.In the implementation,a fast sparseapproximation scheme combined with a stage-wise learning strategy enable the algorithm to dealwith the ill-posed inverse problem at reduced computational costs.We validate the proposed fastiterative method with numerical simulation on a digital mouse model.Experimental results demonstrate that our method is robust for different finite element meshes and different Poissonnoise levels. 展开更多
关键词 Fluorescence molecular tomography sparse regularization reconstruction algorithm least absolute shrinkage and selection operator.
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Jointly-check iterative decoding algorithm for quantum sparse graph codes 被引量:1
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作者 邵军虎 白宝明 +1 位作者 林伟 周林 《Chinese Physics B》 SCIE EI CAS CSCD 2010年第8期116-122,共7页
For quantum sparse graph codes with stabilizer formalism, the unavoidable girth-four cycles in their Tanner graphs greatly degrade the iterative decoding performance with standard belief-propagation (BP) algorithm. ... For quantum sparse graph codes with stabilizer formalism, the unavoidable girth-four cycles in their Tanner graphs greatly degrade the iterative decoding performance with standard belief-propagation (BP) algorithm. In this paper, we present a jointly-check iterative algorithm suitable for decoding quantum sparse graph codes efficiently. Numerical simulations show that this modified method outperforms standard BP algorithm with an obvious performance improvement. 展开更多
关键词 quantum error correction sparse graph code iterative decoding belief-propagation algorithm
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New regularization method and iteratively reweighted algorithm for sparse vector recovery 被引量:1
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作者 Wei ZHU Hui ZHANG Lizhi CHENG 《Applied Mathematics and Mechanics(English Edition)》 SCIE EI CSCD 2020年第1期157-172,共16页
Motivated by the study of regularization for sparse problems,we propose a new regularization method for sparse vector recovery.We derive sufficient conditions on the well-posedness of the new regularization,and design... Motivated by the study of regularization for sparse problems,we propose a new regularization method for sparse vector recovery.We derive sufficient conditions on the well-posedness of the new regularization,and design an iterative algorithm,namely the iteratively reweighted algorithm(IR-algorithm),for efficiently computing the sparse solutions to the proposed regularization model.The convergence of the IR-algorithm and the setting of the regularization parameters are analyzed at length.Finally,we present numerical examples to illustrate the features of the new regularization and algorithm. 展开更多
关键词 regularization method iteratively reweighted algorithm(IR-algorithm) sparse vector recovery
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A Disturbance Localization Method for Power System Based on Group Sparse Representation and Entropy Weight Method
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作者 Zeyi Wang Mingxi Jiao +4 位作者 Daliang Wang Minxu Liu Minglei Jiang He Wang Shiqiang Li 《Energy Engineering》 EI 2024年第8期2275-2291,共17页
This paper addresses the problem of complex and challenging disturbance localization in the current power system operation environment by proposing a disturbance localization method for power systems based on group sp... This paper addresses the problem of complex and challenging disturbance localization in the current power system operation environment by proposing a disturbance localization method for power systems based on group sparse representation and entropy weight method.Three different electrical quantities are selected as observations in the compressed sensing algorithm.The entropy weighting method is employed to calculate the weights of different observations based on their relative disturbance levels.Subsequently,by leveraging the topological information of the power system and pre-designing an overcomplete dictionary of disturbances based on the corresponding system parameter variations caused by disturbances,an improved Joint Generalized Orthogonal Matching Pursuit(J-GOMP)algorithm is utilized for reconstruction.The reconstructed sparse vectors are divided into three parts.If at least two parts have consistent node identifiers,the node is identified as the disturbance node.If the node identifiers in all three parts are inconsistent,further analysis is conducted considering the weights to determine the disturbance node.Simulation results based on the IEEE 39-bus system model demonstrate that the proposed method,utilizing electrical quantity information from only 8 measurement points,effectively locates disturbance positions and is applicable to various disturbance types with strong noise resistance. 展开更多
关键词 Disturbance location compressed sensing group sparse representation entropy power method GOMP algorithm
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Fast Sparse Multipath Channel Estimation with Smooth L0 Algorithm for Broadband Wireless Communication Systems 被引量:1
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作者 Guan Gui Qun Wan +1 位作者 Ni Na Wang Cong Yu Huang 《Communications and Network》 2011年第1期1-7,共7页
Broadband wireless channels are often time dispersive and become strongly frequency selective in delay spread domain. Commonly, these channels are composed of a few dominant coefficients and a large part of coefficien... Broadband wireless channels are often time dispersive and become strongly frequency selective in delay spread domain. Commonly, these channels are composed of a few dominant coefficients and a large part of coefficients are approximately zero or under noise floor. To exploit sparsity of multi-path channels (MPCs), there are various methods have been proposed. They are, namely, greedy algorithms, iterative algorithms, and convex program. The former two algorithms are easy to be implemented but not stable;on the other hand, the last method is stable but difficult to be implemented as practical channel estimation problems be-cause of computational complexity. In this paper, we introduce a novel channel estimation strategy using smooth L0 (SL0) algorithm which combines stable and low complexity. Computer simulations confirm the effectiveness of the introduced algorithm. We also give various simulations to verify the sensing training signal method. 展开更多
关键词 SMOOTH L0 algorithm RESTRICTED ISOMETRY Property sparse Channel Estimation Compressed Sensing
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A Local Sparse Screening Identification Algorithm with Applications 被引量:1
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作者 Hao Li Zhixia Wang Wei Wang 《Computer Modeling in Engineering & Sciences》 SCIE EI 2020年第8期765-782,共18页
Extracting nonlinear governing equations from noisy data is a central challenge in the analysis of complicated nonlinear behaviors.Despite researchers follow the sparse identification nonlinear dynamics algorithm(SIND... Extracting nonlinear governing equations from noisy data is a central challenge in the analysis of complicated nonlinear behaviors.Despite researchers follow the sparse identification nonlinear dynamics algorithm(SINDy)rule to restore nonlinear equations,there also exist obstacles.One is the excessive dependence on empirical parameters,which increases the difficulty of data pre-processing.Another one is the coexistence of multiple coefficient vectors,which causes the optimal solution to be drowned in multiple solutions.The third one is the composition of basic function,which is exclusively applicable to specific equations.In this article,a local sparse screening identification algorithm(LSSI)is proposed to identify nonlinear systems.First,we present the k-neighbor parameter to replace all empirical parameters in data filtering.Second,we combine the mean error screening method with the SINDy algorithm to select the optimal one from multiple solutions.Third,the time variable t is introduced to expand the scope of the SINDy algorithm.Finally,the LSSI algorithm is applied to recover a classic ODE and a bi-stable energy harvester system.The results show that the new algorithm improves the ability of noise immunity and optimal parameters identification provides a desired foundation for nonlinear analyses. 展开更多
关键词 The k-neighbor parameter sparse identification nonlinear dynamics algorithm mean error screening method the basic function energy harvester
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A Sparse Optimal Scoring Model with Adherent Penalty
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作者 Hou Dandan Liu Yongjin 《数学理论与应用》 2024年第4期100-115,共16页
We consider the task of binary classification in the high-dimensional setting where the number of features of the given data is larger than the number of observations.To accomplish this task,we propose an adherently p... We consider the task of binary classification in the high-dimensional setting where the number of features of the given data is larger than the number of observations.To accomplish this task,we propose an adherently penalized optimal scoring(APOS)model for simultaneously performing discriminant analysis and feature selection.In this paper,an efficient algorithm based on the block coordinate descent(BCD)method and the SSNAL algorithm is developed to solve the APOS approximately.The convergence results of our method are also established.Numerical experiments conducted on simulated and real datasets demonstrate that the proposed model is more efficient than several sparse discriminant analysis methods. 展开更多
关键词 sparse discriminant analysis Optimal scoring Feature selection BCD method SSNAL algorithm
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线性测量误差回归模型下Sparse Group Lasso方法研究
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作者 钟铭瑞 印赞华 汪志超 《赣南师范大学学报》 2024年第3期42-47,共6页
双重稀疏结构的线性回归模型是一种描述解释变量组间和组内同时具有稀疏性的统计模型,我们常用Sparse Group Lasso对此模型进行变量选择.然而在很多应用中,解释变量很难做到精确测量,从而我们在应用Sparse Group Lasso方法时需要考虑测... 双重稀疏结构的线性回归模型是一种描述解释变量组间和组内同时具有稀疏性的统计模型,我们常用Sparse Group Lasso对此模型进行变量选择.然而在很多应用中,解释变量很难做到精确测量,从而我们在应用Sparse Group Lasso方法时需要考虑测量误差的影响.针对这一问题,本文提出了一种具有双重稀疏结构的线性测量误差回归模型的Sparse Group Lasso变量选择方法(MESGL).该方法先利用半正定投影算子对观测数据的误差进行修正,然后借助ADMM算法对修正后的数据进行恢复,最后利用Sparse Group Lasso方法进行变量选择和参数估计.在一些正则条件下,我们建立了参数估计量的非渐近Oracle不等式,并且通过随机模拟分析验证了MESGL方法在变量选择和参数估计上取得的良好效果. 展开更多
关键词 双重稀疏结构 测量误差 变量选择 ADMM算法 非渐近Oracle不等式
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Numerical Studies of the Generalized <i>l</i><sub>1</sub>Greedy Algorithm for Sparse Signals
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作者 Fangjun Arroyo Edward Arroyo +2 位作者 Xiezhang Li Jiehua Zhu Jiehua Zhu 《Advances in Computed Tomography》 2013年第4期132-139,共8页
The generalized l1 greedy algorithm was recently introduced and used to reconstruct medical images in computerized tomography in the compressed sensing framework via total variation minimization. Experimental results ... The generalized l1 greedy algorithm was recently introduced and used to reconstruct medical images in computerized tomography in the compressed sensing framework via total variation minimization. Experimental results showed that this algorithm is superior to the reweighted l1-minimization and l1 greedy algorithms in reconstructing these medical images. In this paper the effectiveness of the generalized l1 greedy algorithm in finding random sparse signals from underdetermined linear systems is investigated. A series of numerical experiments demonstrate that the generalized l1 greedy algorithm is superior to the reweighted l1-minimization and l1 greedy algorithms in the successful recovery of randomly generated Gaussian sparse signals from data generated by Gaussian random matrices. In particular, the generalized l1 greedy algorithm performs extraordinarily well in recovering random sparse signals with nonzero small entries. The stability of the generalized l1 greedy algorithm with respect to its parameters and the impact of noise on the recovery of Gaussian sparse signals are also studied. 展开更多
关键词 Compressed Sensing Gaussian sparse Signals l1-Minimization Reweighted l1-Minimization L1 GREEDY algorithm Generalized L1 GREEDY algorithm
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The Pre-processing Parallel Algorithm of A Sparse Linear Equation Group
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作者 Cao Ying 《International English Education Research》 2015年第1期96-98,共3页
The solution of linear equation group can be applied to the oil exploration, the structure vibration analysis, the computational fluid dynamics, and other fields. When we make the in-depth analysis of some large or ve... The solution of linear equation group can be applied to the oil exploration, the structure vibration analysis, the computational fluid dynamics, and other fields. When we make the in-depth analysis of some large or very large complicated structures, we must use the parallel algorithm with the aid of high-performance computers to solve complex problems. This paper introduces the implementation process having the parallel with sparse linear equations from the perspective of sparse linear equation group. 展开更多
关键词 sparse Linear Equations PRE-PROCESSING Parallel algorithm
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基于改进变步长稀疏A^(*)算法的无人艇路径规划方法 被引量:2
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作者 冯辉 杨皓杰 +1 位作者 徐海祥 朱凤娜 《武汉理工大学学报(交通科学与工程版)》 2024年第6期1089-1094,共6页
文中提出了一种改进变步长稀疏A^(*)算法的路径规划方法.基于USV回转性能限制,建立USV回转模型,确定前向探索角度与探索步长之间的关系;针对A^(*)算法中的启发项进行改进,加快算法搜索速度;在此基础上,结合USV回转模型和变步长方法,建... 文中提出了一种改进变步长稀疏A^(*)算法的路径规划方法.基于USV回转性能限制,建立USV回转模型,确定前向探索角度与探索步长之间的关系;针对A^(*)算法中的启发项进行改进,加快算法搜索速度;在此基础上,结合USV回转模型和变步长方法,建立了符合USV操纵特性的变步长探索策略;通过增加备选节点机制,有效提高算法规划路径的质量.结果表明:所提出的算法相比固定步长和变步长的稀疏A^(*)算法有更好的寻优性能,在复杂环境下生成的路径质量更佳. 展开更多
关键词 无人艇 全局路径规划 A^(*)算法 稀疏A^(*)算法 避障
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