Juanling Liang¹, Wenguang Luo^1,2,*, Yongxin Qin¹

CMC-Computers, Materials & Continua, Vol.81, No.1, pp. 1009-1027, 2024, DOI:10.32604/cmc.2024.055883 - 15 October 2024

Abstract An improved RRT* algorithm, referred to as the AGP-RRT* algorithm, is proposed to address the problems of poor directionality, long generated paths, and slow convergence speed in multi-axis robotic arm path planning. First, an adaptive biased probabilistic sampling strategy is adopted to dynamically adjust the target deviation threshold and optimize the selection of random sampling points and the direction of generating new nodes in order to reduce the search space and improve the search efficiency. Second, a gravitationally adjustable step size strategy is used to guide the search process and dynamically adjust the step-size to… More >

Xiangkui Jiang^*, Zihao Wang, Chao Dong

CMC-Computers, Materials & Continua, Vol.80, No.3, pp. 4303-4323, 2024, DOI:10.32604/cmc.2024.054640 - 12 September 2024

Abstract

For the problem of slow search and tortuous paths in the Rapidly Exploring Random Tree (RRT) algorithm, a feedback-biased sampling RRT, called FS-RRT, is proposed based on RRT. Firstly, to improve the sampling efficiency of RRT to shorten the search time, the search area of the random tree is restricted to improve the sampling efficiency. Secondly, to obtain better information about obstacles to shorten the path length, a feedback-biased sampling strategy is used instead of the traditional random sampling, the collision of the expanding node with an obstacle generates feedback information so that the next

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Lieping Zhang^1,2, Xiaoxu Shi^1,2, Liu Tang^1,2, Yilin Wang³, Jiansheng Peng⁴, Jianchu Zou^4,*

CMC-Computers, Materials & Continua, Vol.78, No.2, pp. 2111-2136, 2024, DOI:10.32604/cmc.2024.047235 - 27 February 2024

Abstract A Rapid-exploration Random Tree (RRT) autonomous detection algorithm based on the multi-guide-node deflection strategy and Karto Simultaneous Localization and Mapping (SLAM) algorithm was proposed to solve the problems of low efficiency of detecting frontier boundary points and drift distortion in the process of map building in the traditional RRT algorithm in the autonomous detection strategy of mobile 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… More >

Loc Q. Huynh¹, Ly V. Tran¹, Phuc N. K. Phan¹, Zhiqiu Yu², Son V. T. Dao^1,2,*

CMC-Computers, Materials & Continua, Vol.76, No.2, pp. 2281-2300, 2023, DOI:10.32604/cmc.2023.034872 - 30 August 2023

Abstract Path planning is a prevalent process that helps mobile robots find the most efficient pathway from the starting position to the goal position to avoid collisions with obstacles. In this paper, we propose a novel path planning algorithm–Intermediary RRT*-PSO-by utilizing the exploring speed advantages of Rapidly exploring Random Trees and using its solution to feed to a metaheuristic-based optimizer, Particle swarm optimization (PSO), for fine-tuning and enhancement. In Phase 1, the start and goal trees are initialized at the starting and goal positions, respectively, and the intermediary tree is initialized at a random unexplored region… More >

Chong Xu¹, Hao Zhu¹, Haotian Zhu², Jirong Wang¹, Qinghai Zhao^1,3,*

CMES-Computer Modeling in Engineering & Sciences, Vol.137, No.3, pp. 2567-2591, 2023, DOI:10.32604/cmes.2023.029152 - 03 August 2023

Abstract A new and improved RRT^∗ algorithm has been developed to address the low efficiency of obstacle avoidance planning and long path distances in the electric vehicle automatic charging robot arm. This algorithm enables the robot to avoid obstacles, find the optimal path, and complete automatic charging docking. It maintains the global completeness and path optimality of the RRT algorithm while also improving the iteration speed and quality of generated paths in both 2D and 3D path planning. After finding the optimal path, the B-sample curve is used to optimize the rough path to create a smoother More > Graphic Abstract

Dong Wang^1,*, Shutong Zheng¹, Yanxi Ren², Danjie Du³

CMC-Computers, Materials & Continua, Vol.71, No.2, pp. 3571-3587, 2022, DOI:10.32604/cmc.2022.022183 - 07 December 2021

Abstract Planning a reasonable driving path for trucks in mining areas is a key point to improve mining efficiency. In this paper, a path planning method based on Rapidly-exploring Random Tree Star (RRT^*) is proposed, and several optimizations are carried out in the algorithm. Firstly, the selection process of growth target points is optimized. Secondly, the process of selecting the parent node is optimized and a Dubins curve is used to constraint it. Then, the expansion process from tree node to random point is optimized by the gravitational repulsion field method and dynamic step method. In the… More >

RUI ZHOU^#, JIANYANG XU^#, LINGWEI WANG^*, JIANXIN LI^*

Oncology Research, Vol.29, No.6, pp. 411-423, 2021, DOI:10.32604/or.2022.026236 - 10 November 2022

Abstract Long noncoding RNAs (lncRNAs) act as key regulators controlling complex cellular behaviors in nonsmall cell lung cancer (NSCLC). We investigated the expression of lncRNA PRRT3 antisense RNA 1 (PRRT3-AS1) in paired samples of NSCLC and adjacent normal tissues from a patient cohort in our hospital using real-time quantitative reverse transcription polymerase chain reaction (qRT-PCR) and found that it was significantly higher in NSCLC tissue than in normal tissue, consistent with The Cancer Genome Atlas database. Furthermore, functional investigation revealed that lncRNA PRRT3-AS1 depletion inhibited NSCLC-cell proliferation, colony formation, invasion, and migration, whereas its overexpression exerted… More >

Nazife Sultanoglu^1,2,*, Nezihal Gokbulut³, Tamer Sanlidag², Evren Hincal^2,3, Bilgen Kaymakamzade^2,3, Murat Sayan^2,4

CMES-Computer Modeling in Engineering & Sciences, Vol.128, No.2, pp. 717-729, 2021, DOI:10.32604/cmes.2021.016297 - 22 July 2021

Abstract Northern Cyprus has implemented relatively strict measures in the battle against the outbreak of severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2). The measures were introduced at the beginning of the COVID-19 pandemic, in order to prevent the spread of the disease. One of these measures was the use of two separate real-time reverse transcription polymerase chain reaction (rRT-PCR) tests for SARS-CoV-2 referred to as the double screening procedure, which was adopted following the re-opening of the sea, air and land borders for passengers after the first lockdown. The rRT-PCR double screening procedure involved reporting a… More >

Chengchen Zhuge^1,2,3,*, Qun Wang^1,2,3, Jiayin Liu^1,2,3, Lingxiang Yao⁴

Computer Systems Science and Engineering, Vol.39, No.1, pp. 107-119, 2021, DOI:10.32604/csse.2021.016273 - 10 June 2021

Abstract The Rapidly-exploring Random Tree (RRT) algorithm is an efficient path-planning algorithm based on random sampling. The RRT* algorithm is a variant of the RRT algorithm that can achieve convergence to the optimal solution. However, it has been proven to take an infinite time to do so. An improved Quick-RRT* (Q-RRT*) algorithm based on a virtual light source is proposed in this paper to overcome this problem. The virtual light-based Q-RRT* (LQ-RRT*) takes advantage of the heuristic information generated by the virtual light on the map. In this way, the tree can find the initial solution More >

Zhongjun Li^*, Junxiu Guo^*, Yujie Ma^†, Longbo Zhang^†, Zhixiong Lin^*

Oncology Research, Vol.26, No.2, pp. 219-230, 2018, DOI:10.3727/096504017X14944585873659

Abstract MicroRNAs (miRs) have been found to play promoting or suppressive roles in different human cancers. However, the exact regulatory mechanism of miR-30b in glioblastoma remains unknown. Here we have shown that the expression of miR-30b is significantly increased in glioblastoma tissues and cell lines. Moreover, a high expression of miR-30b is significantly associated with a shorter survival time for glioblastoma patients. Knockdown of miR-30b caused a significant reduction in the proliferation, migration, and invasion of U87 and A172 cells. Proline-rich transmembrane protein 2 (PRRT2) was further identified as a novel target gene of miR-30b, and More >