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Collision avoidance is considered as a crucial issue in mobile robotic navigation to guarantee the safety of robots as well as working surroundings, especially for humans. Therefore, the position and velocity of obstacles appearing in the working space of the self-driving mobile robot should be observed to help the robot predict the collision and choose traversable directions. This paper aims to propose a new approach for obstacle tracking, dubbed MoDeT.

First, all long lines, such as walls, are extracted from the 2D-laser scan and considered as static obstacles (or mapped obstacles). Second, a density-based procedure is implemented to cluster nonwall obstacles. These clusters are then geometrically fitted as ellipses. Finally, the combination of Kalman filter and global nearest-neighbor (GNN) method is used to track obstacles’ position and velocity.

The proposed method (MoDeT) is experimentally verified by using an autonomous mobile robot (AMR) named AMR SR300. The MoDeT is found to provide better performance in comparison with previous methods for self-driving mobile robots.

The robot can only see a part of the object, depending on the light detection and ranging scan view. As a consequence, geometrical features of the obstacle are sometimes changed, especially when the robot is moving fast.

This proposed method is to serve the navigation and path planning for the AMR.

(a) Proposing an extended weighted line extractor, (b) proposing a density-based obstacle detection and (c) implementing a combination of methods [in (a) and (b) constant acceleration Kalman and GNN] to obtain obstacles’ properties.

The quick growth of web-based and mobile e-learning applications such as massive open online courses have created a large volume of online learning resources. Confronting such a large amount of learning data, it is important to develop effective clustering approaches for user group modeling and intelligent tutoring. The paper aims to discuss these issues.

In this paper, a minimum spanning tree based approach is proposed for clustering of online learning resources. The novel clustering approach has two main stages, namely, elimination stage and construction stage. During the elimination stage, the Euclidean distance is adopted as a metrics formula to measure density of learning resources. Resources with quite low densities are identified as outliers and therefore removed. During the construction stage, a minimum spanning tree is built by initializing the centroids according to the degree of freedom of the resources. Online learning resources are subsequently partitioned into clusters by exploiting the structure of minimum spanning tree.

Conventional clustering algorithms have a number of shortcomings such that they cannot handle online learning resources effectively. On the one hand, extant partitional clustering methods use a randomly assigned centroid for each cluster, which usually cause the problem of ineffective clustering results. On the other hand, classical density-based clustering methods are very computationally expensive and time-consuming. Experimental results indicate that the algorithm proposed outperforms the traditional clustering algorithms for online learning resources.

The effectiveness of the proposed algorithms has been validated by using several data sets. Moreover, the proposed clustering algorithm has great potential in e-learning applications. It has been demonstrated how the novel technique can be integrated in various e-learning systems. For example, the clustering technique can classify learners into groups so that homogeneous grouping can improve the effectiveness of learning. Moreover, clustering of online learning resources is valuable to decision making in terms of tutorial strategies and instructional design for intelligent tutoring. Lastly, a number of directions for future research have been identified in the study.

The purpose of this study is to present and demonstrate a numerical method for solving chemically reacting flows. These are important for energy conversion devices, which rely on chemical reactions as their operational mechanism, with heat generated from the combustion of the fuel, often gases, being converted to work.

The numerical study of such flows requires the set of Navier-Stokes equations to be extended to include multiple species and the chemical reactions between them. The numerical method implemented in this study also accounts for changes in the material properties because of temperature variations and the process to handle steep spatial fronts and stiff source terms without incurring any numerical instabilities. An all-speed numerical framework is used through simple low-dissipation advection upwind splitting (SLAU) convective scheme, and it has been extended in a multi-component species framework on the in-house density-based flow solver. The capability of solving turbulent combustion is also implemented using the Eddy Dissipation Concept (EDC) framework and the recent k-kl turbulence model.

The numerical implementation has been demonstrated for several stiff problems in laminar and turbulent combustion. The laminar combustion results are compared from the corresponding results from the Cantera library, and the turbulent combustion computations are found to be consistent with the experimental results.

This paper has extended the single gas density-based framework to handle multi-component gaseous mixtures. This paper has demonstrated the capability of the numerical framework for solving non-reacting/reacting laminar and turbulent flow problems. The all-speed SLAU convective scheme has been extended in the multi-component species framework, and the turbulent model k-kl is used for turbulent combustion, which has not been done previously. While the former method provides the capability of solving for low-speed flows using the density-based method, the later is a length-scale-based method that includes scale-adaptive simulation characteristics in the turbulence modeling. The SLAU scheme has proven to work well for unsteady flows while the k-kL model works well in non-stationary turbulent flows. As both these flow features are commonly found in industrially important reacting flows, the convection scheme and the turbulence model together will enhance the numerical predictions of such flows.

The purpose of this paper is to propose an effective and efficient numerical method that can consider natural frequency in multi-material topology optimization (MMTO) and which is scalable for complex three-dimensional (3D) problems.

The optimization algorithm is developed by combining custom FORTRAN code for MMTO with the open-source software Mystran, which is used as a finite element analysis (FEA) solver. The proposed algorithm allows the designer to shift the fundamental frequency of the design beyond a defined frequency spectrum from the initial designing phase. The methodology is formulated in a smooth and differentiable manner, with the sensitivity expressions, required by gradient-based optimization solvers, presented.

Natural frequency constraint has been successfully implemented into MMTO. The use of open-source software Mystran as an FEA solver in the algorithm provides ability to solve complex problems. Mystran offers powerful built-in functions for eigenvalue extraction using methods like Givens, modified Givens, inverse power and the Lanczos method, which provide the ability to solve complex models. The algorithm is successfully able to solve both two- and three-material MMTO jobs for two-dimensional and 3D geometries.

Natural frequency constraint consideration into topology optimization is very challenging due to three common issues: localized eigenmodes, mode switching and high computational cost. The proposed algorithm addresses these inherent issues, implements natural frequency constraint to MMTO and solves for complex models, which is hardly possible using conventional methods.

Density-based spatial clustering of applications with noise (DBSCAN) is the most commonly used density-based clustering algorithm, while it cannot be directly applied to the railway investment risk assessment. To overcome the shortcomings of calculation method and parameter limits of DBSCAN, this paper proposes a new algorithm called Improved Multiple Density-based Spatial clustering of Applications with Noise (IM-DBSCAN) based on the DBSCAN and rough set theory.

First, the authors develop an improved affinity propagation (AP) algorithm, which is then combined with the DBSCAN (hereinafter referred to as AP-DBSCAN for short) to improve the parameter setting and efficiency of the DBSCAN. Second, the IM-DBSCAN algorithm, which consists of the AP-DBSCAN and a modified rough set, is designed to investigate the railway investment risk. Finally, the IM-DBSCAN algorithm is tested on the China–Laos railway's investment risk assessment, and its performance is compared with other related algorithms.

The IM-DBSCAN algorithm is implemented on China–Laos railway's investment risk assessment and compares with other related algorithms. The clustering results validate that the AP-DBSCAN algorithm is feasible and efficient in terms of clustering accuracy and operating time. In addition, the experimental results also indicate that the IM-DBSCAN algorithm can be used as an effective method for the prospective risk assessment in railway investment.

This study proposes IM-DBSCAN algorithm that consists of the AP-DBSCAN and a modified rough set to study the railway investment risk. Different from the existing clustering algorithms, AP-DBSCAN put forward the density calculation method to simplify the process of optimizing DBSCAN parameters. Instead of using Euclidean distance approach, the cutoff distance method is introduced to improve the similarity measure for optimizing the parameters. The developed AP-DBSCAN is used to classify the China–Laos railway's investment risk indicators more accurately. Combined with a modified rough set, the IM-DBSCAN algorithm is proposed to analyze the railway investment risk assessment. The contributions of this study can be summarized as follows: (1) Based on AP, DBSCAN, an integrated methodology AP-DBSCAN, which considers improving the parameter setting and efficiency, is proposed to classify railway risk indicators. (2) As AP-DBSCAN is a risk classification model rather than a risk calculation model, an IM-DBSCAN algorithm that consists of the AP-DBSCAN and a modified rough set is proposed to assess the railway investment risk. (3) Taking the China–Laos railway as a real-life case study, the effectiveness and superiority of the proposed IM-DBSCAN algorithm are verified through a set of experiments compared with other state-of-the-art algorithms.

To present conversion of the advection upwind splitting method (AUSM+) from the conventional density‐based and coupled formulation to the pressure‐based and segregated formulation.

The spatial discretization is done by a finite volume method. A collocated grid cell‐center formulation is used. The pressure‐correction procedure is set up in the usual way for a compressible flow problem. The conventional Rhie‐Chow interpolation methodology for the determination of the transporting velocity, and the conventional central interpolation for the pressure at the control volume faces, are replaced by AUSM+ definitions.

The AUSM+ flux definitions are spontaneously well suited for use in a collocated pressure‐correction formulation. The formulation does not require extensions to these flux definitions. As a consequence, the results of a density‐based fully coupled method, are identical to the results of a pressure‐based segregated formulation. The advantage of the pressure‐correction method with respect to the density‐based method, is the higher efficiency for low Mach number applications. The advantage of the AUSM+ flux definition for the transporting velocity with respect to the conventional Rhie‐Chow interpolation, is the improved accuracy in high Mach number flows. As a consequence, the combination of AUSM+ with a pressure‐correction method leads to an algorithm with improved performance for flows at all Mach numbers.

A new methodology, with obvious advantages, is composed by the combination of ingredients from an existing spatial discretization method (AUSM+) and an existing time stepping method (pressure‐correction).

Service-oriented architecture is an emerging software architecture, in which web service (WS) plays a crucial role. In this architecture, the task of WS composition and verification is required when handling complex requirement of services from users. When the number of WS becomes very huge in practice, the complexity of the composition and verification is also correspondingly high. In this paper, the authors aim to propose a logic-based clustering approach to solve this problem by separating the original repository of WS into clusters. Moreover, they also propose a so-called quality-controlled clustering approach to ensure the quality of generated clusters in a reasonable execution time.

The approach represents WSs as logical formulas on which the authors conduct the clustering task. They also combine two most popular clustering approaches of hierarchical agglomerative clustering (HAC) and k-means to ensure the quality of generated clusters.

This logic-based clustering approach really helps to increase the performance of the WS composition and verification significantly. Furthermore, the logic-based approach helps us to maintain the soundness and completeness of the composition solution. Eventually, the quality-controlled strategy can ensure the quality of generated clusters in low complexity time.

The work discussed in this paper is just implemented as a research tool known as WSCOVER. More work is needed to make it a practical and usable system for real life applications.

In this paper, the authors propose a logic-based paradigm to represent and cluster WSs. Moreover, they also propose an approach of quality-controlled clustering which combines and takes advantages of two most popular clustering approaches of HAC and k-means.

Structural topology optimization is computationally expensive due to the involvement of high-resolution mesh and repetitive use of finite element analysis (FEA) for computing the structural response. Since FEA consumes most of the computational time in each optimization iteration, a novel GPU-based parallel strategy for FEA is presented and applied to the large-scale structural topology optimization of 3D continuum structures.

A matrix-free solver based on preconditioned conjugate gradient (PCG) method is proposed to minimize the computational time associated with solution of linear system of equations in FEA. The proposed solver uses an innovative strategy to utilize only symmetric half of elemental stiffness matrices for implementation of the element-by-element matrix-free solver on GPU.

Using solid isotropic material with penalization (SIMP) method, the proposed matrix-free solver is tested over three 3D structural optimization problems that are discretized using all hexahedral structured and unstructured meshes. Results show that the proposed strategy demonstrates 3.1× –3.3× speedup for the FEA solver stage and overall speedup of 2.9× –3.3× over the standard element-by-element strategy on the GPU. Moreover, the proposed strategy requires almost 1.8× less GPU memory than the standard element-by-element strategy.

The proposed GPU-based matrix-free element-by-element solver takes a more general approach to the symmetry concept than previous works. It stores only symmetric half of the elemental matrices in memory and performs matrix-free sparse matrix-vector multiplication (SpMV) without any inter-thread communication. A customized data storage format is also proposed to store and access only symmetric half of elemental stiffness matrices for coalesced read and write operations on GPU over the unstructured mesh.

The purpose of this paper is to recognize and label the faults in wind turbines with a new density-based clustering algorithm, named contour density scanning clustering (CDSC) algorithm.

The algorithm includes four components: (1) computation of neighborhood density, (2) selection of core and noise data, (3) scanning core data and (4) updating clusters. The proposed algorithm considers the relationship between neighborhood data points according to a contour density scanning strategy.

The first experiment is conducted with artificial data to validate that the proposed CDSC algorithm is suitable for handling data points with arbitrary shapes. The second experiment with industrial gearbox vibration data is carried out to demonstrate that the time complexity and accuracy of the proposed CDSC algorithm in comparison with other conventional clustering algorithms, including k-means, density-based spatial clustering of applications with noise, density peaking clustering, neighborhood grid clustering, support vector clustering, random forest, core fusion-based density peak clustering, AdaBoost and extreme gradient boosting. The third experiment is conducted with an industrial bearing vibration data set to highlight that the CDSC algorithm can automatically track the emerging fault patterns of bearing in wind turbines over time.

Data points with different densities are clustered using three strategies: direct density reachability, density reachability and density connectivity. A contours density scanning strategy is proposed to determine whether the data points with the same density belong to one cluster. The proposed CDSC algorithm achieves automatically clustering, which means that the trends of the fault pattern could be tracked.

The prediction of a context, especially of a user’s location, is a fundamental task in the field of pervasive computing. Such predictions open up a new and rich field of proactive adaptation for context-aware applications. This study/paper aims to propose a methodology that predicts a user’s location on the basis of a user’s mobility history.

Contextual information is used to find the points of interest that a user visits frequently and to determine the sequence of these visits with the aid of spatial clustering, temporal segmentation and speed filtering.

The proposed method was tested with a real data set using several supervised classification algorithms, which yielded very interesting results.

The method uses contextual information (current position, day of the week, time and speed) that can be acquired easily and accurately with the help of common sensors such as GPS.