Automatic guided vehicles have become an important part of transporting goods in dynamic environments, and how to design an efficient path planning method for multiple AGVs is a current research hotspot. Due to the complex road conditions in dynamic environments, there may be dynamic obstacles and situations in which only the target point is known but a complete map is lacking, which leads to poor path planning and long planning time for multiple automatic guided vehicles (AGVs). In this paper, a two-level path planning method (referred to as GA-KL, genetic KL method) for multi-AGVs is proposed by integrating the scheduling policy into global path planning and combining the global path planning algorithm and local path planning algorithm. First, for local path planning, we propose an improved Q-learning path optimization algorithm (K-L, Kohonen Q-learning algorithm) based on a Kohonen network, which can avoid dynamic obstacles and complete autonomous path finding using the autonomous learning function of the Q-learning algorithm. Then, we adopt the idea of combining global and local planning by combining the K-L algorithm with the improved genetic algorithm; in addition, we integrate the scheduling policy into global path planning, which can continuously adjust the scheduling policy of multi-AGVs according to changes in the dynamic environment. Finally, through simulation and field experiments, we verified that the K-L algorithm can accomplish autonomous path finding; compared with the traditional path planning algorithm, the algorithm achieved improves results in path length and convergence time with various maps; the convergence time of the algorithm was reduced by about 6.3%, on average, and the path length was reduced by about 4.6%, on average. The experiments also show that the GA-KL method has satisfactory global search capability and can effectively avoid dynamic obstacles. The final experiments also demonstrated that the GA-KL method reduced the total path completion time by an average of 12.6% and the total path length by an average of 8.4% in narrow working environments or highly congested situations, which considerably improved the efficiency of the multi-AGVs.

As the development of the Internet of Things (IoT) continues, Federated Learning (FL) is gaining popularity as a distributed machine learning framework that does not compromise the data privacy of each participant. However, the data held by enterprises and factories in the IoT often have different distribution properties (Non-IID), leading to poor results in their federated learning. This problem causes clients to forget about global knowledge during their local training phase and then tends to slow convergence and degrades accuracy. In this work, we propose a method named FedRAD, which is based on relational knowledge distillation that further enhances the mining of high-quality global knowledge by local models from a higher-dimensional perspective during their local training phase to better retain global knowledge and avoid forgetting. At the same time, we devise an entropy-wise adaptive weights module (EWAW) to better regulate the proportion of loss in single-sample knowledge distillation versus relational knowledge distillation so that students can weigh losses based on predicted entropy and learn global knowledge more effectively. A series of experiments on CIFAR10 and CIFAR100 show that FedRAD has better performance in terms of convergence speed and classification accuracy compared to other advanced FL methods.

It is very important to compute the mutation spectra, and simulate the intra-host mutation processes by sequencing data, which is not only for the understanding of SARS-CoV-2 genetic mechanism, but also for epidemic prediction, vaccine, and drug design. However, the current intra-host mutation analysis algorithms are not only inaccurate, but also the simulation methods are unable to quickly and precisely predict new SARS-CoV-2 variants generated from the accumulation of mutations. Therefore, this study proposes a novel accurate strand-specific SARS-CoV-2 intra-host mutation spectra computation method, develops an efficient and fast SARS-CoV-2 intra-host mutation simulation method based on mutation spectra, and establishes an online analysis and visualization platform. Our main results include: (1) There is a significant variability in the SARS-CoV-2 intra-host mutation spectra across different lineages, with the major mutations from G- > A, G- > C, G- > U on the positive-sense strand and C- > U, C- > G, C- > A on the negative-sense strand; (2) our mutation simulation reveals the simulation sequence starts to deviate from the base content percentage of Alpha-CoV/Delta-CoV after approximately 620 mutation steps; (3) 2019-NCSS provides an easy-to-use and visualized online platform for SARS-Cov-2 online analysis and mutation simulation.

Compared with traditional physical commodities, data are intangible and easy to leak, and the related trading process has problems, such as complex participating roles, lengthy information flow, poor supervisory coverage and difficult information traceability. To handle these problems, we construct a distributed supervision model for data trading based on blockchain, and conduct multi-party hierarchical and multi-dimensional supervision of the whole process of data trading through collaborative supervision before the event, at present and after the event. First, the characteristics of information flow in the data trading process are analyzed, and the main subject and key supervision information in the data trading process are sorted out and refined. Secondly, combined with the actual business process of data trading supervision, a multi-channel structure of distributed supervision is proposed by adopting an access–verification–traceability strategy. Finally, under the logical framework of the supervision model, the on-chain hierarchical structure and the data hybrid storage method of “on-chain + off-chain” are designed, and multi-supervisor-oriented hierarchical supervision and post-event traceability are realized through smart contracts. The results show that the constructed blockchain-based distributed supervision model of data trading can effectively isolate and protect sensitive and private information between data trading, so as to realize the whole process, multi-subject and differentiated supervision of key information of data trading, and provide an effective and feasible method for the controllable and safe supervision of data trading.

Batch process monitoring datasets usually contain missing data, which decreases the performance of data-driven modeling for fault identification and optimal control. Many methods have been proposed to impute missing data; however, they do not fulfill the need for data quality, especially in sensor datasets with different types of missing data. We propose a hybrid missing data imputation method for batch process monitoring datasets with multi-type missing data. In this method, the missing data is first classified into five categories based on the continuous missing duration and the number of variables missing simultaneously. Then, different categories of missing data are step-by-step imputed considering their unique characteristics. A combination of three single-dimensional interpolation models is employed to impute transient isolated missing values. An iterative imputation based on a multivariate regression model is designed for imputing long-term missing variables, and a combination model based on single-dimensional interpolation and multivariate regression is proposed for imputing short-term missing variables. The Long Short-Term Memory (LSTM) model is utilized to impute both short-term and long-term missing samples. Finally, a series of experiments for different categories of missing data were conducted based on a real-world batch process monitoring dataset. The results demonstrate that the proposed method achieves higher imputation accuracy than other comparative methods.