In this research, a hybrid approach for path planning of autonomous ships that generates both global and local paths, respectively, is proposed. The global path is obtained via an improved artificial potential field (APF) method, which makes up for the shortcoming that the typical APF method easily falls into a local minimum. A modified velocity obstacle (VO) method that incorpo-rates the closest point of approach (CPA) model and the International Regulations for Preventing Collisions at Sea (COLREGS), based on the typical VO method, can be used to get the local path. The contribution of this research is two-fold: (1) improvement of the typical APF and VO methods, making up for previous shortcomings, and integrated COLREGS rules and good seamanship, making the paths obtained more in line with navigation practice; (2) the research included global and local path planning, considering both the safety and maneuverability of the ship in the process of avoiding collision, and studied the whole process of avoiding collision in a relatively entirely way. A case study was then conducted to test the proposed approach in different situations. The results indicate that the proposed approach can find both global and local paths to avoid the target ship.@en

Audio magnetotelluric (AMT) is commonly used in mineral resource exploration. However, the weak energy of AMT signals makes them susceptible to being overwhelmed by noise, leading to erroneous geophysical interpretations. In recent years, deep learning has been applied to AMT denoising and has shown better denoising performance compared to traditional methods. However, current deep learning denoising methods overlook the characteristics of AMT signals, resulting in reduced denoising accuracy. To enhance the denoising performance of deep learning by better matching the features of AMT signals, we propose a convolutional block attention module (CBAM)-based method for AMT denoising. This method focuses on the features of AMT signals and improves the process from three aspects: 1) in the establishment of the sample set, we adopt a multicomponent form based on the correlation of noise to enable the neural network to explore the potential connections among the components of AMT during the training process, thus constructing a stronger network mapping relationship; 2) in the construction of the neural network, we have introduced the CBAM structure into the residual blocks of the ResNet to enhance the network's feature learning capability by focusing on the characteristics of noise; and 3) in the design of the denoising procedure, we adopt a process of identification before denoising to protect the noise-free data segments from being compromised during the denoising process. Finally, through synthetic, field data experiments, and comparative tests, we demonstrate that our proposed method achieves higher denoising accuracy than some traditional methods and conventional deep learning methods.@en

The consequences caused by bridge failures owing to the ship-bridge collision are always severe in terms of loss of life, economy, and environmental consequences to individuals and societies. The previous studies focused on the ship-bridge collision mainly concentrated on passive anti-collision, such as strengthening the bridge structure or setting anti-collision facilities. Compared with the previous research, the contribution of this work is to facilitate the reduction of collision risk of ship-bridge collision from the perspective of active anti-collision. A data-driven approach for ship-bridge collision candidate detection method in inland bridge waterways is proposed in this research. The approach is mainly divided into two steps: 1) The features (channel boundary, pier domain, and ship domain) of bridge waterways are identified using Kernel Density Estimation (KDE) method based on the historical AIS data; 2) Collision candidate detection with Velocity Obstacle (VO) method considering the identified features. This work can provide beneficial support for the ship-bridge active collision avoidance system.@en

The specificity of CRISPR/Cas9 genome editing is largely determined by the sequences of guide RNA (gRNA) and the targeted DNA, yet the sequence-dependent rules underlying off-target effects are not fully understood. To systematically explore the sequence determinants governing CRISPR/Cas9 specificity, here we describe a dual-target system to measure the relative cleavage rate between off- and on-target sequences (off-on ratios) of 1902 gRNAs on 13,314 synthetic target sequences, and reveal a set of sequence rules involving 2 factors in off-targeting: 1) a guide-intrinsic mismatch tolerance (GMT) independent of the mismatch context; 2) an “epistasis-like” combinatorial effect of multiple mismatches, which are associated with the free-energy landscape in R-loop formation and are explainable by a multi-state kinetic model. These sequence rules lead to the development of MOFF, a model-based predictor of Cas9-mediated off-target effects. Moreover, the “epistasis-like” combinatorial effect suggests a strategy of allele-specific genome editing using mismatched guides. With the aid of MOFF prediction, this strategy significantly improves the selectivity and expands the application domain of Cas9-based allele-specific editing, as tested in a high-throughput allele-editing screen on 18 cancer hotspot mutations.@en