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Design of intelligent wheelchair control system based on speed planning 基于速度规划的智能轮椅控制系统设计
S. Zeng, Xiaochong Tian
In order to optimize the movement performance of intelligent wheelchair through narrow environment and turning obstacle avoidance, and realize the speed change of wheelchair more smooth and stable, based on the principle of speed planning, this paper designs and develops a new intelligent wheelchair movement control system, and uses STM32 control chip for hardware circuit design and main software programming. The motion control driver is applied to the power system of the wheelchair, which drives two 24V DC motors to work together. Good results are obtained through experiments, and better driving control for the intelligent wheelchair is realized.
为了优化智能轮椅通过狭窄环境和转弯避障的运动性能,实现轮椅的速度变化更加平稳、稳定,本文基于速度规划原理,设计开发了一种新型智能轮椅运动控制系统,并采用STM32控制芯片进行硬件电路设计和主要软件编程。运动控制驱动器应用于轮椅的动力系统,驱动两台24V直流电机协同工作。通过实验取得了良好的效果,实现了智能轮椅更好的驾驶控制。
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引用次数: 0
Research on the adjustable potential of flexible loads based on storage electric heating 基于蓄电加热的柔性负载可调电势研究
Yu Long, Yongli Wang, Wenjun Ruan, Mingyang Zhu, Z. Yan, Yunfei Zhang, Meimei Duan
In this paper, the flexible load characteristics of regenerative electric heating are studied, and firstly, its load characteristics are modelled through the analysis of its operating characteristics; secondly, the central point clustering algorithm is used to aggregate the electric heating loads, which makes the parameters of each aggregated group approximate; then, the electric heating system is clustered according to the parameters such as the radiation coefficient of the user's residence and the temperature rise coefficient of the regenerative heating system. The mathematical model of the electric heating system was established; through examples, the regulation capacity and regulation response duration of the electric heating system were simulated and analysed. Finally, the proposed load model for the operation of the thermal storage electric heating aggregates is validated, and its control potential is analysed.
本文对蓄热式电加热柔性负荷特性进行了研究,首先通过对蓄热式电加热运行特性的分析,建立了蓄热式电加热柔性负荷特性模型;其次,采用中心点聚类算法对电加热负荷进行聚类,使聚类组参数近似;然后,根据用户住宅的辐射系数和蓄热式供暖系统的温升系数等参数对电采暖系统进行聚类。建立了电加热系统的数学模型;通过算例,对电供热系统的调节能力和调节响应时间进行了仿真分析。最后,对蓄热式电热集热器运行负荷模型进行了验证,并对其控制潜力进行了分析。
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引用次数: 0
Data generation strategy of power flow calculation for AC/DC hybrid system 交直流混合系统潮流计算的数据生成策略
Yaohui Huang, Zhiqiang Song, Jianzhong Xu, Xiufang Jia
In this paper, from the four main steps of topology transformation, network topology analysis, equipment modeling and data generation strategy, the CIM/XML data including AC/DC system is converted to the input data of power flow calculation. Firstly, from the perspective of switching topology between devices, Depth First Search algorithm (DFS) search and device topology splicing are carried out to realize the conversion from switch/node model to bus/branch model. Secondly, after the active topological islands are screened and the non-live devices are eliminated, the influence of the converter modeling in CIM/XML on the selection of AC and DC nodes is emphatically analyzed, and then the selection rules of DC nodes and the strategy of DC data generation with universality are proposed. Finally, taking the CIM/XML data derived from the Southern power grid of China with a voltage of 500kV and above as an example, the power flow calculation results are compared with the measured SCADA data to verify the effectiveness of the proposed strategy.
本文从拓扑转换、网络拓扑分析、设备建模和数据生成策略四个主要步骤,将包括交直流系统在内的CIM/XML数据转换为潮流计算的输入数据。首先,从设备间交换拓扑的角度出发,进行深度优先搜索算法(Depth First Search algorithm, DFS)搜索和设备拓扑拼接,实现交换机/节点模型到总线/分支模型的转换;其次,在筛选出有源拓扑孤岛、剔除非带电设备后,重点分析了CIM/XML中变流器建模对交直流节点选择的影响,提出了直流节点选择规则和通用性DC数据生成策略;最后,以中国南方500kV及以上电压电网的CIM/XML数据为例,将潮流计算结果与实测的SCADA数据进行对比,验证了所提策略的有效性。
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引用次数: 0
Research on DEMATEL method based on three-parameter interval grey number and its application 基于三参数区间灰数的DEMATEL方法及其应用研究
Huabin Cheng, Ping Xiong
The decision-making trial and evaluation of laboratory method (DEMATEL) can effectively analyze the relationship between the intrinsic factors of complex systems, so it is widely used in many fields. In this paper, based on a new ordered weighted average operator of three-parameter interval grey number (TPIGN-OWA), a novel DEMATEL model is given, which has three advantages: The first one is that the three-parameter interval grey number (TPIGN) can reflect the real intention of the decision maker more than the interval grey number. The second one is that the new TPIGN-OWA takes into account the weight of the two intervals assembly, thus, the intention of experts can be more accurately expressed. The last one is that in the decision-making process, it is not necessary for the decision-maker to have strong mathematical knowledge background, but only to give the corresponding TPIGN according to the scale of the importance of factors, which is easier for the decision-maker to operate. Finally, this method is applied to the evaluation of fire safety management, and its the effectiveness and practicability is verified.
决策试验与评价实验室方法(DEMATEL)能够有效地分析复杂系统内在因素之间的关系,因此在许多领域得到了广泛的应用。本文基于一种新的三参数区间灰数有序加权平均算子(TPIGN- owa),给出了一种新的DEMATEL模型,该模型具有以下三个优点:一是三参数区间灰数(TPIGN)比区间灰数更能反映决策者的真实意图;二是新的tpig - owa考虑了两个区间集合的权重,从而可以更准确地表达专家的意图。最后一个是在决策过程中,决策者不需要有很强的数学知识背景,只需要根据因素的重要程度给出相应的TPIGN,这样更便于决策者操作。最后,将该方法应用于消防安全管理评价,验证了该方法的有效性和实用性。
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引用次数: 0
Deep neural network for MIMO-SCMA detection MIMO-SCMA检测的深度神经网络
Shiwei Zhang, Wenping Ge
This article introduces deep learning into the multiple-input multiple-output (MIMO) sparse code multiple access (SCMA) system and proposes a MIMO-SCMA detection scheme based on deep neural networks (DNN) to improve bit error rate (BER) performance. The DNN learns the codebook of each user through channel feature learning on different transmission antennas. The fully connected DNN is designed as the decoder at the receiving end, which does not require traditional multi-antenna detection and multi-user detection, and can obtain user data with one decoding operation. The encoder and decoder are trained using an end-to-end training method. All learning models of the DNN are generated offline and the learned models are used for online testing. In this model, the received signal and channel coefficients are set as input data, and the label corresponding to the transmitted symbol is set as output data for offline learning. After offline learning is completed, the model can be deployed online with fixed weights and biases. Through simulation experiments, the proposed DNN encoder-decoder method can reduce the BER and computational complexity of the receiver in the MIMO-SCMA system.
本文将深度学习引入到多输入多输出(MIMO)稀疏码多址(SCMA)系统中,提出了一种基于深度神经网络(DNN)的MIMO-SCMA检测方案,以提高误码率(BER)性能。DNN通过在不同的传输天线上学习信道特征来学习每个用户的码本。全连接DNN作为接收端的解码器,不需要传统的多天线检测和多用户检测,只需一次解码操作即可获得用户数据。编码器和解码器使用端到端训练方法进行训练。DNN的所有学习模型都是离线生成的,学习后的模型用于在线测试。在该模型中,将接收到的信号和信道系数设置为输入数据,将传输符号对应的标签设置为离线学习的输出数据。离线学习完成后,模型可以使用固定的权重和偏差在线部署。仿真实验表明,提出的深度神经网络编解码方法可以降低MIMO-SCMA系统中接收机的误码率和计算复杂度。
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引用次数: 0
A sea cucumber recognition network based on improved YOLOv5 基于改进YOLOv5的海参识别网络
Qian Xiao, Lide Zhao, Hao Chen, Qian Li
A lightweight network based on YOLOv5 is proposed in this paper to improve the real-time detection ability of underwater targets for fishing gear and to solve the difficulty of deploying model algorithms on embedded devices. First, the Shuffle_Block module replaces the leading feature extraction network in YOLOv5, reducing parameters and improving the algorithm's inference speed. Second, this module is combined with depthwise separable convolution to construct the feature fusion Shuffle-PANet, significantly reducing network parameters and improving detection speed while ensuring accuracy. The proposed method in this paper has been verified to reduce the parameter count by 89% compared to the YOLOv5 source code while doubling the detection speed of the source code. Additionally, the weight file size is reduced by 83%. The mAP50 reaches 96.3%, which is only a 2% decrease compared to YOLOv5. The lightweight network proposed in this paper can recognize sea cucumbers well and has fast recognition speed and lightweight design characteristics. Shuffle-YOLOv5 has significant advantages compared to the original model and can complete real-time target detection on low-power embedded devices.
为了提高渔具对水下目标的实时检测能力,解决模型算法在嵌入式设备上部署的困难,本文提出了一种基于YOLOv5的轻量级网络。首先,Shuffle_Block模块取代了YOLOv5中领先的特征提取网络,减少了参数,提高了算法的推理速度。其次,将该模块与深度可分卷积相结合,构建特征融合Shuffle-PANet,在保证准确率的前提下,显著减少网络参数,提高检测速度。本文提出的方法经过验证,与YOLOv5源代码相比,参数数量减少了89%,同时源代码的检测速度提高了一倍。此外,权重文件大小减少了83%。mAP50达到96.3%,与YOLOv5相比仅下降了2%。本文提出的轻量化网络能很好地识别海参,具有识别速度快、设计轻量化等特点。Shuffle-YOLOv5与原有型号相比优势明显,可以在低功耗嵌入式设备上完成实时目标检测。
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引用次数: 0
Behavior recognition algorithm based on motion capture and enhancement 基于动作捕捉和增强的行为识别算法
Yuqi Yang, Jianping Luo
Motion modeling and temporal modeling are crucial issues for video behavior recognition. When extracting motion information in two-stream network, the optical flow diagram needs to be calculated in advance and the end-to-end training cannot be realized. 3D CNNs can extract spatiotemporal information, but it requires huge computational resources. To solve these problems, we propose a plug-and-play motion capture and enhancement network (MCE) in this paper, which consists of a temporal motion capture module (TMC) and a multi-scale spatiotemporal enhancement module (MSTE). The TMC module calculates the temporal difference of the feature-level and captures the key motion information in the short temporal range. The MSTE module simulates long-range temporal information by equivalent enlarging the temporal sensitive field through multi-scale hierarchical sub-convolution architecture, and then further enhances the significant motion features by referring to the maxpooling branch. Finally, several experiments are carried out on the behavior recognition standard datasets of Something-Something-V1 and Jester, and the recognition accuracy rates are 49.6% and 96.9%, respectively. Experimental results show that the proposed method is effective and efficient.
运动建模和时间建模是视频行为识别的关键问题。在双流网络中提取运动信息时,需要提前计算光流图,无法实现端到端的训练。三维cnn可以提取时空信息,但需要大量的计算资源。为了解决这些问题,本文提出了一种即插即用的运动捕捉与增强网络(MCE),该网络由一个时间运动捕捉模块(TMC)和一个多尺度时空增强模块(MSTE)组成。TMC模块计算特征层的时间差,并捕获短时间范围内的关键运动信息。MSTE模块通过多尺度分层子卷积架构等效放大时间敏感场来模拟远程时间信息,然后参考maxpooling分支进一步增强显著运动特征。最后,在Something-Something-V1和Jester的行为识别标准数据集上进行了多次实验,识别准确率分别达到49.6%和96.9%。实验结果表明,该方法是有效的。
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引用次数: 0
Based on reverse mirror research on lossless transmission technology of modulated signal in wireless spread spectrum communication 基于反向镜像的无线扩频通信中调制信号无损传输技术研究
X. He, Shengbo He
In radio spectrum technology, the modulated signals are susceptible to multipath interference, the bit error rate is increased under multipath conditions, and the signal is distorted. The article proposes a modulation signal transmission interference suppression method based on passive time reversal mirror technology in radio spectrum technology, the interference signal is suppressed during transmission to realize lossless transmission. Firstly, a multipath transmission channel model is established in information transmission. Fractional interval balanced technology is used for channel equalization design, and passive time reversal mirror is used for intercode interference suppression and blind signal separation, The lossless transmission of modulated signals is improved by passive time reversal mirror method in wireless spread spectrum communication system. Finally, System performance is tested by simulation method. The channel balance performance is better, the intercode interference is better, and communication symbol error is lower than conventional method.
在无线电频谱技术中,调制信号容易受到多径干扰,多径条件下误码率增加,信号失真。本文提出了一种基于无线电频谱技术中无源时间反转镜像技术的调制信号传输干扰抑制方法,在传输过程中对干扰信号进行抑制,实现无损传输。首先,建立了信息传输中的多径传输通道模型。采用分数阶间隔平衡技术进行信道均衡设计,采用无源时间反转镜进行码间干扰抑制和盲信号分离,采用无源时间反转镜方法提高了无线扩频通信系统中调制信号的无损传输。最后,通过仿真方法对系统性能进行了测试。与传统方法相比,该方法具有更好的信道平衡性能、更好的码间干扰和更低的通信符号误差。
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引用次数: 0
Multi-objective quintuple polynomial trajectory optimization for unmanned underwater vehicles based on waypoint navigation 基于航路点导航的无人潜航器多目标五元多项式轨迹优化
Tianyu Zhang, Yongliang Li
The unmanned underwater vehicle (UUV) based on waypoint navigation is used as the research object to optimize the multi-objective trajectory for the smooth operation, low energy consumption and low smooth impact required in the patrol task. The spatial trajectory of the unmanned underwater vehicle is constructed by a quintuple polynomial, and the motion trajectory is optimally solved using a quadratic programming algorithm by combining the position, velocity and acceleration requirements of the unmanned underwater vehicle at the beginning and end moments as well as the continuity constraints among the waypoints. The results show that the multi-objective quintuple polynomial-based algorithm achieves an effective multi-objective optimization of the unmanned underwater vehicle trajectory.
以基于航路点导航的无人潜航器(UUV)为研究对象,对其多目标轨迹进行优化,以满足巡航任务要求的平稳运行、低能耗和低平滑冲击。采用五元多项式构造无人潜航器的空间轨迹,结合无人潜航器在起始和结束时刻的位置、速度和加速度要求以及航路点之间的连续性约束,采用二次规划算法对运动轨迹进行最优求解。结果表明,基于五元多项式的多目标算法实现了无人潜航器轨迹的有效多目标优化。
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引用次数: 0
GOGCN: using deep learning to support insertion of new concepts into gene ontology GOGCN:利用深度学习支持将新概念插入基因本体
Cheng Chen, Lingyun Luo
Many biomedical ontologies develop regularly and change over time. An ontology new release will update its data, containing that fix some errors in the previous version and add many new concepts to adapt to the development in the domain. Insertion of new concepts into their proper positions on a terminology is a challenging problem in the automatic enrichment of ontologies. In the past, the new concepts are always created by domain experts. Then the experts will run a traditional classifier or manual operation to insert the new concepts in proper place. With the development of technology, the methods based on Machine learning (ML) have been proposed to help terminology researchers to develop and maintain the ontologies. We propose an new approach that is based on providing only the concept name and using a Graph Convolutional Network (GCN) aggregated the sub-string neighbor information learning method. We chose a Bidirectional Long Short-term Memory Networks (Bi-LSTM) model as our classifier for the predicted task. We first tested this method within Gene Ontology (GO) 2020 January release and achieved an average of 89.68% precision and an F1 score of 0.9081 in task of predicting direct IS-A links. In comparing the January 2020 release with the March 2022 release, we predicted the links related to new concepts, our average Accuracy score was 0.6996.
许多生物医学本体有规律地发展并随时间变化。一个本体的新版本将更新它的数据,包含修复以前版本中的一些错误,并添加许多新的概念以适应领域的发展。在本体的自动丰富中,将新概念插入到术语的适当位置是一个具有挑战性的问题。在过去,新概念总是由领域专家创造的。然后,专家将运行传统的分类器或人工操作来将新概念插入适当的位置。随着技术的发展,人们提出了基于机器学习(ML)的方法来帮助术语研究者开发和维护术语本体。本文提出了一种基于仅提供概念名称并使用聚合子字符串邻居信息的图卷积网络(GCN)学习方法的新方法。我们选择了双向长短期记忆网络(Bi-LSTM)模型作为预测任务的分类器。我们首先在Gene Ontology (GO) 2020年1月发布的版本中对该方法进行了测试,在预测IS-A直接链接的任务中,平均精度为89.68%,F1分数为0.9081。在比较2020年1月和2022年3月的版本时,我们预测了与新概念相关的链接,我们的平均准确率得分为0.6996。
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引用次数: 0
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4th International Conference on Information Science, Electrical and Automation Engineering
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