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FPGA-Based battery management system for real-time monitoring and instantaneous SOC prediction 基于fpga的电池管理系统,用于实时监测和瞬时SOC预测
Pub Date : 2023-03-21 DOI: 10.18100/ijamec.1233451
Abdulkadir Saday, I. Ozkan, I. Saritas
Battery management systems (BMS) are becoming essential for all types of electric vehicles using battery packs. Various factors, such as battery temperature and balance, directly affect the life, safety, and efficiency of batteries used in vehicles. For security and robustness, these factors should be monitored and adjusted instantly. Today, battery management systems are constantly being developed using different production methods and algorithms. In the studies, calculations are made by measuring parameters such as temperature, current, current balance, load status, and health status of the battery cells, and the control of the battery group is provided with these calculations. Instant and continuous measurement and processing of all these data and the creation of a control algorithm according to the calculation result are possible with the use of powerful processors. FPGA is a processor that can provide the speed and functionality required for BMS. In the battery management system, the FPGA is responsible for receiving and processing all signals from the battery cells and producing results. It instantly processes the data from temperature, current, and voltage sensors and applies the control stage required for balancing. In addition, the charge and discharge capacity of the battery is calculated by instantly measuring the state of charge (SOC). SOC is of great importance in the battery management system to ensure the safety of the battery pack. Therefore, the SOC needs to be estimated accurately and in real-time. Thanks to its parallel processing capability, the FPGA can simultaneously read data from the sensors and perform related calculations. In this study, a versatile system design with real-time, high computational speed for BMS was carried out on FPGA. The voltage and current of an experimental battery based on the embedded system were monitored in real time in a simulation environment. Experimental results show that the instantaneous SOC estimation is successful, and the system returns instant results to the incoming sensor data. The use of FPGA as a management unit will provide significant advantages in BMS with its high operating speed, real-time monitoring, low power consumption, and re-programmability.
对于使用电池组的所有类型的电动汽车来说,电池管理系统(BMS)正变得至关重要。电池的温度和平衡等各种因素直接影响到车载电池的使用寿命、安全性和效率。为了安全性和鲁棒性,应该立即监控和调整这些因素。如今,电池管理系统正在使用不同的生产方法和算法不断开发。在本研究中,通过测量电池单体的温度、电流、电流平衡、负载状态、健康状态等参数进行计算,并通过这些计算提供对电池组的控制。通过使用强大的处理器,可以对所有这些数据进行即时和连续的测量和处理,并根据计算结果创建控制算法。FPGA是一种能够提供BMS所需的速度和功能的处理器。在电池管理系统中,FPGA负责接收和处理来自电池单元的所有信号并产生结果。它立即处理来自温度,电流和电压传感器的数据,并应用平衡所需的控制阶段。此外,通过即时测量充电状态(SOC)来计算电池的充放电容量。在电池管理系统中,SOC是保证电池组安全运行的重要组成部分。因此,需要准确、实时地估计SOC。由于其并行处理能力,FPGA可以同时从传感器读取数据并执行相关计算。本研究在FPGA上实现了一种实时、高计算速度的多功能BMS系统设计。在仿真环境下,对基于嵌入式系统的实验电池的电压和电流进行了实时监测。实验结果表明,瞬时SOC估计是成功的,系统将即时结果返回到输入的传感器数据。使用FPGA作为管理单元将为BMS提供显著的优势,具有高运行速度、实时监控、低功耗和可重编程性。
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引用次数: 2
A Genetic Algorithm Optimized ANN for Prediction of Exergy and Energy Analysis Parameters of a Diesel Engine Different Fueled Blends 基于遗传算法优化的人工神经网络用于柴油机不同燃料混合物的火用预测和能量分析参数
Pub Date : 2023-03-20 DOI: 10.18100/ijamec.1262259
A. Yaşar
In this research, a hybrid artificial neural network (ANN) optimized by a genetic algorithm (GA) was used to estimate energy and exergy analyses parameters. This article presents an approach for estimating energy and exergy analyses parameters with optimized ANN model based on GA (GA-ANN) for different ternary blends consisting of diesel, biodiesel and bioethanol in a single-cylinder, water-cooled diesel engine. The data used in the experiments performed at twelve different engine speeds between 1000 and 3000 rpm with 200 rpm intervals for five different fuel mixtures consisting of fuel mixtures prepared by blends biodiesel, diesel and 5% bioethanol in different volumes constitute the input data of the models. Using these input data, engine torque (ET), amount of fuel consumed depending on fuels and speed (AFC), carbon monoxide emission values (CO), carbon dioxide emission values (CO2), hydrocarbon emission values (HC), nitrogen oxides emission values (NOx), the amount of air consumed (AAC), exhaust gas temperatures (EGT) and engine coolant temperatures (ECT) were estimated with the GA-ANN. In examining the results obtained were examined, it was proved that diesel, biodiesel and bioethanol blends were effective in predicting all the results mentioned in engine studies performed at 200 rpm intervals in the 1000-3000 rpm range. A standard ANN model used in the literature was also proposed to measure the prediction performance of GA-ANN model. The predictive results of both models were compared using various performance indices. As a result, it was revealed that the proposed GA-ANN model reached higher accuracy in estimating the exergy and energy analyses parameters of the diesel engine compared to the standard ANN technique.
本研究采用遗传算法优化的混合人工神经网络(ANN)来估计能量和火用分析参数。本文提出了一种基于遗传算法(GA-ANN)的优化神经网络模型,用于估算单缸水冷柴油机中柴油、生物柴油和生物乙醇三元混合物的能量和火用分析参数。实验中使用的数据是在12种不同的发动机转速下进行的,转速在1000到3000转/分之间,转速间隔为200转/分,使用5种不同的燃料混合物,这些燃料混合物由不同体积的生物柴油、柴油和5%生物乙醇混合而成。利用这些输入数据,利用GA-ANN估算出发动机扭矩(ET)、燃料和速度相关的燃油消耗量(AFC)、一氧化碳排放值(CO)、二氧化碳排放值(CO2)、碳氢化合物排放值(HC)、氮氧化物排放值(NOx)、空气消耗量(AAC)、废气温度(EGT)和发动机冷却液温度(ECT)。在测试中得到的结果进行了测试,证明柴油,生物柴油和生物乙醇混合物有效地预测了在1000-3000 rpm范围内以200 rpm间隔进行的发动机研究中提到的所有结果。本文还提出了文献中使用的标准神经网络模型来衡量GA-ANN模型的预测性能。采用各种性能指标对两种模型的预测结果进行比较。结果表明,与标准神经网络技术相比,所提出的GA-ANN模型在估计柴油机的火用和能量分析参数方面具有更高的精度。
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引用次数: 1
Detection of Defects in Rolled Stainless Steel Plates by Machine Learning Models 基于机器学习模型的不锈钢轧制板缺陷检测
Pub Date : 2023-03-20 DOI: 10.18100/ijamec.1253191
A. Feyzioglu, Yavuz Selim Taspinar
Iron metal is the most widely used metal type. This metal, which is used in countless sectors, is processed in different ways and turned into steel. Since steel has a brittle structure compared to iron, defects may occur in the plates during the rolling process. Detection of these defects at the production stage is of great importance in terms of commercial and safety. Machine learning methods can be used in such problems for fast and high accuracy detection. For this purpose, using a dataset obtained from stainless steel surface defects in this study, classification processes were carried out to detect defects with four different machine learning methods. Logistic Regression (LR), Decision Tree (DT), Support Vector Machine (SVM) and Random Forest (RF) algorithms were used for classification processes. The highest classification accuracy was obtained from the 79.44% RF model. Correlation analysis was performed in order to analyze the effects of the features in the dataset on the classification results. It is thought that the classification accuracy of the proposed models is satisfactory for this challenging problem, but needs to be upgraded.
金属铁是应用最广泛的金属类型。这种金属被用于无数的行业,通过不同的方式加工成钢。由于钢与铁相比具有脆性结构,因此在轧制过程中板上可能会出现缺陷。在生产阶段检测这些缺陷对商业和安全都具有重要意义。机器学习方法可以用于此类问题的快速、高精度检测。为此,本研究使用从不锈钢表面缺陷中获得的数据集,使用四种不同的机器学习方法进行分类过程来检测缺陷。使用逻辑回归(LR)、决策树(DT)、支持向量机(SVM)和随机森林(RF)算法进行分类。该模型的分类准确率最高,为79.44%。进行相关性分析,分析数据集中的特征对分类结果的影响。对于这一具有挑战性的问题,我们认为所提出的模型的分类精度是令人满意的,但需要进一步提高。
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引用次数: 0
Classification of tea leaves diseases by developed CNN, feature fusion, and classifier based model 基于CNN、特征融合和分类器模型的茶叶病害分类
Pub Date : 2023-03-17 DOI: 10.18100/ijamec.1235611
Nadide Yücel, M. Yıldırım
Due to the increase in the world population day by day, the amount of food needed is also increasing day by day. Diseases that occur in plants reduce the amount and quality of the product obtained. In this study, a computer-aided model was developed to detect diseases in tea leaves. Because plant diseases can be difficult and misleading to detect with the naked eye by farmers or experts. It is very important to detect diseases in tea leaves using artificial intelligence methods. Three Convolutional Neural Network (CNN) architectures accepted in the literature were used as the basis for the classification of diseases in tea leaves. With these three CNN architectures, feature maps of the images in the data set were obtained. After combining the feature maps obtained in each architecture, they were classified in the Linear Discriminant classifier. In addition, the performance of the proposed model was compared with seven CNN architectures accepted in the literature. The performance of the models used in the study was evaluated using different performance measurement metrics. The obtained results showed that the proposed model can be used to classify diseases in tea leaves.
由于世界人口日益增加,所需的食物量也日益增加。发生在植物上的疾病降低了所获得产品的数量和质量。在这项研究中,建立了一个计算机辅助模型来检测茶叶中的疾病。因为植物病害很难被农民或专家用肉眼检测出来。利用人工智能方法对茶叶病害进行检测具有重要意义。采用文献中公认的三种卷积神经网络(CNN)架构作为茶叶病害分类的基础。利用这三种CNN架构,得到数据集中图像的特征图。将各体系结构得到的特征映射组合后,在线性判别分类器中进行分类。此外,将该模型的性能与文献中接受的七种CNN架构进行了比较。使用不同的性能测量指标来评估研究中使用的模型的性能。结果表明,该模型可用于茶叶病害分类。
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引用次数: 1
Performance analysis in a two-phase interleaved DC-DC boost converter with coupled inductors 带耦合电感的两相交错DC-DC升压变换器性能分析
Pub Date : 2022-12-31 DOI: 10.18100/ijamec.1195840
S. Balci, K. Sabanci
In this study, the inductor current ripple and output voltage ripple of a two-phase DC-DC boost converter, circuit performance is investigated according to the direct/inverse coupling effect of the coupled inductors. The coupled inductors are modeled with both power electronics circuit and electromagnetic modeling and by using finite element analysis software (FEA). However, the high frequency inductor designs generally use air-gapped composite ceramic ferrite cores and are designed with powder core (Kool Mu) core structures that eliminate air gap requirements. Thus, the fringe flux, which occurs in the air gaps in ferrite cores and reduces the useful flux, and the bad effects such as overheating and electromagnetic noises (EMI/EMC) in the air gaps in high frequency switching are also reduced. Especially in interleaved power converter designs, the performances of coupled inductors affect the output parameters of the power electronics circuit. Considering energy efficiency and more compact circuit topologies, the modeling and simulation approach of high-frequency inductors using finite element analysis software, which is emphasized in this study, popularly and scientifically guides power electronics circuit designers.
本文研究了一种两相DC-DC升压变换器的电感电流纹波和输出电压纹波,根据耦合电感的正/逆耦合效应研究了电路的性能。结合电力电子电路和电磁建模,利用有限元分析软件对耦合电感进行了建模。然而,高频电感设计通常使用气隙复合陶瓷铁氧体铁芯,并采用粉末铁芯(Kool Mu)铁芯结构设计,消除了气隙要求。从而减少铁氧体铁芯气隙中产生的条纹磁通,降低了铁氧体铁芯的有用磁通,也减少了高频开关气隙中的过热和电磁噪声(EMI/EMC)等不良影响。特别是在交错功率变换器设计中,耦合电感的性能直接影响到电力电子电路的输出参数。考虑到能源效率和更紧凑的电路拓扑结构,本研究强调的高频电感器有限元分析软件建模和仿真方法可以科学地指导电力电子电路设计人员。
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引用次数: 1
Speech-to-Gender Recognition Based on Machine Learning Algorithms 基于机器学习算法的语音性别识别
Pub Date : 2022-12-31 DOI: 10.18100/ijamec.1221455
Serhat Hizlisoy, E. Çolakoğlu, R. Arslan
Speech recognition has several application areas such as human machine interaction, classification of phone calls by gender, voice tagging, STT, etc. Predicting gender from audio signals is a problem that is easy for humans to solve, difficult to solve by a computer. In this study, a model based on MFCC and classification with machine learning is proposed for gender estimation from Turkish voice signals. Within the scope of the study, 58 different series and films were examined and a new original dataset was created with 894 audio recordings consisting of 5 sec sections taken from them. Mel-frequency cepstral coefficients (MFCC) and spectrogram, which are frequently used in the literature, were used for feature extraction from audio data. The results were first evaluated separately using two features in one way. A hybrid feature vector was then created using two feature vectors. Different machine learning algorithms (LR, DT, RF, XGB etc.) were tested in the classification process and it was seen that the best accuracy was achieved in the hybrid model and logistic regression with 89%. Recall, precision and f-score values were obtained as 86.8%, 92% and 89.3%, respectively. The obtained test results revealed that the proposed model, together with the hybrid feature vector used, the original dataset and the classifier based on machine learning, showed classification success in terms of accuracy and was a stable and robust model.
语音识别在人机交互、电话性别分类、语音标注、STT等方面有着广泛的应用。从音频信号中预测性别是一个人类很容易解决的问题,而计算机很难解决。在这项研究中,提出了一个基于MFCC和机器学习分类的模型,用于土耳其语音信号的性别估计。在研究范围内,研究了58个不同的系列和电影,并创建了一个新的原始数据集,其中包含894个音频记录,其中包括取自它们的5秒片段。利用文献中常用的Mel-frequency倒谱系数(MFCC)和谱图对音频数据进行特征提取。结果首先以一种方式分别使用两个特征进行评估。然后使用两个特征向量创建混合特征向量。在分类过程中测试了不同的机器学习算法(LR、DT、RF、XGB等),发现混合模型和逻辑回归的准确率最高,达到89%。查全率为86.8%,查准率为92%,f-score为89.3%。得到的测试结果表明,该模型与所使用的混合特征向量、原始数据集和基于机器学习的分类器在分类精度方面取得了成功,是一个稳定的鲁棒模型。
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引用次数: 0
HYBRID LOAD BALANCING POLICY TO OPTIMIZE RESOURCE DISTRIBUTION AND RESPONSE TIME IN CLOUD ENVIRONMENT 混合负载均衡策略,优化云环境下的资源分配和响应时间
Pub Date : 2022-12-31 DOI: 10.18100/ijamec.1158866
L. M. Bokiye, I. Ozkan
Load balancing and task scheduling are the main challenges in Cloud Computing. Existing load balancing algorithms have a drawback in considering the capacity of virtual machines while distributing loads among them. The proposed algorithm works toward solving existing issues, such as fair load distribution, avoiding underloading and overloading, and improving response time. It implements best practices of Throttled load balancing algorithm and Equally Shared Current Execution algorithm. Virtual machines are selected based on the ratio of their bandwidth and load allocation count. Requests are sent to a Virtual Machine with higher bandwidth and lower load allocation count. Proposed algorithm checks for the availability of VM based on their capacity. This process is performed by selecting two VMs and comparing their vmWeight capacity. The one with the least vmWeight is selected. CloudAnalyst is used for simulation, response time evaluation, and resource utilization evaluation. The simulation result of the proposed algorithm is compared with three well-known load-balancing algorithms. These are Round Robin, Throttled Load balancing algorithm, and Enhanced Active Monitoring. Load-balancing Proposed Algorithm selects VMs based on their Algorithm. The proposed algorithm has improved over other algorithms in load distribution, response time, and resource utilization. All virtual machines in the data centers are loaded with a relatively equal number of tasks according to their capacity. This resulted in fair resource sharing and load distribution.
负载平衡和任务调度是云计算面临的主要挑战。现有的负载均衡算法在分配负载时不能考虑虚拟机的容量。提出的算法旨在解决现有的问题,如公平的负载分配,避免欠载和过载,并提高响应时间。它实现了节流负载均衡算法和均等共享当前执行算法的最佳实践。根据虚拟机的带宽和负载分配次数的比例选择虚拟机。请求被发送到具有更高带宽和更低负载分配计数的虚拟机。提出了一种基于虚拟机容量的可用性检测算法。该过程通过选择两个虚拟机并比较它们的vmWeight容量来完成。选择vmWeight最小的一个。CloudAnalyst用于模拟、响应时间评估和资源利用率评估。仿真结果与三种著名的负载均衡算法进行了比较。它们是轮询、节流负载平衡算法和增强型主动监控。负载均衡算法根据虚拟机的算法选择虚拟机。该算法在负载分配、响应时间和资源利用率等方面都优于其他算法。数据中心中所有虚拟机的任务数量根据其容量相对相等。这导致了公平的资源共享和负载分配。
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引用次数: 0
Multi-layer long short-term memory (LSTM) prediction model on air pollution for Konya province 科尼亚省大气污染多层长短期记忆(LSTM)预测模型
Pub Date : 2022-12-29 DOI: 10.18100/ijamec.1208256
Yahya Koçak, M. Koklu
One of the main problems of the developing and changing world is air pollution. In addition to human causes such as population growth, increase in the number of vehicles producing exhaust emissions in line with the population, development of industry, natural causes such as forest fires, volcano eruptions and dust storms also play a role in increasing air pollution. Air pollution has become a bigger problem that reduces the quality of life of living beings and causes various lung and heart diseases due to reasons such as the growing proximity of settlements to industrial zones due to population growth, the increase in the number of individual vehicles, and zoning works carried out by ignoring air quality. Both international organizations and local authorities take various measures to control and prevent air pollution. In Turkey, necessary legal arrangements have been made within the scope of these measures and air quality monitoring stations have been established. The task of these stations is to measure pollutants such as PM10, CO, SO2 together with meteorological data such as air temperature, humidity, wind speed and direction. In this study, a prediction model for the future concentrations of PM10, CO and SO2 pollutants using the measurement data from three different air quality monitoring stations in Konya between January 2020 and January 2021 was realized with a multi-layer Long Short Term Memory (LSTM) artificial neural network. The Root Mean Square Deviation (RMSE) and Mean Absolute Percentage Error (MAPE) methods was used to calculate the performance of the study. As a result of the study, it is observed that the multi-layer LSTM architecture is more successful than the single-layer architecture.
发展中国家和不断变化的世界面临的主要问题之一是空气污染。除了人口增长等人为原因外,随着人口的增长,工业的发展,自然原因如森林火灾,火山爆发和沙尘暴等也在增加空气污染方面发挥作用。空气污染已经成为一个更大的问题,降低了生物的生活质量,并导致各种肺部和心脏疾病,由于人口增长,定居点越来越靠近工业区,个人车辆数量的增加,以及忽视空气质量的分区工作。国际组织和地方当局都采取各种措施来控制和防止空气污染。在土耳其,在这些措施的范围内作出了必要的法律安排,并设立了空气质量监测站。这些监测站的任务是测量PM10、CO、SO2等污染物以及气温、湿度、风速和风向等气象数据。本研究利用科尼亚3个不同空气质量监测站2020年1月至2021年1月的测量数据,利用多层长短期记忆(LSTM)人工神经网络实现了未来PM10、CO和SO2污染物浓度的预测模型。采用均方根偏差(RMSE)和平均绝对百分比误差(MAPE)方法来计算研究的效果。研究结果表明,多层LSTM架构比单层LSTM架构更成功。
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引用次数: 0
Compressing English Speech Data with Hybrid Methods without Data Loss 无数据丢失的混合方法压缩英语语音数据
Pub Date : 2022-09-30 DOI: 10.18100/ijamec.1166951
Çigdem Bakir
Understanding the mechanism of speech formation is of great importance in the successful coding of the speech signal. It is also used for various applications, from authenticating audio files to connecting speech recording to data acquisition device (e.g. microphone). Speech coding is of vital importance in the acquisition, analysis and evaluation of sound, and in the investigation of criminal events in forensics. For the collection, processing, analysis, extraction and evaluation of speech or sounds recorded as audio files, which play an important role in crime detection, it is necessary to compress the audio without data loss. Since there are many voice changing software available today, the number of recorded speech files and their correct interpretation play an important role in detecting originality. Using various techniques such as signal processing, noise extraction, filtering on an incomprehensible speech recording, improving the speech, making them comprehensible, determining whether there is any manipulation on the speech recording, understanding whether it is original, whether various methods of addition and subtraction are used, coding of sounds, the code must be decoded and the decoded sounds must be transcribed. In this study, first of all, what sound coding is, its purposes, areas of use, classification of sound coding according to some features and techniques are given. Moreover, in our study speech coding was done on the English audio data. This dataset is the real dataset and consists of approximately 100000 voice recordings. Speech coding was done using waveform, vocoders and hybrid methods and the success of all the methods used on the system we created was measured. Hybrid models gave more successful results than others. The results obtained will set an example for our future work.
了解语音形成的机制对语音信号的成功编码具有重要意义。它也用于各种应用,从验证音频文件到连接语音记录到数据采集设备(例如麦克风)。语音编码在声音的采集、分析和评价以及刑事案件的法医学调查中具有重要的意义。对录音文件中的语音或声音进行采集、处理、分析、提取和评价,在犯罪侦查中起着重要的作用,因此需要对音频进行压缩,使其不丢失数据。由于现在有许多语音转换软件,因此录制语音文件的数量及其正确的解释在检测原创性方面起着重要作用。对听不懂的语音录音采用信号处理、噪声提取、滤波等各种技术,对语音录音进行改进,使其变得可以理解,判断语音录音是否有任何操纵,了解其是否原创,是否使用了各种加减法,对声音进行编码,编码必须解码,解码后的声音必须转录。本文首先介绍了什么是声音编码、声音编码的目的、声音编码的使用领域、声音编码的一些特点和技术分类。此外,在我们的研究中,对英语音频数据进行语音编码。这个数据集是真实的数据集,由大约100000个语音记录组成。语音编码是使用波形、声码器和混合方法完成的,并且测量了我们创建的系统上使用的所有方法的成功。混合模型给出了比其他模型更成功的结果。所得结果将为我们今后的工作树立榜样。
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引用次数: 0
Detection of accident situation by machine learning methods using traffic announcements: the case of metropol Istanbul 使用交通公告的机器学习方法检测事故情况:以伊斯坦布尔大都市为例
Pub Date : 2022-09-30 DOI: 10.18100/ijamec.1145293
Eren Dağli, Mustafa Büber, Yavuz Selim Taspinar
Information about the reality of the traffic accident, the clearness of the roads and the status of the accident can be obtained from the traffic accident announcements. By using the words in the radio or telephone announcements, you can be informed about the status of the accident. Inferences can be made with machine learning methods using a large number of data. In this study, the accident situation was classified using three different machine learning methods using radio and telephone announcements in Istanbul in Turkey. The dataset contains 156.856 announcement data. Classifications were performed using Artificial Neural Network (ANN), k-Nearest Neighbor (kNN) and Decision Tree (DT) machine learning methods. Classification success was 92.1% in the classification made with the ANN model, 91% in the classification made with the kNN model, and 89.8% in the classification made with the DT model. Classification performances of the models were also analyzed with precision, recall, F-1 Score and specificity metrics. In addition, the estimation abilities of the models with ROC curves and AUC values were analyzed. In addition, the training and testing times of the models were also analyzed. It will be possible to use the suggested models to automatically detect the accident situation from the announcements. In this way, it is thought that the most accurate direction can be made by obtaining information about crew orientation, traffic jams and the size of the accident.
有关交通事故的真实情况、道路的畅通程度以及事故的状态等信息都可以从交通事故公告中获得。通过广播或电话广播,你可以获知事故的情况。可以使用使用大量数据的机器学习方法进行推理。在本研究中,使用三种不同的机器学习方法对土耳其伊斯坦布尔的事故情况进行分类,使用无线电和电话公告。该数据集包含156.856条公告数据。使用人工神经网络(ANN)、k近邻(kNN)和决策树(DT)机器学习方法进行分类。ANN模型分类成功率为92.1%,kNN模型分类成功率为91%,DT模型分类成功率为89.8%。对模型的分类性能进行了精度、召回率、F-1评分和特异性指标的分析。此外,还分析了具有ROC曲线和AUC值的模型的估计能力。此外,还分析了模型的训练次数和测试次数。使用建议的模型从公告中自动检测事故情况是可能的。通过这种方式,人们认为可以通过获取有关乘员方向、交通堵塞和事故规模的信息来做出最准确的方向。
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引用次数: 2
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International Journal of Applied Mathematics Electronics and Computers
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