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Improved Motion Planning Algorithms Based on Rapidly-exploring Random Tree: A Review 基于快速探索随机树的改进运动规划算法综述
Yixin Wang, Xiaojun Yu, Chuan Yu, Zeming Fan
This paper mainly summarizes and introduces the improvements proposed by scholars at home and abroad in recent years for the application of Rapidly-exploring Random Tree in robot arms. This paper first briefly introduces the existing path planning algorithms and expounds their advantages and disadvantages. Then the principle and process of Rapidly-exploring Random Tree are described and the RRT algorithm in three-dimensional space is simulated and analyzed. Next, the improved RRT algorithm proposed by domestic and foreign researchers is classified, analyzed and explained. Finally, the whole article is summarized and the direction of future development and research of manipulator motion planning algorithms is prospected.
本文主要总结和介绍了近年来国内外学者针对快速探索随机树在机械臂上的应用所提出的改进方案。本文首先简要介绍了现有的路径规划算法,并阐述了它们的优缺点。然后描述了快速探索随机树的原理和过程,并对三维空间中的RRT算法进行了仿真分析。接下来,对国内外研究者提出的改进的RRT算法进行分类、分析和解释。最后,对全文进行了总结,并对今后机械手运动规划算法的发展和研究方向进行了展望。
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引用次数: 1
Hybrid Deep Learning CNN-Bidirectional LSTM and Manhattan Distance for Japanese Automated Short Answer Grading: Use case in Japanese Language Studies 混合深度学习cnn -双向LSTM和曼哈顿距离用于日语自动简答评分:在日语研究中的用例
A. A. P. Ratna, Prima Dewi Purnamasari, Nadhifa Khalisha Anandra, Dyah Lalita Luhurkinanti
This paper discusses the development of an Automatic Essay Grading System (SIMPLE-O) designed using hybrid CNN and Bidirectional LSTM and Manhattan Distance for Japanese language course essay grading. The most stable and best model is trained using hyperparameters with kernel sizes of 5, filters or CNN outputs of 64, a pool size of 4, Bidirectional LSTM units of 50, and a batch size of 64. The deep learning model is trained using the Adam optimizer with a learning rate of 0.001, an epoch of 25, and using an L1 regularization of 0.01. The average error obtained is 29%.
本文讨论了使用混合CNN和双向LSTM和曼哈顿距离设计的用于日语课程论文评分的自动论文评分系统(SIMPLE-O)的开发。最稳定和最好的模型是使用超参数训练,内核大小为5,过滤器或CNN输出为64,池大小为4,双向LSTM单元为50,批大小为64。深度学习模型使用Adam优化器进行训练,其学习率为0.001,epoch为25,L1正则化为0.01。得到的平均误差为29%。
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引用次数: 2
Detecting and Punishing Mute Nodes in Shard-Based Permissionless Blockchains 基于分片的无权限区块链中静音节点的检测和惩罚
Mufei Qiu, Tianyu Kang, Li Guo, Wenwei Huang
As a key technology to solve the problem of trust in application systems, blockchain has attracted more and more attention in recent years. Many researches focus on applying voting-based consensus in permissionless blockchain to improve the throughput. However, in these methods, mute nodes may get the reward without participating in consensus, which may impact the availability of the system. We propose an observation exchanging protocol based on double-chain architecture to detect mute nodes. Nodes will vote on whether other nodes have sent protocol messages, and agree on an observation matrix which is generated by merging the observation of all nodes through consensus. We also propose an incentive mechanism and adopt a reputation system based on the matrix to punish mute nodes. Block reward is divided into three parts and is distributed according to the observation matrix. Security analysis shows that the observation exchanging protocol ensures mute nodes can be detected, and the incentive mechanism ensures mute nodes and the nodes adopt selfish strategies can be punished. Finally, we implement a prototype to evaluate our observation exchanging protocol and incentive mechanism. Experiment shows that the observation exchanging protocol merely has small influence on consensus delay.
区块链作为解决应用系统信任问题的关键技术,近年来受到越来越多的关注。许多研究集中在无权限区块链中应用基于投票的共识来提高吞吐量。然而,在这些方法中,沉默节点可能在没有参与共识的情况下获得奖励,这可能会影响系统的可用性。提出了一种基于双链结构的观察交换协议来检测静音节点。节点将对其他节点是否发送了协议消息进行投票,并通过共识合并所有节点的观察结果生成观察矩阵。我们还提出了一种激励机制,并采用基于矩阵的声誉系统来惩罚沉默节点。区块奖励分为三部分,根据观察矩阵进行分配。安全性分析表明,观察交换协议保证了沉默节点能够被检测到,激励机制保证了沉默节点和采取自私策略的节点能够受到惩罚。最后,我们实现了一个原型来评估我们的观察交换协议和激励机制。实验表明,观测交换协议对共识延迟的影响很小。
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引用次数: 0
Song popularity prediction model based on multi-modal feature fusion and LightGBM 基于多模态特征融合和LightGBM的歌曲流行度预测模型
Huafeng Zeng, Qiang Yuan, Li Guo, Shibiao Xu
Since the task of hit song prediction was proposed, many experts and technicians have done a lot of research and achieved good results, but there are still some problems such as limited song feature types, lack of feature importance, and insufficient prediction accuracy. This paper proposes a song popularity prediction model based on multi-modal feature fusion and LightGBM. In our proposed model, there is a multi-modal feature extraction structure, a LightGBM structure and a logistic regression structure. First, in order to solve the problem of limited song feature types, we fuse metadata, audio features and other relevant important features into multi-modal features. Then, in order to improve the accuracy of prediction, we introduce LightGBM algorithm to preprocess the dataset and train the model, so as to obtain the predicted value of song popularity. At the same time, we introduce a logistic regression model to research the influence of each feature on whether a song is popular from the perspective of binary classification, so that we can further study the importance of song features, and obtain the response coefficient of each feature, namely, the coefficient of response mean. Finally, we compare the prediction results of our model with the existing models, and the experiments show that the prediction results of our model have higher accuracy.
自热门歌曲预测任务提出以来,许多专家和技术人员进行了大量的研究,取得了较好的成果,但仍存在歌曲特征类型有限、特征重要性不够、预测精度不够等问题。提出了一种基于多模态特征融合和LightGBM的歌曲流行度预测模型。在我们提出的模型中,有一个多模态特征提取结构,一个LightGBM结构和一个逻辑回归结构。首先,为了解决歌曲特征类型有限的问题,我们将元数据、音频特征等相关重要特征融合为多模态特征。然后,为了提高预测的准确性,我们引入LightGBM算法对数据集进行预处理,并对模型进行训练,从而得到歌曲流行度的预测值。同时,我们引入逻辑回归模型,从二值分类的角度研究各特征对歌曲是否流行的影响,从而进一步研究歌曲特征的重要性,得到各特征的响应系数,即响应均值系数。最后,将本文模型的预测结果与现有模型进行了比较,实验表明本文模型的预测结果具有更高的精度。
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引用次数: 1
AN RDN-based image super-resolution method using Meta-learning 基于rdn的图像超分辨元学习方法
Jue Wang, Haoliang Xu, Dan Qiao, Yumo Tian
In this paper, we propose a residual dense networks (RDN)-based image super-resolution method using Meta-learning. Specifically, deep extraction of global features is performed on the external dataset through an RDN, meta-learning to obtain an initial parameter definitely for internal learning, so we can utilize both external and internal data. Our method achieves good results with only one gradient update. And it can be appropriate for image super-resolution under the action of different blur kernels, with a wider application range and high flexibility.
本文提出了一种基于残差密集网络(RDN)的图像超分辨率元学习方法。具体而言,通过RDN元学习对外部数据集进行全局特征的深度提取,获得内部学习的明确初始参数,从而可以同时利用外部和内部数据。我们的方法只需要一次梯度更新就可以获得很好的结果。在不同模糊核的作用下,该算法可以适应图像的超分辨率,具有较广的应用范围和较高的灵活性。
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引用次数: 0
Design of an intelligent substation auxiliary control edge gateway system supporting 5G 支持5G的智能变电站辅助控制边缘网关系统设计
Chun Zhu, Bingjie Liu, Xiaoyu Zhao
Abstract: In order to solve the problems of low intelligence and complex deployment of substation auxiliary control system, a new edge gateway system supporting 5g is designed. The gateway system designs a horizontal and vertical data flow mechanism; AI algorithm is applied to automatically classify different scenes of different video streams; Support 5g, WiFi and short-range communication access. The system is highly intelligent and scalable. The actual verification shows that the system is stable, flexible and easy to use.
摘要:为解决变电站辅助控制系统智能化程度低、部署复杂等问题,设计了一种支持5g的新型边缘网关系统。网关系统设计了横向和纵向的数据流机制;采用AI算法对不同视频流的不同场景进行自动分类;支持5g、WiFi和短距离通信接入。该系统具有高度智能化和可扩展性。实际验证表明,该系统稳定、灵活、易于使用。
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引用次数: 0
Designing Web Based Proctoring System for Online Examination (SPIRIT 1.0) in Telkom University 电信大学基于Web的在线考试监考系统(SPIRIT 1.0)设计
Muhammad Bambang Hidayanto, Sendy Prayogo, M. Lubis
The digital era, which is a jargon in welcoming the technological developments has given birth to a new form of learning that eliminates the requirement of physical presence of teachers and students within the same place and time, or it can be known as Online Learning. The possibility for the institution of education in supporting their business into a new level of services in supporting their ecosystem have met the challenges of the readiness in doing the transformation from the traditional learning within the context of human resources, technology, and learning concept into a syllabus with the purpose of achieving the same level or output. When the Corona Virus Diseases 19 (COVID 19) made drastic changes in every aspect that afterwards became a global pandemic, the implementation of online learning would ensure the survivability of the educational institution in keeping their business. Telkom University, as one of private university in Indonesia, with the student body almost reaches 30.000, uses Learning Management System (LMS) in enabling the learning activities as the primary solution but has a problem in ensuring no cheating activities during the examination. As the common approach in ensuring the integrity of online examination through LMS with the creation of question bank and randomize the question is seen as not efficient, the institution also tries to monitor and control with the implementation of video conference-based application like ZOOM and Safe Exam Browser (SEB), but raises another problem in cost, compatibility issues, and motivation issues. Proctoring has become another approach that is recently has continue evolving with the involvement from Artificial Intelligence (AI) in doing the facial recognition. This research will develop the proctoring tools that can be integrated with the LMS used in Telkom University as the strategy in preventing misconduct behavior that led to academic cheating in online examination.
数字时代是欢迎技术发展的行话,它催生了一种新的学习形式,它消除了教师和学生在同一地点和时间内的实际存在的要求,或者可以被称为在线学习。教育机构在支持其业务进入一个新的服务水平以支持其生态系统方面的可能性已经遇到了准备从人力资源,技术和学习概念背景下的传统学习转变为以达到相同水平或输出为目的的教学大纲的挑战。当新型冠状病毒感染症(COVID - 19)在各个方面造成巨大变化并成为全球大流行时,在线学习的实施将确保教育机构的生存能力,以保持其业务。Telkom大学作为印度尼西亚的一所私立大学,拥有近3万名学生,使用学习管理系统(LMS)来实现学习活动作为主要解决方案,但在确保考试期间没有作弊活动方面存在问题。由于通过LMS创建题库和随机分配问题来确保在线考试的完整性的常见方法被认为效率不高,因此机构也试图通过实施基于视频会议的应用程序(如ZOOM和安全考试浏览器(SEB))来进行监控,但这又带来了成本,兼容性问题和动机问题。随着人工智能(AI)在面部识别方面的参与,监控器已经成为最近不断发展的另一种方法。本研究将开发可与电信大学使用的LMS集成的监考工具,作为防止在线考试中导致学术作弊的不当行为的策略。
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引用次数: 0
MFFNet: Multi-Receptive Field Fusion Net for Microscope Steel Grain Grading MFFNet:用于显微钢晶粒分级的多接收场融合网络
Jiaxi Sun, Jiguang Zhang, Shibiao Xu, Weiliang Meng, Xiaopeng Zhang
The grain size is an important steel grading parameter. For metallographic steel images with various grain sizes and complex textures, it is not possible for a human expert to determine the grain size efficiently. Meanwhile, conventional computer vision models are designed based on general images and they are not capable of achieving high performance in metallographic steel grain size recognition. To solve these problems, a method based on multiple receptive field fusion is proposed. A multi-scale convolutional net is used to extract information of microstructures in various scales. In addition, to augment the extracted features, a self-attention module is used to improve the robustness of feature representation with complex metallographic textures. At last, via a multiple feature fusion module, the data capacity is extended by projecting features into multiple hidden spaces. A comprehensive experiment was conducted on the Huawei Cloud Dataset and the classification accuracy was improved by 27% compared with other SOTA models, while our computation cost was only 0.06 GFLOPs.
晶粒度是一个重要的钢级配参数。对于具有不同晶粒尺寸和复杂纹理的金相钢图像,人类专家不可能有效地确定晶粒尺寸。同时,传统的计算机视觉模型是基于通用图像设计的,在金相钢晶粒尺寸识别中不能达到较高的性能。为了解决这些问题,提出了一种基于多感受野融合的方法。采用多尺度卷积网络提取微结构在不同尺度上的信息。此外,为了增强提取的特征,采用自关注模块来提高复杂金相纹理特征表示的鲁棒性。最后,通过多特征融合模块,将特征投影到多个隐藏空间,扩展数据容量。在华为云数据集上进行了全面的实验,与其他SOTA模型相比,分类精度提高了27%,而我们的计算成本仅为0.06 GFLOPs。
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引用次数: 0
A Survey of Hand Gesture Recognition Based on FMCW Radar 基于FMCW雷达的手势识别研究进展
Zhengjie Wang, Fei Liu, Xue Li, Mingjing Ma, Xiaoxue Feng, Yinjing Guo
In recent years, with the development of unmanned vehicle fields, the millimeter wave radar has also developed rapidly and has been applied to many systems. Frequency modulated continuous wave (FMCW) radar has become a hot research topic in millimeter radar areas due to its physical characteristics, including strong sensing capability and high resolution. This paper investigates gesture recognition applications based on FMCW radar and summarizes the latest research using FMCW radar system. Firstly, this paper reviews existing gesture recognition applications using wireless signals. Secondly, it focuses on the FMCW radar gesture recognition system and gives the general framework of gesture recognition, including gesture data acquisition, signal preprocessing, gesture recognition algorithm and classification results. Next, it analyzes the typical gesture recognition application systems from coarse-grained and fine-grained granularity and elaborates experimental scenes, experimental equipment, gesture types, signal preprocessing and classification methods. Finally, it presents the challenges and issues involved in gesture recognition based on FMCW radar and proposes future research directions.
近年来,随着无人车领域的发展,毫米波雷达也得到了迅速的发展,并在许多系统中得到应用。调频连续波雷达(FMCW)以其感知能力强、分辨率高等物理特性成为毫米波雷达领域的研究热点。研究了基于FMCW雷达的手势识别应用,总结了FMCW雷达系统的最新研究成果。首先,本文回顾了现有的无线信号手势识别应用。其次,重点介绍了FMCW雷达手势识别系统,给出了手势识别的总体框架,包括手势数据采集、信号预处理、手势识别算法和分类结果。其次,从粗粒度和细粒度两方面分析了典型的手势识别应用系统,并详细阐述了实验场景、实验设备、手势类型、信号预处理和分类方法。最后,提出了基于FMCW雷达的手势识别所面临的挑战和问题,并提出了未来的研究方向。
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引用次数: 0
Privacy Protection Technology in Supply Chain-oriented Blockchain 面向供应链的区块链隐私保护技术
Zhengtao Sun, Bo Liu, Boyang Zhang, Faguo Wu, Bo Zhou, Hao Wu
The supply chain refers to the process that starts from the production of parts, goes through transportation, storage and other processes, and finally forms products and sells them. The supply chain generally consists of suppliers, manufacturers, sales companies, consumers and other elements. With the increase in the scale of the supply chain and the increase in transactions, it becomes difficult to track the transportation process of goods, and the transaction reliability is low, which leads to problems such as low logistics and transportation efficiency, difficulty in market supervision, and difficulty in confirming the ownership of goods. Therefore, we need a means to informatize the supply chain. Blockchain consists of blocks containing information connected in chronological order. Compared with traditional networks, blockchain has two core characteristics: one is the immutability of data, and the other is decentralization. Its structure naturally fit the characteristics and development trend of the supply chain, so we can consider using blockchain technology to solve the problems in the supply chain, so as to realize the innovative development of the supply chain. Our article first gives the concrete scheme of applying blockchain technology to supply chains. From the four aspects of data collection, uploading, storage and use, we discussed how those various blockchain privacy protection technologies protect and enhance data privacy in the supply chain, including public key cryptography, digital signature, secret sharing technology, threshold cryptography, access control, and secure multi-party computation. We also predict the possible development direction of blockchain technology which is applied to supply chain.
供应链是指从零件生产开始,经过运输、储存等过程,最终形成产品并销售的过程。供应链一般由供应商、制造商、销售公司、消费者等要素组成。随着供应链规模的扩大和交易的增加,货物的运输过程难以跟踪,交易可靠性低,导致物流运输效率低,市场监管困难,货物所有权难以确认等问题。因此,我们需要一种手段来实现供应链的信息化。区块链由包含按时间顺序连接的信息的块组成。与传统网络相比,区块链有两个核心特征:一是数据的不变性,二是去中心化。它的结构自然符合供应链的特点和发展趋势,因此我们可以考虑利用区块链技术解决供应链中的问题,从而实现供应链的创新发展。本文首先给出了区块链技术在供应链中应用的具体方案。从数据采集、上传、存储和使用四个方面,讨论了各种区块链隐私保护技术如何保护和增强供应链中的数据隐私,包括公钥加密、数字签名、秘密共享技术、阈值加密、访问控制和安全多方计算。展望了区块链技术应用于供应链的可能发展方向。
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引用次数: 0
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Proceedings of the 8th International Conference on Communication and Information Processing
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