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2021 3rd International Congress on Human-Computer Interaction, Optimization and Robotic Applications (HORA)最新文献

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A simulation-based analysis for a transverse guidance for highly automated driving functions 基于仿真的高度自动驾驶功能横向导引分析
M. Khatun, Milin Patel, Rolf Jung, Michael Glass
In recent decades, research in both academic and industry has focused on the area of highly automated driving systems and is expected to do so in the near future. The scenario-based analysis is widely used in automated vehicles that requires simulation-based vehicle control estimation. One of the assist system is transverse guidance that is inescapable for highly automated driving system. The transverse guidance assist system deals with the longitudinal and lateral behavior of the vehicle. For a specific use case, merging functions like adaptive cruise control and lane keeping assist system are considered. The paper is focused on the development of transverse guidance that forms the combined lateral and longitudinal control of highly automated driving system like Lane Change maneuver planning in highway scenario. Moreover, the parameters are demonstrated for the model and performance of the model has been shown for the use case scenario. The proposed approach is then evaluated for a scenario in a simulation environment modeled using MATLAB/Simulink.
近几十年来,学术界和工业界的研究都集中在高度自动化驾驶系统领域,并有望在不久的将来实现这一目标。基于场景的分析被广泛应用于需要基于仿真的车辆控制估计的自动驾驶车辆中。辅助系统之一是横向制导,这是高度自动化驾驶系统不可避免的问题。横向制导辅助系统处理车辆的纵向和横向行为。对于特定用例,考虑合并自适应巡航控制和车道保持辅助系统等功能。本文主要研究高速公路场景下变道机动规划等高度自动驾驶系统横向与纵向结合控制的横向制导技术。此外,还为模型演示了参数,并为用例场景展示了模型的性能。然后在使用MATLAB/Simulink建模的仿真环境中对所提出的方法进行了场景评估。
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引用次数: 0
Attack Helicopter Camera Carrying and Balancing System Design 攻击直升机摄像机携带与平衡系统设计
Koray Kavlak, Yiğit Osman Taner
At this paper, a unique, domestic attack helicopter camera carrying and balancing system compliant with MIL-STD-810G military standards was designed. This system is designed with reference to the AH-1 Super Cobra type helicopter, which is also used by the Turkish Armed Forces. Thus, the data obtained as a result of the study both brought a dynamic camera system design unique to the scientific literature, and a design that could be an alternative to an existing product was created. This system has an important place in recording the operation and directing it live in helicopters or unmanned aerial vehicles. In order for the system camera to record the image clearly, to avoid any shifts or skips in the image, the mechanism is used to prevent backlash, reverse drive, vibration, etc. The system in accordance with MIL-STD-810G standards designed in this study was designed to fulfill these requirements. In addition, the fact that the system was designed for a helicopter in the inventory of the Turkish Armed Forces also gives this design a localization potential.
本文设计了一种国内独特的、符合MIL-STD-810G军用标准的武装直升机摄像机携带平衡系统。该系统是参照AH-1“超级眼镜蛇”直升机设计的,土耳其武装部队也在使用这种直升机。因此,研究结果所获得的数据既带来了科学文献中独特的动态摄像系统设计,也创造了一种可以替代现有产品的设计。该系统在直升机或无人机的操作记录和现场指挥中占有重要地位。为了使系统摄像机能够清晰地记录图像,避免图像的移位或跳跃,该机构采用了防止反弹、反向驱动、振动等。本研究根据MIL-STD-810G标准设计的系统就是为了满足这些要求。此外,该系统是为土耳其武装部队库存中的一架直升机设计的,这一事实也使该设计具有本地化潜力。
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引用次数: 0
Improving Training time in Capsule Neural Network 提高胶囊神经网络的训练时间
Onyeachonam Dominic-Mario Chiadika, Moazhen Li, Jaewoong Choi
Chiadika Electrical & Computer Engr Mathematics department Electrical & Computer Engr Brunel University, Seoul National University Brunel University, London, United Kingded the Attention Routing CapsuleNet (AR CapsNet) as proposed by Jaewoong Choi et al. in Attention Routing between Capsules. The AR-CapsNet is an enhanced version of CapsNet which, uses a new and different routing and activation function. The unique routing style is Attention routing which, is simply capsules been routed, with the help an attention module and a fast-forward pass but, what is most important is that the spatial information is kept, which is the primary reason behind Capsules. Primarily, the in-built interpretation of the dynamic routing is finding a focal point of the prediction capsules. As well known, emphasis on preserving a vector orientation is what activation functions and its variant deal majorly on; the activation function used is capsule activation because it focuses is on how a capsule-scale activation function performs. The model was trained on the MNIST and CIFAR-10 datasets and classification tasked against AR CapsNet and CapsuleNet. The model showed almost accuracy with less training parameters and less training time.
由Jaewoong Choi等人在《capsule之间的Attention Routing》中提出的Attention Routing CapsuleNet (AR CapsNet)。AR-CapsNet是CapsNet的增强版本,它使用了新的和不同的路由和激活功能。独特的路由方式是注意路由,简单地说就是在一个注意模块和一个快进通道的帮助下,将胶囊路由,但最重要的是空间信息被保留,这是胶囊背后的主要原因。首先,动态路由的内置解释是找到预测胶囊的焦点。众所周知,强调保持矢量方向是激活函数及其变体主要处理的问题;使用的激活函数是胶囊激活,因为它关注的是胶囊级激活函数的执行方式。该模型在MNIST和CIFAR-10数据集上进行训练,并针对AR CapsNet和CapsuleNet进行分类任务。该模型在训练参数较少、训练时间较短的情况下具有较好的准确率。
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引用次数: 1
Adopting Drone Technology in Mathematical Education 无人机技术在数学教育中的应用
Siditë Duraj, Lekë Pepkolaj, Gerald Hoxha
Mathematics has always been one of the most challenging topics in education. Many factors come into play, one of which is the lack of use of what technology offers. The technology of drone aids learning that involves concrete experience such as a lab, observations and feedback, the formation of abstract concepts and the application or testing of this knowledge in a real-life context. This paper describes a theoretical framework outlining the use of drone technology in mathematics education in order to improve engagement and learning with the experimental learning method. In particular, it looks at the pedagogical aspect where drones can be used in combination with a variety of learning techniques and methods. The role of drones in mathematics education is seen in two aspects, the mathematics topics that make the drone work and the drone as a mathematical object in itself and as a medium that can construct mathematical objects. Various problems in trigonometry, geometry, linear algebra, differential equations and statistics can be covered. The basic design of the drone can be explored geometrically, the 2D and 3D model of a drone can be understood, designed and constructed. In the end, the study can be used for educators and researchers interested in the field of drone-based mathematics learning.
数学一直是教育中最具挑战性的课题之一。许多因素都在起作用,其中之一是缺乏对技术提供的使用。无人机技术有助于学习,包括具体的经验,如实验室,观察和反馈,抽象概念的形成以及在现实生活中应用或测试这些知识。本文描述了一个理论框架,概述了无人机技术在数学教育中的应用,以便通过实验学习方法提高参与度和学习。特别是,它着眼于教学方面,无人机可以与各种学习技术和方法相结合使用。无人机在数学教育中的作用可以从两个方面来看,一是让无人机发挥作用的数学主题,二是无人机本身就是一个数学对象,是一个可以构建数学对象的媒介。可以涵盖三角、几何、线性代数、微分方程和统计学中的各种问题。可以从几何上探索无人机的基本设计,可以理解、设计和构建无人机的二维和三维模型。最后,该研究可用于对无人机数学学习领域感兴趣的教育工作者和研究人员。
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引用次数: 2
Efficacy and Acceptance of Virtual Classrooms During COVID-19: Bangladesh Perspective COVID-19期间虚拟教室的有效性和接受度:孟加拉国视角
Nabarun Halder, S. M. Rakibul Islam, Md. Sarwar Hosain, Eshtiak Ahmed, Ashraful Islam, S. R. H. Noori
The sudden spread of COVID-19 shut down educational institutions worldwide, and Bangladesh was no exception. Educational institutions were forced to start their activities online; there was no alternative to keep the students in the study. Although online education has been seen as part of a futuristic approach, its effectiveness and acceptability still remains questionable when it comes to institutional education. It’s yet to be investigated if online education can be as effective as contact teaching. We conducted an online survey to determine what students feel about online classes, how they accepted online classes, and how useful it was for them depending on their current situation. Our survey was open to everyone who has taken online classes during COVID-19, and the number of participants in our survey was 210. The survey provided with both qualitative and quantitative data which were then categorized into themes for analysis. Findings suggest, that most students feel that by rethinking the class style, if teachers can provide well-structured lecture content and have an equal focus on all students, it can be an alternative for them during emergency days.
COVID-19的突然蔓延导致世界各地的教育机构关闭,孟加拉国也不例外。教育机构被迫在网上开展活动;没有别的办法让学生们继续学习。尽管在线教育已被视为一种未来的方法,但它的有效性和可接受性在机构教育方面仍存在疑问。在线教育是否能和面对面教学一样有效还有待调查。我们进行了一项在线调查,以确定学生对在线课程的看法,他们如何接受在线课程,以及根据他们的现状,在线课程对他们有多大帮助。我们的调查对所有在COVID-19期间参加过在线课程的人开放,参与调查的人数为210人。调查提供了定性和定量数据,然后将其分类为主题进行分析。调查结果表明,大多数学生认为,通过重新思考课堂风格,如果教师能够提供结构良好的课程内容,并平等地关注所有学生,这可以成为他们在紧急情况下的另一种选择。
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引用次数: 2
Development of Bioinspired Robotic Pectoral Fin Structure Using Radial Scissor Mechanism 基于径向剪刀机构的仿生机器人胸鳍结构的研制
Ali Riza Sapmaz, S. Dilibal, Can Ozbaran, Mert Gercek
In this study, the flapping pectoral fin structure of the manta ray has been mimicked with radial scissor mechanisms. The flapping behavior for swimming is configured via generative design using two different scissor mechanisms. The bioinspired four-cell and six-cell robotic fin structures are designed, analyzed and additively manufactured for comparison purpose. Experimental and numerical analysis are conducted to unveil the displacement, and stress distribution parameters for both structures. A comparison is made between the experimental and numerical analysis results.
在本研究中,用径向剪刀机制模拟了蝠鲼胸鳍的扑动结构。通过生成设计,利用两种不同的剪刀机构配置了游泳的扑动行为。设计、分析和增材制造了仿生四细胞和六细胞机器人鳍结构,以进行比较。通过实验和数值分析,揭示了两种结构的位移和应力分布参数。对实验结果和数值分析结果进行了比较。
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引用次数: 0
Strength and Modal Analysis of Mobile Robot with Klann Walking Mechanism Klann行走机构移动机器人强度与模态分析
Koray Kavlak, Yiğit Osman Taner
Multi legged robots in mobile robots have a wide range of use in the defense and space industry, in places harmful to human health, such as earthquake zones. The advantage of legged robots is that they can reach places that are inaccessible to wheeled and tracked robots. By modelling the physical structure of legged animals, mobile robots are designed and manufactured. In this paper, a mobile robot with Klann walking mechanism was modelled in SolidWorks program. Eight legs were preferred to ensure balance and prevent vibration in walking mechanism. Parts such as gear, shaft, disc, battery and motor are used in robot design. The coupler curve at the position where the Klann walking mechanism contact the ground has been drawn in the Cinderella program. Stress and strain values were found as a result of the strength analysis of the mobile robot, and natural frequency values were found as a result of the modal analysis.
移动机器人中的多腿机器人在国防和航天工业中有着广泛的用途,在对人体健康有害的地方,如地震带。腿式机器人的优点是它们可以到达轮式和履带式机器人无法到达的地方。通过模拟有腿动物的物理结构,设计和制造移动机器人。本文利用SolidWorks软件对具有Klann行走机构的移动机器人进行建模。行走机构宜采用八腿结构,既能保证平衡,又能防止振动。在机器人的设计中使用了齿轮、轴、盘、电池和电机等部件。在Cinderella程序中绘制了Klann行走机构与地面接触位置的耦合器曲线。通过对移动机器人的强度分析得到了其应力和应变值,通过模态分析得到了其固有频率值。
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引用次数: 0
Power Quality and financial risk for RES investments 可再生能源投资的电能质量和财务风险
V. Chobanov
The quality of the power supply is a basic prerequisite both for the proper functioning of electrical devices and for reducing the risk of accidents and technological interruptions. The pressure for an increasing share of RES imposes the need for electricity distribution companies to connect more power plants, but this pressure leads to an increase in the risk of quality electricity supply and at the same time is a prerequisite for financial losses when investing in renewable energy sources due to lack of congestion management. The problems that lead to these risks are the subject of this article, considering the impact they have not only on investments in new power plants, but also on already connected ones, as well as on electricity consumers.
供电质量是电气设备正常运行和减少事故和技术中断风险的基本前提。增加可再生能源份额的压力迫使配电公司需要连接更多的发电厂,但这种压力导致高质量电力供应的风险增加,同时也是投资可再生能源时由于缺乏拥堵管理而造成财务损失的先决条件。导致这些风险的问题是本文的主题,考虑到它们不仅对新发电厂的投资,而且对已经连接的发电厂以及电力消费者的影响。
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引用次数: 4
IMMBA – An Integrative Model for Mobile Banking Adoption: The Case of Saudi Arabia 采用移动银行的综合模式:沙特阿拉伯的案例
Amal Alzahrani, N. Beloff, Martin White
The mobile industry is one of the rapidly growing markets in the world. This has created a unique platform for delivering mobile network-based social and financial services. Mobile banking is the best and last banking platform that provides value-added services anytime and anywhere with a reduction in effort, time, and money. However, there is a decrease in the adoption rate of these services in Arabian countries, including Saudi Arabia. Although there have been several studies to determine factors influencing the adoption of these services worldwide, few studies have been done in this part of the world. This paper considers the current literature on mobile banking to investigate the factors that increase mobile banking adoption in Saudi Arabia. We propose a new integrative model for mobile banking adoption (IMMBA) that combines and expands the IS Success and UTAUT2 models to include factors that account for Perceived Trust, Perceived Privacy, and Perceived Compatibility. IMMBA provides a comprehensive analysis of the current challenges of mobile banking adoption in Saudi Arabia. Identifying the factors that affect mobile banking adoption and understanding the relationships between them will help banks, particularly in Saudi Arabia, to lay a roadmap for the proper implementation of it following the perceptions of their customers.
移动行业是世界上快速增长的市场之一。这为提供基于移动网络的社交和金融服务创造了一个独特的平台。手机银行是最好的和最后的银行平台,随时随地提供增值服务,减少了精力、时间和金钱。然而,在阿拉伯国家,包括沙特阿拉伯,这些服务的采用率有所下降。虽然已经进行了几项研究,以确定影响在世界范围内采用这些服务的因素,但在世界这一地区进行的研究很少。本文认为,目前的文献对移动银行调查的因素,增加移动银行在沙特阿拉伯的采用。我们提出了一个新的移动银行采用综合模型(IMMBA),该模型结合并扩展了IS成功模型和UTAUT2模型,以包括考虑感知信任、感知隐私和感知兼容性的因素。IMMBA提供了一个全面的分析,目前在沙特阿拉伯的移动银行采用的挑战。确定影响移动银行采用的因素并了解它们之间的关系将有助于银行,特别是沙特阿拉伯的银行,根据客户的看法制定适当实施的路线图。
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引用次数: 0
Analysis of the KNN Classifier Distance Metrics for Bulgarian Fake News Detection 保加利亚假新闻检测的KNN分类器距离度量分析
Tsvetelina Mladenova, Irena Valova
The problem with fake news and click-bait headlines is not new. Despite that this kind of news has existed for many years now, it was just a few years ago that the focus of the scientific community turned to them. Even though there is quite a lot of research on the topic of detecting fake news in general, there is a limited number of studies on fake news in Cyrillic. This paper focuses on the classification of fake news and click-bait headlines from Bulgarian Facebook Pages. The KNN machine-learning algorithm is chosen and four different distance metrics are tested and analyzed.
假新闻和点击诱饵标题的问题并不新鲜。尽管这类新闻已经存在了很多年,但直到几年前,科学界的焦点才转向它们。尽管在一般情况下,对假新闻检测的研究相当多,但对西里尔文假新闻的研究数量有限。本文着重于保加利亚Facebook页面的假新闻和点击诱饵标题的分类。选择了KNN机器学习算法,并对四种不同的距离度量进行了测试和分析。
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引用次数: 12
期刊
2021 3rd International Congress on Human-Computer Interaction, Optimization and Robotic Applications (HORA)
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